version: 66.11
glider: 129
mission: 4
dive: 412
start: 2 10 113 5 23 59
data:
$ID,129
$MISSION,4
$DIVE,412
$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,-3271.4382
$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,61
$R_STBD_OVSHOOT,86
$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
$GPS1,100213,051521,1829.627,12221.364,12,3.2,31,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-61.6
$GPS2,100213,052331,1829.917,12221.203,35,1.9,35,-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,245.0,8961,-15.3,-9.429,-18.41
$D_GRID,513
$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,21,-0.58,-184.9,0.0,0.0,0,93,0.00,0.00,-70.22,0.000,2,0.000,0.000,51,1909,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.58,-184.9,3.4,-5.4,12,140,8.12,2.08,-28.05,0.000,4,0.243,0.044,1954,3306,3163,0,0,0,0,0,0,24.77,26.05,26.56
$GC,284,-0.53,-184.9,48.0,-28.7,38,291,0.12,2.00,0.00,0.000,6,0.163,0.022,1986,1896,3164,0,0,0,0,0,0,25.85,26.25,28.83
$GC,590,-0.50,-184.9,111.0,-15.2,54,596,0.00,1.98,0.00,0.000,4,0.000,0.029,1985,545,3164,0,0,0,0,0,0,28.83,26.18,28.83
$GC,779,-0.48,-184.9,138.6,-15.3,63,784,0.00,1.95,0.00,0.000,6,0.000,0.021,1977,1920,3166,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1099,-0.47,-184.9,186.9,-14.2,79,1101,0.12,0.00,0.00,0.000,6,0.145,0.000,2013,1919,3166,0,0,0,0,0,0,26.17,28.83,28.83
$GC,1400,-0.47,-184.9,219.4,-9.7,94,1406,0.00,2.00,0.00,0.000,4,0.000,0.028,2013,541,3165,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1498,-0.47,-184.9,227.8,-9.6,98,1504,0.00,1.98,0.00,0.000,6,0.000,0.020,2005,1937,3163,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1803,-0.47,-184.9,260.8,-10.4,114,1809,0.00,2.00,0.00,0.000,4,0.000,0.033,1994,3309,3164,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1856,-0.47,-184.9,265.1,-10.1,116,1861,0.00,1.98,0.00,0.000,6,0.000,0.021,1995,1901,3164,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2170,-0.47,-184.9,294.4,-9.7,132,2175,0.00,1.95,0.00,0.000,4,0.000,0.030,1994,557,3163,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2404,-0.47,-184.9,318.7,-10.7,143,2410,0.00,1.95,0.00,0.000,6,0.000,0.020,1986,1929,3162,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2718,-0.47,-184.9,352.6,-10.4,159,2724,0.00,2.03,0.00,0.000,4,0.000,0.028,1986,556,3161,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2792,-0.47,-184.9,359.4,-10.6,162,2798,0.12,1.95,0.00,0.000,6,0.146,0.021,2012,1921,3161,0,0,0,0,0,0,25.95,26.29,28.83
$GC,3106,-0.48,-184.9,388.0,-9.0,178,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1921,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3409,-0.49,-184.9,414.8,-8.4,193,3414,0.00,2.03,0.00,0.000,4,0.000,0.028,2012,555,3156,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3457,-0.50,-184.9,419.0,-8.6,195,3463,0.00,1.98,0.00,0.000,6,0.000,0.021,2004,1939,3156,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3777,-0.51,-184.9,449.3,-9.2,211,3783,0.00,2.05,-0.08,0.000,4,0.000,0.046,1994,3298,3183,0,0,0,0,0,0,28.83,26.06,25.26
$GC,3832,-0.53,-184.9,453.6,-9.4,213,3838,0.00,1.95,0.00,0.000,6,0.000,0.021,1994,1923,3182,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4147,-0.53,-184.9,484.5,-9.6,229,4152,0.00,2.03,0.00,0.000,4,0.000,0.030,1994,546,3182,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4251,-0.53,-184.9,495.0,-10.1,234,4256,0.00,1.98,0.00,0.000,6,0.000,0.021,1986,1924,3182,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,4452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4452,begin apogee
$GC,4458,-0.17,0.0,514.6,-9.6,244,4617,0.35,0.00,152.05,1.040,6,0.114,0.000,2105,1923,2409,0,0,0,0,0,0,25.72,28.83,23.56
$STATE,4619,end apogee,CONTROL_FINISHED_OK
$STATE,4619,begin climb
$GC,4621,0.58,184.9,522.6,0.0,252,4779,0.68,2.22,149.35,1.013,4,0.086,0.032,2354,528,1655,0,0,0,0,0,0,25.34,25.35,23.70
$GC,4855,0.64,285.9,514.2,6.0,263,4944,0.00,1.98,83.03,0.999,6,0.000,0.019,2355,1901,1243,0,0,0,0,0,0,28.83,26.08,23.81
$GC,5244,0.72,396.0,489.4,5.7,283,5344,0.10,2.17,92.10,0.997,4,0.112,0.032,2400,3281,794,0,0,0,0,0,0,26.32,25.41,23.81
$GC,5435,0.74,403.8,473.4,9.2,292,5450,0.00,2.00,7.70,0.824,6,0.000,0.023,2406,1905,762,0,0,0,0,0,0,28.83,26.08,24.06
$GC,5750,0.77,422.0,446.7,8.8,308,5774,0.00,2.12,16.77,0.932,4,0.000,0.034,2416,518,688,0,0,0,0,0,0,28.83,25.90,24.06
$GC,5813,0.79,429.5,440.9,9.2,311,5828,0.00,2.00,7.82,0.830,6,0.000,0.019,2415,1910,657,0,0,0,0,0,0,28.83,26.15,24.10
$GC,6137,0.81,429.5,407.0,11.3,327,6138,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1920,655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6439,0.85,461.7,379.0,8.3,342,6471,0.00,0.00,28.67,0.946,6,0.000,0.000,2416,1918,526,0,0,0,0,0,0,28.83,28.83,24.02
$GC,6780,0.89,499.1,350.2,8.1,359,6818,0.00,2.15,32.22,0.929,4,0.000,0.031,2416,515,373,0,0,0,0,0,0,28.83,25.69,24.03
$GC,6857,0.93,540.9,345.3,8.0,362,6902,0.12,2.00,34.42,0.914,6,0.096,0.019,2469,1902,210,0,0,0,0,0,0,25.89,26.05,23.98
$GC,7203,0.94,540.9,304.4,11.4,380,7208,0.00,2.10,0.00,0.000,4,0.000,0.033,2478,511,206,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7228,0.95,540.9,301.5,11.2,381,7233,0.00,2.00,0.00,0.000,6,0.000,0.019,2478,1898,206,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7551,0.95,540.9,261.4,12.5,397,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1904,205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7854,0.95,540.9,216.5,15.0,412,7859,0.00,2.10,0.00,0.000,4,0.000,0.034,2485,511,205,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7918,0.97,540.9,207.5,13.7,415,7924,0.00,1.98,0.00,0.000,6,0.000,0.020,2485,1898,205,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8241,0.97,540.9,159.6,14.7,431,8247,0.00,2.05,0.00,0.000,4,0.000,0.031,2485,3282,204,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8265,0.97,540.9,156.2,14.5,432,8272,0.00,2.03,0.00,0.000,6,0.000,0.024,2485,1898,204,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8590,0.98,540.9,114.3,13.8,448,8595,0.00,2.08,0.00,0.000,4,0.000,0.032,2495,499,204,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8663,1.00,540.9,106.2,12.7,451,8668,0.00,2.03,0.00,0.000,6,0.000,0.019,2495,1914,204,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8977,1.02,551.7,66.3,9.1,467,8982,0.00,2.12,0.00,0.000,4,0.000,0.031,2495,501,204,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9061,1.08,619.3,60.3,7.1,471,9066,0.00,2.03,0.00,0.000,6,0.000,0.018,2495,1920,204,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9374,1.14,663.4,33.8,7.9,496,9380,0.00,2.10,0.00,0.000,4,0.000,0.031,2495,504,204,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9444,1.20,715.9,28.8,7.6,502,9451,0.15,1.98,0.00,0.000,6,0.084,0.018,2566,1917,205,0,0,0,0,0,0,26.14,26.32,28.83
$STATE,9666,end climb,SURFACE_DEPTH_REACHED
$STATE,9666,begin surface coast
$FINISH,0.8,1.013394
$STATE,9682,end surface coast,CONTROL_FINISHED_OK
$STATE,9682,begin surface
$SM_CCo,9760,0.00,0.000,0,0,205,540.64
$SM_GC,1.51,6.53,0.00,0.00,0.046,0.000,0.000,55,1920,205,-6.47,-0.14,540.64,0,0,0,0,0,0,26.03,28.83,28.83
$IRIDIUM_FIX,1823.67,12220.08,100213,010139
$TT8_MAMPS,0.024717,0.024717
$HUMID,56.26
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3862240
$24V_AH,23.6,84.966
$10V_AH,9.7,56.142
$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,16.425,77.050,604.150,0.000,0.000,0.000,0.000,264.225,0.000,0.000,35.830,1693.906,5953.030,595.888,1672.742,331.614,0.000,1671.913,0.000,1331.949,0.000,0.539,0.000
$DEVICE_MAMPS,243.270,45.900,1039.635,0.000,0.000,0.000,0.000,130.815,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9702.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.350,0.000,0.000,0.000
$MEM,308656
$DATA_FILE_SIZE,20127,546
$CAP_FILE_SIZE,126076,0
$CFSIZE,260034560,210124800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100,338.4,1
$GPS,100213,080800,1829.882,12219.722,41,1.1,41,-2.0