version: 66.11
glider: 129
mission: 4
dive: 499
start: 2 28 113 11 37 43
data:
$ID,129
$MISSION,4
$DIVE,499
$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,-3410.0229
$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,60
$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
$GPS1,280213,112806,2001.891,12420.350,40,0.9,40,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-68.7
$GPS2,280213,113713,2001.879,12420.269,15,1.2,15,-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,181.7,226719,-15.3,-9.429,-18.41
$D_GRID,5562
$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,-0.96,-184.9,0.0,0.0,0,69,0.00,0.00,-46.75,0.000,2,0.000,0.000,55,1888,1837,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.96,-184.9,3.3,-3.8,8,123,7.28,2.12,-36.75,0.000,4,0.231,0.045,1847,514,3164,0,0,0,0,0,0,24.81,25.72,26.45
$GC,259,-0.96,-184.9,51.8,-35.6,33,264,0.00,2.05,0.00,0.000,6,0.000,0.022,1839,1925,3165,0,0,0,0,0,0,28.83,25.89,28.83
$GC,573,-0.96,-184.9,159.5,-30.7,49,578,0.00,2.10,0.00,0.000,4,0.000,0.030,1837,517,3165,0,0,0,0,0,0,28.83,25.67,28.83
$GC,698,-0.96,-184.9,194.5,-26.2,55,704,0.00,2.03,0.00,0.000,6,0.000,0.021,1829,1934,3166,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1022,-0.96,-184.9,290.9,-29.7,71,1027,0.00,2.10,0.00,0.000,4,0.000,0.029,1829,522,3166,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1116,-0.96,-184.9,315.1,-28.9,75,1122,0.12,2.03,0.00,0.000,6,0.192,0.022,1846,1931,3166,0,0,0,0,0,0,25.33,25.90,28.83
$GC,1430,-0.96,-184.9,398.0,-23.7,91,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1931,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1735,-0.96,-184.9,463.6,-22.0,106,1740,0.00,2.12,0.00,0.000,4,0.000,0.031,1847,514,3165,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1934,-0.96,-184.9,505.6,-21.8,115,1941,0.00,2.08,0.00,0.000,6,0.000,0.022,1838,1936,3165,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2240,-0.96,-184.9,574.4,-21.7,131,2245,0.00,2.10,0.00,0.000,4,0.000,0.029,1838,525,3164,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2318,-0.96,-184.9,588.5,-22.3,134,2325,0.00,2.05,0.00,0.000,6,0.000,0.022,1828,1929,3164,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2635,-0.96,-184.9,662.2,-21.6,146,2640,0.00,2.10,0.00,0.000,4,0.000,0.031,1827,528,3163,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2729,-0.96,-184.9,683.1,-21.9,149,2735,0.12,2.08,0.00,0.000,6,0.184,0.023,1846,1932,3162,0,0,0,0,0,0,25.34,25.87,28.83
$GC,3063,-0.96,-184.9,748.2,-19.8,160,3069,0.00,2.15,0.00,0.000,4,0.000,0.031,1846,519,3160,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3258,-0.96,-184.9,784.8,-19.5,166,3264,0.00,2.08,0.00,0.000,6,0.000,0.023,1838,1936,3158,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3584,-0.96,-184.9,848.6,-19.3,177,3590,0.00,2.15,0.00,0.000,4,0.000,0.031,1838,520,3155,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3745,-0.96,-184.9,879.5,-19.5,182,3750,0.00,2.08,0.00,0.000,6,0.000,0.024,1827,1921,3154,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4076,-0.96,-184.9,941.6,-18.6,193,4082,0.00,2.12,0.00,0.000,4,0.000,0.031,1828,528,3151,0,0,0,0,0,0,28.83,25.55,28.83
$GC,4161,-0.96,-184.9,954.7,-19.1,195,4167,0.12,2.08,0.00,0.000,6,0.188,0.024,1846,1929,3151,0,0,0,0,0,0,25.26,25.81,28.83
$STATE,4353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4353,begin apogee
$GC,4360,-0.19,0.0,991.9,-16.7,202,4526,0.80,0.00,154.82,1.390,6,0.140,0.000,2089,1929,2409,0,0,0,0,0,0,23.99,28.83,22.82
$STATE,4528,end apogee,CONTROL_FINISHED_OK
$STATE,4528,begin climb
$GC,4531,0.96,184.9,997.6,0.0,207,4709,1.12,2.30,169.10,1.337,4,0.085,0.034,2464,3284,1656,0,0,0,0,0,0,24.17,23.19,21.86
$GC,4795,0.96,184.9,973.7,13.9,216,4800,0.00,2.15,0.00,0.000,6,0.000,0.027,2473,1901,1651,0,0,0,0,0,0,28.83,25.03,28.83
$GC,5115,0.96,184.9,924.4,14.5,227,5120,0.00,2.15,0.00,0.000,4,0.000,0.034,2476,3298,1647,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5209,0.96,184.9,910.3,14.7,230,5214,0.00,2.10,0.00,0.000,6,0.000,0.028,2484,1885,1647,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5546,0.96,184.9,862.5,14.3,241,5551,0.00,2.12,0.00,0.000,4,0.000,0.033,2484,3290,1644,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5643,0.96,184.9,847.4,15.1,244,5649,0.00,2.08,0.00,0.000,6,0.000,0.027,2494,1900,1644,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5973,0.96,184.9,798.7,14.1,255,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1900,1642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6274,0.96,184.9,757.6,13.7,265,6279,0.00,2.12,0.00,0.000,4,0.000,0.034,2494,3290,1641,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6338,0.96,184.9,747.8,14.4,267,6344,0.15,2.10,0.00,0.000,6,0.179,0.027,2467,1893,1641,0,0,0,0,0,0,25.13,25.75,28.83
$GC,6676,0.96,184.9,706.7,11.9,278,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1893,1640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6972,0.96,184.9,667.9,13.1,288,6978,0.00,2.15,0.00,0.000,4,0.000,0.033,2466,3296,1639,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7016,0.96,184.9,663.2,13.3,289,7021,0.00,2.08,0.00,0.000,6,0.000,0.027,2476,1895,1639,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7340,0.96,184.9,618.3,13.4,300,7345,0.00,2.15,0.00,0.000,4,0.000,0.033,2476,3290,1638,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7417,0.96,184.9,609.1,13.9,302,7423,0.00,2.10,0.00,0.000,6,0.000,0.027,2485,1898,1638,0,0,0,0,0,0,28.83,25.68,28.83
$GC,7728,0.96,184.9,561.2,15.2,317,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1898,1638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8031,0.96,184.9,515.6,14.9,332,8037,0.00,2.12,0.00,0.000,4,0.000,0.037,2496,506,1637,0,0,0,0,0,0,28.83,25.36,28.83
$GC,8064,0.96,184.9,511.4,14.9,333,8070,0.00,2.05,0.00,0.000,6,0.000,0.024,2496,1918,1636,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8378,0.96,184.9,465.7,13.8,349,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1918,1636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8681,0.96,184.9,425.6,13.2,364,8686,0.00,2.08,0.00,0.000,4,0.000,0.034,2496,3283,1636,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8831,0.96,184.9,405.4,13.6,371,8837,0.15,2.08,0.00,0.000,6,0.168,0.026,2467,1899,1636,0,0,0,0,0,0,25.06,25.66,28.83
$GC,9151,0.96,184.9,365.9,11.6,387,9156,0.00,2.15,0.00,0.000,4,0.000,0.036,2478,500,1636,0,0,0,0,0,0,28.83,25.34,28.83
$GC,9197,0.96,184.9,360.7,11.6,389,9202,0.00,2.05,0.00,0.000,6,0.000,0.022,2477,1915,1636,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9520,0.96,184.9,327.9,9.9,405,9527,0.00,2.08,0.00,0.000,4,0.000,0.033,2477,3300,1636,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9606,0.96,184.9,318.7,10.8,409,9613,0.00,2.10,0.00,0.000,6,0.000,0.026,2486,1897,1636,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9931,0.96,184.9,283.1,11.3,425,9932,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1897,1636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10234,0.96,184.9,252.2,9.9,440,10239,0.00,2.12,0.00,0.000,4,0.000,0.031,2486,3282,1637,0,0,0,0,0,0,28.83,25.47,28.83
$GC,10272,0.96,184.9,249.7,9.8,441,10279,0.00,2.05,0.00,0.000,6,0.000,0.025,2496,1889,1637,0,0,0,0,0,0,28.83,25.69,28.83
$GC,10578,0.96,184.9,214.1,11.7,457,10583,0.00,2.10,0.00,0.000,4,0.000,0.034,2505,504,1637,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10642,0.96,184.9,206.2,12.2,460,10648,0.15,2.03,0.00,0.000,6,0.151,0.021,2465,1906,1637,0,0,0,0,0,0,25.28,25.86,28.83
$GC,10967,1.00,205.1,174.8,8.7,476,10992,0.00,2.12,15.80,0.767,4,0.000,0.031,2465,3274,1572,0,0,0,0,0,0,28.83,25.38,24.20
$GC,11146,1.00,205.1,157.4,11.0,484,11153,0.00,2.05,0.00,0.000,6,0.000,0.025,2474,1884,1571,0,0,0,0,0,0,28.83,25.81,28.83
$GC,11452,1.02,216.3,127.4,9.0,500,11472,0.00,2.12,10.55,0.704,4,0.000,0.034,2484,512,1526,0,0,0,0,0,0,28.83,25.52,24.41
$GC,11548,1.04,223.4,119.7,9.2,504,11563,0.00,2.03,7.72,0.656,6,0.000,0.021,2484,1912,1497,0,0,0,0,0,0,28.83,25.98,24.41
$GC,11882,1.07,241.5,88.9,8.8,521,11906,0.00,2.10,16.15,0.697,4,0.000,0.031,2484,3281,1423,0,0,0,0,0,0,28.83,25.65,24.38
$GC,12047,1.14,274.3,75.0,8.3,529,12081,0.00,2.03,27.70,0.702,6,0.000,0.025,2494,1888,1289,0,0,0,0,0,0,28.83,25.89,24.32
$GC,12391,1.14,278.1,42.1,9.3,550,12403,0.10,2.08,4.32,0.497,4,0.112,0.032,2549,500,1274,0,0,0,0,0,0,26.13,25.76,24.52
$GC,12473,1.14,278.1,33.3,12.1,557,12481,0.00,2.03,0.00,0.000,6,0.000,0.021,2549,1902,1273,0,0,0,0,0,0,28.83,26.00,28.83
$STATE,12732,end climb,SURFACE_DEPTH_REACHED
$STATE,12732,begin surface coast
$FINISH,1.2,1.009695
$STATE,12748,end surface coast,CONTROL_FINISHED_OK
$STATE,12748,begin surface
$SM_CCo,12766,53.50,0.053,0,0,777,400.08
$SM_GC,2.01,6.62,0.00,53.50,0.044,0.000,0.053,58,1916,777,-6.47,-0.25,400.08,0,0,0,0,0,0,25.41,28.83,25.58
$IRIDIUM_FIX,1957.29,12420.23,280213,070738
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.05
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,3828832
$24V_AH,21.9,103.260
$10V_AH,9.7,66.630
$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,16.750,104.750,406.175,53.500,0.000,0.000,0.000,321.475,0.000,0.000,16.464,2132.984,8209.826,538.381,2003.187,482.838,0.000,1789.954,0.000,1632.284,0.000,0.539,0.000
$DEVICE_MAMPS,231.030,45.135,1390.005,52.785,0.000,0.000,0.000,128.520,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12780.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.243,0.000,0.000,0.000
$MEM,328788
$DATA_FILE_SIZE,23402,605
$CAP_FILE_SIZE,147575,0
$CFSIZE,260034560,201736192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,270.7,1
$GPS,280213,151236,2000.029,12420.640,26,1.1,26,-2.5