version: 66.11
glider: 129
mission: 4
dive: 504
start: 3 1 113 5 46 10
data:
$ID,129
$MISSION,4
$DIVE,504
$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,-4318.9492
$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,61
$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
$GPS1,010313,053643,1952.399,12419.715,18,2.0,18,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-64.1
$GPS2,010313,054543,1952.355,12419.726,20,2.0,20,-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,195.7,210034,-15.3,-9.429,-18.41
$D_GRID,5501
$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,-1.06,-184.9,0.0,0.0,0,70,0.00,0.00,-46.50,0.000,2,0.000,0.000,62,1914,1824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-1.06,-184.9,3.2,-4.3,8,123,7.38,2.10,-34.30,0.000,4,0.236,0.043,1853,521,3163,0,0,0,0,0,0,24.86,25.66,26.45
$GC,145,-1.06,-184.9,14.7,-26.6,19,151,0.00,2.03,0.00,0.000,6,0.000,0.021,1844,1920,3163,0,0,0,0,0,0,28.83,25.91,28.83
$GC,469,-1.06,-184.9,126.8,-30.6,43,475,0.00,2.10,0.00,0.000,4,0.000,0.029,1844,514,3164,0,0,0,0,0,0,28.83,25.65,28.83
$GC,663,-1.06,-184.9,178.9,-27.4,52,669,0.00,2.03,0.00,0.000,6,0.000,0.021,1834,1927,3165,0,0,0,0,0,0,28.83,25.87,28.83
$GC,979,-1.06,-184.9,267.3,-27.1,68,984,0.00,2.08,0.00,0.000,4,0.000,0.029,1834,520,3165,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1006,-1.06,-184.9,274.0,-26.9,69,1012,0.12,2.03,0.00,0.000,6,0.190,0.022,1852,1928,3165,0,0,0,0,0,0,25.31,25.87,28.83
$GC,1326,-1.06,-184.9,352.5,-23.4,85,1332,0.00,2.10,0.00,0.000,4,0.000,0.030,1852,525,3165,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1442,-1.06,-184.9,376.1,-21.5,90,1447,0.00,2.03,0.00,0.000,6,0.000,0.022,1843,1938,3165,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1756,-1.06,-184.9,450.1,-22.9,106,1761,0.00,2.12,0.00,0.000,4,0.000,0.030,1844,521,3165,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1890,-1.06,-184.9,480.1,-24.0,112,1895,0.00,2.03,0.00,0.000,6,0.000,0.022,1833,1926,3164,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2203,-1.06,-184.9,554.4,-22.1,128,2209,0.00,2.12,0.00,0.000,4,0.000,0.030,1833,517,3164,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2353,-1.06,-184.9,586.1,-20.8,135,2359,0.12,2.08,0.00,0.000,6,0.183,0.022,1852,1931,3163,0,0,0,0,0,0,25.34,25.86,28.83
$GC,2675,-1.06,-184.9,650.3,-18.8,147,2680,0.00,2.12,0.00,0.000,4,0.000,0.031,1852,532,3162,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2743,-1.06,-184.9,662.9,-18.5,149,2748,0.00,2.05,0.00,0.000,6,0.000,0.023,1844,1934,3161,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3075,-1.06,-184.9,723.8,-17.9,160,3080,0.00,2.15,0.00,0.000,4,0.000,0.031,1844,520,3159,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3202,-1.06,-184.9,747.7,-18.9,164,3207,0.00,2.08,0.00,0.000,6,0.000,0.024,1834,1927,3158,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3538,-1.06,-184.9,810.0,-18.3,175,3544,0.00,2.15,0.00,0.000,4,0.000,0.031,1834,520,3155,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3652,-1.06,-184.9,828.7,-19.1,178,3658,0.12,2.05,0.00,0.000,6,0.183,0.023,1853,1924,3154,0,0,0,0,0,0,25.29,25.83,28.83
$GC,3968,-1.06,-184.9,885.2,-16.7,189,3974,0.00,2.12,0.00,0.000,4,0.000,0.032,1853,522,3152,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4035,-1.06,-184.9,896.7,-17.2,191,4042,0.00,2.08,0.00,0.000,6,0.000,0.024,1844,1935,3151,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4369,-1.06,-184.9,954.0,-17.3,202,4374,0.00,2.12,0.00,0.000,4,0.000,0.032,1844,532,3148,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4453,-1.06,-184.9,965.9,-17.5,204,4458,0.00,2.05,0.00,0.000,6,0.000,0.024,1834,1924,3147,0,0,0,0,0,0,28.83,25.78,28.83
$STATE,4584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4585,begin apogee
$GC,4592,-0.21,0.0,993.2,-18.0,209,4756,0.98,0.00,155.32,1.393,6,0.142,0.000,2123,1924,2410,0,0,0,0,0,0,23.68,28.83,22.55
$STATE,4758,end apogee,CONTROL_FINISHED_OK
$STATE,4758,begin climb
$GC,4762,1.06,184.9,999.6,0.0,214,4946,1.23,0.00,173.75,1.338,6,0.070,0.000,2539,1926,1654,0,0,0,0,0,0,23.91,28.83,21.63
$GC,5250,1.06,184.9,928.4,18.2,231,5255,0.00,2.08,0.00,0.000,4,0.000,0.035,2538,3288,1646,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5283,1.06,184.9,921.5,18.0,232,5289,0.00,2.08,0.00,0.000,6,0.000,0.026,2548,1892,1645,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5619,1.06,184.9,860.0,18.5,243,5624,0.00,2.12,0.00,0.000,4,0.000,0.033,2541,3292,1643,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5697,1.06,184.9,847.7,18.7,245,5703,0.00,2.10,0.00,0.000,6,0.000,0.026,2550,1891,1643,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6016,1.06,184.9,786.8,18.1,256,6021,0.00,2.15,0.00,0.000,4,0.000,0.033,2550,3292,1641,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6051,1.06,184.9,780.7,18.0,257,6056,0.00,2.10,0.00,0.000,6,0.000,0.026,2560,1893,1641,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6387,1.06,184.9,719.8,17.9,268,6392,0.00,2.12,0.00,0.000,4,0.000,0.033,2552,3285,1640,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6485,1.06,184.9,702.2,18.3,271,6491,0.00,2.05,0.00,0.000,6,0.000,0.026,2561,1897,1640,0,0,0,0,0,0,28.83,25.73,28.83
$GC,6814,1.06,184.9,648.8,15.7,282,6815,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1898,1638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7115,1.06,184.9,600.7,15.8,292,7120,0.00,2.12,0.00,0.000,4,0.000,0.033,2552,3291,1638,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7232,1.06,184.9,581.8,18.4,297,7237,0.00,2.08,0.00,0.000,6,0.000,0.026,2561,1888,1637,0,0,0,0,0,0,28.83,25.69,28.83
$GC,7546,1.06,184.9,525.3,17.3,313,7552,0.00,2.12,0.00,0.000,4,0.000,0.035,2572,499,1637,0,0,0,0,0,0,28.83,25.39,28.83
$GC,7615,1.06,184.9,513.8,17.4,316,7620,0.00,2.08,0.00,0.000,6,0.000,0.022,2572,1917,1636,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7934,1.06,184.9,462.1,15.0,332,7939,0.00,2.08,0.00,0.000,4,0.000,0.034,2568,3284,1636,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8021,1.06,184.9,448.8,15.6,336,8028,0.15,2.05,0.00,0.000,6,0.198,0.026,2542,1898,1636,0,0,0,0,0,0,24.93,25.67,28.83
$GC,8342,1.06,184.9,401.7,14.8,352,8343,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1898,1636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8644,1.06,184.9,356.8,14.1,367,8649,0.00,2.12,0.00,0.000,4,0.000,0.032,2537,3289,1636,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8752,1.06,184.9,342.3,13.3,372,8758,0.00,2.08,0.00,0.000,6,0.000,0.026,2548,1895,1636,0,0,0,0,0,0,28.83,25.66,28.83
$GC,9071,1.06,184.9,304.5,10.8,388,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1896,1636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9376,1.06,184.9,268.2,13.8,403,9381,0.00,2.12,0.00,0.000,4,0.000,0.031,2540,3280,1636,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9420,1.06,184.9,261.5,13.9,405,9425,0.00,2.05,0.00,0.000,6,0.000,0.025,2548,1893,1636,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9743,1.06,184.9,218.0,12.5,421,9748,0.00,2.12,0.00,0.000,4,0.000,0.031,2540,3291,1636,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9883,1.06,184.9,202.2,12.6,427,9890,0.00,2.05,0.00,0.000,6,0.000,0.025,2549,1894,1636,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10190,1.06,184.9,163.1,11.9,443,10195,0.00,2.10,0.00,0.000,4,0.000,0.031,2549,3290,1637,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10227,1.06,184.9,160.1,11.8,444,10235,0.00,2.05,0.00,0.000,6,0.000,0.025,2559,1892,1637,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10533,1.06,184.9,123.6,10.5,460,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1893,1637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10836,1.08,192.1,94.8,9.2,475,10842,0.00,0.00,4.78,0.561,6,0.000,0.000,2559,1893,1626,0,0,0,0,0,0,28.83,28.83,24.04
$GC,11135,1.21,251.0,70.8,7.4,490,11192,0.00,0.00,49.55,0.715,6,0.000,0.000,2559,1892,1385,0,0,0,0,0,0,28.83,28.83,24.27
$GC,11494,1.21,251.0,32.1,10.3,516,11500,0.00,2.10,0.00,0.000,4,0.000,0.034,2569,496,1381,0,0,0,0,0,0,28.83,25.66,28.83
$GC,11590,1.21,251.0,20.6,14.6,528,11597,0.00,2.03,0.00,0.000,6,0.000,0.020,2569,1924,1379,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,11772,end climb,SURFACE_DEPTH_REACHED
$STATE,11772,begin surface coast
$FINISH,1.3,1.010437
$STATE,11794,end surface coast,CONTROL_FINISHED_OK
$STATE,11794,begin surface
$SM_CCo,11814,64.75,0.052,0,0,777,400.08
$SM_GC,1.82,6.75,0.00,64.75,0.050,0.000,0.052,57,1938,777,-6.60,0.20,400.08,0,0,0,0,0,0,25.50,28.83,25.52
$IRIDIUM_FIX,1948.12,12412.56,010313,020213
$TT8_MAMPS,0.024717,0.024717
$HUMID,53.74
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3826912
$24V_AH,21.6,104.020
$10V_AH,9.7,67.118
$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,16.850,95.950,383.400,64.750,0.000,0.000,0.000,315.300,0.000,0.000,20.769,1929.366,7683.850,538.161,1830.139,436.404,0.000,1681.779,0.000,1467.502,0.000,0.539,0.000
$DEVICE_MAMPS,236.385,42.840,1393.065,52.020,0.000,0.000,0.000,124.695,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11821.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.299,0.000,0.000,0.000
$MEM,328592
$DATA_FILE_SIZE,20103,567
$CAP_FILE_SIZE,133291,0
$CFSIZE,260034560,201375744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,253.5,1
$GPS,010313,090536,1950.419,12419.052,42,1.2,42,-2.4