version: 66.11
glider: 129
mission: 4
dive: 507
start: 3 1 113 15 54 10
data:
$ID,129
$MISSION,4
$DIVE,507
$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,-4322.7261
$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,64
$R_STBD_OVSHOOT,85
$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
$GPS1,010313,154543,1948.375,12419.666,11,1.9,11,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-68.8
$GPS2,010313,155343,1948.323,12419.747,12,1.8,12,-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,202.4,203200,-15.3,-9.429,-18.41
$D_GRID,5500
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.06,-184.9,0.0,0.0,0,69,0.00,0.00,-46.12,0.000,2,0.000,0.000,54,1886,1836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.06,-184.9,3.4,-4.4,8,123,7.50,2.03,-34.28,0.000,4,0.240,0.043,1858,525,3165,0,0,0,0,0,0,24.89,25.68,26.44
$GC,305,-1.06,-184.9,68.5,-31.3,33,312,0.00,2.03,0.00,0.000,6,0.000,0.022,1849,1923,3165,0,0,0,0,0,0,28.83,25.86,28.83
$GC,609,-1.06,-184.9,166.5,-29.9,49,615,0.00,2.08,0.00,0.000,4,0.000,0.029,1849,528,3166,0,0,0,0,0,0,28.83,25.63,28.83
$GC,844,-1.06,-184.9,228.1,-27.5,60,850,0.00,2.03,0.00,0.000,6,0.000,0.022,1839,1920,3166,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1158,-1.06,-184.9,309.2,-23.2,76,1164,0.00,2.08,0.00,0.000,4,0.000,0.029,1839,517,3166,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1237,-1.06,-184.9,324.8,-24.2,79,1245,0.00,2.05,0.00,0.000,6,0.000,0.022,1829,1927,3166,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1542,-1.06,-184.9,404.3,-26.0,95,1549,0.12,2.12,0.00,0.000,4,0.187,0.027,1864,517,3166,0,0,0,0,0,0,25.72,25.60,28.83
$GC,1658,-1.06,-184.9,428.5,-22.3,100,1663,0.00,2.05,0.00,0.000,6,0.000,0.022,1855,1928,3166,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1971,-1.06,-184.9,494.0,-19.5,116,1976,0.00,2.12,0.00,0.000,4,0.000,0.029,1855,518,3166,0,0,0,0,0,0,28.83,25.61,28.83
$GC,2141,-1.06,-184.9,529.0,-20.8,124,2147,0.00,2.08,0.00,0.000,6,0.000,0.022,1845,1934,3164,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2461,-1.06,-184.9,593.3,-20.0,140,2466,0.00,2.12,0.00,0.000,4,0.000,0.029,1845,528,3164,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2559,-1.06,-184.9,612.6,-20.5,144,2564,0.00,2.05,0.00,0.000,6,0.000,0.022,1835,1927,3164,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2890,-1.06,-184.9,678.0,-19.3,155,2897,0.00,2.10,0.00,0.000,4,0.000,0.030,1835,531,3162,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2969,-1.06,-184.9,691.3,-19.5,157,2975,0.12,2.05,0.00,0.000,6,0.185,0.024,1854,1921,3161,0,0,0,0,0,0,25.28,25.82,28.83
$GC,3292,-1.06,-184.9,749.7,-17.2,168,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1921,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3588,-1.06,-184.9,801.5,-17.6,178,3593,0.00,2.12,0.00,0.000,4,0.000,0.031,1853,532,3156,0,0,0,0,0,0,28.83,25.52,28.83
$GC,3691,-1.06,-184.9,818.5,-17.8,181,3696,0.00,2.08,0.00,0.000,6,0.000,0.023,1845,1939,3155,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4017,-1.06,-184.9,875.7,-16.9,192,4024,0.00,2.12,0.00,0.000,4,0.000,0.031,1845,532,3153,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4076,-1.06,-184.9,882.1,-16.9,193,4083,0.00,2.05,0.00,0.000,6,0.000,0.023,1836,1928,3151,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4383,-1.06,-184.9,939.3,-17.6,204,4388,0.00,2.12,0.00,0.000,4,0.000,0.031,1835,534,3151,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4450,-1.06,-184.9,950.9,-17.8,206,4457,0.12,2.05,0.00,0.000,6,0.184,0.024,1854,1926,3149,0,0,0,0,0,0,25.24,25.79,28.83
$STATE,4720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4720,begin apogee
$GC,4727,-0.21,0.0,993.3,-15.1,215,4891,0.90,0.00,156.30,1.395,6,0.137,0.000,2126,1926,2409,0,0,0,0,0,0,23.80,28.83,22.45
$STATE,4892,end apogee,CONTROL_FINISHED_OK
$STATE,4892,begin climb
$GC,4895,1.06,184.9,999.1,0.0,220,5080,1.23,2.53,173.98,1.338,4,0.069,0.036,2550,521,1654,0,0,0,0,0,0,23.77,22.87,21.55
$GC,5163,1.06,184.9,970.5,18.3,229,5171,0.00,2.17,0.00,0.000,6,0.000,0.022,2550,1894,1648,0,0,0,0,0,0,28.83,24.32,28.83
$GC,5469,1.06,184.9,903.1,20.1,240,5474,0.00,2.12,0.00,0.000,4,0.000,0.034,2550,3294,1645,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5614,1.06,184.9,876.3,21.7,244,5619,0.00,2.08,0.00,0.000,6,0.000,0.026,2560,1905,1643,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5927,1.06,184.9,809.6,19.3,255,5932,0.00,2.12,0.00,0.000,4,0.000,0.033,2552,3295,1642,0,0,0,0,0,0,28.83,25.61,28.83
$GC,5994,1.06,184.9,797.0,19.4,257,6000,0.00,2.10,0.00,0.000,6,0.000,0.026,2560,1896,1642,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6325,1.06,184.9,731.8,20.1,268,6330,0.00,2.15,0.00,0.000,4,0.000,0.033,2554,3296,1641,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6428,1.06,184.9,712.2,20.5,271,6433,0.00,2.10,0.00,0.000,6,0.000,0.027,2562,1896,1640,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6753,1.06,184.9,647.6,19.0,282,6759,0.00,2.15,0.00,0.000,4,0.000,0.033,2562,3300,1639,0,0,0,0,0,0,28.83,25.47,28.83
$GC,6811,1.06,184.9,640.8,18.8,283,6820,0.12,2.10,0.00,0.000,6,0.204,0.026,2545,1896,1638,0,0,0,0,0,0,25.09,25.70,28.83
$GC,7131,1.06,184.9,582.9,15.9,296,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1896,1637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7429,1.06,184.9,533.8,15.9,311,7435,0.00,2.15,0.00,0.000,4,0.000,0.033,2540,3292,1637,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7444,1.06,184.9,533.8,15.9,311,7450,0.00,2.10,0.00,0.000,6,0.000,0.026,2548,1893,1637,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7758,1.06,184.9,481.8,15.1,327,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1893,1637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8061,1.06,184.9,436.1,15.5,342,8062,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1898,1637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8360,1.06,184.9,391.8,14.8,357,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1893,1636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8662,1.06,184.9,350.5,13.3,372,8668,0.00,2.17,0.00,0.000,4,0.000,0.032,2541,3300,1636,0,0,0,0,0,0,28.83,25.38,28.83
$GC,8833,1.06,184.9,326.9,14.4,380,8838,0.00,2.08,0.00,0.000,6,0.000,0.025,2549,1898,1636,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9151,1.06,184.9,283.2,12.8,396,9156,0.00,2.12,0.00,0.000,4,0.000,0.034,2560,507,1636,0,0,0,0,0,0,28.83,25.34,28.83
$GC,9189,1.06,184.9,280.4,12.6,397,9196,0.00,2.08,0.00,0.000,6,0.000,0.022,2554,1924,1635,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9495,1.06,184.9,241.0,12.6,413,9500,0.00,2.05,0.00,0.000,4,0.000,0.032,2555,3281,1635,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9696,1.06,184.9,215.9,13.6,422,9703,0.00,2.08,0.00,0.000,6,0.000,0.025,2564,1891,1636,0,0,0,0,0,0,28.83,25.66,28.83
$GC,10001,1.06,184.9,175.3,12.1,438,10002,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1891,1636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10305,1.06,184.9,141.0,11.3,453,10311,0.00,2.12,0.00,0.000,4,0.000,0.031,2563,3281,1637,0,0,0,0,0,0,28.83,25.45,28.83
$GC,10421,1.06,184.9,128.9,10.9,458,10427,0.12,2.05,0.00,0.000,6,0.191,0.024,2545,1900,1637,0,0,0,0,0,0,25.12,25.70,28.83
$GC,10735,1.06,184.9,97.4,9.7,474,10741,0.00,2.12,0.00,0.000,4,0.000,0.034,2554,497,1637,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10775,1.08,191.4,95.3,9.2,475,10786,0.00,2.05,4.53,0.544,6,0.000,0.021,2553,1911,1627,0,0,0,0,0,0,28.83,25.86,24.09
$GC,11105,1.10,199.8,63.1,9.1,492,11119,0.00,2.15,8.77,0.630,4,0.000,0.031,2563,504,1594,0,0,0,0,0,0,28.83,25.42,24.34
$GC,11219,1.10,199.8,52.8,10.0,497,11226,0.00,2.00,0.00,0.000,6,0.000,0.020,2563,1902,1594,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11536,1.18,235.6,25.9,8.2,527,11559,0.00,2.20,18.83,0.614,4,0.000,0.032,2573,505,1447,0,0,0,0,0,0,28.83,25.53,24.44
$GC,11768,1.21,247.9,2.3,9.0,570,11776,0.00,2.03,3.38,0.050,2,0.000,0.021,2573,1925,1411,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,11777,end climb,SURFACE_DEPTH_REACHED
$STATE,11777,begin surface coast
$FINISH,1.4,1.022899
$STATE,11798,end surface coast,CONTROL_FINISHED_OK
$STATE,11798,begin surface
$SM_CCo,11817,68.25,0.053,0,0,777,400.08
$SM_GC,2.14,6.68,0.00,68.25,0.046,0.000,0.053,60,1939,777,-6.59,0.28,400.08,0,0,0,0,0,0,25.59,28.83,25.58
$IRIDIUM_FIX,1941.24,12421.43,010313,121237
$TT8_MAMPS,0.024717,0.024717
$HUMID,52.59
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3825760
$24V_AH,21.5,104.458
$10V_AH,9.6,67.392
$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,16.925,96.700,365.775,68.250,0.000,0.000,0.000,262.950,0.000,0.000,13.366,1990.986,7588.605,515.056,1836.029,434.458,0.000,1637.314,0.000,1520.447,0.000,0.539,0.000
$DEVICE_MAMPS,240.210,42.840,1395.360,52.785,0.000,0.000,0.000,130.050,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11830.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.574,0.000,0.000,0.000
$MEM,328592
$DATA_FILE_SIZE,20069,575
$CAP_FILE_SIZE,136135,0
$CFSIZE,260034560,201146368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027, 75.3,1
$GPS,010313,191336,1946.811,12419.882,35,1.9,35,-2.4