version: 66.11
glider: 129
mission: 4
dive: 518
start: 3 3 113 5 36 10
data:
$ID,129
$MISSION,4
$DIVE,518
$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,-4338.8555
$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,2225
$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,2050
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,73
$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
$GPS1,030313,052735,1933.549,12424.069,9,1.3,25,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-61.4
$GPS2,030313,053542,1933.469,12424.331,11,1.6,16,-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,235.8,182255,-15.3,-9.429,-18.41
$D_GRID,5625
$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,-184.9,0.0,0.0,0,69,0.00,0.00,-46.47,0.000,2,0.000,0.000,54,2025,1873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.06,-184.9,3.3,-4.1,8,117,7.62,2.20,-30.45,0.000,4,0.243,0.044,1869,3441,3165,0,0,0,0,0,0,24.91,25.58,26.41
$GC,310,-1.06,-184.9,75.2,-32.1,35,315,0.00,2.08,0.00,0.000,6,0.000,0.023,1872,2016,3165,0,0,0,0,0,0,28.83,25.79,28.83
$GC,633,-1.06,-184.9,173.5,-27.6,51,638,0.00,1.98,0.00,0.000,4,0.000,0.028,1868,652,3166,0,0,0,0,0,0,28.83,25.60,28.83
$GC,731,-1.06,-184.9,195.6,-26.7,55,738,0.00,2.03,0.00,0.000,6,0.000,0.021,1859,2054,3167,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1037,-1.06,-184.9,278.6,-24.7,71,1042,0.00,2.10,0.00,0.000,4,0.000,0.028,1858,644,3167,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1204,-1.06,-184.9,316.6,-22.8,79,1210,0.12,2.05,0.00,0.000,6,0.178,0.022,1877,2057,3168,0,0,0,0,0,0,25.29,25.81,28.83
$GC,1528,-1.06,-184.9,380.8,-18.7,95,1534,0.00,2.08,0.00,0.000,4,0.000,0.029,1877,653,3168,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1650,-1.06,-184.9,400.1,-18.1,100,1657,0.00,2.05,0.00,0.000,6,0.000,0.021,1869,2066,3167,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1953,-1.06,-184.9,459.5,-19.0,116,1958,0.00,2.10,0.00,0.000,4,0.000,0.028,1869,647,3167,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2082,-1.06,-184.9,483.3,-19.2,122,2089,0.00,2.05,0.00,0.000,6,0.000,0.022,1858,2048,3167,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2402,-1.06,-184.9,544.4,-18.5,138,2407,0.00,2.10,0.00,0.000,4,0.000,0.028,1858,651,3166,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2495,-1.06,-184.9,560.1,-19.0,142,2502,0.12,2.05,0.00,0.000,6,0.172,0.022,1878,2050,3166,0,0,0,0,0,0,25.30,25.81,28.83
$GC,2811,-1.06,-184.9,612.9,-16.2,157,2816,0.00,2.10,0.00,0.000,4,0.000,0.029,1878,651,3163,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2855,-1.06,-184.9,619.0,-16.6,158,2861,0.00,2.05,0.00,0.000,6,0.000,0.022,1869,2052,3163,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3182,-1.06,-184.9,675.1,-16.8,169,3187,0.00,2.12,0.00,0.000,4,0.000,0.030,1870,648,3161,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3308,-1.06,-184.9,696.8,-17.3,173,3314,0.00,2.08,0.00,0.000,6,0.000,0.023,1860,2055,3160,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3645,-1.06,-184.9,756.0,-17.7,184,3650,0.00,2.12,0.00,0.000,4,0.000,0.030,1860,657,3158,0,0,0,0,0,0,28.83,25.52,28.83
$GC,3805,-1.06,-184.9,782.7,-16.8,189,3811,0.12,2.08,0.00,0.000,6,0.176,0.024,1879,2058,3156,0,0,0,0,0,0,25.22,25.72,28.83
$GC,4136,-1.06,-184.9,832.2,-14.4,200,4142,0.00,2.10,0.00,0.000,4,0.000,0.030,1879,658,3153,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4281,-1.06,-184.9,850.7,-14.7,204,4287,0.00,2.08,0.00,0.000,6,0.000,0.024,1871,2055,3153,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4595,-1.06,-184.9,900.4,-15.1,215,4601,0.00,2.12,0.00,0.000,4,0.000,0.031,1871,659,3150,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4674,-1.06,-184.9,910.7,-15.6,217,4680,0.00,2.08,0.00,0.000,6,0.000,0.024,1861,2057,3150,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4993,-1.06,-184.9,963.5,-16.2,228,4999,0.00,2.15,0.00,0.000,4,0.000,0.031,1860,652,3147,0,0,0,0,0,0,28.83,25.41,28.83
$GC,5153,-1.06,-184.9,989.5,-16.6,233,5159,0.12,2.08,0.00,0.000,6,0.180,0.024,1880,2048,3146,0,0,0,0,0,0,25.13,25.66,28.83
$STATE,5179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5179,begin apogee
$GC,5187,-0.21,0.0,994.6,-16.4,234,5354,0.88,0.00,156.55,1.398,6,0.128,0.000,2150,1764,2408,0,0,0,0,0,0,23.86,28.83,22.13
$STATE,5356,end apogee,CONTROL_FINISHED_OK
$STATE,5356,begin climb
$GC,5359,1.06,184.9,1002.3,0.0,239,5543,1.23,0.00,175.62,1.343,6,0.055,0.000,2575,1764,1654,0,0,0,0,0,0,23.55,28.83,21.41
$GC,5842,1.06,184.9,929.7,20.0,256,5847,0.00,2.20,0.00,0.000,4,0.000,0.032,2575,3204,1645,0,0,0,0,0,0,28.83,25.59,28.83
$GC,6069,1.06,184.9,885.0,20.8,263,6074,0.00,2.08,0.00,0.000,6,0.000,0.027,2585,1827,1643,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6395,1.06,184.9,816.8,20.3,274,6400,0.00,2.10,0.00,0.000,4,0.000,0.032,2581,3207,1642,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6550,1.06,184.9,783.8,20.9,279,6555,0.00,2.12,0.00,0.000,6,0.000,0.026,2593,1803,1641,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6886,1.06,184.9,718.2,19.3,290,6891,0.00,2.12,0.00,0.000,4,0.000,0.031,2590,3197,1640,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6983,1.06,184.9,698.6,20.2,293,6989,0.15,2.12,0.00,0.000,6,0.207,0.027,2566,1791,1640,0,0,0,0,0,0,24.87,25.65,28.83
$GC,7315,1.06,184.9,639.8,17.4,304,7321,0.00,2.15,0.00,0.000,4,0.000,0.032,2566,3196,1638,0,0,0,0,0,0,28.83,25.43,28.83
$GC,7460,1.06,184.9,617.5,17.5,308,7466,0.00,2.12,0.00,0.000,6,0.000,0.027,2576,1792,1638,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7788,1.06,184.9,559.7,16.7,323,7793,0.00,2.17,0.00,0.000,4,0.000,0.031,2567,3203,1638,0,0,0,0,0,0,28.83,25.40,28.83
$GC,8004,1.06,184.9,522.7,17.6,333,8009,0.00,2.12,0.00,0.000,6,0.000,0.027,2576,1795,1638,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8317,1.06,184.9,467.0,17.3,349,8319,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1795,1637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8620,1.06,184.9,416.5,16.9,364,8625,0.00,2.17,0.00,0.000,4,0.000,0.031,2567,3208,1637,0,0,0,0,0,0,28.83,25.36,28.83
$GC,8708,1.06,184.9,401.6,17.3,368,8714,0.00,2.15,0.00,0.000,6,0.000,0.026,2576,1792,1635,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9027,1.06,184.9,348.9,15.5,384,9032,0.00,2.15,0.00,0.000,4,0.000,0.031,2567,3203,1636,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9126,1.06,184.9,336.5,14.7,388,9133,0.00,2.12,0.00,0.000,6,0.000,0.026,2576,1798,1637,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9432,1.06,184.9,292.1,14.0,404,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1798,1636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9734,1.06,184.9,248.8,14.6,419,9736,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1797,1637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10035,1.06,184.9,208.2,12.8,434,10041,0.00,2.15,0.00,0.000,4,0.000,0.031,2576,3203,1636,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10270,1.06,184.9,177.9,13.2,445,10275,0.00,2.12,0.00,0.000,6,0.000,0.025,2586,1786,1637,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10584,1.06,184.9,140.0,10.9,461,10589,0.00,2.12,0.00,0.000,4,0.000,0.029,2581,3203,1638,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10821,1.16,229.2,117.0,7.9,472,10864,0.00,2.08,34.92,0.751,6,0.000,0.024,2590,1794,1474,0,0,0,0,0,0,28.83,25.63,24.28
$GC,11173,1.16,229.2,77.5,11.7,490,11178,0.00,2.12,0.00,0.000,4,0.000,0.028,2590,3203,1471,0,0,0,0,0,0,28.83,25.59,28.83
$GC,11408,1.16,229.2,53.9,10.3,501,11414,0.00,2.08,0.00,0.000,6,0.000,0.024,2600,1790,1470,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11723,1.43,344.3,29.0,5.5,531,11793,0.22,2.15,60.35,0.638,4,0.086,0.034,2704,401,1003,0,0,0,0,0,0,25.84,25.53,24.46
$STATE,11909,end climb,SURFACE_DEPTH_REACHED
$STATE,11909,begin surface coast
$FINISH,1.2,1.009789
$STATE,11914,end surface coast,CONTROL_FINISHED_OK
$STATE,11914,begin surface
$SM_CCo,11936,24.35,0.055,0,0,778,400.08
$SM_GC,1.56,7.10,2.47,24.35,0.053,0.020,0.055,59,2073,778,-6.68,-1.64,400.08,0,0,0,0,0,0,25.58,25.91,25.59
$IRIDIUM_FIX,1925.22,12415.67,030313,020206
$TT8_MAMPS,0.024717,0.024717
$HUMID,53.46
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3821504
$24V_AH,21.4,106.096
$10V_AH,9.6,68.426
$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,17.700,97.575,427.450,24.350,0.000,0.000,0.000,267.050,0.000,0.000,17.573,2168.577,7263.063,556.878,2017.124,441.389,0.000,1731.806,0.000,1704.781,0.000,0.539,0.000
$DEVICE_MAMPS,242.505,44.370,1398.420,55.080,0.000,0.000,0.000,130.050,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11940.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.201,0.000,0.000,0.000
$MEM,328600
$DATA_FILE_SIZE,20105,562
$CAP_FILE_SIZE,138283,0
$CFSIZE,260034560,200306688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.210, 80.6,1
$GPS,030313,085653,1932.268,12424.960,38,1.3,38,-2.4