version: 66.11
glider: 129
mission: 4
dive: 411
start: 2 10 113 2 1 2
data:
$ID,129
$MISSION,4
$DIVE,411
$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,-3270.1797
$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,74
$R_STBD_OVSHOOT,88
$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
$GPS1,100213,015218,1828.415,12223.399,9,1.7,14,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-62.9
$GPS2,100213,020035,1828.786,12223.286,44,1.0,44,-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,255.4,13115,-15.3,-9.429,-18.41
$D_GRID,723
$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,20,-0.58,-184.9,0.0,0.0,0,93,0.00,0.00,-70.20,0.000,2,0.000,0.000,47,1924,1924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.58,-184.9,3.5,-6.3,12,140,8.15,2.03,-27.58,0.000,4,0.243,0.044,1953,3298,3162,0,0,0,0,0,0,24.79,26.05,26.57
$GC,263,-0.53,-184.9,43.2,-25.9,36,271,0.12,1.98,0.00,0.000,6,0.162,0.022,1985,1905,3163,0,0,0,0,0,0,25.84,26.24,28.83
$GC,570,-0.50,-184.9,117.4,-16.4,53,575,0.00,1.98,0.00,0.000,4,0.000,0.028,1986,530,3163,0,0,0,0,0,0,28.83,26.18,28.83
$GC,795,-0.48,-184.9,154.3,-16.9,64,800,0.00,1.95,0.00,0.000,6,0.000,0.020,1977,1917,3164,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1119,-0.47,-184.9,195.9,-11.9,80,1121,0.12,0.00,0.00,0.000,6,0.148,0.000,2013,1917,3165,0,0,0,0,0,0,26.17,28.83,28.83
$GC,1422,-0.47,-184.9,221.8,-8.3,95,1427,0.00,2.03,0.00,0.000,4,0.000,0.029,2013,536,3164,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1557,-0.47,-184.9,232.4,-8.3,101,1562,0.00,1.98,0.00,0.000,6,0.000,0.020,2005,1935,3164,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1870,-0.47,-184.9,260.9,-9.2,117,1877,0.00,2.05,0.00,0.000,4,0.000,0.028,2004,534,3163,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1969,-0.47,-184.9,269.4,-10.1,121,1977,0.00,2.00,0.00,0.000,6,0.000,0.020,1995,1945,3163,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2275,-0.47,-184.9,300.2,-9.0,137,2280,0.00,2.08,0.00,0.000,4,0.000,0.028,1995,530,3162,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2310,-0.47,-184.9,302.4,-9.0,138,2316,0.00,1.98,0.00,0.000,6,0.000,0.020,1986,1927,3162,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2624,-0.47,-184.9,332.5,-8.4,154,2629,0.00,2.05,0.00,0.000,4,0.000,0.028,1986,535,3161,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2734,-0.47,-184.9,341.4,-8.6,159,2740,0.12,1.98,0.00,0.000,6,0.147,0.021,2013,1916,3161,0,0,0,0,0,0,25.94,26.27,28.83
$GC,3054,-0.48,-184.9,361.5,-6.9,175,3059,0.00,2.03,0.00,0.000,4,0.000,0.028,2013,539,3159,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3079,-0.50,-184.9,363.4,-7.2,176,3085,0.00,2.00,0.00,0.000,6,0.000,0.021,2006,1953,3159,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3404,-0.51,-184.9,390.9,-8.9,192,3410,0.00,2.00,0.00,0.000,4,0.000,0.034,1996,3301,3155,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3429,-0.52,-184.9,393.2,-8.9,193,3436,0.00,2.00,0.00,0.000,6,0.000,0.021,1996,1916,3155,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3754,-0.52,-184.9,422.8,-8.8,209,3760,0.00,2.03,-0.08,0.000,4,0.000,0.041,1996,546,3181,0,0,0,0,0,0,28.83,26.13,25.25
$GC,3943,-0.52,-184.9,440.6,-9.6,218,3949,0.00,1.98,0.00,0.000,6,0.000,0.021,1989,1928,3181,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4262,-0.52,-184.9,469.6,-9.5,234,4267,0.00,2.08,0.00,0.000,4,0.000,0.030,1990,536,3180,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4294,-0.52,-184.9,471.9,-9.8,235,4300,0.00,2.00,0.00,0.000,6,0.000,0.021,1981,1926,3181,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4609,-0.52,-184.9,501.3,-8.6,251,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1927,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4910,-0.52,-184.9,525.1,-8.0,266,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1928,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5211,-0.52,-184.9,549.8,-7.7,281,5216,0.00,2.08,0.00,0.000,4,0.000,0.036,1970,3309,3175,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5238,-0.52,-184.9,551.8,-7.6,282,5244,0.00,1.98,0.00,0.000,6,0.000,0.021,1971,1928,3174,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5557,-0.52,-184.9,582.8,-9.8,298,5562,0.00,2.03,0.00,0.000,4,0.000,0.031,1971,538,3173,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5685,-0.56,-184.9,590.5,-3.8,304,5690,0.00,2.00,0.00,0.000,6,0.000,0.021,1970,1940,3172,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,5841,end dive,NO_VERTICAL_VELOCITY
$STATE,5841,begin apogee
$GC,5848,-0.17,0.0,590.5,0.0,312,6010,0.38,0.00,153.00,1.115,6,0.081,0.000,2113,1949,2409,0,0,0,0,0,0,25.93,28.83,23.34
$STATE,6012,end apogee,CONTROL_FINISHED_OK
$STATE,6012,begin climb
$GC,6015,0.58,184.9,590.3,0.0,320,6176,0.65,2.20,151.93,1.078,4,0.083,0.031,2353,527,1656,0,0,0,0,0,0,25.28,25.21,23.49
$GC,6244,0.63,293.4,584.8,5.7,331,6342,0.00,2.00,90.88,1.060,6,0.000,0.020,2353,1903,1211,0,0,0,0,0,0,28.83,25.99,23.63
$GC,6654,0.69,375.0,555.2,6.6,352,6732,0.00,2.12,69.32,1.058,4,0.000,0.033,2353,3275,879,0,0,0,0,0,0,28.83,25.37,23.70
$GC,6780,0.75,447.5,546.5,6.9,358,6850,0.12,2.00,62.12,1.041,6,0.099,0.024,2411,1900,584,0,0,0,0,0,0,25.81,25.94,23.72
$GC,7158,0.77,447.5,506.8,10.3,377,7164,0.00,2.08,0.00,0.000,4,0.000,0.034,2413,508,579,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7217,0.80,447.5,502.5,10.0,379,7224,0.00,2.00,0.00,0.000,6,0.000,0.020,2413,1903,579,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7522,0.82,454.3,471.5,9.2,395,7537,0.00,2.10,6.43,0.843,4,0.000,0.033,2413,3279,556,0,0,0,0,0,0,28.83,26.03,24.13
$GC,7597,0.85,455.6,465.6,9.4,398,7603,0.00,2.00,0.00,0.000,6,0.000,0.023,2413,1899,555,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7912,0.87,455.6,432.3,10.6,414,7917,0.00,2.08,0.00,0.000,4,0.000,0.034,2413,504,554,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7981,0.90,455.6,425.5,10.8,417,7987,0.10,2.00,0.00,0.000,6,0.112,0.020,2459,1896,555,0,0,0,0,0,0,26.13,26.30,28.83
$GC,8300,0.90,455.6,379.0,14.3,433,8301,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1911,554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8604,0.90,455.6,338.6,13.5,448,8610,0.00,2.10,0.00,0.000,4,0.000,0.034,2469,506,554,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8651,0.90,455.6,332.0,13.8,450,8657,0.00,2.00,0.00,0.000,6,0.000,0.020,2468,1900,554,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8970,0.90,455.6,285.4,14.4,466,8971,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1907,553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9272,0.90,455.6,246.1,12.5,481,9277,0.00,2.10,0.00,0.000,4,0.000,0.033,2476,513,553,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9310,0.90,455.6,243.1,12.3,482,9317,0.00,2.00,0.00,0.000,6,0.000,0.020,2478,1901,553,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9615,0.90,455.6,201.6,14.2,498,9621,0.00,2.03,0.00,0.000,4,0.000,0.032,2476,3283,553,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9660,0.90,455.6,195.3,14.3,500,9668,0.12,2.03,0.00,0.000,6,0.159,0.024,2448,1910,553,0,0,0,0,0,0,25.84,26.19,28.83
$GC,9986,0.92,455.6,162.5,9.9,516,9991,0.00,2.10,0.00,0.000,4,0.000,0.034,2457,501,553,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10040,0.93,455.6,157.6,10.9,518,10045,0.00,2.03,0.00,0.000,6,0.000,0.019,2457,1915,553,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10354,0.96,455.6,120.5,10.4,534,10359,0.00,2.12,0.00,0.000,4,0.000,0.032,2465,499,553,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10433,0.98,455.6,113.3,11.0,537,10439,0.00,2.00,0.00,0.000,6,0.000,0.019,2466,1899,553,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10738,1.04,528.3,86.2,6.9,553,10806,0.00,2.15,61.30,0.737,4,0.000,0.031,2468,505,255,0,0,0,0,0,0,28.83,25.54,23.92
$GC,10852,1.13,619.5,79.7,6.3,558,10869,0.17,2.03,10.20,0.649,6,0.080,0.018,2544,1927,209,0,0,0,0,0,0,25.83,26.00,24.08
$GC,11177,1.14,619.5,40.7,11.4,578,11183,0.00,2.12,0.00,0.000,4,0.000,0.032,2552,504,208,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11205,1.15,619.5,37.8,12.3,580,11213,0.00,1.98,0.00,0.000,6,0.000,0.018,2552,1896,208,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,11491,end climb,SURFACE_DEPTH_REACHED
$STATE,11492,begin surface coast
$FINISH,1.0,1.015441
$STATE,11508,end surface coast,CONTROL_FINISHED_OK
$STATE,11508,begin surface
$SM_CCo,11587,0.00,0.000,0,0,209,539.66
$SM_GC,1.72,6.47,0.00,0.00,0.044,0.000,0.000,59,1911,209,-6.47,-0.42,539.66,0,0,0,0,0,0,25.97,28.83,28.83
$IRIDIUM_FIX,1821.40,12227.05,090213,222230
$TT8_MAMPS,0.024717,0.024717
$HUMID,53.85
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3862624
$24V_AH,23.3,84.788
$10V_AH,9.9,56.054
$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,16.550,97.575,605.175,0.000,0.000,0.000,0.000,261.775,0.000,0.000,44.780,1969.853,7236.945,629.602,1870.068,371.941,0.000,1800.894,0.000,1520.179,0.000,0.540,0.000
$DEVICE_MAMPS,242.505,43.605,1114.605,0.000,0.000,0.000,0.000,130.050,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11533.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.832,0.000,0.000,0.000
$MEM,308636
$DATA_FILE_SIZE,23393,630
$CAP_FILE_SIZE,145427,0
$CFSIZE,260034560,210178048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.242,345.4,1
$GPS,100213,051521,1829.627,12221.364,12,3.2,31,-2.0