version: 66.11
glider: 129
mission: 4
dive: 255
start: 1 4 113 2 27 39
data:
$ID,129
$MISSION,4
$DIVE,255
$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,-2975.8486
$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,75
$R_STBD_OVSHOOT,77
$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
$GPS1,040113,022005,1832.134,12220.536,25,1.7,25,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-60.4
$GPS2,040113,022713,1832.519,12220.429,11,1.9,11,-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,46.4,281400,-14.2,-8.462,-17.62
$D_GRID,582
$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,-175.2,0.0,0.0,0,92,0.00,0.00,-70.88,0.000,2,0.000,0.000,44,1939,1957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.54,-175.2,3.1,-4.4,12,139,8.05,2.10,-25.42,0.000,4,0.248,0.045,1978,536,3127,0,0,0,0,0,0,25.28,26.20,26.56
$GC,148,-0.45,-175.2,13.8,-22.8,20,155,0.15,2.00,0.00,0.000,6,0.157,0.026,2010,1910,3128,0,0,0,0,0,0,25.86,26.22,28.83
$GC,468,-0.41,-175.2,86.1,-16.7,46,475,0.00,2.08,0.00,0.000,4,0.000,0.031,2001,3335,3127,0,0,0,0,0,0,28.83,26.30,28.83
$GC,606,-0.39,-175.2,102.6,-11.7,52,613,0.12,2.00,0.00,0.000,6,0.142,0.021,2037,1904,3126,0,0,0,0,0,0,26.13,26.43,28.83
$GC,913,-0.38,-175.2,143.3,-12.8,68,918,0.00,1.95,0.00,0.000,4,0.000,0.030,2037,546,3129,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1046,-0.38,-175.2,155.8,-9.7,74,1051,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1943,3129,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1359,-0.38,-175.2,185.2,-8.6,90,1364,0.00,2.00,0.00,0.000,4,0.000,0.030,2033,555,3129,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1456,-0.38,-175.2,192.2,-8.4,94,1462,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1934,3128,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1762,-0.38,-175.2,218.8,-9.0,110,1767,0.00,2.03,0.00,0.000,4,0.000,0.029,2034,545,3127,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1808,-0.38,-175.2,222.9,-9.2,112,1814,0.00,1.92,0.00,0.000,6,0.000,0.021,2033,1926,3127,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2126,-0.38,-175.2,248.6,-7.7,128,2132,0.00,1.98,0.00,0.000,4,0.000,0.028,2033,551,3126,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2204,-0.38,-175.2,253.8,-8.0,131,2211,0.00,1.95,0.00,0.000,6,0.000,0.021,2036,1933,3125,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2510,-0.38,-175.2,280.6,-9.3,147,2515,0.00,2.00,0.00,0.000,4,0.000,0.030,2033,550,3124,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2546,-0.38,-175.2,283.0,-9.7,148,2553,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1930,3124,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2853,-0.39,-175.2,312.4,-8.6,164,2858,0.00,2.00,0.00,0.000,4,0.000,0.029,2033,548,3124,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2930,-0.39,-175.2,318.1,-8.9,167,2936,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1924,3123,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3236,-0.40,-175.2,339.1,-6.6,183,3241,0.00,2.00,0.00,0.000,4,0.000,0.031,2033,553,3121,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3269,-0.42,-175.2,340.9,-7.0,184,3274,0.00,1.95,0.00,0.000,6,0.000,0.022,2033,1927,3121,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3582,-0.43,-175.2,364.8,-7.1,200,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1927,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3884,-0.45,-175.2,387.3,-8.0,215,3890,0.00,2.03,0.00,0.000,4,0.000,0.035,2033,3305,3117,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3908,-0.46,-175.2,389.4,-8.1,216,3913,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1924,3116,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4232,-0.48,-175.2,413.0,-6.9,232,4238,0.00,2.00,-0.08,0.000,4,0.000,0.044,2033,548,3142,0,0,0,0,0,0,28.83,26.30,25.44
$GC,4300,-0.49,-175.2,418.2,-7.9,235,4306,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1939,3142,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4620,-0.51,-175.2,442.6,-7.7,251,4626,0.12,2.03,0.00,0.000,4,0.101,0.033,1962,3311,3142,0,0,0,0,0,0,26.44,26.27,28.83
$GC,4647,-0.53,-175.2,445.0,-8.2,252,4653,0.00,1.98,0.00,0.000,6,0.000,0.023,1962,1919,3141,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4965,-0.51,-175.2,482.9,-11.3,268,4972,0.12,2.00,0.00,0.000,4,0.152,0.031,2004,537,3141,0,0,0,0,0,0,26.22,26.29,28.83
$GC,5114,-0.51,-175.2,495.2,-7.9,275,5119,0.00,1.98,0.00,0.000,6,0.000,0.022,1995,1925,3139,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5432,-0.51,-175.2,519.1,-8.0,291,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1925,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5734,-0.51,-175.2,543.1,-8.5,306,5739,0.00,2.03,0.00,0.000,4,0.000,0.031,1996,537,3138,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5757,-0.51,-175.2,545.5,-8.8,307,5762,0.00,2.00,0.00,0.000,6,0.000,0.023,1988,1930,3138,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6080,-0.51,-175.2,576.7,-9.9,323,6085,0.00,2.03,0.00,0.000,4,0.000,0.036,1977,3300,3135,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6104,-0.51,-175.2,579.1,-9.8,324,6109,0.00,1.95,0.00,0.000,6,0.000,0.022,1977,1931,3135,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,6144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6145,begin apogee
$GC,6149,-0.17,0.0,583.2,-9.5,326,6297,0.38,0.00,140.73,1.108,6,0.122,0.000,2102,1921,2409,0,0,0,0,0,0,25.79,28.83,23.80
$STATE,6299,end apogee,CONTROL_FINISHED_OK
$STATE,6299,begin climb
$GC,6301,0.54,175.2,588.7,0.0,333,6454,0.68,2.15,142.85,1.073,4,0.095,0.032,2333,3277,1693,0,0,0,0,0,0,25.08,24.57,23.37
$GC,6476,0.59,280.2,583.2,5.0,342,6574,0.00,2.08,87.68,1.051,6,0.000,0.023,2333,1907,1265,0,0,0,0,0,0,28.83,25.09,23.27
$GC,6874,0.64,335.4,557.4,6.7,362,6926,0.00,2.15,46.10,1.050,4,0.000,0.035,2333,510,1040,0,0,0,0,0,0,28.83,25.44,24.23
$GC,6943,0.68,379.6,553.2,7.0,365,6988,0.15,2.03,38.20,1.030,6,0.089,0.020,2395,1919,861,0,0,0,0,0,0,25.63,25.75,24.08
$GC,7297,0.70,379.6,514.7,11.7,383,7302,0.00,1.98,0.00,0.000,4,0.000,0.034,2395,3258,855,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7364,0.71,379.6,506.7,12.4,386,7370,0.00,1.98,0.00,0.000,6,0.000,0.024,2402,1892,854,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7682,0.71,379.6,468.1,11.9,402,7688,0.00,2.05,0.00,0.000,4,0.000,0.035,2402,509,853,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7720,0.72,379.6,465.5,11.8,403,7727,0.00,1.98,0.00,0.000,6,0.000,0.021,2402,1899,853,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8026,0.73,379.6,428.2,11.9,419,8031,0.00,2.03,0.00,0.000,4,0.000,0.034,2402,3282,851,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8078,0.74,379.6,422.6,12.5,421,8083,0.00,2.00,0.00,0.000,6,0.000,0.024,2402,1897,852,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8391,0.75,379.6,384.7,10.9,437,8397,0.00,2.05,0.00,0.000,4,0.000,0.036,2402,506,851,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8439,0.76,379.6,380.0,10.6,439,8444,0.00,2.00,0.00,0.000,6,0.000,0.021,2402,1903,852,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8757,0.77,379.6,350.0,9.3,455,8762,0.00,2.05,0.00,0.000,4,0.000,0.034,2402,3286,851,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8824,0.79,379.6,343.4,10.2,458,8830,0.00,2.00,0.00,0.000,6,0.000,0.025,2402,1899,850,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9143,0.80,379.6,312.1,9.2,474,9148,0.00,2.03,0.00,0.000,4,0.000,0.036,2402,514,850,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9215,0.82,379.6,306.4,9.0,477,9221,0.00,2.00,0.00,0.000,6,0.000,0.021,2402,1907,850,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9530,0.84,379.6,277.4,9.2,493,9535,0.00,2.03,0.00,0.000,4,0.000,0.034,2402,3292,850,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9587,0.85,379.6,273.1,9.5,495,9595,0.00,2.03,0.00,0.000,6,0.000,0.024,2402,1888,849,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9893,0.87,379.6,242.8,8.9,511,9900,0.10,2.03,0.00,0.000,4,0.115,0.034,2455,504,849,0,0,0,0,0,0,26.46,26.25,28.83
$GC,9937,0.87,379.6,237.6,10.4,513,9944,0.00,2.00,0.00,0.000,6,0.000,0.021,2455,1916,850,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10261,0.87,379.6,196.3,12.5,529,10266,0.00,1.98,0.00,0.000,4,0.000,0.034,2455,3271,850,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10338,0.87,379.6,187.4,14.0,532,10345,0.00,1.98,0.00,0.000,6,0.000,0.025,2462,1886,849,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10644,0.87,379.6,145.6,11.8,548,10649,0.00,2.03,0.00,0.000,4,0.000,0.034,2473,514,849,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10726,0.87,379.6,136.5,11.0,552,10732,0.12,2.00,0.00,0.000,6,0.145,0.021,2438,1920,850,0,0,0,0,0,0,26.06,26.39,28.83
$GC,11051,0.89,388.3,107.6,8.2,568,11065,0.00,2.03,6.95,0.657,4,0.000,0.034,2438,3265,825,0,0,0,0,0,0,28.83,26.16,24.20
$GC,11125,0.92,432.2,103.1,7.0,571,11167,0.00,1.95,37.50,0.758,6,0.000,0.024,2440,1891,647,0,0,0,0,0,0,28.83,26.29,24.49
$GC,11476,0.98,493.9,80.0,6.5,589,11528,0.10,0.00,49.83,0.721,6,0.110,0.000,2491,1891,395,0,0,0,0,0,0,26.34,28.83,24.56
$GC,11817,1.01,498.6,51.1,8.3,606,11824,0.00,0.00,5.05,0.532,6,0.000,0.000,2491,1891,376,0,0,0,0,0,0,28.83,28.83,24.68
$GC,12117,1.04,513.2,27.7,8.0,635,12132,0.00,2.08,8.68,0.579,4,0.000,0.031,2491,3283,315,0,0,0,0,0,0,28.83,26.20,24.90
$GC,12160,1.07,513.2,24.0,8.6,640,12167,0.00,1.98,0.00,0.000,6,0.000,0.022,2491,1897,315,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12474,1.13,567.2,2.4,6.7,701,12481,0.00,0.00,5.35,0.054,2,0.000,0.000,2490,1897,262,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12482,end climb,SURFACE_DEPTH_REACHED
$STATE,12482,begin surface coast
$FINISH,0.7,1.022073
$STATE,12508,end surface coast,CONTROL_FINISHED_OK
$STATE,12508,begin surface
$SM_CCo,12584,0.00,0.000,0,0,261,526.66
$SM_GC,1.51,6.25,0.00,0.00,0.045,0.000,0.000,57,1894,261,-6.46,-0.85,526.66,0,0,0,0,0,0,26.22,28.83,28.83
$IRIDIUM_FIX,1823.67,12215.02,030113,232355
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.18
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3922464
$24V_AH,23.3,50.501
$10V_AH,10.2,35.444
$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,16.350,116.275,568.900,0.000,0.000,0.000,0.000,257.000,0.000,0.000,12.399,2159.950,7964.151,646.556,1936.999,304.325,0.000,1850.827,0.000,1607.111,0.000,0.541,0.000
$DEVICE_MAMPS,247.860,45.135,1108.485,0.000,0.000,0.000,0.000,129.285,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12535.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.201,0.000,0.000,0.000
$MEM,308664
$DATA_FILE_SIZE,26686,707
$CAP_FILE_SIZE,161649,0
$CFSIZE,260034560,226267136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.207,333.3,1
$GPS,040113,055836,1835.219,12220.977,34,1.2,34,-2.1