version: 66.11
glider: 129
mission: 4
dive: 520
start: 3 3 113 12 34 5
data:
$ID,129
$MISSION,4
$DIVE,520
$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,-4341.374
$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,59
$R_STBD_OVSHOOT,90
$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
$GPS1,030313,122505,1931.117,12425.132,29,1.3,29,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-60.4
$GPS2,030313,123337,1931.099,12425.378,15,1.4,15,-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,233.1,179397,-15.3,-9.429,-18.41
$D_GRID,5526
$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,-40.92,0.000,2,0.000,0.000,54,2065,1735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-1.06,-184.9,3.1,-4.1,7,123,7.68,2.10,-36.88,0.000,4,0.245,0.046,1871,3421,3164,0,0,0,0,0,0,25.03,25.59,26.41
$GC,243,-1.06,-184.9,49.1,-33.5,32,249,0.00,2.03,0.00,0.000,6,0.000,0.023,1871,2030,3164,0,0,0,0,0,0,28.83,25.79,28.83
$GC,550,-1.06,-184.9,150.1,-33.3,48,555,0.00,2.00,0.00,0.000,4,0.000,0.028,1871,650,3165,0,0,0,0,0,0,28.83,25.62,28.83
$GC,608,-1.06,-184.9,162.0,-30.1,50,615,0.00,2.03,0.00,0.000,6,0.000,0.021,1861,2034,3164,0,0,0,0,0,0,28.83,25.84,28.83
$GC,914,-1.06,-184.9,247.5,-24.8,66,919,0.00,2.03,0.00,0.000,4,0.000,0.028,1861,651,3166,0,0,0,0,0,0,28.83,25.64,28.83
$GC,968,-1.06,-184.9,259.6,-26.0,68,974,0.12,2.03,0.00,0.000,6,0.181,0.022,1880,2043,3166,0,0,0,0,0,0,25.28,25.81,28.83
$GC,1282,-1.06,-184.9,327.2,-20.0,84,1288,0.00,2.05,0.00,0.000,4,0.000,0.028,1880,655,3166,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1423,-1.06,-184.9,353.9,-21.8,90,1430,0.00,2.03,0.00,0.000,6,0.000,0.022,1871,2054,3166,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1729,-1.06,-184.9,418.5,-19.3,106,1734,0.00,2.08,0.00,0.000,4,0.000,0.028,1871,649,3169,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1855,-1.06,-184.9,442.5,-19.5,112,1860,0.00,2.05,0.00,0.000,6,0.000,0.022,1861,2050,3166,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2178,-1.06,-184.9,502.7,-17.9,128,2183,0.00,2.05,0.00,0.000,4,0.000,0.028,1861,656,3165,0,0,0,0,0,0,28.83,25.61,28.83
$GC,2308,-1.06,-184.9,525.8,-18.7,134,2314,0.12,2.05,0.00,0.000,6,0.174,0.022,1881,2057,3164,0,0,0,0,0,0,25.32,25.82,28.83
$GC,2627,-1.06,-184.9,580.7,-16.9,150,2633,0.00,2.10,0.00,0.000,4,0.000,0.028,1881,648,3162,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2768,-1.06,-184.9,601.9,-16.8,156,2774,0.00,2.08,0.00,0.000,6,0.000,0.023,1873,2055,3161,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3088,-1.06,-184.9,659.0,-16.7,167,3093,0.00,2.12,0.00,0.000,4,0.000,0.029,1872,651,3159,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3304,-1.06,-184.9,695.8,-17.1,174,3309,0.00,2.10,0.00,0.000,6,0.000,0.024,1862,2048,3156,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3640,-1.06,-184.9,751.2,-16.2,185,3645,0.00,2.12,0.00,0.000,4,0.000,0.030,1862,648,3154,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3845,-1.06,-184.9,782.9,-16.7,191,3851,0.12,2.08,0.00,0.000,6,0.174,0.024,1882,2050,3154,0,0,0,0,0,0,25.25,25.75,28.83
$GC,4163,-1.06,-184.9,830.5,-14.2,202,4168,0.00,2.10,0.00,0.000,4,0.000,0.031,1882,658,3151,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4354,-1.06,-184.9,859.5,-15.0,208,4360,0.00,2.08,0.00,0.000,6,0.000,0.024,1873,2052,3149,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4686,-1.06,-184.9,911.0,-15.4,219,4692,0.00,2.12,0.00,0.000,4,0.000,0.031,1873,661,3146,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4830,-1.06,-184.9,931.7,-16.3,223,4835,0.00,2.08,0.00,0.000,6,0.000,0.024,1863,2056,3145,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5145,-1.06,-184.9,983.5,-15.1,234,5150,0.00,2.15,0.00,0.000,4,0.000,0.031,1863,654,3143,0,0,0,0,0,0,28.83,25.43,28.83
$STATE,5206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5206,begin apogee
$GC,5215,-0.21,0.0,993.5,-15.3,236,5381,0.98,0.00,156.10,1.392,6,0.134,0.000,2148,1822,2409,0,0,0,0,0,0,23.68,28.83,22.24
$STATE,5382,end apogee,CONTROL_FINISHED_OK
$STATE,5382,begin climb
$GC,5385,1.06,184.9,1000.0,0.0,241,5570,1.20,0.00,175.95,1.337,6,0.053,0.000,2570,1828,1654,0,0,0,0,0,0,23.65,28.83,21.46
$GC,5869,1.06,184.9,918.3,21.4,258,5874,0.00,2.05,0.00,0.000,4,0.000,0.032,2570,3185,1645,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5956,1.06,184.9,904.0,21.8,260,5964,0.00,2.08,0.00,0.000,6,0.000,0.026,2580,1801,1645,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6263,1.06,184.9,832.4,21.6,271,6268,0.00,2.10,0.00,0.000,4,0.000,0.031,2580,3196,1643,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6341,1.06,184.9,818.5,21.3,273,6347,0.00,2.10,0.00,0.000,6,0.000,0.026,2595,1798,1642,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6661,1.06,184.9,747.3,21.2,284,6667,0.00,2.12,0.00,0.000,4,0.000,0.033,2590,3177,1640,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6745,1.06,184.9,733.5,20.9,286,6751,0.15,2.08,0.00,0.000,6,0.208,0.026,2566,1790,1640,0,0,0,0,0,0,24.92,25.70,28.83
$GC,7062,1.06,184.9,671.5,18.0,297,7067,0.00,2.15,0.00,0.000,4,0.000,0.032,2566,3194,1640,0,0,0,0,0,0,28.83,25.45,28.83
$GC,7192,1.06,184.9,647.2,19.2,301,7198,0.00,2.12,0.00,0.000,6,0.000,0.027,2576,1791,1640,0,0,0,0,0,0,28.83,25.64,28.83
$GC,7504,1.06,184.9,588.9,18.3,312,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1790,1639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7803,1.06,184.9,532.8,18.7,327,7809,0.00,2.12,0.00,0.000,4,0.000,0.031,2568,3191,1638,0,0,0,0,0,0,28.83,25.40,28.83
$GC,7999,1.06,184.9,498.2,18.7,336,8005,0.00,2.10,0.00,0.000,6,0.000,0.027,2576,1798,1638,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8314,1.06,184.9,440.4,17.6,352,8319,0.00,2.10,0.00,0.000,4,0.000,0.031,2568,3184,1637,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8550,1.06,184.9,402.5,16.3,363,8556,0.00,2.10,0.00,0.000,6,0.000,0.026,2576,1794,1637,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8864,1.06,184.9,352.6,15.0,379,8870,0.00,2.10,0.00,0.000,4,0.000,0.031,2580,3186,1636,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9006,1.06,184.9,334.2,14.8,385,9013,0.00,2.10,0.00,0.000,6,0.000,0.026,2583,1787,1637,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9310,1.06,184.9,287.5,14.8,401,9315,0.00,2.10,0.00,0.000,4,0.000,0.031,2582,3184,1636,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9546,1.06,184.9,253.7,14.6,412,9551,0.00,2.08,0.00,0.000,6,0.000,0.026,2590,1793,1636,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9861,1.06,184.9,210.5,12.5,428,9866,0.00,2.12,0.00,0.000,4,0.000,0.031,2590,3195,1636,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10095,1.06,184.9,180.0,13.5,439,10102,0.15,2.10,0.00,0.000,6,0.195,0.025,2565,1794,1638,0,0,0,0,0,0,24.85,25.60,28.83
$GC,10411,1.14,219.4,146.6,8.2,455,10444,0.00,2.12,27.08,0.773,4,0.000,0.027,2565,3189,1514,0,0,0,0,0,0,28.83,25.39,24.29
$GC,10678,1.14,219.4,123.4,10.8,468,10684,0.00,2.10,0.00,0.000,6,0.000,0.025,2575,1789,1510,0,0,0,0,0,0,28.83,25.71,28.83
$GC,11003,1.14,220.2,90.4,9.4,484,11009,0.00,2.10,0.00,0.000,4,0.000,0.028,2568,3198,1510,0,0,0,0,0,0,28.83,25.52,28.83
$GC,11239,1.36,316.3,72.8,6.1,495,11328,0.25,2.08,77.80,0.705,6,0.078,0.024,2670,1795,1118,0,0,0,0,0,0,25.33,25.67,24.36
$GC,11631,1.36,316.3,17.1,14.1,528,11639,0.00,2.10,0.00,0.000,4,0.000,0.033,2681,399,1113,0,0,0,0,0,0,28.83,25.60,28.83
$STATE,11723,end climb,SURFACE_DEPTH_REACHED
$STATE,11723,begin surface coast
$FINISH,1.2,1.010989
$STATE,11734,end surface coast,CONTROL_FINISHED_OK
$STATE,11734,begin surface
$SM_CCo,11756,36.33,0.052,0,0,778,400.08
$SM_GC,2.06,6.93,2.47,36.33,0.044,0.024,0.052,64,2031,778,-6.67,-2.18,400.08,0,0,0,0,0,0,25.38,25.67,25.49
$IRIDIUM_FIX,1925.22,12423.91,030313,090930
$TT8_MAMPS,0.024717,0.024717
$HUMID,53.62
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3820736
$24V_AH,21.5,106.413
$10V_AH,9.8,68.619
$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,17.700,100.175,436.925,36.325,0.000,0.000,0.000,287.975,0.000,0.000,15.764,2165.774,7051.565,579.439,2053.254,453.222,0.000,1789.956,0.000,1715.643,0.000,0.541,0.000
$DEVICE_MAMPS,244.800,45.900,1391.535,52.020,0.000,0.000,0.000,130.815,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11764.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.163,0.000,0.000,0.000
$MEM,328608
$DATA_FILE_SIZE,20101,547
$CAP_FILE_SIZE,138040,0
$CFSIZE,260034560,200151040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176, 44.5,1
$GPS,030313,155131,1930.385,12425.660,8,1.7,8,-2.4