version: 66.11
glider: 129
mission: 4
dive: 252
start: 1 3 113 18 31 11
data:
$ID,129
$MISSION,4
$DIVE,252
$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,-2972.0811
$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,80
$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,0.00039999999
$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
$GPS1,030113,182353,1829.316,12219.372,36,1.5,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-58.5
$GPS2,030113,183043,1829.260,12219.406,14,1.6,14,-2.0
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,3.9,286800,-14.2,-8.462,-17.62
$D_GRID,314
$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,-175.2,0.0,0.0,0,86,0.00,0.00,-65.82,0.000,2,0.000,0.000,58,1883,1805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.2,-5.6,11,139,7.70,2.12,-32.38,0.000,4,0.239,0.047,1966,3288,3125,0,0,0,0,0,0,25.39,26.23,26.63
$GC,222,-0.48,-175.2,29.9,-26.2,33,229,0.15,1.90,0.00,0.000,6,0.160,0.021,2006,1911,3125,0,0,0,0,0,0,25.99,26.39,28.83
$GC,528,-0.44,-175.2,94.8,-17.5,53,533,0.00,1.95,0.00,0.000,4,0.000,0.030,2006,547,3126,0,0,0,0,0,0,28.83,26.39,28.83
$GC,716,-0.41,-175.2,126.8,-16.9,62,721,0.00,1.90,0.00,0.000,6,0.000,0.022,1998,1908,3127,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1034,-0.38,-175.2,176.2,-15.8,78,1040,0.12,1.98,0.00,0.000,4,0.155,0.028,2039,548,3126,0,0,0,0,0,0,26.25,26.40,28.83
$GC,1172,-0.38,-175.2,190.7,-10.3,84,1179,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1942,3127,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1478,-0.38,-175.2,221.0,-8.6,100,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1942,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1780,-0.38,-175.2,247.2,-8.3,115,1785,0.00,2.03,0.00,0.000,4,0.000,0.030,2033,552,3126,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1898,-0.38,-175.2,256.8,-9.2,120,1905,0.00,1.92,0.00,0.000,6,0.000,0.021,2033,1928,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2203,-0.38,-175.2,280.8,-8.0,136,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1932,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2505,-0.38,-175.2,305.3,-8.1,151,2511,0.00,2.03,0.00,0.000,4,0.000,0.030,2033,542,3123,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2573,-0.38,-175.2,310.7,-8.3,154,2578,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1933,3123,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,2609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2609,begin apogee
$GC,2614,-0.17,0.0,314.4,-8.8,156,2753,0.20,0.00,130.77,0.869,6,0.120,0.000,2103,1933,2409,0,0,0,0,0,0,26.19,28.83,24.41
$STATE,2755,end apogee,CONTROL_FINISHED_OK
$STATE,2755,begin climb
$GC,2757,0.54,175.2,319.8,0.0,163,2895,0.68,0.00,134.52,0.849,6,0.090,0.000,2336,1933,1694,0,0,0,0,0,0,25.47,28.83,24.41
$GC,3193,0.61,252.1,296.5,6.0,185,3255,0.00,0.00,59.30,0.839,6,0.000,0.000,2335,1934,1381,0,0,0,0,0,0,28.83,28.83,24.58
$GC,3553,0.69,348.2,273.2,5.3,203,3636,0.12,2.03,76.25,0.832,4,0.093,0.031,2402,3279,988,0,0,0,0,0,0,26.39,25.56,24.56
$GC,3805,0.69,348.2,251.9,9.0,215,3811,0.00,1.95,0.00,0.000,6,0.000,0.024,2402,1913,984,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4118,0.70,348.2,224.4,8.8,231,4123,0.00,2.05,0.00,0.000,4,0.000,0.034,2402,503,982,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4201,0.72,348.2,216.6,9.5,235,4206,0.00,1.98,0.00,0.000,6,0.000,0.020,2402,1907,981,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4525,0.74,348.2,186.1,9.9,251,4530,0.00,1.98,0.00,0.000,4,0.000,0.031,2402,3282,979,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4562,0.76,348.2,183.8,9.8,252,4570,0.00,1.98,0.00,0.000,6,0.000,0.023,2402,1896,979,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4868,0.80,400.8,158.0,6.8,268,4917,0.00,2.10,41.40,0.776,4,0.000,0.034,2403,518,775,0,0,0,0,0,0,28.83,25.82,24.72
$GC,4978,0.83,400.8,149.2,8.7,273,4983,0.00,1.95,0.00,0.000,6,0.000,0.018,2402,1919,772,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5296,0.88,444.1,127.0,7.1,289,5337,0.12,2.08,35.25,0.740,4,0.093,0.031,2470,3272,598,0,0,0,0,0,0,26.42,25.87,24.82
$GC,5385,0.88,444.1,117.7,11.2,293,5391,0.00,1.98,0.00,0.000,6,0.000,0.023,2471,1893,596,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5704,0.89,444.1,81.9,11.6,309,5709,0.00,2.03,0.00,0.000,4,0.000,0.034,2471,511,595,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5792,0.92,444.1,74.0,9.4,313,5797,0.00,1.92,0.00,0.000,6,0.000,0.019,2470,1898,595,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6111,0.98,536.7,51.8,5.5,329,6192,0.00,2.08,71.40,0.675,4,0.000,0.030,2471,3282,221,0,0,0,0,0,0,28.83,25.69,24.74
$GC,6217,1.05,605.4,45.9,6.2,337,6228,0.00,2.00,3.65,0.430,6,0.000,0.022,2470,1893,210,0,0,0,0,0,0,28.83,25.98,24.63
$GC,6528,1.15,735.4,30.2,4.2,368,6534,0.12,2.03,0.00,0.000,4,0.093,0.031,2549,506,209,0,0,0,0,0,0,26.40,26.31,28.83
$GC,6593,1.16,735.4,24.1,9.8,374,6600,0.00,1.98,0.00,0.000,6,0.000,0.020,2549,1927,209,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,6757,end climb,SURFACE_DEPTH_REACHED
$STATE,6758,begin surface coast
$FINISH,0.9,1.022084
$STATE,6770,end surface coast,CONTROL_FINISHED_OK
$STATE,6770,begin surface
$SM_CCo,6845,0.00,0.000,0,0,208,539.91
$SM_GC,1.50,6.38,0.00,0.00,0.046,0.000,0.000,68,1930,208,-6.45,0.11,539.91,0,0,0,0,0,0,26.29,28.83,28.83
$IRIDIUM_FIX,1823.67,12218.16,030113,161632
$TT8_MAMPS,0.023968,0.023968
$HUMID,51.29
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3923616
$24V_AH,24.4,50.027
$10V_AH,10.2,35.153
$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,15.600,51.800,552.550,0.000,0.000,0.000,0.000,250.850,0.000,0.000,15.459,1249.978,3964.681,574.115,1263.804,211.148,0.000,1422.174,0.000,977.123,0.000,0.541,0.000
$DEVICE_MAMPS,238.680,47.430,869.040,0.000,0.000,0.000,0.000,127.755,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6787.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.800,0.000,0.000,0.000
$MEM,308736
$DATA_FILE_SIZE,13484,408
$CAP_FILE_SIZE,94191,0
$CFSIZE,260034560,226566144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183,141.3,1
$GPS,030113,202637,1829.532,12219.795,41,1.2,44,-2.0