version: 66.11
glider: 129
mission: 4
dive: 249
start: 1 3 113 12 55 4
data:
$ID,129
$MISSION,4
$DIVE,249
$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,390
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-13
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$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,-2968.3164
$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,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$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,72
$R_STBD_OVSHOOT,99
$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,0.00039999999
$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,22
$MINV_10V,9.5
$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
$GPS1,030113,124736,1829.875,12219.462,40,0.9,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-61.5
$GPS2,030113,125437,1830.023,12219.375,13,0.9,13,-2.0
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,313.8,5901,-14.2,-8.462,-17.62
$D_GRID,293
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.54,-175.2,0.0,0.0,0,74,0.00,0.00,-53.28,0.000,2,0.000,0.000,57,1924,1838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.54,-175.2,3.2,-5.0,9,121,7.88,2.10,-29.60,0.000,4,0.240,0.048,1964,3292,3127,0,0,0,0,0,0,25.14,26.13,26.55
$GC,236,-0.49,-175.2,41.8,-23.2,32,242,0.15,1.98,0.00,0.000,6,0.158,0.024,2004,1914,3127,0,0,0,0,0,0,25.88,26.31,28.83
$GC,550,-0.45,-175.2,98.3,-14.9,49,555,0.00,2.03,0.00,0.000,4,0.000,0.032,1996,3285,3129,0,0,0,0,0,0,28.83,26.29,28.83
$GC,757,-0.44,-175.2,124.3,-12.1,59,764,0.00,1.92,0.00,0.000,6,0.000,0.022,1996,1909,3129,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1076,-0.41,-175.2,166.8,-13.2,75,1082,0.00,1.95,0.00,0.000,4,0.000,0.031,1996,552,3130,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1174,-0.39,-175.2,177.7,-13.0,79,1182,0.15,1.92,0.00,0.000,6,0.145,0.021,2030,1912,3130,0,0,0,0,0,0,26.06,26.43,28.83
$GC,1480,-0.39,-175.2,208.1,-7.9,95,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1912,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1781,-0.39,-175.2,233.9,-9.2,110,1787,0.00,2.00,0.00,0.000,4,0.000,0.031,2030,543,3128,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1869,-0.39,-175.2,242.0,-9.4,114,1874,0.00,1.98,0.00,0.000,6,0.000,0.021,2023,1941,3128,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2186,-0.39,-175.2,270.5,-8.6,130,2191,0.00,2.03,0.00,0.000,4,0.000,0.030,2023,554,3128,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2249,-0.39,-175.2,276.1,-8.8,133,2254,0.00,1.95,0.00,0.000,6,0.000,0.022,2021,1922,3128,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,2450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2450,begin apogee
$GC,2455,-0.17,0.0,293.4,-8.8,143,2594,0.22,0.00,132.30,0.860,6,0.120,0.000,2099,1923,2409,0,0,0,0,0,0,26.10,28.83,24.29
$STATE,2595,end apogee,CONTROL_FINISHED_OK
$STATE,2595,begin climb
$GC,2598,0.54,175.2,299.8,0.0,150,2738,0.65,0.00,134.57,0.841,6,0.093,0.000,2327,1923,1694,0,0,0,0,0,0,25.35,28.83,24.22
$GC,3034,0.61,245.0,280.5,6.2,172,3092,0.00,0.00,53.95,0.829,6,0.000,0.000,2327,1923,1410,0,0,0,0,0,0,28.83,28.83,24.54
$GC,3393,0.68,277.1,252.9,7.4,190,3428,0.12,2.15,25.90,0.806,4,0.097,0.034,2399,533,1278,0,0,0,0,0,0,26.32,25.89,24.76
$GC,3580,0.68,277.1,235.0,10.2,199,3586,0.00,1.98,0.00,0.000,6,0.000,0.021,2399,1921,1274,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3899,0.68,277.1,205.0,9.0,215,3904,0.00,1.98,0.00,0.000,4,0.000,0.031,2399,3271,1271,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3950,0.68,277.1,200.7,9.4,217,3956,0.00,1.95,0.00,0.000,6,0.000,0.023,2404,1904,1272,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4264,0.68,277.1,171.1,8.9,233,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1904,1271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4566,0.69,288.2,146.3,8.1,248,4581,0.00,2.08,8.95,0.699,4,0.000,0.034,2414,508,1235,0,0,0,0,0,0,28.83,26.25,24.72
$GC,4603,0.69,294.0,144.2,8.3,249,4616,0.12,1.98,6.90,0.656,6,0.130,0.020,2377,1906,1210,0,0,0,0,0,0,26.10,26.35,24.79
$GC,4935,0.75,388.7,122.7,5.4,266,5019,0.00,2.12,76.12,0.758,4,0.000,0.032,2377,3269,823,0,0,0,0,0,0,28.83,25.56,24.55
$GC,5071,0.81,442.1,114.7,6.7,272,5121,0.12,2.03,42.88,0.730,6,0.093,0.023,2432,1873,606,0,0,0,0,0,0,25.88,25.98,24.53
$GC,5439,0.86,503.1,85.6,6.5,291,5494,0.00,2.05,48.00,0.712,4,0.000,0.032,2432,517,357,0,0,0,0,0,0,28.83,25.71,24.71
$GC,5528,0.93,589.5,80.9,5.7,295,5563,0.00,1.98,28.75,0.687,6,0.000,0.018,2432,1906,209,0,0,0,0,0,0,28.83,26.01,24.61
$GC,5863,1.02,589.5,50.7,11.5,312,5869,0.12,2.05,0.00,0.000,4,0.114,0.028,2487,500,206,0,0,0,0,0,0,26.27,26.28,28.83
$GC,6002,1.10,589.5,35.9,10.8,324,6009,0.00,1.98,0.00,0.000,6,0.000,0.020,2486,1897,206,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,6280,end climb,SURFACE_DEPTH_REACHED
$STATE,6281,begin surface coast
$FINISH,1.1,1.022227
$STATE,6297,end surface coast,CONTROL_FINISHED_OK
$STATE,6297,begin surface
$SM_CCo,6373,0.00,0.000,0,0,206,540.40
$SM_GC,1.71,6.22,0.00,0.00,0.046,0.000,0.000,66,1907,206,-6.45,-0.51,540.40,0,0,0,0,0,0,26.30,28.83,28.83
$IRIDIUM_FIX,1823.67,12220.08,030113,090914
$TT8_MAMPS,0.024717,0.024717
$HUMID,53.07
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,3924768
$24V_AH,24.2,49.625
$10V_AH,10.0,34.938
$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,15.775,44.150,558.325,0.000,0.000,0.000,0.000,250.725,0.000,0.000,14.080,1139.340,3714.617,517.281,1232.660,191.403,0.000,1356.538,0.000,926.955,0.000,0.539,0.000
$DEVICE_MAMPS,240.210,48.195,859.860,0.000,0.000,0.000,0.000,132.345,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6315.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.683,0.000,0.000,0.000
$MEM,308668
$DATA_FILE_SIZE,13446,374
$CAP_FILE_SIZE,87502,0
$CFSIZE,260034560,226754560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.372,150.3,1
$GPS,030113,144207,1829.634,12219.403,12,2.0,13,-2.0