version: 66.11
glider: 129
mission: 4
dive: 246
start: 1 3 113 2 37 58
data:
$ID,129
$MISSION,4
$DIVE,246
$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,-2964.5415
$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,100
$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
$GPS1,030113,022935,1828.603,12223.884,26,1.9,26,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-60.1
$GPS2,030113,023731,1828.806,12223.808,12,1.8,12,-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,278.1,13957,-14.2,-8.462,-17.62
$D_GRID,792
$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,19,-0.54,-175.2,0.0,0.0,0,86,0.00,0.00,-65.03,0.000,2,0.000,0.000,99,1927,1784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.1,-4.5,11,139,8.38,2.03,-32.60,0.000,4,0.246,0.047,2028,3279,3125,3,0,0,0,0,0,24.89,26.06,26.50
$GC,262,-0.53,-175.2,27.4,-14.9,41,269,0.25,1.95,0.00,0.000,6,0.068,0.022,1967,1905,3125,0,0,0,0,0,0,26.13,26.27,28.83
$GC,577,-0.47,-175.2,103.5,-22.1,62,583,0.12,1.95,0.00,0.000,4,0.164,0.028,2005,541,3125,0,0,0,0,0,0,26.12,26.28,28.83
$GC,590,-0.42,-175.2,103.5,-22.1,62,595,0.00,1.92,0.00,0.000,6,0.000,0.020,1997,1906,3126,0,0,0,0,0,0,28.83,26.38,28.83
$GC,903,-0.40,-175.2,147.6,-12.7,78,909,0.12,2.03,0.00,0.000,4,0.155,0.032,2029,3299,3127,0,0,0,0,0,0,26.20,26.27,28.83
$GC,1083,-0.41,-175.2,161.5,-8.4,86,1089,0.00,1.95,0.00,0.000,6,0.000,0.021,2029,1916,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1388,-0.41,-175.2,194.5,-9.6,102,1394,0.00,2.00,0.00,0.000,4,0.000,0.031,2029,534,3126,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1547,-0.41,-175.2,207.5,-8.6,109,1554,0.00,1.98,0.00,0.000,6,0.000,0.021,2022,1927,3126,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1854,-0.41,-175.2,236.6,-9.7,125,1860,0.00,2.03,0.00,0.000,4,0.000,0.030,2023,544,3125,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2088,-0.41,-175.2,259.2,-10.4,136,2093,0.00,1.98,0.00,0.000,6,0.000,0.023,2019,1929,3124,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2400,-0.41,-175.2,292.0,-10.1,152,2406,0.00,2.05,0.00,0.000,4,0.000,0.031,2019,533,3123,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2519,-0.41,-175.2,304.0,-12.0,157,2526,0.00,2.00,0.00,0.000,6,0.000,0.022,2012,1937,3123,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2823,-0.41,-175.2,334.5,-8.7,173,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1937,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3126,-0.41,-175.2,353.7,-5.3,188,3131,0.00,2.00,0.00,0.000,4,0.000,0.035,2002,3303,3119,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3149,-0.41,-175.2,355.0,-5.1,189,3155,0.00,1.98,0.00,0.000,6,0.000,0.023,2002,1926,3119,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3472,-0.41,-175.2,376.3,-7.6,205,3478,0.00,2.03,0.00,0.000,4,0.000,0.032,2002,540,3116,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3560,-0.41,-175.2,384.4,-9.6,209,3566,0.12,1.98,0.00,0.000,6,0.149,0.023,2029,1922,3116,0,0,0,0,0,0,26.06,26.39,28.83
$GC,3878,-0.42,-175.2,412.1,-9.1,225,3884,0.00,2.08,-0.08,0.000,4,0.000,0.044,2029,537,3142,0,0,0,0,0,0,28.83,26.27,25.40
$GC,3917,-0.44,-175.2,414.3,-9.0,226,3923,0.00,2.00,0.00,0.000,6,0.000,0.022,2023,1934,3142,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4222,-0.45,-175.2,440.6,-7.2,242,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1935,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4525,-0.46,-175.2,457.7,-5.1,257,4530,0.00,2.08,0.00,0.000,4,0.000,0.033,2023,535,3140,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4590,-0.47,-175.2,461.5,-5.7,260,4595,0.00,2.03,0.00,0.000,6,0.000,0.023,2023,1923,3140,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4913,-0.49,-175.2,481.2,-7.2,276,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1924,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5215,-0.50,-175.2,500.3,-5.4,291,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1923,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5515,-0.52,-175.2,518.5,-6.6,306,5520,0.00,2.08,0.00,0.000,4,0.000,0.034,2023,531,3137,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5578,-0.53,-175.2,523.5,-7.3,309,5585,0.12,2.00,0.00,0.000,6,0.101,0.024,1966,1936,3136,0,0,0,0,0,0,26.20,26.36,28.83
$GC,5903,-0.52,-175.2,559.3,-11.0,325,5908,0.00,2.08,0.00,0.000,4,0.000,0.033,1966,540,3134,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5990,-0.51,-175.2,568.6,-11.1,329,5996,0.12,1.98,0.00,0.000,6,0.156,0.024,1992,1924,3133,0,0,0,0,0,0,26.00,26.35,28.83
$GC,6308,-0.51,-175.2,594.1,-7.9,345,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1926,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6631,-0.57,-175.2,608.0,0.0,357,6636,0.00,2.08,0.00,0.000,4,0.000,0.033,1992,532,3131,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,6722,end dive,NO_VERTICAL_VELOCITY
$STATE,6722,begin apogee
$GC,6729,-0.17,0.0,608.2,0.0,360,6880,0.30,0.00,142.23,1.132,6,0.087,0.000,2110,1897,2409,0,0,0,0,0,0,26.11,28.83,23.48
$STATE,6882,end apogee,CONTROL_FINISHED_OK
$STATE,6882,begin climb
$GC,6884,0.54,175.2,608.1,0.0,365,7040,0.62,2.30,147.05,1.091,4,0.077,0.035,2333,3290,1695,0,0,0,0,0,0,24.85,23.91,22.67
$GC,7247,0.54,175.2,594.1,9.3,378,7252,0.00,2.05,0.00,0.000,6,0.000,0.026,2334,1905,1688,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7560,0.58,273.7,573.7,5.3,394,7650,0.00,2.22,81.07,1.089,4,0.000,0.034,2333,3288,1291,0,0,0,0,0,0,28.83,25.13,23.91
$GC,7728,0.60,273.7,561.1,8.8,402,7733,0.00,2.08,0.00,0.000,6,0.000,0.025,2333,1889,1286,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8046,0.63,305.4,535.9,7.4,418,8079,0.00,2.17,26.48,1.047,4,0.000,0.035,2333,3290,1163,0,0,0,0,0,0,28.83,25.67,24.35
$GC,8108,0.67,336.9,531.2,7.4,421,8142,0.12,2.08,28.10,1.037,6,0.106,0.024,2382,1886,1035,0,0,0,0,0,0,25.77,25.89,24.13
$GC,8451,0.68,337.6,501.0,8.4,438,8456,0.00,2.12,0.00,0.000,4,0.000,0.033,2382,3297,1028,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8483,0.69,337.6,498.8,8.6,439,8489,0.00,2.03,0.00,0.000,6,0.000,0.026,2386,1897,1028,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8798,0.70,337.6,471.1,8.6,455,8803,0.00,2.08,0.00,0.000,4,0.000,0.037,2386,504,1027,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8832,0.71,337.6,469.0,8.8,456,8837,0.00,2.03,0.00,0.000,6,0.000,0.021,2386,1921,1026,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9145,0.72,337.6,438.3,9.9,472,9151,0.00,2.03,0.00,0.000,4,0.000,0.034,2386,3286,1026,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9193,0.72,337.6,433.3,10.8,474,9198,0.00,2.03,0.00,0.000,6,0.000,0.025,2386,1892,1025,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9512,0.74,337.6,397.3,10.9,490,9517,0.00,2.05,0.00,0.000,4,0.000,0.036,2386,510,1025,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9549,0.75,337.6,394.9,10.7,491,9556,0.00,1.98,0.00,0.000,6,0.000,0.021,2386,1903,1023,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9855,0.76,337.6,362.3,10.4,507,9860,0.00,2.03,0.00,0.000,4,0.000,0.033,2386,3283,1024,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9962,0.76,337.6,350.9,11.4,512,9967,0.00,2.00,0.00,0.000,6,0.000,0.025,2386,1900,1024,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10281,0.78,337.6,320.3,9.0,528,10286,0.00,2.05,0.00,0.000,4,0.000,0.037,2386,511,1023,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10318,0.79,337.6,318.3,9.1,529,10325,0.00,2.00,0.00,0.000,6,0.000,0.021,2386,1911,1024,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10625,0.81,361.2,290.8,7.7,545,10651,0.10,2.10,20.40,0.914,4,0.116,0.034,2430,3279,936,0,0,0,0,0,0,26.46,25.96,24.49
$GC,10704,0.81,361.2,283.9,9.8,548,10711,0.00,2.03,0.00,0.000,6,0.000,0.025,2430,1885,934,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11008,0.81,361.2,245.1,12.7,564,11010,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1885,934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11310,0.81,361.2,207.9,11.6,579,11315,0.00,2.10,0.00,0.000,4,0.000,0.033,2430,3281,933,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11388,0.81,361.2,200.4,11.8,582,11395,0.00,2.00,0.00,0.000,6,0.000,0.025,2436,1888,932,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11693,0.81,361.2,161.4,11.2,598,11698,0.00,2.05,0.00,0.000,4,0.000,0.035,2446,500,932,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11746,0.81,361.2,156.1,11.4,600,11751,0.00,2.00,0.00,0.000,6,0.000,0.021,2447,1911,932,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12059,0.81,361.2,117.5,11.1,616,12060,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1911,932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12362,0.83,374.0,92.8,8.0,631,12381,0.00,2.15,11.62,0.721,4,0.000,0.034,2450,507,884,0,0,0,0,0,0,28.83,26.16,24.63
$GC,12399,0.85,386.0,90.9,8.1,632,12415,0.00,1.98,11.57,0.710,6,0.000,0.019,2450,1896,834,0,0,0,0,0,0,28.83,26.28,24.65
$GC,12728,0.88,398.4,63.2,8.1,649,12746,0.00,0.00,11.40,0.680,6,0.000,0.000,2450,1896,783,0,0,0,0,0,0,28.83,28.83,24.79
$GC,13049,0.96,524.8,44.3,4.4,671,13159,0.00,2.17,99.78,0.693,4,0.000,0.034,2450,514,269,0,0,0,0,0,0,28.83,25.41,24.41
$GC,13201,1.07,647.5,36.4,4.5,685,13220,0.15,2.00,12.18,0.620,6,0.090,0.018,2509,1924,210,0,0,0,0,0,0,25.67,25.84,24.48
$GC,13519,1.09,647.5,13.9,10.6,731,13527,0.00,2.10,0.00,0.000,4,0.000,0.034,2509,510,209,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13565,1.12,647.5,10.0,10.3,739,13573,0.00,1.92,0.00,0.000,6,0.000,0.018,2509,1922,208,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,13659,end climb,SURFACE_DEPTH_REACHED
$STATE,13659,begin surface coast
$FINISH,0.8,1.010744
$STATE,13680,end surface coast,CONTROL_FINISHED_OK
$STATE,13680,begin surface
$SM_CCo,13755,0.00,0.000,0,0,208,539.91
$SM_GC,1.57,6.32,0.00,0.00,0.047,0.000,0.000,57,1925,208,-6.46,0.00,539.91,0,0,0,0,0,0,26.20,28.83,28.83
$IRIDIUM_FIX,1821.40,12228.27,020113,222246
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.80
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3925920
$24V_AH,22.7,49.178
$10V_AH,10.1,34.673
$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,16.875,114.125,591.875,0.000,0.000,0.000,0.000,293.650,0.000,0.000,13.671,2368.772,8738.793,654.345,2148.358,316.465,0.000,1971.109,0.000,1784.732,0.000,0.539,0.000
$DEVICE_MAMPS,245.565,47.430,1132.200,0.000,0.000,0.000,0.000,133.110,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13697.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.059,0.000,0.000,0.000
$MEM,308664
$DATA_FILE_SIZE,26733,761
$CAP_FILE_SIZE,172413,0
$CFSIZE,260034560,226906112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0,0
$CURRENT,0.114,352.0,1
$GPS,030113,062835,1829.472,12221.966,37,1.2,43,-2.0