version: 66.11
glider: 129
mission: 4
dive: 503
start: 3 1 113 2 23 56
data:
$ID,129
$MISSION,4
$DIVE,503
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,350
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4317.6938
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2200
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,78
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0023000001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,20
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,010313,021444,1954.485,12420.064,58,3.5,77,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-67.3
$GPS2,010313,022329,1954.425,12420.169,37,1.2,47,-2.5
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,MID
$TGT_LATLONG,1808.000,12333.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,204.6,213869,-15.3,-9.429,-18.41
$D_GRID,5489
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.06,-184.9,0.0,0.0,0,70,0.00,0.00,-46.45,0.000,2,0.000,0.000,64,1886,1840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.06,-184.9,3.3,-4.8,8,123,7.40,2.12,-35.55,0.000,4,0.237,0.045,1855,515,3165,0,0,0,0,0,0,24.85,25.68,26.46
$GC,175,-1.06,-184.9,25.2,-34.2,25,182,0.00,2.05,0.00,0.000,6,0.000,0.021,1846,1926,3165,0,0,0,0,0,0,28.83,25.92,28.83
$GC,490,-1.06,-184.9,136.9,-31.7,45,497,0.00,2.10,0.00,0.000,4,0.000,0.030,1846,511,3165,0,0,0,0,0,0,28.83,25.65,28.83
$GC,581,-1.06,-184.9,158.0,-25.1,49,586,0.00,2.05,0.00,0.000,6,0.000,0.021,1836,1939,3167,0,0,0,0,0,0,28.83,25.92,28.83
$GC,899,-1.06,-184.9,247.9,-27.3,65,904,0.00,2.08,0.00,0.000,4,0.000,0.028,1836,523,3166,0,0,0,0,0,0,28.83,25.69,28.83
$GC,943,-1.06,-184.9,260.3,-27.7,67,949,0.12,2.03,0.00,0.000,6,0.190,0.021,1854,1921,3167,0,0,0,0,0,0,25.36,25.93,28.83
$GC,1267,-1.06,-184.9,340.0,-23.4,83,1273,0.00,2.08,0.00,0.000,4,0.000,0.028,1854,524,3167,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1384,-1.06,-184.9,363.8,-23.1,88,1390,0.00,2.03,0.00,0.000,6,0.000,0.021,1845,1927,3167,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1699,-1.06,-184.9,436.0,-21.9,104,1704,0.00,2.08,0.00,0.000,4,0.000,0.028,1846,523,3167,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1777,-1.06,-184.9,451.0,-23.2,107,1785,0.00,2.03,0.00,0.000,6,0.000,0.021,1836,1926,3167,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2082,-1.06,-184.9,520.9,-21.7,123,2088,0.00,2.10,0.00,0.000,4,0.000,0.029,1836,524,3167,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2243,-1.06,-184.9,553.3,-21.8,130,2251,0.12,2.03,0.00,0.000,6,0.180,0.021,1855,1926,3166,0,0,0,0,0,0,25.39,25.91,28.83
$GC,2549,-1.06,-184.9,615.0,-19.0,145,2554,0.00,2.10,0.00,0.000,4,0.000,0.030,1855,522,3164,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2657,-1.06,-184.9,633.8,-20.0,148,2662,0.00,2.05,0.00,0.000,6,0.000,0.022,1847,1924,3164,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2976,-1.06,-184.9,693.6,-18.4,159,2982,0.00,2.12,0.00,0.000,4,0.000,0.031,1844,517,3162,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3094,-1.06,-184.9,711.8,-18.9,162,3101,0.00,2.08,0.00,0.000,6,0.000,0.023,1836,1927,3160,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3400,-1.06,-184.9,774.9,-18.9,173,3405,0.00,2.12,0.00,0.000,4,0.000,0.031,1836,530,3158,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3574,-1.06,-184.9,804.3,-19.0,178,3580,0.12,2.08,0.00,0.000,6,0.180,0.023,1856,1933,3156,0,0,0,0,0,0,25.32,25.84,28.83
$GC,3892,-1.06,-184.9,859.0,-16.0,189,3898,0.00,2.15,0.00,0.000,4,0.000,0.031,1856,528,3154,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4005,-1.06,-184.9,875.8,-17.0,192,4011,0.00,2.08,0.00,0.000,6,0.000,0.023,1847,1935,3153,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4320,-1.06,-184.9,932.7,-17.3,203,4325,0.00,2.15,0.00,0.000,4,0.000,0.031,1847,531,3152,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4367,-1.06,-184.9,938.7,-17.1,204,4372,0.00,2.08,0.00,0.000,6,0.000,0.023,1837,1936,3150,0,0,0,0,0,0,28.83,25.82,28.83
$STATE,4653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4653,begin apogee
$GC,4660,-0.21,0.0,992.1,-17.7,214,4827,0.95,0.00,156.15,1.397,6,0.140,0.000,2121,1937,2408,0,0,0,0,0,0,23.76,28.83,22.61
$STATE,4828,end apogee,CONTROL_FINISHED_OK
$STATE,4828,begin climb
$GC,4831,1.06,184.9,1000.0,0.0,219,5017,1.23,2.35,172.20,1.341,4,0.070,0.034,2538,3274,1654,0,0,0,0,0,0,23.99,23.00,21.66
$GC,5092,1.06,184.9,973.3,17.4,228,5097,0.00,2.17,0.00,0.000,6,0.000,0.026,2548,1908,1651,0,0,0,0,0,0,28.83,24.51,28.83
$GC,5419,1.06,184.9,906.8,20.1,239,5424,0.00,2.10,0.00,0.000,4,0.000,0.033,2541,3285,1645,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5472,1.06,184.9,899.3,20.3,240,5477,0.00,2.08,0.00,0.000,6,0.000,0.026,2550,1893,1645,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5787,1.06,184.9,833.1,19.3,251,5792,0.00,2.12,0.00,0.000,4,0.000,0.033,2550,3291,1643,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5905,1.06,184.9,814.1,19.7,254,5913,0.00,2.08,0.00,0.000,6,0.000,0.026,2560,1890,1643,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6212,1.06,184.9,752.3,18.1,265,6217,0.00,2.12,0.00,0.000,4,0.000,0.032,2551,3288,1641,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6260,1.06,184.9,745.5,18.3,266,6266,0.00,2.08,0.00,0.000,6,0.000,0.027,2560,1885,1641,0,0,0,0,0,0,28.83,25.76,28.83
$GC,6581,1.06,184.9,684.2,18.3,277,6586,0.00,2.15,0.00,0.000,4,0.000,0.033,2554,3291,1640,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6628,1.06,184.9,677.4,18.7,278,6634,0.00,2.08,0.00,0.000,6,0.000,0.026,2562,1892,1639,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6947,1.06,184.9,617.2,17.8,289,6952,0.00,2.12,0.00,0.000,4,0.000,0.032,2562,3288,1639,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7022,1.06,184.9,604.9,18.4,291,7028,0.15,2.10,0.00,0.000,6,0.198,0.026,2538,1889,1638,0,0,0,0,0,0,24.98,25.71,28.83
$GC,7346,1.06,184.9,549.5,15.9,307,7352,0.00,2.15,0.00,0.000,4,0.000,0.033,2538,3285,1638,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7380,1.06,184.9,545.4,16.1,308,7385,0.00,2.08,0.00,0.000,6,0.000,0.027,2546,1900,1638,0,0,0,0,0,0,28.83,25.69,28.83
$GC,7694,1.06,184.9,495.2,15.2,324,7699,0.00,2.12,0.00,0.000,4,0.000,0.035,2558,506,1637,0,0,0,0,0,0,28.83,25.39,28.83
$GC,7722,1.06,184.9,491.5,15.2,325,7729,0.00,2.05,0.00,0.000,6,0.000,0.022,2558,1914,1637,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8042,1.06,184.9,441.6,15.7,341,8047,0.00,2.08,0.00,0.000,4,0.000,0.033,2554,3285,1636,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8197,1.06,184.9,418.0,16.6,348,8203,0.00,2.08,0.00,0.000,6,0.000,0.026,2562,1900,1636,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8511,1.06,184.9,369.9,14.7,364,8517,0.00,2.10,0.00,0.000,4,0.000,0.033,2554,3282,1636,0,0,0,0,0,0,28.83,25.45,28.83
$GC,8727,1.06,184.9,338.2,15.0,374,8733,0.00,2.08,0.00,0.000,6,0.000,0.026,2562,1895,1636,0,0,0,0,0,0,28.83,25.66,28.83
$GC,9041,1.06,184.9,291.4,13.3,390,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1895,1636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9343,1.06,184.9,247.1,14.3,405,9348,0.00,2.15,0.00,0.000,4,0.000,0.031,2554,3289,1636,0,0,0,0,0,0,28.83,25.45,28.83
$GC,9447,1.06,184.9,232.2,14.4,410,9453,0.00,2.08,0.00,0.000,6,0.000,0.025,2562,1898,1634,0,0,0,0,0,0,28.83,25.69,28.83
$GC,9771,1.06,184.9,193.8,11.7,426,9776,0.00,2.12,0.00,0.000,4,0.000,0.031,2562,3288,1637,0,0,0,0,0,0,28.83,25.47,28.83
$GC,10006,1.06,184.9,164.4,13.9,437,10013,0.12,2.05,0.00,0.000,6,0.192,0.024,2544,1895,1637,0,0,0,0,0,0,25.13,25.71,28.83
$GC,10321,1.06,184.9,123.0,11.9,453,10327,0.00,2.12,0.00,0.000,4,0.000,0.031,2540,3290,1637,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10558,1.07,186.1,98.7,9.4,464,10563,0.00,2.08,0.00,0.000,6,0.000,0.024,2548,1886,1638,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10872,1.24,263.9,74.0,6.8,480,10941,0.12,2.15,62.08,0.720,4,0.108,0.028,2595,3289,1333,0,0,0,0,0,0,26.07,25.41,24.23
$GC,10996,1.24,263.9,59.0,13.5,486,11002,0.00,2.05,0.00,0.000,6,0.000,0.024,2603,1904,1330,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11305,1.24,263.9,17.7,13.3,517,11312,0.00,2.10,0.00,0.000,4,0.000,0.033,2614,504,1329,0,0,0,0,0,0,28.83,25.65,28.83
$GC,11325,1.24,263.9,14.6,14.9,520,11332,0.00,2.00,0.00,0.000,6,0.000,0.021,2610,1908,1327,0,0,0,0,0,0,28.83,25.95,28.83
$STATE,11415,end climb,SURFACE_DEPTH_REACHED
$STATE,11415,begin surface coast
$FINISH,1.2,1.012734
$STATE,11426,end surface coast,CONTROL_FINISHED_OK
$STATE,11426,begin surface
$SM_CCo,11444,59.05,0.054,0,0,776,400.08
$SM_GC,1.78,6.88,0.00,59.05,0.053,0.000,0.054,63,1912,776,-6.59,-0.34,400.08,0,0,0,0,0,0,25.55,28.83,25.52
$IRIDIUM_FIX,1950.41,12418.94,280213,222226
$TT8_MAMPS,0.024717,0.024717
$HUMID,54.68
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,3827296
$24V_AH,21.7,103.872
$10V_AH,9.5,67.026
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.225,108.925,390.425,59.050,0.000,0.000,0.000,278.000,0.000,0.000,48.027,1967.150,7205.965,538.190,1909.421,407.596,0.000,1701.174,0.000,1556.232,0.000,0.539,0.000
$DEVICE_MAMPS,237.150,45.135,1396.890,53.550,0.000,0.000,0.000,127.755,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11452.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.073,0.000,0.000,0.000
$MEM,328652
$DATA_FILE_SIZE,20047,539
$CAP_FILE_SIZE,135679,0
$CFSIZE,260034560,201449472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,237.8,1
$GPS,010313,053643,1952.399,12419.715,18,2.0,18,-2.5