version: 66.11
glider: 129
mission: 4
dive: 419
start: 2 10 113 17 22 41
data:
$ID,129
$MISSION,4
$DIVE,419
$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,-3281.9238
$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,72
$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,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
$GPS1,100213,171448,1837.585,12214.919,8,1.4,14,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-55.6
$GPS2,100213,172215,1837.848,12214.664,10,1.6,12,-2.1
$SPEED_LIMITS,0.163,0.283
$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,97.5,282488,-15.3,-9.429,-18.41
$D_GRID,367
$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,-70.38,0.000,2,0.000,0.000,57,1900,1904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.58,-184.9,3.3,-5.1,12,141,7.82,2.03,-29.10,0.000,4,0.237,0.040,1966,517,3163,0,0,0,0,0,0,24.96,26.22,26.62
$GC,182,-0.51,-184.9,21.8,-31.4,26,189,0.12,1.98,0.00,0.000,6,0.174,0.021,1988,1907,3164,0,0,0,0,0,0,25.92,26.30,28.83
$GC,498,-0.48,-184.9,95.8,-12.9,47,504,0.00,2.05,0.00,0.000,4,0.000,0.031,1980,3319,3164,0,0,0,0,0,0,28.83,26.22,28.83
$GC,562,-0.46,-184.9,101.8,-9.4,50,568,0.12,1.98,0.00,0.000,6,0.140,0.020,2014,1897,3167,0,0,0,0,0,0,26.06,26.36,28.83
$GC,888,-0.46,-184.9,133.1,-9.4,66,893,0.00,1.92,0.00,0.000,4,0.000,0.028,2015,551,3165,0,0,0,0,0,0,28.83,26.26,28.83
$GC,960,-0.46,-184.9,139.9,-10.2,69,965,0.00,1.98,0.00,0.000,6,0.000,0.020,2007,1938,3165,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1273,-0.46,-184.9,176.0,-12.5,85,1279,0.00,2.00,0.00,0.000,4,0.000,0.028,2007,548,3166,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1308,-0.46,-184.9,178.9,-12.3,86,1313,0.00,1.95,0.00,0.000,6,0.000,0.020,1998,1931,3166,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1621,-0.46,-184.9,212.5,-9.1,102,1626,0.00,2.00,0.00,0.000,4,0.000,0.032,1989,3301,3164,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1680,-0.46,-184.9,216.4,-8.9,104,1686,0.00,1.92,0.00,0.000,6,0.000,0.020,1988,1931,3162,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1984,-0.46,-184.9,250.2,-9.6,120,1990,0.00,2.03,0.00,0.000,4,0.000,0.029,1988,516,3164,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2123,-0.46,-184.9,263.5,-10.8,126,2131,0.10,2.00,0.00,0.000,6,0.158,0.021,2008,1927,3162,0,0,0,0,0,0,26.06,26.34,28.83
$GC,2430,-0.46,-184.9,297.6,-12.4,142,2435,0.00,2.03,0.00,0.000,4,0.000,0.028,2008,539,3161,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2488,-0.46,-184.9,304.1,-14.2,144,2495,0.00,1.98,0.00,0.000,6,0.000,0.020,2002,1929,3161,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2794,-0.47,-184.9,342.0,-9.4,160,2800,0.00,2.03,0.00,0.000,4,0.000,0.034,1991,3299,3159,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2848,-0.49,-184.9,343.2,-2.9,162,2853,0.00,1.95,0.00,0.000,6,0.000,0.020,1991,1914,3159,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,3059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3059,begin apogee
$GC,3066,-0.17,0.0,367.2,-13.3,173,3217,0.32,0.00,142.43,0.913,6,0.123,0.000,2100,1910,2409,0,0,0,0,0,0,25.82,28.83,23.94
$STATE,3218,end apogee,CONTROL_FINISHED_OK
$STATE,3219,begin climb
$GC,3221,0.58,184.9,372.7,0.0,180,3371,0.70,0.00,145.60,0.887,6,0.093,0.000,2349,1910,1655,0,0,0,0,0,0,25.55,28.83,24.09
$GC,3662,0.80,448.8,357.7,0.4,203,3882,0.20,2.08,210.85,0.887,4,0.112,0.028,2421,3280,580,0,0,0,0,0,0,26.11,25.61,24.15
$GC,3922,0.80,448.8,346.4,10.9,215,3929,0.00,1.98,0.00,0.000,6,0.000,0.023,2426,1923,580,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4227,0.85,505.9,309.0,7.5,231,4285,0.00,2.20,47.60,0.855,4,0.000,0.033,2426,506,345,0,0,0,0,0,0,28.83,25.70,24.15
$GC,4315,0.88,537.6,302.2,8.3,235,4350,0.00,2.00,26.67,0.825,6,0.000,0.018,2426,1928,216,0,0,0,0,0,0,28.83,26.12,24.20
$GC,4649,0.91,537.6,268.4,11.4,252,4655,0.00,2.10,0.00,0.000,4,0.000,0.031,2426,506,213,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4688,0.94,537.6,266.2,10.6,253,4696,0.05,1.95,0.00,0.000,6,0.037,0.019,2478,1872,212,0,0,0,0,0,0,26.21,26.38,28.83
$GC,4993,0.94,537.6,223.5,12.7,269,4998,0.00,2.05,0.00,0.000,4,0.000,0.031,2477,3274,212,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5031,0.94,537.6,220.2,13.2,270,5038,0.00,1.98,0.00,0.000,6,0.000,0.022,2484,1896,211,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5336,0.94,537.6,168.0,17.7,286,5341,0.00,2.05,0.00,0.000,4,0.000,0.032,2495,504,211,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5359,0.94,537.6,163.9,17.9,287,5365,0.12,1.98,0.00,0.000,6,0.135,0.019,2462,1902,211,0,0,0,0,0,0,26.06,26.36,28.83
$GC,5684,0.99,617.0,136.7,6.7,303,5690,0.00,2.00,0.00,0.000,4,0.000,0.031,2458,3273,210,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5723,1.05,685.8,134.7,7.1,304,5730,0.00,1.98,0.00,0.000,6,0.000,0.022,2464,1897,210,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6029,1.09,717.1,105.3,8.4,320,6036,0.12,2.05,0.05,0.153,4,0.096,0.030,2534,501,209,0,0,0,0,0,0,26.33,26.18,26.06
$GC,6165,1.10,717.1,89.7,12.4,326,6170,0.00,1.98,0.00,0.000,6,0.000,0.019,2534,1898,209,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6478,1.11,717.1,48.3,14.3,342,6484,0.00,2.03,0.00,0.000,4,0.000,0.030,2534,3286,209,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6563,1.13,717.1,38.6,11.2,350,6568,0.00,2.00,0.00,0.000,6,0.000,0.023,2540,1895,209,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,6858,end climb,SURFACE_DEPTH_REACHED
$STATE,6858,begin surface coast
$FINISH,0.8,1.022193
$STATE,6875,end surface coast,CONTROL_FINISHED_OK
$STATE,6875,begin surface
$SM_CCo,6952,0.00,0.000,0,0,209,539.66
$SM_GC,1.65,6.43,0.00,0.00,0.044,0.000,0.000,51,1893,209,-6.48,-0.88,539.66,0,0,0,0,0,0,26.13,28.83,28.83
$IRIDIUM_FIX,1830.49,12213.10,100213,151501
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.78
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3859552
$24V_AH,23.9,85.876
$10V_AH,9.9,56.593
$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,16.125,64.175,573.200,0.000,0.000,0.000,0.000,255.900,0.000,0.000,13.585,1176.086,4119.912,596.380,1231.657,278.822,0.000,1455.711,0.000,944.030,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,39.780,913.410,0.000,0.000,0.000,0.000,125.460,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6904.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.949,0.000,0.000,0.000
$MEM,308668
$DATA_FILE_SIZE,13457,399
$CAP_FILE_SIZE,94481,0
$CFSIZE,260034560,209768448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,334.1,1
$GPS,100213,191953,1838.263,12215.576,40,1.0,41,-2.1