version: 66.11
glider: 129
mission: 4
dive: 506
start: 3 1 113 12 32 34
data:
$ID,129
$MISSION,4
$DIVE,506
$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,-4321.4673
$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,86
$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
$GPS1,010313,122406,1949.479,12419.059,32,1.3,32,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-67.8
$GPS2,010313,123207,1949.495,12419.201,14,1.3,14,-2.4
$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,186.1,204804,-15.3,-9.429,-18.41
$D_GRID,5510
$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,-184.9,0.0,0.0,0,64,0.00,0.00,-41.10,0.000,2,0.000,0.000,52,1898,1700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-1.06,-184.9,3.1,-3.7,7,123,7.43,2.15,-41.97,0.000,4,0.238,0.045,1850,520,3165,0,0,0,0,0,0,24.87,25.68,26.44
$GC,179,-1.06,-184.9,28.1,-36.7,26,184,0.00,2.03,0.00,0.000,6,0.000,0.022,1841,1909,3165,0,0,0,0,0,0,28.83,25.86,28.83
$GC,493,-1.06,-184.9,132.2,-31.7,45,498,0.00,2.05,0.00,0.000,4,0.000,0.029,1841,520,3166,0,0,0,0,0,0,28.83,25.64,28.83
$GC,679,-1.06,-184.9,187.7,-29.2,54,684,0.00,2.05,0.00,0.000,6,0.000,0.021,1831,1940,3167,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1002,-1.06,-184.9,279.9,-27.6,70,1008,0.00,2.12,0.00,0.000,4,0.000,0.028,1831,514,3167,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1143,-1.06,-184.9,313.0,-26.1,76,1151,0.15,2.03,0.00,0.000,6,0.181,0.022,1856,1923,3167,0,0,0,0,0,0,25.20,25.86,28.83
$GC,1448,-1.06,-184.9,390.6,-23.9,92,1453,0.00,2.08,0.00,0.000,4,0.000,0.029,1857,521,3167,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1485,-1.06,-184.9,396.0,-23.4,93,1492,0.00,2.05,0.00,0.000,6,0.000,0.022,1848,1934,3167,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1791,-1.06,-184.9,463.8,-20.6,109,1796,0.00,2.12,0.00,0.000,4,0.000,0.028,1848,516,3167,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1939,-1.06,-184.9,494.1,-21.5,116,1945,0.00,2.05,0.00,0.000,6,0.000,0.022,1838,1921,3167,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2258,-1.06,-184.9,565.4,-21.9,132,2264,0.00,2.10,0.00,0.000,4,0.000,0.030,1838,527,3166,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2408,-1.06,-184.9,598.6,-21.7,139,2414,0.12,2.05,0.00,0.000,6,0.177,0.022,1857,1927,3165,0,0,0,0,0,0,25.36,25.86,28.83
$GC,2730,-1.06,-184.9,664.2,-20.0,150,2735,0.00,2.10,0.00,0.000,4,0.000,0.030,1857,525,3164,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2778,-1.06,-184.9,671.6,-20.0,151,2784,0.00,2.05,0.00,0.000,6,0.000,0.022,1849,1928,3164,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3098,-1.06,-184.9,736.8,-19.2,162,3103,0.00,2.12,0.00,0.000,4,0.000,0.031,1849,529,3162,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3155,-1.06,-184.9,743.5,-19.4,163,3163,0.00,2.05,0.00,0.000,6,0.000,0.023,1839,1921,3161,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3462,-1.06,-184.9,807.5,-20.3,174,3468,0.00,2.10,0.00,0.000,4,0.000,0.034,1828,3317,3158,0,0,0,0,0,0,28.83,25.47,28.83
$GC,3490,-1.06,-184.9,807.5,-20.3,174,3498,0.00,2.05,0.00,0.000,6,0.000,0.024,1828,1911,3158,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3797,-1.06,-184.9,872.8,-19.5,185,3803,0.12,2.10,0.00,0.000,4,0.187,0.031,1863,531,3156,0,0,0,0,0,0,25.70,25.44,28.83
$GC,3953,-1.06,-184.9,899.3,-16.5,190,3958,0.00,2.08,0.00,0.000,6,0.000,0.023,1855,1935,3155,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4290,-1.06,-184.9,952.4,-15.9,201,4295,0.00,2.12,0.00,0.000,4,0.000,0.032,1855,536,3153,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4347,-1.06,-184.9,958.4,-16.1,202,4355,0.00,2.05,0.00,0.000,6,0.000,0.023,1845,1936,3152,0,0,0,0,0,0,28.83,25.80,28.83
$STATE,4531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4531,begin apogee
$GC,4539,-0.21,0.0,992.7,-16.1,209,4704,0.95,0.00,156.43,1.394,6,0.141,0.000,2127,1937,2409,0,0,0,0,0,0,23.72,28.83,22.53
$STATE,4706,end apogee,CONTROL_FINISHED_OK
$STATE,4706,begin climb
$GC,4709,1.06,184.9,998.8,0.0,214,4895,1.23,2.53,173.02,1.340,4,0.070,0.036,2553,531,1655,0,0,0,0,0,0,23.91,22.94,21.62
$GC,4970,1.06,184.9,969.6,18.7,223,4975,0.00,2.12,0.00,0.000,6,0.000,0.022,2553,1893,1650,0,0,0,0,0,0,28.83,24.38,28.83
$GC,5296,1.06,184.9,903.3,19.9,234,5302,0.00,2.12,0.00,0.000,4,0.000,0.034,2553,3303,1646,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5370,1.06,184.9,889.6,20.2,236,5375,0.00,2.08,0.00,0.000,6,0.000,0.026,2562,1909,1645,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5697,1.06,184.9,824.1,19.5,247,5702,0.00,2.10,0.00,0.000,4,0.000,0.033,2562,3300,1643,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5769,1.06,184.9,810.5,20.0,249,5776,0.12,2.10,0.00,0.000,6,0.213,0.026,2546,1893,1642,0,0,0,0,0,0,25.19,25.79,28.83
$GC,6098,1.06,184.9,751.8,17.4,260,6103,0.00,2.15,0.00,0.000,4,0.000,0.033,2540,3293,1642,0,0,0,0,0,0,28.83,25.54,28.83
$GC,6227,1.06,184.9,728.0,18.6,264,6234,0.00,2.10,0.00,0.000,6,0.000,0.026,2548,1886,1642,0,0,0,0,0,0,28.83,25.73,28.83
$GC,6561,1.06,184.9,666.1,18.6,275,6566,0.00,2.12,0.00,0.000,4,0.000,0.033,2540,3293,1641,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6628,1.06,184.9,653.4,18.7,277,6634,0.00,2.08,0.00,0.000,6,0.000,0.026,2548,1899,1640,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6959,1.06,184.9,595.8,17.0,288,6964,0.00,2.12,0.00,0.000,4,0.000,0.033,2540,3294,1639,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6997,1.06,184.9,591.4,17.0,289,7004,0.00,2.08,0.00,0.000,6,0.000,0.026,2548,1894,1639,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7303,1.06,184.9,538.5,16.9,305,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1894,1638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7609,1.06,184.9,490.6,16.1,320,7614,0.00,2.10,0.00,0.000,4,0.000,0.035,2559,504,1637,0,0,0,0,0,0,28.83,25.37,28.83
$GC,7632,1.06,184.9,485.9,16.2,321,7638,0.00,2.05,0.00,0.000,6,0.000,0.023,2557,1914,1637,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7957,1.06,184.9,430.8,16.7,337,7963,0.00,2.08,0.00,0.000,4,0.000,0.033,2555,3287,1637,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8051,1.06,184.9,416.2,17.0,341,8056,0.00,2.05,0.00,0.000,6,0.000,0.025,2563,1900,1637,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8364,1.06,184.9,364.0,16.6,357,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1900,1637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8666,1.06,184.9,317.5,16.1,372,8672,0.00,2.12,0.00,0.000,4,0.000,0.032,2563,3285,1637,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8856,1.06,184.9,285.9,16.5,381,8862,0.12,2.08,0.00,0.000,6,0.197,0.025,2545,1897,1637,0,0,0,0,0,0,25.07,25.65,28.83
$GC,9176,1.06,184.9,243.9,13.2,397,9181,0.00,2.10,0.00,0.000,4,0.000,0.031,2541,3283,1637,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9274,1.06,184.9,232.1,14.2,401,9281,0.00,2.08,0.00,0.000,6,0.000,0.025,2550,1893,1637,0,0,0,0,0,0,28.83,25.66,28.83
$GC,9580,1.06,184.9,190.8,12.3,417,9581,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1893,1637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9883,1.06,184.9,157.1,12.1,432,9889,0.00,2.12,0.00,0.000,4,0.000,0.034,2560,498,1637,0,0,0,0,0,0,28.83,25.38,28.83
$GC,9928,1.06,184.9,150.7,13.2,434,9934,0.00,2.03,0.00,0.000,6,0.000,0.021,2555,1912,1637,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10252,1.06,184.9,115.3,10.1,450,10257,0.00,2.05,0.00,0.000,4,0.000,0.031,2555,3277,1638,0,0,0,0,0,0,28.83,25.47,28.83
$GC,10331,1.06,184.9,108.1,10.8,453,10338,0.00,2.05,0.00,0.000,6,0.000,0.024,2564,1894,1639,0,0,0,0,0,0,28.83,25.71,28.83
$GC,10636,1.06,185.5,78.0,9.4,469,10641,0.00,2.10,0.00,0.000,4,0.000,0.034,2574,506,1639,0,0,0,0,0,0,28.83,25.42,28.83
$GC,10772,1.09,198.7,66.8,9.0,475,10788,0.00,2.00,10.82,0.653,6,0.000,0.020,2571,1910,1598,0,0,0,0,0,0,28.83,25.88,24.25
$GC,11098,1.18,235.4,38.8,8.2,498,11135,0.00,2.12,31.02,0.675,4,0.000,0.031,2571,3281,1448,0,0,0,0,0,0,28.83,25.55,24.37
$GC,11365,1.30,287.8,12.8,7.6,536,11397,0.12,2.05,23.88,0.075,6,0.102,0.024,2626,1888,1235,0,0,0,0,0,0,25.67,25.85,25.44
$STATE,11455,end climb,SURFACE_DEPTH_REACHED
$STATE,11455,begin surface coast
$FINISH,1.4,1.022797
$STATE,11466,end surface coast,CONTROL_FINISHED_OK
$STATE,11467,begin surface
$SM_CCo,11485,48.33,0.053,0,0,778,400.08
$SM_GC,1.86,6.82,0.00,48.33,0.046,0.000,0.053,54,1885,778,-6.60,-1.10,400.08,0,0,0,0,0,0,25.59,28.83,25.58
$IRIDIUM_FIX,1943.54,12418.25,010313,090915
$TT8_MAMPS,0.024717,0.024717
$HUMID,54.21
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3826144
$24V_AH,21.6,104.315
$10V_AH,9.6,67.299
$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,17.200,104.575,395.175,48.325,0.000,0.000,0.000,266.450,0.000,0.000,15.398,1933.411,7313.983,526.510,1811.893,427.747,0.000,1650.278,0.000,1503.565,0.000,0.539,0.000
$DEVICE_MAMPS,237.915,45.135,1393.830,52.785,0.000,0.000,0.000,126.990,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11493.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.636,0.000,0.000,0.000
$MEM,328588
$DATA_FILE_SIZE,20023,554
$CAP_FILE_SIZE,135061,0
$CFSIZE,260034560,201228288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093, 11.9,1
$GPS,010313,154543,1948.375,12419.666,11,1.9,11,-2.4