version: 66.11
glider: 129
mission: 4
dive: 496
start: 2 28 113 0 3 59
data:
$ID,129
$MISSION,4
$DIVE,496
$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,-3406.2451
$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,26
$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,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,73
$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,0.0020000001
$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
$GPS1,270213,235307,2007.922,12421.273,25,1.5,25,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-66.5
$GPS2,280213,000330,2007.913,12421.309,44,1.2,44,-2.5
$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,184.5,237799,-15.3,-9.429,-18.41
$D_GRID,5440
$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,-0.96,-184.9,0.0,0.0,0,75,0.00,0.00,-52.12,0.000,2,0.000,0.000,57,1912,1847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.96,-184.9,3.2,-3.6,9,131,7.45,2.12,-36.28,0.000,4,0.239,0.042,1831,3322,3165,0,0,0,0,0,0,24.87,25.76,26.45
$GC,214,-0.96,-184.9,35.5,-35.2,30,222,0.00,2.03,0.00,0.000,6,0.000,0.024,1831,1920,3164,0,0,0,0,0,0,28.83,25.88,28.83
$GC,520,-0.96,-184.9,144.6,-34.6,48,526,0.00,2.08,0.00,0.000,4,0.000,0.031,1831,516,3165,0,0,0,0,0,0,28.83,25.69,28.83
$GC,754,-0.96,-184.9,218.3,-29.8,59,761,0.00,2.03,0.00,0.000,6,0.000,0.022,1821,1929,3165,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1069,-0.96,-184.9,316.8,-28.6,75,1075,0.12,2.10,0.00,0.000,4,0.192,0.028,1856,518,3165,0,0,0,0,0,0,25.68,25.66,28.83
$GC,1199,-0.96,-184.9,349.9,-24.6,81,1204,0.00,2.03,0.00,0.000,6,0.000,0.021,1847,1934,3165,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1518,-0.96,-184.9,426.5,-21.8,97,1524,0.00,2.10,0.00,0.000,4,0.000,0.029,1846,530,3165,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1647,-0.96,-184.9,454.8,-22.3,103,1653,0.00,2.03,0.00,0.000,6,0.000,0.021,1837,1922,3165,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1966,-0.96,-184.9,524.0,-21.0,119,1971,0.00,2.08,0.00,0.000,4,0.000,0.029,1837,527,3164,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2151,-0.96,-184.9,561.8,-19.4,128,2156,0.00,2.05,0.00,0.000,6,0.000,0.022,1827,1929,3163,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2477,-0.96,-184.9,630.9,-22.2,142,2484,0.00,2.10,0.00,0.000,4,0.000,0.031,1827,531,3162,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2712,-0.96,-184.9,678.8,-21.3,149,2719,0.12,2.05,0.00,0.000,6,0.187,0.023,1845,1924,3162,0,0,0,0,0,0,25.34,25.90,28.83
$GC,3029,-0.96,-184.9,741.7,-18.1,160,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1924,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3328,-0.96,-184.9,796.7,-18.4,170,3334,0.00,2.12,0.00,0.000,4,0.000,0.031,1846,534,3156,0,0,0,0,0,0,28.83,25.59,28.83
$GC,3513,-0.96,-184.9,831.4,-18.5,176,3519,0.00,2.08,0.00,0.000,6,0.000,0.023,1837,1933,3154,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3851,-0.96,-184.9,891.8,-17.9,187,3857,0.00,2.15,0.00,0.000,4,0.000,0.032,1837,527,3152,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3910,-0.96,-184.9,898.8,-18.0,188,3916,0.00,2.08,0.00,0.000,6,0.000,0.023,1828,1935,3152,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4217,-0.96,-184.9,958.7,-18.0,199,4222,0.00,2.15,0.00,0.000,4,0.000,0.032,1827,528,3149,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4294,-0.96,-184.9,970.5,-18.3,201,4301,0.12,2.10,0.00,0.000,6,0.186,0.024,1845,1956,3148,0,0,0,0,0,0,25.25,25.79,28.83
$STATE,4401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4401,begin apogee
$GC,4409,-0.19,0.0,990.6,-16.0,205,4575,0.80,0.00,154.40,1.385,6,0.139,0.000,2088,1957,2409,0,0,0,0,0,0,24.04,28.83,22.80
$STATE,4576,end apogee,CONTROL_FINISHED_OK
$STATE,4576,begin climb
$GC,4579,0.96,184.9,995.8,0.0,210,4755,1.12,0.00,170.82,1.330,6,0.086,0.000,2460,1958,1655,0,0,0,0,0,0,24.12,28.83,21.79
$GC,5036,0.96,184.9,941.2,14.2,226,5042,0.00,2.03,0.00,0.000,4,0.000,0.036,2461,3291,1646,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5131,0.96,184.9,926.9,14.9,229,5137,0.00,2.08,0.00,0.000,6,0.000,0.028,2470,1899,1645,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5467,0.96,184.9,878.3,14.6,240,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1899,1642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5766,0.96,184.9,834.1,14.7,250,5772,0.00,2.12,0.00,0.000,4,0.000,0.033,2470,3300,1641,0,0,0,0,0,0,28.83,25.64,28.83
$GC,5830,0.96,184.9,824.1,15.1,252,5836,0.00,2.10,0.00,0.000,6,0.000,0.027,2480,1900,1641,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6168,0.96,184.9,776.5,13.9,263,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1900,1639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6465,0.96,184.9,734.8,13.9,273,6470,0.00,2.15,0.00,0.000,4,0.000,0.034,2481,3299,1638,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6548,0.96,184.9,725.2,14.5,275,6553,0.00,2.08,0.00,0.000,6,0.000,0.027,2496,1896,1638,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6862,0.96,184.9,679.0,13.4,286,6867,0.00,2.15,0.00,0.000,4,0.000,0.033,2491,3297,1638,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6975,0.96,184.9,665.9,13.8,289,6981,0.12,2.10,0.00,0.000,6,0.189,0.027,2471,1889,1637,0,0,0,0,0,0,25.19,25.72,28.83
$GC,7293,0.96,184.9,624.8,12.4,300,7299,0.00,2.15,0.00,0.000,4,0.000,0.033,2471,3297,1637,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7327,0.96,184.9,619.7,12.9,301,7332,0.00,2.10,0.00,0.000,6,0.000,0.027,2481,1898,1637,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7644,0.96,184.9,575.6,14.0,314,7650,0.00,2.12,0.00,0.000,4,0.000,0.037,2491,500,1635,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7663,0.96,184.9,575.6,14.0,314,7669,0.00,2.08,0.00,0.000,6,0.000,0.024,2491,1923,1635,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7969,0.96,184.9,530.9,13.5,330,7974,0.00,2.05,0.00,0.000,4,0.000,0.034,2491,3287,1635,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8190,0.96,184.9,502.0,13.6,340,8197,0.12,2.05,0.00,0.000,6,0.177,0.028,2471,1898,1632,0,0,0,0,0,0,25.18,25.68,28.83
$GC,8496,0.96,184.9,461.0,12.3,356,8497,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1898,1634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8799,0.96,184.9,426.4,11.0,371,8800,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1898,1634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9101,0.96,184.9,395.4,10.0,386,9107,0.00,2.15,0.00,0.000,4,0.000,0.036,2481,495,1634,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9129,0.96,184.9,392.6,9.8,387,9135,0.00,2.05,0.00,0.000,6,0.000,0.023,2481,1915,1633,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9448,0.96,184.9,359.2,10.5,403,9449,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1915,1634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9750,0.96,184.9,328.6,10.2,418,9755,0.00,2.05,0.00,0.000,4,0.000,0.032,2481,3286,1634,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9795,0.96,184.9,323.7,10.5,420,9800,0.00,2.10,0.00,0.000,6,0.000,0.026,2489,1888,1634,0,0,0,0,0,0,28.83,25.68,28.83
$GC,10119,0.96,184.9,289.1,11.2,436,10124,0.00,2.10,0.00,0.000,4,0.000,0.031,2489,3278,1634,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10204,0.96,184.9,278.8,12.2,440,10210,0.00,2.08,0.00,0.000,6,0.000,0.025,2499,1894,1635,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10528,0.96,184.9,244.3,10.2,456,10534,0.00,2.12,0.00,0.000,4,0.000,0.031,2499,3288,1635,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10597,0.96,184.9,237.1,11.2,459,10603,0.15,2.05,0.00,0.000,6,0.166,0.025,2470,1896,1636,0,0,0,0,0,0,25.12,25.72,28.83
$GC,10916,0.96,184.9,206.5,9.7,475,10921,0.00,2.12,0.00,0.000,4,0.000,0.031,2470,3283,1636,0,0,0,0,0,0,28.83,25.48,28.83
$GC,11043,0.96,184.9,193.4,10.8,481,11048,0.00,2.08,0.00,0.000,6,0.000,0.025,2479,1898,1636,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11367,1.01,212.5,163.2,8.5,497,11395,0.00,2.12,21.45,0.767,4,0.000,0.034,2487,506,1541,0,0,0,0,0,0,28.83,25.40,24.22
$GC,11429,1.06,236.8,157.6,8.6,500,11457,0.00,2.05,20.98,0.759,6,0.000,0.021,2487,1900,1443,0,0,0,0,0,0,28.83,25.86,24.23
$GC,11771,1.06,236.8,122.7,10.4,517,11776,0.00,2.03,0.00,0.000,4,0.000,0.031,2487,3282,1441,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11941,1.06,236.8,104.4,10.6,525,11946,0.00,2.05,0.00,0.000,6,0.000,0.025,2496,1901,1441,0,0,0,0,0,0,28.83,25.81,28.83
$GC,12259,1.06,236.8,74.1,9.8,541,12261,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1901,1441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12563,1.12,264.6,47.5,8.5,557,12595,0.00,2.15,23.65,0.673,4,0.000,0.030,2496,3284,1329,0,0,0,0,0,0,28.83,25.65,24.37
$GC,12633,1.16,287.4,41.7,8.6,563,12661,0.00,2.03,19.98,0.659,6,0.000,0.025,2505,1898,1236,0,0,0,0,0,0,28.83,25.90,24.32
$GC,12962,1.16,287.4,11.2,9.6,610,12969,0.00,2.08,0.00,0.000,4,0.000,0.034,2515,503,1233,0,0,0,0,0,0,28.83,25.70,28.83
$GC,12987,1.16,287.4,8.7,9.8,614,12994,0.00,2.05,0.00,0.000,6,0.000,0.021,2515,1912,1233,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,13062,end climb,SURFACE_DEPTH_REACHED
$STATE,13062,begin surface coast
$FINISH,1.2,1.012049
$STATE,13083,end surface coast,CONTROL_FINISHED_OK
$STATE,13084,begin surface
$SM_CCo,13102,48.72,0.053,0,0,776,400.08
$SM_GC,1.88,6.60,0.00,48.72,0.050,0.000,0.053,55,1927,776,-6.48,0.06,400.08,0,0,0,0,0,0,25.58,28.83,25.61
$IRIDIUM_FIX,2001.88,12421.52,270213,181821
$TT8_MAMPS,0.024717,0.024717
$HUMID,52.55
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3829984
$24V_AH,21.8,102.801
$10V_AH,9.5,66.325
$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,16.750,104.250,411.275,48.725,0.000,0.000,0.000,360.725,0.000,0.000,45.540,2193.180,8423.233,579.023,2084.309,488.933,0.000,1856.790,0.000,1670.159,0.000,0.540,0.000
$DEVICE_MAMPS,239.445,42.075,1384.650,52.785,0.000,0.000,0.000,128.520,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13120.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.231,0.000,0.000,0.000
$MEM,328788
$DATA_FILE_SIZE,23467,632
$CAP_FILE_SIZE,150000,0
$CFSIZE,260034560,201973760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,231.7,1
$GPS,280213,034427,2005.811,12421.498,11,2.3,30,-2.5