version: 66.11
glider: 129
mission: 4
dive: 502
start: 2 28 113 23 0 10
data:
$ID,129
$MISSION,4
$DIVE,502
$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,-4316.438
$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,2200
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$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,59
$R_STBD_OVSHOOT,80
$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,0.0023000001
$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
$GPS1,280213,223123,1955.871,12419.112,40,1.0,40,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-66.2
$GPS2,280213,223123,1955.871,12419.112,901,99.0,901,-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,172.3,215632,-15.3,-9.429,-18.41
$D_GRID,5473
$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,-1.06,-184.9,0.0,0.0,0,70,0.00,0.00,-46.03,0.000,2,0.000,0.000,56,1883,1840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-1.06,-184.9,3.3,-3.3,8,123,7.57,2.05,-33.92,0.000,4,0.239,0.044,1855,518,3163,0,0,0,0,0,0,24.77,25.60,26.48
$GC,144,-1.06,-184.9,15.2,-28.5,19,150,0.00,2.03,0.00,0.000,6,0.000,0.021,1846,1921,3163,0,0,0,0,0,0,28.83,25.91,28.83
$GC,464,-1.06,-184.9,123.9,-27.8,42,469,0.00,2.08,0.00,0.000,4,0.000,0.029,1846,509,3161,0,0,0,0,0,0,28.83,25.69,28.83
$GC,594,-1.06,-184.9,158.5,-28.0,48,600,0.00,2.05,0.00,0.000,6,0.000,0.021,1835,1937,3163,0,0,0,0,0,0,28.83,25.93,28.83
$GC,913,-1.06,-184.9,248.3,-29.0,64,919,0.00,2.10,0.00,0.000,4,0.000,0.030,1835,521,3163,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1020,-1.06,-184.9,279.0,-29.4,69,1027,0.12,2.03,0.00,0.000,6,0.193,0.021,1853,1920,3163,0,0,0,0,0,0,25.37,25.94,28.83
$GC,1345,-1.06,-184.9,356.8,-22.3,85,1350,0.00,2.08,0.00,0.000,4,0.000,0.030,1853,517,3163,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1531,-1.06,-184.9,399.1,-21.8,94,1536,0.00,2.05,0.00,0.000,6,0.000,0.021,1845,1931,3162,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1854,-1.06,-184.9,470.7,-22.6,110,1860,0.00,2.12,0.00,0.000,4,0.000,0.029,1845,512,3162,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1882,-1.06,-184.9,476.1,-22.7,111,1887,0.00,2.03,0.00,0.000,6,0.000,0.021,1834,1926,3162,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2201,-1.06,-184.9,548.1,-22.5,127,2206,0.00,2.10,0.00,0.000,4,0.000,0.030,1834,524,3161,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2308,-1.06,-184.9,571.6,-22.8,132,2314,0.12,2.03,0.00,0.000,6,0.184,0.022,1854,1927,3161,0,0,0,0,0,0,25.39,25.91,28.83
$GC,2617,-1.06,-184.9,632.0,-18.9,145,2622,0.00,2.12,0.00,0.000,4,0.000,0.030,1854,521,3159,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2675,-1.06,-184.9,638.4,-18.6,146,2683,0.00,2.05,0.00,0.000,6,0.000,0.023,1845,1932,3158,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2982,-1.06,-184.9,698.9,-17.8,157,2987,0.00,2.12,0.00,0.000,4,0.000,0.031,1845,528,3156,0,0,0,0,0,0,28.83,25.62,28.83
$GC,3045,-1.06,-184.9,710.5,-17.7,159,3051,0.00,2.08,0.00,0.000,6,0.000,0.023,1835,1942,3155,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3382,-1.06,-184.9,771.6,-18.0,170,3387,0.00,2.15,0.00,0.000,4,0.000,0.031,1835,527,3152,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3480,-1.06,-184.9,790.0,-19.0,173,3486,0.12,2.03,0.00,0.000,6,0.183,0.023,1854,1920,3151,0,0,0,0,0,0,25.34,25.87,28.83
$GC,3812,-1.06,-184.9,845.0,-16.4,184,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1921,3148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4111,-1.06,-184.9,895.2,-16.8,194,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1921,3146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4410,-1.06,-184.9,945.1,-16.4,204,4415,0.00,2.15,0.00,0.000,4,0.000,0.032,1854,519,3143,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4498,-1.06,-184.9,956.0,-16.8,206,4505,0.00,2.08,0.00,0.000,6,0.000,0.024,1846,1925,3143,0,0,0,0,0,0,28.83,25.82,28.83
$STATE,4681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4681,begin apogee
$GC,4687,-0.21,0.0,991.5,-16.6,213,4850,0.93,0.00,153.70,1.392,6,0.138,0.000,2124,1926,2409,0,0,0,0,0,0,23.88,28.83,22.80
$STATE,4852,end apogee,CONTROL_FINISHED_OK
$STATE,4852,begin climb
$GC,4855,1.06,184.9,998.4,0.0,218,5034,1.23,2.55,170.23,1.340,4,0.072,0.036,2551,507,1655,0,0,0,0,0,0,24.16,23.15,21.80
$GC,5087,1.06,184.9,977.0,15.0,226,5093,0.00,2.20,0.00,0.000,6,0.000,0.022,2551,1903,1650,0,0,0,0,0,0,28.83,24.36,28.83
$GC,5413,1.06,184.9,915.5,18.4,237,5419,0.00,2.10,0.00,0.000,4,0.000,0.035,2551,3292,1646,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5498,1.06,184.9,902.4,19.0,239,5503,0.00,2.08,0.00,0.000,6,0.000,0.027,2561,1892,1644,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5812,1.06,184.9,840.5,18.6,250,5817,0.00,2.17,0.00,0.000,4,0.000,0.033,2553,3303,1642,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5940,1.06,184.9,817.0,18.8,254,5945,0.00,2.10,0.00,0.000,6,0.000,0.026,2561,1891,1642,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6276,1.06,184.9,758.4,17.1,265,6282,0.00,2.15,0.00,0.000,4,0.000,0.032,2553,3299,1641,0,0,0,0,0,0,28.83,25.59,28.83
$GC,6345,1.06,184.9,747.1,17.2,267,6350,0.00,2.10,0.00,0.000,6,0.000,0.026,2563,1898,1641,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6674,1.06,184.9,690.8,17.2,278,6679,0.00,2.15,0.00,0.000,4,0.000,0.033,2553,3302,1639,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6772,1.06,184.9,674.4,17.4,281,6778,0.00,2.08,0.00,0.000,6,0.000,0.026,2562,1899,1639,0,0,0,0,0,0,28.83,25.73,28.83
$GC,7101,1.06,184.9,617.4,17.3,292,7106,0.00,2.15,0.00,0.000,4,0.000,0.033,2551,3302,1638,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7221,1.06,184.9,600.8,17.6,295,7228,0.00,2.10,0.00,0.000,6,0.000,0.026,2562,1890,1638,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7526,1.06,184.9,544.4,17.4,311,7531,0.00,2.10,0.00,0.000,4,0.000,0.036,2572,500,1637,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7544,1.06,184.9,544.4,17.4,311,7551,0.00,2.05,0.00,0.000,6,0.000,0.023,2568,1916,1636,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7850,1.06,184.9,485.4,18.1,327,7855,0.00,2.05,0.00,0.000,4,0.000,0.034,2568,3284,1634,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7977,1.06,184.9,463.5,17.1,333,7982,0.15,2.08,0.00,0.000,6,0.197,0.026,2542,1899,1635,0,0,0,0,0,0,24.96,25.69,28.83
$GC,8301,1.06,184.9,414.9,14.0,349,8307,0.00,2.12,0.00,0.000,4,0.000,0.033,2541,3288,1635,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8461,1.06,184.9,394.1,14.3,356,8468,0.00,2.05,0.00,0.000,6,0.000,0.026,2549,1899,1635,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8768,1.06,184.9,356.8,12.2,372,8773,0.00,2.12,0.00,0.000,4,0.000,0.035,2560,501,1635,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8832,1.06,184.9,348.8,12.4,375,8838,0.00,2.03,0.00,0.000,6,0.000,0.021,2555,1902,1634,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9156,1.06,184.9,304.5,13.3,391,9162,0.00,2.05,0.00,0.000,4,0.000,0.033,2555,3275,1635,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9312,1.06,184.9,284.4,13.9,398,9318,0.00,2.08,0.00,0.000,6,0.000,0.025,2563,1884,1635,0,0,0,0,0,0,28.83,25.69,28.83
$GC,9627,1.06,184.9,243.1,13.0,414,9632,0.00,2.12,0.00,0.000,4,0.000,0.031,2563,3277,1635,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9849,1.06,184.9,213.6,14.4,424,9857,0.12,2.03,0.00,0.000,6,0.196,0.025,2545,1901,1635,0,0,0,0,0,0,25.12,25.71,28.83
$GC,10154,1.06,184.9,171.5,13.7,440,10160,0.00,2.10,0.00,0.000,4,0.000,0.031,2543,3282,1636,0,0,0,0,0,0,28.83,25.51,28.83
$GC,10390,1.06,184.9,141.5,11.8,451,10396,0.00,2.05,0.00,0.000,6,0.000,0.024,2552,1900,1637,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10704,1.26,272.5,113.7,6.4,467,10784,0.12,2.17,69.15,0.754,4,0.109,0.030,2605,3276,1296,0,0,0,0,0,0,26.06,25.39,24.18
$GC,10899,1.26,272.5,89.6,15.8,476,10904,0.00,2.05,0.00,0.000,6,0.000,0.024,2614,1890,1293,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11212,1.26,272.5,39.6,15.0,495,11214,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1890,1292,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11465,end climb,SURFACE_DEPTH_REACHED
$STATE,11465,begin surface coast
$FINISH,1.4,1.022191
$STATE,11476,end surface coast,CONTROL_FINISHED_OK
$STATE,11476,begin surface
$SM_CCo,11495,55.38,0.054,0,0,777,400.08
$SM_GC,1.86,6.80,0.00,55.38,0.046,0.000,0.054,66,1887,777,-6.58,-1.10,400.08,0,0,0,0,0,0,25.45,28.83,25.49
$IRIDIUM_FIX,1945.83,12414.46,280213,222253
$TT8_MAMPS,0.024717,0.024717
$HUMID,54.60
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,3827680
$24V_AH,21.8,103.722
$10V_AH,9.7,66.934
$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,17.300,100.675,393.075,55.375,0.000,0.000,0.000,539.225,0.000,0.000,903.268,1964.020,7321.587,522.243,3010.255,434.310,0.000,1935.069,0.000,1541.807,0.000,0.540,0.000
$DEVICE_MAMPS,239.445,43.605,1392.300,53.550,0.000,0.000,0.000,124.695,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11498.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.864,0.000,0.000,0.000
$MEM,328540
$DATA_FILE_SIZE,20079,537
$CAP_FILE_SIZE,137007,0
$CFSIZE,260034560,201523200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032, 16.4,1
$GPS,010313,021444,1954.485,12420.064,58,3.5,77,-2.5