version: 66.11
glider: 129
mission: 4
dive: 505
start: 3 1 113 9 14 29
data:
$ID,129
$MISSION,4
$DIVE,505
$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,-4320.208
$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,60
$R_STBD_OVSHOOT,87
$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
$GPS1,010313,090536,1950.419,12419.052,42,1.2,42,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-67.6
$GPS2,010313,091401,1950.452,12419.062,17,1.6,17,-2.4
$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,187.4,206334,-15.3,-9.429,-18.41
$D_GRID,5514
$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,-46.95,0.000,2,0.000,0.000,55,1937,1865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-1.06,-184.9,3.3,-4.3,8,122,7.32,0.00,-33.95,0.000,6,0.233,0.000,1852,1926,3164,0,0,0,0,0,0,24.85,28.83,26.45
$GC,429,-1.06,-184.9,106.6,-29.9,42,435,0.00,2.10,0.00,0.000,4,0.000,0.033,1852,514,3165,0,0,0,0,0,0,28.83,25.57,28.83
$GC,664,-1.06,-184.9,169.8,-25.8,53,669,0.00,2.00,0.00,0.000,6,0.000,0.022,1844,1910,3164,0,0,0,0,0,0,28.83,25.87,28.83
$GC,979,-1.06,-184.9,260.0,-27.7,69,984,0.00,2.08,0.00,0.000,4,0.000,0.029,1844,518,3166,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1073,-1.06,-184.9,281.9,-25.8,73,1078,0.00,2.05,0.00,0.000,6,0.000,0.021,1834,1933,3166,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1386,-1.06,-184.9,364.5,-24.9,89,1392,0.00,2.10,0.00,0.000,4,0.000,0.029,1834,512,3166,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1507,-1.06,-184.9,390.1,-24.5,94,1514,0.12,2.05,0.00,0.000,6,0.189,0.021,1852,1925,3167,0,0,0,0,0,0,25.34,25.90,28.83
$GC,1810,-1.06,-184.9,465.8,-22.3,110,1815,0.00,2.10,0.00,0.000,4,0.000,0.030,1852,517,3166,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1940,-1.06,-184.9,493.2,-21.9,116,1945,0.00,2.05,0.00,0.000,6,0.000,0.022,1844,1922,3165,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2258,-1.06,-184.9,563.6,-20.7,132,2264,0.00,2.12,0.00,0.000,4,0.000,0.030,1844,514,3164,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2419,-1.06,-184.9,595.0,-21.5,139,2426,0.00,2.08,0.00,0.000,6,0.000,0.023,1834,1936,3164,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2744,-1.06,-184.9,665.7,-20.4,151,2749,0.00,2.12,0.00,0.000,4,0.000,0.030,1834,528,3162,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2852,-1.06,-184.9,684.6,-20.3,154,2859,0.12,2.05,0.00,0.000,6,0.184,0.023,1853,1919,3162,0,0,0,0,0,0,25.31,25.84,28.83
$GC,3175,-1.06,-184.9,744.6,-17.3,165,3180,0.00,2.10,0.00,0.000,4,0.000,0.031,1853,525,3159,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3233,-1.06,-184.9,750.9,-17.5,166,3240,0.00,2.08,0.00,0.000,6,0.000,0.023,1844,1937,3158,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3539,-1.06,-184.9,810.9,-18.3,177,3545,0.00,2.15,0.00,0.000,4,0.000,0.031,1844,521,3156,0,0,0,0,0,0,28.83,25.54,28.83
$GC,3622,-1.06,-184.9,823.2,-18.6,179,3628,0.00,2.08,0.00,0.000,6,0.000,0.023,1834,1928,3154,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3937,-1.06,-184.9,883.9,-17.9,190,3942,0.00,2.15,0.00,0.000,4,0.000,0.032,1834,521,3153,0,0,0,0,0,0,28.83,25.50,28.83
$GC,4075,-1.06,-184.9,908.2,-19.6,194,4081,0.12,2.05,0.00,0.000,6,0.183,0.024,1853,1921,3152,0,0,0,0,0,0,25.26,25.79,28.83
$GC,4397,-1.06,-184.9,964.5,-16.6,205,4403,0.00,2.12,0.00,0.000,4,0.000,0.033,1853,531,3150,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4455,-1.06,-184.9,970.6,-16.6,206,4462,0.00,2.05,0.00,0.000,6,0.000,0.024,1845,1929,3148,0,0,0,0,0,0,28.83,25.78,28.83
$STATE,4548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4548,begin apogee
$GC,4556,-0.21,0.0,990.7,-16.7,210,4721,0.93,0.00,156.30,1.389,6,0.137,0.000,2122,1931,2409,0,0,0,0,0,0,23.82,28.83,22.60
$STATE,4723,end apogee,CONTROL_FINISHED_OK
$STATE,4723,begin climb
$GC,4726,1.06,184.9,998.0,0.0,215,4912,1.23,2.53,172.75,1.337,4,0.070,0.037,2548,522,1654,0,0,0,0,0,0,23.92,22.98,21.66
$GC,4946,1.06,184.9,977.2,15.1,223,4951,0.00,2.22,0.00,0.000,6,0.000,0.022,2542,1892,1650,0,0,0,0,0,0,28.83,23.77,28.83
$GC,5283,1.06,184.9,915.1,18.6,234,5289,0.00,2.12,0.00,0.000,4,0.000,0.034,2542,3305,1645,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5427,1.06,184.9,890.1,19.6,238,5432,0.00,2.08,0.00,0.000,6,0.000,0.026,2550,1895,1644,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5742,1.06,184.9,826.0,19.0,249,5747,0.00,2.12,0.00,0.000,4,0.000,0.032,2550,3297,1643,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5794,1.06,184.9,819.4,18.9,250,5799,0.00,2.08,0.00,0.000,6,0.000,0.026,2559,1901,1642,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6109,1.06,184.9,755.4,19.1,261,6114,0.00,2.15,0.00,0.000,4,0.000,0.032,2552,3302,1641,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6216,1.06,184.9,736.6,19.8,264,6222,0.00,2.08,0.00,0.000,6,0.000,0.026,2561,1895,1641,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6537,1.06,184.9,671.5,19.6,275,6542,0.00,2.12,0.00,0.000,4,0.000,0.032,2553,3295,1639,0,0,0,0,0,0,28.83,25.52,28.83
$GC,6580,1.06,184.9,664.6,19.7,276,6585,0.00,2.10,0.00,0.000,6,0.000,0.026,2561,1888,1639,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6903,1.06,184.9,603.7,17.4,287,6908,0.00,2.12,0.00,0.000,4,0.000,0.032,2553,3294,1638,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6991,1.06,184.9,588.6,18.2,291,6997,0.00,2.08,0.00,0.000,6,0.000,0.026,2561,1888,1638,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7311,1.06,184.9,535.6,15.7,307,7316,0.00,2.10,0.00,0.000,4,0.000,0.035,2572,500,1637,0,0,0,0,0,0,28.83,25.40,28.83
$GC,7324,1.06,184.9,535.6,15.7,307,7330,0.00,2.08,0.00,0.000,6,0.000,0.023,2568,1915,1637,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7639,1.06,184.9,484.4,16.5,323,7645,0.00,2.08,0.00,0.000,4,0.000,0.033,2568,3290,1636,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7767,1.06,184.9,462.1,18.0,329,7773,0.15,2.08,0.00,0.000,6,0.197,0.026,2540,1895,1636,0,0,0,0,0,0,24.94,25.67,28.83
$GC,8092,1.06,184.9,417.0,14.0,345,8098,0.00,2.15,0.00,0.000,4,0.000,0.036,2552,500,1636,0,0,0,0,0,0,28.83,25.35,28.83
$GC,8141,1.06,184.9,410.3,14.7,347,8146,0.00,2.05,0.00,0.000,6,0.000,0.023,2552,1902,1635,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8459,1.06,184.9,362.5,14.2,363,8464,0.00,2.08,0.00,0.000,4,0.000,0.032,2552,3280,1635,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8695,1.06,184.9,326.0,15.1,374,8700,0.00,2.05,0.00,0.000,6,0.000,0.025,2562,1895,1636,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9008,1.06,184.9,278.5,14.7,390,9013,0.00,2.12,0.00,0.000,4,0.000,0.031,2562,3285,1636,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9101,1.06,184.9,266.1,14.8,394,9107,0.00,2.05,0.00,0.000,6,0.000,0.024,2572,1894,1636,0,0,0,0,0,0,28.83,25.68,28.83
$GC,9416,1.06,184.9,220.1,14.0,410,9421,0.00,2.12,0.00,0.000,4,0.000,0.034,2582,496,1636,0,0,0,0,0,0,28.83,25.38,28.83
$GC,9440,1.06,184.9,216.8,13.9,411,9446,0.15,2.03,0.00,0.000,6,0.189,0.021,2542,1916,1635,0,0,0,0,0,0,25.07,25.83,28.83
$GC,9764,1.06,184.9,174.8,13.8,427,9766,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1917,1636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10066,1.06,184.9,136.5,11.4,442,10071,0.00,2.05,0.00,0.000,4,0.000,0.031,2542,3273,1636,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10303,1.06,184.9,112.7,10.3,453,10309,0.00,2.05,0.00,0.000,6,0.000,0.024,2551,1891,1638,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10617,1.16,228.6,85.3,7.9,469,10657,0.00,2.17,34.35,0.724,4,0.000,0.029,2551,3268,1476,0,0,0,0,0,0,28.83,25.43,24.28
$GC,10670,1.25,266.4,81.9,8.1,471,10710,0.12,2.03,32.00,0.712,6,0.107,0.025,2606,1899,1322,0,0,0,0,0,0,25.41,25.61,24.28
$GC,11013,1.25,266.4,32.1,14.8,494,11018,0.00,2.10,0.00,0.000,4,0.000,0.033,2617,503,1316,0,0,0,0,0,0,28.83,25.68,28.83
$GC,11193,1.25,266.4,4.5,13.8,524,11200,0.00,2.00,0.00,0.000,6,0.000,0.020,2617,1898,1314,0,0,0,0,0,0,28.83,25.95,28.83
$STATE,11211,end climb,SURFACE_DEPTH_REACHED
$STATE,11211,begin surface coast
$FINISH,1.1,1.011630
$STATE,11222,end surface coast,CONTROL_FINISHED_OK
$STATE,11222,begin surface
$SM_CCo,11242,57.83,0.054,0,0,777,400.08
$SM_GC,1.86,6.75,0.00,57.83,0.041,0.000,0.054,53,1909,777,-6.60,-0.42,400.08,0,0,0,0,0,0,25.56,28.83,25.58
$IRIDIUM_FIX,1945.83,12414.46,010313,050531
$TT8_MAMPS,0.024717,0.024717
$HUMID,54.44
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,3826528
$24V_AH,21.7,104.170
$10V_AH,9.5,67.208
$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,17.025,104.850,395.400,57.825,0.000,0.000,0.000,283.275,0.000,0.000,18.108,1936.635,7066.216,536.332,1851.868,414.399,0.000,1683.211,0.000,1516.835,0.000,0.539,0.000
$DEVICE_MAMPS,232.560,36.720,1389.240,53.550,0.000,0.000,0.000,127.755,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11251.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.229,0.000,0.000,0.000
$MEM,328604
$DATA_FILE_SIZE,20069,529
$CAP_FILE_SIZE,133750,0
$CFSIZE,260034560,201302016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,326.2,1
$GPS,010313,122406,1949.479,12419.059,32,1.3,32,-2.4