version: 66.11
glider: 129
mission: 4
dive: 521
start: 3 3 113 16 0 22
data:
$ID,129
$MISSION,4
$DIVE,521
$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,-4342.6289
$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,61
$R_STBD_OVSHOOT,54
$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
$GPS1,030313,155131,1930.385,12425.660,8,1.7,8,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-59.8
$GPS2,030313,155955,1930.367,12425.976,17,1.6,17,-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,221.9,178782,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.06,-184.9,0.0,0.0,0,69,0.00,0.00,-45.92,0.000,2,0.000,0.000,60,2035,1872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.06,-184.9,3.4,-4.2,8,117,7.55,2.22,-30.05,0.000,4,0.241,0.046,1865,3460,3165,0,0,0,0,0,0,25.01,25.56,26.41
$GC,244,-1.06,-184.9,48.6,-29.6,32,249,0.00,2.05,0.00,0.000,6,0.000,0.021,1865,2029,3165,0,0,0,0,0,0,28.83,25.82,28.83
$GC,558,-1.06,-184.9,147.4,-30.7,48,559,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2015,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,861,-1.06,-184.9,226.4,-26.4,63,866,0.00,2.03,0.00,0.000,4,0.000,0.030,1865,657,3167,0,0,0,0,0,0,28.83,25.58,28.83
$GC,987,-1.06,-184.9,258.6,-25.2,69,993,0.00,2.05,0.00,0.000,6,0.000,0.021,1855,2066,3168,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1311,-1.06,-184.9,335.4,-23.1,85,1317,0.00,2.10,0.00,0.000,4,0.000,0.028,1855,661,3167,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1481,-1.06,-184.9,373.1,-21.9,93,1487,0.15,2.03,0.00,0.000,6,0.170,0.022,1882,2051,3167,0,0,0,0,0,0,25.21,25.82,28.83
$GC,1802,-1.06,-184.9,434.3,-18.1,109,1808,0.00,2.08,0.00,0.000,4,0.000,0.029,1883,652,3167,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1917,-1.06,-184.9,452.5,-17.6,114,1923,0.00,2.05,0.00,0.000,6,0.000,0.022,1874,2058,3167,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2231,-1.06,-184.9,510.8,-18.5,130,2236,0.00,2.10,0.00,0.000,4,0.000,0.029,1874,662,3167,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2308,-1.06,-184.9,523.7,-20.2,133,2315,0.00,2.03,0.00,0.000,6,0.000,0.022,1864,2051,3166,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2614,-1.06,-184.9,581.7,-17.4,149,2619,0.00,2.10,0.00,0.000,4,0.000,0.030,1864,663,3164,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2788,-1.06,-184.9,608.1,-16.8,156,2794,0.00,2.05,0.00,0.000,6,0.000,0.024,1854,2050,3162,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3104,-1.06,-184.9,667.7,-18.2,167,3110,0.12,2.10,0.00,0.000,4,0.178,0.028,1890,665,3161,0,0,0,0,0,0,25.74,25.47,28.83
$GC,3178,-1.06,-184.9,678.6,-17.3,169,3183,0.00,2.05,0.00,0.000,6,0.000,0.023,1882,2058,3160,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3502,-1.06,-184.9,731.0,-16.1,180,3508,0.00,2.12,0.00,0.000,4,0.000,0.031,1882,666,3157,0,0,0,0,0,0,28.83,25.49,28.83
$GC,3697,-1.06,-184.9,760.8,-15.6,186,3702,0.00,2.05,0.00,0.000,6,0.000,0.024,1872,2051,3155,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4022,-1.06,-184.9,813.8,-16.0,197,4028,0.00,2.12,0.00,0.000,4,0.000,0.031,1872,661,3153,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4202,-1.06,-184.9,839.2,-16.2,202,4208,0.00,2.08,0.00,0.000,6,0.000,0.024,1861,2058,3152,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4507,-1.06,-184.9,892.2,-16.1,213,4512,0.00,2.12,0.00,0.000,4,0.000,0.031,1861,654,3149,0,0,0,0,0,0,28.83,25.45,28.83
$GC,4610,-1.06,-184.9,908.2,-16.9,216,4616,0.12,2.08,0.00,0.000,6,0.178,0.024,1881,2050,3149,0,0,0,0,0,0,25.18,25.70,28.83
$GC,4937,-1.06,-184.9,956.0,-13.9,227,4943,0.00,2.10,0.00,0.000,4,0.000,0.031,1881,661,3146,0,0,0,0,0,0,28.83,25.41,28.83
$GC,5015,-1.06,-184.9,965.3,-14.1,229,5020,0.00,2.08,0.00,0.000,6,0.000,0.024,1873,2052,3146,0,0,0,0,0,0,28.83,25.69,28.83
$STATE,5181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5181,begin apogee
$GC,5189,-0.21,0.0,991.3,-14.2,235,5355,0.93,0.00,154.80,1.395,6,0.131,0.000,2154,1766,2409,0,0,0,0,0,0,23.75,28.83,22.19
$STATE,5356,end apogee,CONTROL_FINISHED_OK
$STATE,5357,begin climb
$GC,5361,1.06,184.9,997.0,0.0,240,5544,1.20,2.50,172.77,1.335,4,0.054,0.031,2572,3193,1653,0,0,0,0,0,0,23.60,22.70,21.45
$GC,5654,1.06,184.9,958.6,21.8,250,5660,0.00,2.20,0.00,0.000,6,0.000,0.025,2581,1834,1647,0,0,0,0,0,0,28.83,24.08,28.83
$GC,5974,1.06,184.9,887.8,20.9,261,5979,0.00,2.08,0.00,0.000,4,0.000,0.032,2581,3203,1644,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6113,1.06,184.9,861.3,21.3,265,6119,0.00,2.12,0.00,0.000,6,0.000,0.027,2590,1788,1643,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6433,1.06,184.9,793.4,19.8,276,6438,0.00,2.17,0.00,0.000,4,0.000,0.031,2590,3205,1641,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6522,1.06,184.9,779.7,20.5,278,6529,0.15,2.12,0.00,0.000,6,0.207,0.027,2566,1792,1641,0,0,0,0,0,0,24.96,25.70,28.83
$GC,6829,1.06,184.9,716.6,18.3,289,6835,0.00,2.15,0.00,0.000,4,0.000,0.031,2566,3196,1640,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6883,1.06,184.9,709.7,18.7,290,6888,0.00,2.12,0.00,0.000,6,0.000,0.026,2576,1790,1640,0,0,0,0,0,0,28.83,25.66,28.83
$GC,7196,1.06,184.9,646.3,18.4,301,7202,0.00,2.12,0.00,0.000,4,0.000,0.032,2567,3195,1639,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7323,1.06,184.9,622.5,19.2,305,7329,0.00,2.10,0.00,0.000,6,0.000,0.027,2576,1795,1639,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7648,1.06,184.9,563.4,17.4,319,7649,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1795,1638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7951,1.06,184.9,510.7,17.6,334,7957,0.00,2.15,0.00,0.000,4,0.000,0.031,2567,3202,1636,0,0,0,0,0,0,28.83,25.40,28.83
$GC,8066,1.06,184.9,492.4,17.4,339,8071,0.00,2.12,0.00,0.000,6,0.000,0.027,2576,1793,1638,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8380,1.06,184.9,437.2,17.4,355,8386,0.00,2.15,0.00,0.000,4,0.000,0.031,2567,3198,1637,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8615,1.06,184.9,400.6,15.4,366,8621,0.00,2.12,0.00,0.000,6,0.000,0.027,2576,1793,1637,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8929,1.06,184.9,350.5,15.4,382,8934,0.00,2.15,0.00,0.000,4,0.000,0.031,2567,3197,1636,0,0,0,0,0,0,28.83,25.38,28.83
$GC,9084,1.06,184.9,327.7,15.4,389,9090,0.00,2.12,0.00,0.000,6,0.000,0.026,2576,1791,1637,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9399,1.06,184.9,280.7,14.6,405,9405,0.00,2.17,0.00,0.000,4,0.000,0.030,2567,3207,1636,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9635,1.06,184.9,246.6,14.5,416,9641,0.00,2.12,0.00,0.000,6,0.000,0.025,2576,1790,1636,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9950,1.06,184.9,206.0,12.7,432,9955,0.00,2.15,0.00,0.000,4,0.000,0.030,2568,3201,1636,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10140,1.06,184.9,184.5,11.7,441,10146,0.00,2.10,0.00,0.000,6,0.000,0.025,2576,1795,1637,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10459,1.06,184.9,147.8,10.4,457,10465,0.00,2.12,0.00,0.000,4,0.000,0.034,2587,397,1637,0,0,0,0,0,0,28.83,25.28,28.83
$GC,10513,1.06,184.9,143.0,10.8,459,10519,0.00,2.08,0.00,0.000,6,0.000,0.021,2581,1827,1638,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10827,1.16,228.5,118.7,7.9,475,10867,0.00,0.00,34.45,0.744,6,0.000,0.000,2581,1827,1477,0,0,0,0,0,0,28.83,28.83,24.31
$GC,11168,1.30,290.1,89.0,7.3,492,11227,0.15,2.08,50.17,0.717,4,0.099,0.030,2636,3181,1225,0,0,0,0,0,0,25.95,25.53,24.41
$GC,11458,1.30,290.1,49.0,16.3,506,11464,0.00,2.05,0.00,0.000,6,0.000,0.024,2645,1786,1221,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11765,1.30,290.1,6.4,15.0,550,11772,0.00,2.10,0.00,0.000,4,0.000,0.028,2644,3190,1221,0,0,0,0,0,0,28.83,25.60,28.83
$STATE,11792,end climb,SURFACE_DEPTH_REACHED
$STATE,11792,begin surface coast
$FINISH,1.0,1.022389
$STATE,11804,end surface coast,CONTROL_FINISHED_OK
$STATE,11804,begin surface
$SM_CCo,11826,47.75,0.051,0,0,776,400.08
$SM_GC,2.02,7.03,1.73,47.75,0.053,0.024,0.051,64,2062,776,-6.68,1.72,400.08,0,0,0,0,0,0,25.23,25.79,25.46
$IRIDIUM_FIX,1925.22,12425.80,030313,121239
$TT8_MAMPS,0.024717,0.024717
$HUMID,53.58
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3820352
$24V_AH,21.5,106.566
$10V_AH,9.6,68.715
$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,17.400,101.350,412.200,47.750,0.000,0.000,0.000,277.725,0.000,0.000,18.214,2128.100,7247.711,535.587,2022.961,441.770,0.000,1744.521,0.000,1687.580,0.000,0.539,0.000
$DEVICE_MAMPS,240.975,45.900,1394.595,51.255,0.000,0.000,0.000,129.285,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11831.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.346,0.000,0.000,0.000
$MEM,328588
$DATA_FILE_SIZE,20079,557
$CAP_FILE_SIZE,138770,0
$CFSIZE,260034560,200073216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.243, 64.9,1
$GPS,030313,191935,1929.424,12427.166,34,1.0,34,-2.4