version: 66.11
glider: 129
mission: 4
dive: 251
start: 1 3 113 16 39 46
data:
$ID,129
$MISSION,4
$DIVE,251
$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,-2970.8276
$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,73
$R_STBD_OVSHOOT,83
$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
$GPS1,030113,163259,1829.719,12219.431,39,1.3,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-58.6
$GPS2,030113,163919,1829.673,12219.467,12,1.3,12,-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,331.6,6349,-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,-175.2,0.0,0.0,0,90,0.00,0.00,-69.62,0.000,2,0.000,0.000,53,1888,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.54,-175.2,3.2,-5.0,12,138,7.85,2.05,-28.52,0.000,4,0.243,0.043,1968,3302,3124,0,0,0,0,0,0,25.35,26.22,26.61
$GC,206,-0.48,-175.2,29.0,-26.3,31,212,0.12,1.95,0.00,0.000,6,0.164,0.021,2001,1911,3124,0,0,0,0,0,0,26.01,26.36,28.83
$GC,521,-0.44,-175.2,94.8,-17.6,51,527,0.00,1.95,0.00,0.000,4,0.000,0.029,2001,535,3124,0,0,0,0,0,0,28.83,26.37,28.83
$GC,734,-0.42,-175.2,126.1,-12.4,61,739,0.00,1.95,0.00,0.000,6,0.000,0.021,1994,1921,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1047,-0.39,-175.2,175.0,-14.8,77,1052,0.12,1.98,0.00,0.000,4,0.157,0.027,2034,546,3126,0,0,0,0,0,0,26.25,26.39,28.83
$GC,1090,-0.37,-175.2,180.0,-13.0,79,1096,0.00,1.95,0.00,0.000,6,0.000,0.021,2027,1937,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1413,-0.37,-175.2,212.8,-8.8,95,1418,0.00,2.03,0.00,0.000,4,0.000,0.030,2027,544,3126,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1451,-0.37,-175.2,214.9,-8.9,96,1457,0.00,1.92,0.00,0.000,6,0.000,0.021,2019,1921,3125,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1756,-0.37,-175.2,246.9,-10.1,112,1761,0.00,2.00,0.00,0.000,4,0.000,0.033,2009,3307,3124,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1808,-0.37,-175.2,251.2,-10.0,114,1813,0.00,1.95,0.00,0.000,6,0.000,0.021,2006,1911,3124,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2121,-0.37,-175.2,284.5,-10.8,130,2127,0.00,1.95,0.00,0.000,4,0.000,0.030,2009,554,3124,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,2202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2202,begin apogee
$GC,2209,-0.17,0.0,293.1,-10.3,134,2347,0.28,0.00,130.70,0.848,6,0.119,0.000,2103,1907,2410,0,0,0,0,0,0,26.08,28.83,24.41
$STATE,2348,end apogee,CONTROL_FINISHED_OK
$STATE,2348,begin climb
$GC,2350,0.54,175.2,298.7,0.0,141,2496,0.65,2.12,133.35,0.831,4,0.093,0.031,2331,3275,1693,0,0,0,0,0,0,25.44,25.40,24.39
$GC,2550,0.58,215.8,289.2,7.1,151,2590,0.00,1.98,32.05,0.801,6,0.000,0.022,2338,1896,1528,0,0,0,0,0,0,28.83,25.98,24.53
$GC,2891,0.62,250.2,265.8,7.3,168,2930,0.00,2.15,27.38,0.801,4,0.000,0.030,2338,3284,1388,0,0,0,0,0,0,28.83,25.90,24.79
$GC,2942,0.66,286.2,263.2,7.3,170,2978,0.00,1.98,29.83,0.794,6,0.000,0.021,2345,1896,1241,0,0,0,0,0,0,28.83,26.06,24.59
$GC,3297,0.72,365.0,239.2,5.9,188,3366,0.12,2.08,62.20,0.811,4,0.095,0.034,2412,521,922,0,0,0,0,0,0,26.39,25.62,24.60
$GC,3385,0.73,365.0,231.9,8.9,192,3390,0.00,2.00,0.00,0.000,6,0.000,0.020,2412,1900,921,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3703,0.75,370.5,202.1,8.3,208,3715,0.00,2.10,5.70,0.630,4,0.000,0.031,2412,3291,897,0,0,0,0,0,0,28.83,26.27,24.77
$GC,3822,0.76,370.5,192.4,9.6,213,3829,0.00,1.98,0.00,0.000,6,0.000,0.024,2412,1897,896,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4128,0.77,370.5,161.5,10.0,229,4133,0.00,2.00,0.00,0.000,4,0.000,0.034,2412,514,895,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4191,0.79,370.5,155.3,9.8,232,4196,0.00,1.98,0.00,0.000,6,0.000,0.019,2412,1920,895,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4516,0.81,370.5,125.1,9.0,248,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1923,894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4816,0.86,421.5,104.6,6.8,263,4863,0.00,2.05,40.88,0.732,4,0.000,0.031,2412,3283,690,0,0,0,0,0,0,28.83,25.84,24.75
$GC,4912,0.89,449.2,98.3,7.6,267,4943,0.10,2.00,23.30,0.702,6,0.106,0.023,2460,1893,577,0,0,0,0,0,0,26.00,26.11,24.72
$GC,5262,0.92,469.7,66.4,7.8,285,5286,0.00,2.05,16.95,0.669,4,0.000,0.031,2470,517,495,0,0,0,0,0,0,28.83,26.11,24.97
$GC,5418,0.96,477.8,54.2,8.2,292,5434,0.00,1.95,7.57,0.589,6,0.000,0.018,2469,1910,462,0,0,0,0,0,0,28.83,26.37,24.93
$GC,5738,1.03,583.7,34.2,5.0,322,5791,0.00,2.10,48.33,0.656,4,0.000,0.031,2470,3279,209,0,0,0,0,0,0,28.83,25.82,24.84
$GC,5817,1.10,658.4,29.8,6.0,329,5823,0.12,1.98,0.00,0.000,6,0.090,0.021,2530,1890,208,0,0,0,0,0,0,25.93,26.03,28.83
$STATE,6075,end climb,SURFACE_DEPTH_REACHED
$STATE,6075,begin surface coast
$FINISH,1.1,1.010337
$STATE,6092,end surface coast,CONTROL_FINISHED_OK
$STATE,6092,begin surface
$SM_CCo,6169,0.00,0.000,0,0,206,540.40
$SM_GC,1.70,6.28,0.00,0.00,0.041,0.000,0.000,66,1887,206,-6.45,-1.10,540.40,0,0,0,0,0,0,26.27,28.83,28.83
$IRIDIUM_FIX,1821.40,12218.86,030113,141445
$TT8_MAMPS,0.024717,0.024717
$HUMID,52.00
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3924000
$24V_AH,24.4,49.892
$10V_AH,10.0,35.079
$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,15.650,56.100,558.225,0.000,0.000,0.000,0.000,223.550,0.000,0.000,13.453,1140.185,3473.647,548.984,1202.990,190.211,0.000,1369.479,0.000,928.172,0.000,0.541,0.000
$DEVICE_MAMPS,242.505,42.840,848.385,0.000,0.000,0.000,0.000,128.520,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6102.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.144,0.000,0.000,0.000
$MEM,308664
$DATA_FILE_SIZE,13449,378
$CAP_FILE_SIZE,90890,0
$CFSIZE,260034560,226627584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.296,162.7,1
$GPS,030113,182353,1829.316,12219.372,36,1.5,41,-2.0