version: 66.11
glider: 129
mission: 4
dive: 410
start: 2 9 113 22 23 53
data:
$ID,129
$MISSION,4
$DIVE,410
$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,-13
$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,-3268.9248
$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,125
$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,58
$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,21.5
$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
$GPS1,090213,221506,1826.594,12226.111,37,1.0,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-59.9
$GPS2,090213,222325,1826.949,12225.981,14,1.1,14,-2.0
$SPEED_LIMITS,0.163,0.283
$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,275.5,18824,-15.3,-9.429,-18.41
$D_GRID,986
$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,17,begin dive
$GC,20,-0.58,-184.9,0.0,0.0,0,86,0.00,0.00,-64.05,0.000,2,0.000,0.000,48,1909,1769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.58,-184.9,3.2,-4.9,11,140,7.95,2.17,-36.28,0.000,4,0.234,0.044,1957,3338,3164,0,0,0,0,0,0,24.66,26.03,26.56
$GC,264,-0.53,-184.9,40.2,-25.0,37,270,0.12,2.03,0.00,0.000,6,0.158,0.022,1989,1909,3164,0,0,0,0,0,0,25.84,26.23,28.83
$GC,589,-0.50,-184.9,115.2,-19.0,55,594,0.00,1.95,0.00,0.000,4,0.000,0.028,1989,539,3165,0,0,0,0,0,0,28.83,26.16,28.83
$GC,823,-0.49,-184.9,148.2,-12.5,66,828,0.00,2.00,0.00,0.000,6,0.000,0.021,1980,1946,3165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1137,-0.47,-184.9,190.9,-11.9,82,1143,0.00,2.03,0.00,0.000,4,0.000,0.025,1980,534,3166,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1297,-0.47,-184.9,209.5,-11.4,89,1304,0.12,2.00,0.00,0.000,6,0.145,0.021,2006,1937,3166,0,0,0,0,0,0,25.95,26.27,28.83
$GC,1603,-0.47,-184.9,241.3,-9.4,105,1608,0.00,2.05,0.00,0.000,4,0.000,0.028,2006,538,3165,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1742,-0.47,-184.9,252.1,-9.0,111,1748,0.00,1.98,0.00,0.000,6,0.000,0.021,1998,1928,3165,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2048,-0.47,-184.9,279.5,-8.4,127,2053,0.00,2.03,0.00,0.000,4,0.000,0.034,1988,3302,3164,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2071,-0.47,-184.9,281.5,-8.5,128,2076,0.00,1.98,0.00,0.000,6,0.000,0.020,1988,1900,3163,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2395,-0.47,-184.9,314.1,-10.8,144,2400,0.00,1.92,0.00,0.000,4,0.000,0.029,1987,557,3163,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2575,-0.47,-184.9,333.6,-12.3,152,2582,0.00,1.95,0.00,0.000,6,0.000,0.021,1978,1920,3163,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2880,-0.47,-184.9,371.4,-11.4,168,2886,0.00,2.05,0.00,0.000,4,0.000,0.034,1968,3306,3160,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2965,-0.47,-184.9,380.3,-10.6,172,2971,0.15,1.98,0.00,0.000,6,0.130,0.021,2013,1916,3160,0,0,0,0,0,0,25.92,26.29,28.83
$GC,3290,-0.49,-184.9,411.8,-9.9,188,3295,0.00,1.98,0.00,0.000,4,0.000,0.029,2013,549,3157,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3455,-0.50,-184.9,423.3,-5.6,196,3461,0.00,2.00,0.00,0.000,6,0.000,0.021,2004,1942,3156,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3779,-0.52,-184.9,441.3,-6.5,212,3785,0.00,2.10,-0.08,0.000,4,0.000,0.040,2004,545,3182,0,0,0,0,0,0,28.83,26.13,25.25
$GC,3813,-0.53,-184.9,443.0,-6.7,213,3819,0.00,1.98,0.00,0.000,6,0.000,0.021,1996,1928,3182,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4128,-0.53,-184.9,473.7,-11.2,229,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1928,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4430,-0.54,-184.9,499.8,-7.0,244,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1928,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4730,-0.55,-184.9,517.9,-6.9,259,4735,0.00,2.05,0.00,0.000,4,0.000,0.030,1995,545,3179,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4814,-0.55,-184.9,523.9,-6.9,263,4819,0.00,2.00,0.00,0.000,6,0.000,0.021,1987,1928,3178,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5137,-0.55,-184.9,543.8,-7.0,279,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1928,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5441,-0.55,-184.9,565.8,-7.3,294,5446,0.00,2.05,0.00,0.000,4,0.000,0.030,1987,552,3175,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5505,-0.55,-184.9,571.0,-7.7,297,5510,0.00,1.98,0.00,0.000,6,0.000,0.021,1978,1933,3175,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5828,-0.55,-184.9,602.1,-10.1,313,5835,0.00,2.08,0.00,0.000,4,0.000,0.031,1978,544,3173,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5871,-0.55,-184.9,606.2,-11.1,314,5878,0.00,1.98,0.00,0.000,6,0.000,0.022,1969,1910,3172,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6197,-0.55,-184.9,643.5,-10.9,325,6202,0.00,2.03,0.00,0.000,4,0.000,0.031,1969,557,3171,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6235,-0.55,-184.9,647.1,-10.9,326,6240,0.00,1.98,0.00,0.000,6,0.000,0.023,1960,1938,3170,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,6531,end dive,NO_VERTICAL_VELOCITY
$STATE,6531,begin apogee
$GC,6539,-0.17,0.0,655.5,0.0,336,6699,0.40,0.00,153.70,1.160,6,0.077,0.000,2115,1943,2409,0,0,0,0,0,0,25.93,28.83,23.22
$STATE,6700,end apogee,CONTROL_FINISHED_OK
$STATE,6700,begin climb
$GC,6703,0.58,184.9,655.4,0.0,341,6868,0.65,2.15,154.70,1.124,4,0.079,0.033,2347,3286,1655,0,0,0,0,0,0,25.17,25.10,23.33
$GC,6881,0.68,393.1,652.5,2.3,347,7063,0.00,2.03,175.40,1.106,6,0.000,0.021,2356,1916,806,0,0,0,0,0,0,28.83,25.56,23.42
$GC,7390,0.75,473.0,622.4,6.7,364,7466,0.12,2.22,69.60,1.095,4,0.100,0.034,2421,515,480,0,0,0,0,0,0,26.25,25.33,23.63
$GC,7504,0.78,473.0,612.6,9.9,367,7512,0.00,2.03,0.00,0.000,6,0.000,0.020,2421,1907,478,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7822,0.80,473.0,572.6,12.7,382,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1914,476,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8124,0.82,473.0,530.8,14.7,397,8129,0.00,2.10,0.00,0.000,4,0.000,0.034,2426,516,475,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8171,0.84,473.0,524.7,13.4,399,8176,0.00,2.00,0.00,0.000,6,0.000,0.020,2426,1912,475,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8490,0.86,473.0,481.4,13.3,415,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1915,474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8791,0.88,473.0,444.0,11.9,430,8798,0.00,2.10,0.00,0.000,4,0.000,0.034,2433,511,474,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8841,0.90,473.0,438.3,11.9,432,8847,0.00,2.03,0.00,0.000,6,0.000,0.020,2433,1926,475,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9161,0.92,473.0,399.0,12.3,448,9162,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1931,474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9463,0.93,473.0,364.2,11.2,463,9468,0.00,2.12,0.00,0.000,4,0.000,0.034,2441,515,475,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9490,0.95,473.0,361.0,11.5,464,9496,0.00,2.00,0.00,0.000,6,0.000,0.020,2441,1911,474,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9809,0.97,473.0,322.1,12.8,480,9815,0.00,2.03,0.00,0.000,4,0.000,0.033,2441,3281,474,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9847,0.99,473.0,318.8,13.0,481,9856,0.10,2.00,0.00,0.000,6,0.116,0.024,2485,1906,474,0,0,0,0,0,0,26.05,26.20,28.83
$GC,10153,0.99,473.0,269.2,15.7,497,10159,0.00,2.08,0.00,0.000,4,0.000,0.034,2495,511,474,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10268,0.99,473.0,252.5,15.9,502,10273,0.00,2.00,0.00,0.000,6,0.000,0.020,2495,1900,473,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10581,0.99,473.0,200.8,15.2,518,10587,0.00,2.10,0.00,0.000,4,0.000,0.034,2504,504,473,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10605,0.99,473.0,197.2,15.2,519,10610,0.00,2.03,0.00,0.000,6,0.000,0.020,2504,1912,474,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10928,0.99,473.0,146.6,14.1,535,10934,0.00,2.12,0.00,0.000,4,0.000,0.033,2512,502,473,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10961,0.99,473.0,143.3,14.0,536,10968,0.12,2.03,0.00,0.000,6,0.145,0.020,2479,1892,474,0,0,0,0,0,0,25.91,26.28,28.83
$GC,11277,1.00,473.0,105.4,10.6,552,11282,0.00,2.08,0.00,0.000,4,0.000,0.033,2482,503,473,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11356,1.02,473.0,99.2,9.9,555,11364,0.00,2.03,0.00,0.000,6,0.000,0.019,2483,1921,474,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11661,1.06,482.6,71.4,9.1,571,11676,0.00,2.05,8.65,0.652,4,0.000,0.032,2482,3283,441,0,0,0,0,0,0,28.83,25.87,24.16
$GC,11709,1.11,492.7,67.4,9.1,573,11725,0.00,2.03,10.38,0.659,6,0.000,0.021,2483,1879,400,0,0,0,0,0,0,28.83,26.15,24.10
$GC,12024,1.19,609.6,45.1,5.4,593,12069,0.15,2.12,38.83,0.677,4,0.086,0.032,2568,507,210,0,0,0,0,0,0,26.27,25.68,23.99
$GC,12139,1.19,609.6,33.4,12.1,603,12146,0.00,2.00,0.00,0.000,6,0.000,0.018,2568,1916,208,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,12360,end climb,SURFACE_DEPTH_REACHED
$STATE,12360,begin surface coast
$FINISH,0.9,1.003143
$STATE,12373,end surface coast,CONTROL_FINISHED_OK
$STATE,12373,begin surface
$SM_CCo,12450,0.00,0.000,0,0,209,539.91
$SM_GC,1.61,6.55,0.00,0.00,0.047,0.000,0.000,61,1921,209,-6.47,-0.20,539.91,0,0,0,0,0,0,25.93,28.83,28.83
$IRIDIUM_FIX,1821.40,12230.19,090213,181856
$TT8_MAMPS,0.024717,0.024717
$HUMID,53.50
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3863008
$24V_AH,23.2,84.603
$10V_AH,9.5,55.957
$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,16.450,101.725,611.250,0.000,0.000,0.000,0.000,290.225,0.000,0.000,15.573,2057.473,7914.074,635.292,1937.084,399.421,0.000,1869.190,0.000,1594.630,0.000,0.540,0.000
$DEVICE_MAMPS,234.090,43.605,1159.740,0.000,0.000,0.000,0.000,130.050,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12397.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.972,0.000,0.000,0.000
$MEM,308660
$DATA_FILE_SIZE,23407,643
$CAP_FILE_SIZE,151150,0
$CFSIZE,260034560,210247680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.251,336.3,1
$GPS,100213,015218,1828.415,12223.399,9,1.7,14,-2.0