version: 66.11
glider: 129
mission: 4
dive: 497
start: 2 28 113 3 54 26
data:
$ID,129
$MISSION,4
$DIVE,497
$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,-6
$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,-3407.5051
$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,26
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,58
$R_STBD_OVSHOOT,75
$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,0.0020000001
$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,20
$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
$GPS1,280213,034427,2005.811,12421.498,11,2.3,30,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-66.7
$GPS2,280213,035357,2005.708,12421.489,14,2.3,33,-2.5
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,MID
$TGT_LATLONG,1808.000,12333.000
$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,196.0,234104,-15.3,-9.429,-18.41
$D_GRID,5374
$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,18,begin dive
$GC,21,-0.96,-184.9,0.0,0.0,0,69,0.00,0.00,-46.15,0.000,2,0.000,0.000,53,1922,1811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.96,-184.9,3.1,-3.1,8,128,7.40,2.10,-38.80,0.000,4,0.237,0.045,1846,518,3164,0,0,0,0,0,0,24.88,25.77,26.46
$GC,355,-0.96,-184.9,86.4,-33.4,38,361,0.00,2.05,0.00,0.000,6,0.000,0.022,1837,1929,3165,0,0,0,0,0,0,28.83,25.90,28.83
$GC,675,-0.96,-184.9,188.8,-29.9,54,676,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1930,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,978,-0.96,-184.9,271.8,-26.2,69,984,0.00,2.10,0.00,0.000,4,0.000,0.029,1838,521,3165,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1110,-0.96,-184.9,305.7,-26.1,75,1116,0.00,2.05,0.00,0.000,6,0.000,0.022,1827,1939,3166,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1424,-0.96,-184.9,390.1,-25.2,91,1430,0.00,2.12,0.00,0.000,4,0.000,0.029,1827,518,3166,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1590,-0.96,-184.9,429.9,-24.2,99,1597,0.12,2.08,0.00,0.000,6,0.183,0.021,1846,1935,3166,0,0,0,0,0,0,25.39,25.91,28.83
$GC,1916,-0.96,-184.9,500.2,-21.5,115,1921,0.00,2.12,0.00,0.000,4,0.000,0.030,1846,520,3164,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2085,-0.96,-184.9,534.0,-19.6,123,2092,0.00,2.03,0.00,0.000,6,0.000,0.022,1837,1929,3164,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2405,-0.96,-184.9,599.3,-20.4,139,2410,0.00,2.12,0.00,0.000,4,0.000,0.030,1837,521,3163,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2578,-0.96,-184.9,630.7,-20.1,145,2584,0.00,2.03,0.00,0.000,6,0.000,0.023,1827,1921,3164,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2894,-0.96,-184.9,696.7,-20.0,156,2900,0.00,2.12,0.00,0.000,4,0.000,0.030,1827,520,3163,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3007,-0.96,-184.9,717.1,-21.2,159,3013,0.12,2.05,0.00,0.000,6,0.184,0.023,1846,1925,3160,0,0,0,0,0,0,25.34,25.88,28.83
$GC,3323,-0.96,-184.9,780.2,-18.4,170,3329,0.00,2.12,0.00,0.000,4,0.000,0.032,1846,526,3156,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3411,-0.96,-184.9,792.1,-18.0,172,3417,0.00,2.08,0.00,0.000,6,0.000,0.024,1838,1931,3156,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3718,-0.96,-184.9,854.3,-19.1,183,3723,0.00,2.15,0.00,0.000,4,0.000,0.032,1838,523,3154,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3790,-0.96,-184.9,866.9,-19.2,185,3796,0.00,2.08,0.00,0.000,6,0.000,0.024,1827,1927,3153,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4114,-0.96,-184.9,931.7,-19.3,196,4120,0.00,2.15,0.00,0.000,4,0.000,0.031,1827,520,3150,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4241,-0.96,-184.9,956.1,-19.7,200,4247,0.12,2.08,0.00,0.000,6,0.187,0.024,1846,1925,3149,0,0,0,0,0,0,25.27,25.81,28.83
$STATE,4452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4453,begin apogee
$GC,4460,-0.19,0.0,993.2,-16.6,207,4621,0.80,0.00,153.80,1.395,6,0.141,0.000,2089,1926,2409,0,0,0,0,0,0,24.04,28.83,22.84
$STATE,4623,end apogee,CONTROL_FINISHED_OK
$STATE,4623,begin climb
$GC,4626,0.96,184.9,1000.1,0.0,212,4807,1.12,2.38,168.77,1.340,4,0.086,0.035,2462,3281,1656,0,0,0,0,0,0,24.13,23.18,21.81
$GC,4859,0.96,184.9,980.4,12.9,220,4865,0.00,2.20,0.00,0.000,6,0.000,0.027,2472,1901,1652,0,0,0,0,0,0,28.83,24.44,28.83
$GC,5187,0.96,184.9,931.2,14.4,231,5192,0.00,2.12,0.00,0.000,4,0.000,0.034,2475,3289,1648,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5245,0.96,184.9,925.3,14.7,232,5253,0.00,2.10,0.00,0.000,6,0.000,0.028,2482,1893,1647,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5552,0.96,184.9,874.6,15.2,243,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1893,1644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5851,0.96,184.9,830.2,14.6,253,5856,0.00,2.12,0.00,0.000,4,0.000,0.033,2482,3291,1643,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5944,0.96,184.9,815.5,15.7,256,5950,0.00,2.10,0.00,0.000,6,0.000,0.027,2492,1897,1643,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6281,0.96,184.9,764.1,15.6,267,6286,0.00,2.15,0.00,0.000,4,0.000,0.034,2492,3300,1642,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6334,0.96,184.9,758.4,15.5,268,6340,0.12,2.08,0.00,0.000,6,0.184,0.027,2472,1898,1641,0,0,0,0,0,0,25.26,25.77,28.83
$GC,6652,0.96,184.9,712.7,13.4,279,6657,0.00,2.15,0.00,0.000,4,0.000,0.037,2481,501,1640,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6679,0.96,184.9,712.7,13.4,279,6686,0.00,2.08,0.00,0.000,6,0.000,0.024,2482,1917,1639,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6986,0.96,184.9,666.3,13.9,290,6991,0.00,2.05,0.00,0.000,4,0.000,0.034,2482,3285,1639,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7104,0.96,184.9,652.6,14.4,293,7112,0.00,2.05,0.00,0.000,6,0.000,0.028,2492,1902,1639,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7409,0.96,184.9,606.0,13.8,304,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1902,1639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7711,0.96,184.9,565.5,13.8,318,7712,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1902,1638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8011,0.96,184.9,523.2,13.7,333,8017,0.00,2.10,0.00,0.000,4,0.000,0.033,2493,3277,1635,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8090,0.96,184.9,513.7,14.3,336,8099,0.12,2.08,0.00,0.000,6,0.187,0.027,2471,1898,1637,0,0,0,0,0,0,25.14,25.67,28.83
$GC,8396,0.96,184.9,476.6,10.9,352,8397,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1898,1637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8697,0.96,184.9,444.2,11.3,367,8703,0.00,2.15,0.00,0.000,4,0.000,0.036,2481,504,1636,0,0,0,0,0,0,28.83,25.36,28.83
$GC,8730,0.96,184.9,441.2,11.3,368,8736,0.00,2.05,0.00,0.000,6,0.000,0.023,2482,1912,1636,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9045,0.96,184.9,402.0,12.1,384,9050,0.00,2.05,0.00,0.000,4,0.000,0.033,2481,3282,1636,0,0,0,0,0,0,28.83,25.43,28.83
$GC,9118,0.96,184.9,393.8,12.6,387,9123,0.00,2.08,0.00,0.000,6,0.000,0.027,2491,1897,1636,0,0,0,0,0,0,28.83,25.66,28.83
$GC,9431,0.96,184.9,354.7,11.5,403,9437,0.00,2.15,0.00,0.000,4,0.000,0.036,2502,495,1636,0,0,0,0,0,0,28.83,25.35,28.83
$GC,9490,0.96,184.9,349.5,11.5,405,9497,0.12,2.05,0.00,0.000,6,0.158,0.022,2470,1917,1636,0,0,0,0,0,0,25.34,25.81,28.83
$GC,9796,0.96,184.9,317.2,9.6,421,9801,0.00,2.05,0.00,0.000,4,0.000,0.033,2470,3270,1636,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9943,0.96,184.9,301.5,10.5,428,9948,0.00,2.05,0.00,0.000,6,0.000,0.026,2479,1897,1637,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10267,0.96,184.9,267.2,10.4,444,10272,0.00,2.08,0.00,0.000,4,0.000,0.031,2479,3271,1634,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10355,0.96,184.9,258.2,10.9,448,10360,0.00,2.03,0.00,0.000,6,0.000,0.025,2489,1899,1637,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10674,0.96,184.9,226.6,9.8,464,10679,0.00,2.10,0.00,0.000,4,0.000,0.031,2489,3277,1638,0,0,0,0,0,0,28.83,25.47,28.83
$GC,10780,0.96,184.9,215.1,11.2,469,10785,0.00,2.05,0.00,0.000,6,0.000,0.024,2498,1890,1638,0,0,0,0,0,0,28.83,25.73,28.83
$GC,11103,0.96,184.9,176.0,11.8,485,11109,0.00,2.10,0.00,0.000,4,0.000,0.031,2499,3270,1639,0,0,0,0,0,0,28.83,25.49,28.83
$GC,11128,0.96,184.9,173.0,11.7,486,11135,0.15,2.00,0.00,0.000,6,0.158,0.025,2469,1902,1639,0,0,0,0,0,0,25.16,25.72,28.83
$GC,11454,0.99,202.4,141.8,8.8,502,11474,0.00,2.20,13.85,0.734,4,0.000,0.035,2479,504,1582,0,0,0,0,0,0,28.83,25.39,24.23
$GC,11508,1.03,220.7,137.9,8.8,504,11533,0.00,2.03,16.38,0.735,6,0.000,0.021,2479,1893,1508,0,0,0,0,0,0,28.83,25.87,24.27
$GC,11843,1.05,233.2,105.8,9.0,521,11862,0.00,2.12,11.73,0.694,4,0.000,0.032,2479,3292,1457,0,0,0,0,0,0,28.83,25.70,24.39
$GC,11948,1.05,233.2,95.9,9.9,526,11953,0.00,2.08,0.00,0.000,6,0.000,0.025,2486,1895,1456,0,0,0,0,0,0,28.83,25.92,28.83
$GC,12272,1.17,291.1,68.7,7.4,542,12326,0.12,2.20,47.83,0.708,4,0.097,0.030,2549,3291,1221,0,0,0,0,0,0,26.09,25.56,24.33
$GC,12375,1.17,291.1,57.8,11.1,547,12380,0.00,2.10,0.00,0.000,6,0.000,0.025,2559,1865,1219,0,0,0,0,0,0,28.83,25.87,28.83
$GC,12686,1.17,291.1,19.0,12.0,579,12693,0.00,2.12,0.00,0.000,4,0.000,0.031,2560,3286,1218,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12742,1.17,291.1,11.5,13.2,589,12750,0.12,2.03,0.00,0.000,6,0.181,0.026,2539,1905,1217,0,0,0,0,0,0,25.34,25.83,28.83
$STATE,12832,end climb,SURFACE_DEPTH_REACHED
$STATE,12833,begin surface coast
$FINISH,1.2,1.022091
$STATE,12854,end surface coast,CONTROL_FINISHED_OK
$STATE,12854,begin surface
$SM_CCo,12873,47.08,0.052,0,0,777,400.08
$SM_GC,2.20,6.68,0.00,47.08,0.051,0.000,0.052,62,1901,777,-6.46,-0.65,400.08,0,0,0,0,0,0,25.50,28.83,25.55
$IRIDIUM_FIX,1957.29,12420.23,270213,232351
$TT8_MAMPS,0.024717,0.024717
$HUMID,54.25
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,3829600
$24V_AH,21.8,102.955
$10V_AH,9.6,66.425
$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,17.150,113.225,412.350,47.075,0.000,0.000,0.000,326.975,0.000,0.000,34.862,2127.042,8313.977,552.906,2017.867,476.602,0.000,1813.866,0.000,1645.746,0.000,0.539,0.000
$DEVICE_MAMPS,237.150,45.135,1394.595,52.020,0.000,0.000,0.000,128.520,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12879.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.127,0.000,0.000,0.000
$MEM,328840
$DATA_FILE_SIZE,23377,610
$CAP_FILE_SIZE,149712,0
$CFSIZE,260034560,201895936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195,252.8,1
$GPS,280213,073106,2003.404,12420.267,34,1.1,34,-2.5