version: 66.11
glider: 129
mission: 4
dive: 253
start: 1 3 113 20 34 5
data:
$ID,129
$MISSION,4
$DIVE,253
$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,-2973.3364
$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,78
$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
$GPS1,030113,202637,1829.532,12219.795,41,1.2,44,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-58.1
$GPS2,030113,203339,1829.573,12219.768,12,2.6,31,-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,5.7,285946,-14.2,-8.462,-17.62
$D_GRID,436
$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,-175.2,0.0,0.0,0,92,0.00,0.00,-71.12,0.000,2,0.000,0.000,61,1934,1941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.54,-175.2,3.3,-5.8,12,139,7.75,2.05,-27.20,0.000,4,0.241,0.047,1966,3296,3126,0,0,0,0,0,0,25.36,26.25,26.64
$GC,201,-0.48,-175.2,26.1,-26.1,30,208,0.15,1.95,0.00,0.000,6,0.161,0.023,2006,1912,3126,0,0,0,0,0,0,25.98,26.38,28.83
$GC,508,-0.43,-175.2,104.3,-18.0,50,513,0.00,1.98,0.00,0.000,4,0.000,0.030,2006,534,3127,0,0,0,0,0,0,28.83,26.39,28.83
$GC,645,-0.38,-175.2,128.7,-20.5,56,653,0.10,1.98,0.00,0.000,6,0.129,0.021,2046,1913,3128,0,0,0,0,0,0,26.10,26.46,28.83
$GC,951,-0.38,-175.2,163.2,-9.0,72,956,0.00,2.05,0.00,0.000,4,0.000,0.033,2037,3320,3128,0,0,0,0,0,0,28.83,26.36,28.83
$GC,997,-0.38,-175.2,167.0,-8.8,74,1002,0.00,1.92,0.00,0.000,6,0.000,0.021,2037,1917,3128,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1315,-0.38,-175.2,199.3,-11.5,90,1321,0.00,1.95,0.00,0.000,4,0.000,0.030,2037,552,3128,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1528,-0.38,-175.2,224.6,-11.7,100,1533,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1933,3127,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1841,-0.38,-175.2,255.1,-8.7,116,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1934,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2143,-0.38,-175.2,278.7,-7.5,131,2148,0.00,2.03,0.00,0.000,4,0.000,0.029,2033,544,3124,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2186,-0.38,-175.2,282.7,-8.0,133,2191,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1939,3124,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2510,-0.38,-175.2,306.8,-7.4,149,2515,0.00,2.00,0.00,0.000,4,0.000,0.030,2033,553,3124,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2547,-0.38,-175.2,308.6,-7.5,150,2554,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1933,3123,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2854,-0.39,-175.2,330.9,-6.7,166,2860,0.00,2.00,0.00,0.000,4,0.000,0.029,2034,546,3122,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2903,-0.41,-175.2,334.3,-7.1,168,2908,0.00,1.92,0.00,0.000,6,0.000,0.021,2034,1925,3122,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3221,-0.42,-175.2,354.1,-6.1,184,3227,0.00,2.00,0.00,0.000,4,0.000,0.030,2033,543,3120,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3245,-0.43,-175.2,355.8,-6.6,185,3250,0.00,1.95,0.00,0.000,6,0.000,0.021,2034,1930,3121,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3569,-0.44,-175.2,377.7,-7.9,201,3574,0.00,2.03,0.00,0.000,4,0.000,0.028,2034,546,3118,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3586,-0.46,-175.2,377.7,-7.9,201,3593,0.00,1.95,0.00,0.000,6,0.000,0.022,2033,1929,3118,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3893,-0.47,-175.2,401.7,-7.2,217,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1933,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4193,-0.49,-175.2,423.2,-9.2,232,4195,0.00,0.00,-0.10,0.000,6,0.000,0.000,2033,1931,3135,0,0,0,0,0,0,28.83,28.83,25.97
$STATE,4351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4351,begin apogee
$GC,4356,-0.17,0.0,436.2,-7.8,240,4499,0.20,0.00,136.57,0.976,6,0.122,0.000,2103,1931,2410,0,0,0,0,0,0,26.17,28.83,24.22
$STATE,4500,end apogee,CONTROL_FINISHED_OK
$STATE,4501,begin climb
$GC,4502,0.54,175.2,438.9,0.0,247,4655,0.65,2.15,136.68,0.946,4,0.091,0.032,2332,3291,1692,0,0,0,0,0,0,25.37,25.26,24.18
$GC,4681,0.56,175.2,423.1,11.1,256,4686,0.00,2.00,0.00,0.000,6,0.000,0.023,2340,1910,1690,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4999,0.58,175.2,397.3,8.7,272,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1910,1685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5301,0.61,225.1,380.1,6.8,287,5349,0.00,2.15,39.12,0.929,4,0.000,0.033,2340,3286,1490,0,0,0,0,0,0,28.83,25.73,24.56
$GC,5372,0.64,261.3,375.6,7.3,290,5411,0.00,2.03,29.85,0.905,6,0.000,0.022,2347,1891,1344,0,0,0,0,0,0,28.83,25.99,24.44
$GC,5725,0.68,296.9,352.3,7.3,308,5764,0.00,2.10,29.42,0.907,4,0.000,0.035,2347,525,1198,0,0,0,0,0,0,28.83,25.82,24.65
$GC,5787,0.71,320.9,347.5,7.7,311,5816,0.12,1.98,20.83,0.881,6,0.096,0.021,2400,1919,1099,0,0,0,0,0,0,25.94,26.06,24.51
$GC,6129,0.71,320.9,312.0,9.7,328,6134,0.00,1.98,0.00,0.000,4,0.000,0.033,2401,3272,1094,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6205,0.71,320.9,305.9,9.6,331,6213,0.00,1.95,0.00,0.000,6,0.000,0.024,2407,1895,1092,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6511,0.71,320.9,274.7,9.9,347,6518,0.00,2.03,0.00,0.000,4,0.000,0.035,2412,516,1092,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6549,0.71,320.9,272.1,10.3,348,6556,0.00,1.95,0.00,0.000,6,0.000,0.021,2412,1911,1091,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6855,0.71,320.9,237.3,10.8,364,6861,0.00,2.00,0.00,0.000,4,0.000,0.033,2412,3278,1090,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6943,0.71,320.9,227.8,11.4,368,6949,0.00,1.95,0.00,0.000,6,0.000,0.023,2412,1897,1090,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7261,0.71,320.9,193.4,11.7,384,7266,0.00,2.03,0.00,0.000,4,0.000,0.035,2412,518,1089,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7333,0.72,320.9,186.6,11.0,387,7339,0.00,1.92,0.00,0.000,6,0.000,0.020,2412,1891,1089,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7648,0.73,320.9,154.8,9.4,403,7649,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1895,1089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7949,0.77,367.9,130.0,6.9,418,7993,0.00,2.10,37.45,0.770,4,0.000,0.029,2412,3292,909,0,0,0,0,0,0,28.83,25.84,24.66
$GC,8057,0.80,390.7,122.1,7.7,423,8081,0.00,2.00,19.83,0.732,6,0.000,0.024,2412,1896,816,0,0,0,0,0,0,28.83,26.13,24.68
$GC,8394,0.86,467.6,97.3,6.0,440,8464,0.00,2.10,61.47,0.731,4,0.000,0.034,2412,514,502,0,0,0,0,0,0,28.83,25.64,24.64
$GC,8517,0.94,550.0,90.0,5.8,446,8581,0.15,2.03,56.03,0.708,6,0.083,0.019,2481,1921,209,0,0,0,0,0,0,25.94,26.06,24.58
$GC,8900,1.01,643.2,55.1,5.4,465,8905,0.00,1.98,0.00,0.000,4,0.000,0.028,2481,3285,206,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8938,1.08,746.7,54.4,5.1,466,8945,0.00,2.00,0.00,0.000,6,0.000,0.023,2481,1886,206,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9244,1.18,883.4,29.6,4.0,495,9250,0.12,2.00,0.00,0.000,4,0.093,0.031,2552,514,205,0,0,0,0,0,0,26.45,26.34,28.83
$GC,9293,1.20,883.4,25.7,8.6,499,9300,0.00,1.92,0.00,0.000,6,0.000,0.019,2552,1898,205,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,9462,end climb,SURFACE_DEPTH_REACHED
$STATE,9462,begin surface coast
$FINISH,0.9,1.022521
$STATE,9479,end surface coast,CONTROL_FINISHED_OK
$STATE,9479,begin surface
$SM_CCo,9554,0.00,0.000,0,0,205,540.64
$SM_GC,1.52,6.30,0.00,0.00,0.038,0.000,0.000,53,1903,205,-6.47,-0.71,540.64,0,0,0,0,0,0,26.34,28.83,28.83
$IRIDIUM_FIX,1823.67,12220.08,030113,181825
$TT8_MAMPS,0.023968,0.023968
$HUMID,53.74
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3923232
$24V_AH,24.2,50.176
$10V_AH,10.0,35.242
$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,15.550,79.950,567.250,0.000,0.000,0.000,0.000,244.200,0.000,0.000,33.271,1596.342,5993.820,592.634,1557.889,241.724,0.000,1601.693,0.000,1236.450,0.000,0.541,0.000
$DEVICE_MAMPS,240.975,47.430,976.140,0.000,0.000,0.000,0.000,129.285,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9495.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.071,0.000,0.000,0.000
$MEM,308676
$DATA_FILE_SIZE,20053,535
$CAP_FILE_SIZE,122889,0
$CFSIZE,260034560,226459648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,145.9,1
$GPS,030113,231407,1830.387,12220.146,9,1.9,9,-2.0