version: 66.11
glider: 129
mission: 4
dive: 510
start: 3 2 113 2 15 4
data:
$ID,129
$MISSION,4
$DIVE,510
$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,-4326.499
$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,2215
$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,2000
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,70
$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
$GPS1,020313,020634,1943.826,12420.078,39,1.0,43,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-66.5
$GPS2,020313,021436,1943.754,12420.159,13,1.5,13,-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,217.9,195798,-15.3,-9.429,-18.41
$D_GRID,5571
$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,-1.06,-184.9,0.0,0.0,0,69,0.00,0.00,-46.70,0.000,2,0.000,0.000,63,1993,1843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.06,-184.9,3.3,-3.8,8,123,7.43,2.10,-34.25,0.000,4,0.236,0.043,1868,604,3163,0,0,0,0,0,0,24.87,25.63,26.45
$GC,132,-1.06,-184.9,11.7,-20.5,17,140,0.00,2.03,0.00,0.000,6,0.000,0.022,1859,2006,3163,0,0,0,0,0,0,28.83,25.89,28.83
$GC,443,-1.06,-184.9,118.3,-31.5,41,449,0.00,2.05,0.00,0.000,4,0.000,0.032,1848,3383,3163,0,0,0,0,0,0,28.83,25.56,28.83
$GC,548,-1.06,-184.9,145.7,-25.1,46,554,0.00,2.03,0.00,0.000,6,0.000,0.023,1848,1988,3164,0,0,0,0,0,0,28.83,25.84,28.83
$GC,873,-1.06,-184.9,234.6,-26.9,62,878,0.00,2.05,0.00,0.000,4,0.000,0.031,1848,604,3165,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1108,-1.06,-184.9,294.8,-26.0,73,1114,0.12,2.03,0.00,0.000,6,0.184,0.022,1867,1996,3165,0,0,0,0,0,0,25.32,25.85,28.83
$GC,1422,-1.06,-184.9,367.1,-20.0,89,1428,0.00,2.08,0.00,0.000,4,0.000,0.029,1867,606,3166,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1657,-1.06,-184.9,413.9,-20.2,100,1664,0.00,2.03,0.00,0.000,6,0.000,0.021,1858,2016,3166,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1973,-1.06,-184.9,480.3,-20.1,116,1978,0.00,2.10,0.00,0.000,4,0.000,0.029,1858,600,3164,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2113,-1.06,-184.9,506.3,-21.3,122,2121,0.00,2.03,0.00,0.000,6,0.000,0.022,1848,2003,3165,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2420,-1.06,-184.9,569.4,-19.3,138,2426,0.00,2.08,0.00,0.000,4,0.000,0.029,1848,607,3163,0,0,0,0,0,0,28.83,25.61,28.83
$GC,2551,-1.06,-184.9,593.4,-18.9,144,2557,0.12,2.05,0.00,0.000,6,0.179,0.023,1867,2005,3163,0,0,0,0,0,0,25.32,25.83,28.83
$GC,2864,-1.06,-184.9,644.6,-16.1,155,2870,0.00,2.10,0.00,0.000,4,0.000,0.031,1867,607,3161,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2958,-1.06,-184.9,660.3,-16.2,158,2964,0.00,2.08,0.00,0.000,6,0.000,0.023,1858,2009,3160,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3294,-1.06,-184.9,717.9,-17.4,169,3300,0.00,2.12,0.00,0.000,4,0.000,0.030,1859,599,3158,0,0,0,0,0,0,28.83,25.55,28.83
$GC,3392,-1.06,-184.9,735.1,-18.0,172,3398,0.00,2.08,0.00,0.000,6,0.000,0.024,1849,2005,3156,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3724,-1.06,-184.9,795.5,-18.3,183,3730,0.00,2.12,0.00,0.000,4,0.000,0.031,1849,602,3154,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3837,-1.06,-184.9,813.9,-18.9,186,3844,0.12,2.08,0.00,0.000,6,0.181,0.024,1868,2003,3153,0,0,0,0,0,0,25.26,25.77,28.83
$GC,4156,-1.06,-184.9,868.9,-16.3,197,4162,0.00,2.12,0.00,0.000,4,0.000,0.032,1868,611,3150,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4194,-1.06,-184.9,875.1,-16.4,198,4199,0.00,2.05,0.00,0.000,6,0.000,0.024,1859,2002,3150,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4524,-1.06,-184.9,929.9,-16.0,209,4530,0.00,2.12,0.00,0.000,4,0.000,0.032,1859,612,3147,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4583,-1.06,-184.9,935.8,-16.0,210,4590,0.00,2.05,0.00,0.000,6,0.000,0.024,1850,2001,3145,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4888,-1.06,-184.9,988.4,-16.0,221,4894,0.00,2.10,0.00,0.000,4,0.000,0.032,1850,613,3145,0,0,0,0,0,0,28.83,25.44,28.83
$STATE,4919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4919,begin apogee
$GC,4930,-0.21,0.0,994.0,-16.1,222,5097,1.00,0.00,156.27,1.398,6,0.140,0.000,2138,1860,2409,0,0,0,0,0,0,23.64,28.83,22.44
$STATE,5098,end apogee,CONTROL_FINISHED_OK
$STATE,5099,begin climb
$GC,5101,1.06,184.9,1000.4,0.0,227,5282,1.23,0.00,174.98,1.343,6,0.063,0.000,2559,1868,1655,0,0,0,0,0,0,23.83,28.83,21.56
$GC,5582,1.06,184.9,924.5,19.8,244,5587,0.00,2.10,0.00,0.000,4,0.000,0.034,2558,3246,1646,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5762,1.06,184.9,892.4,20.7,249,5770,0.00,2.08,0.00,0.000,6,0.000,0.027,2566,1857,1644,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6067,1.06,184.9,827.5,19.7,260,6074,0.00,2.12,0.00,0.000,4,0.000,0.033,2566,3242,1643,0,0,0,0,0,0,28.83,25.61,28.83
$GC,6166,1.06,184.9,808.1,20.2,263,6172,0.00,2.08,0.00,0.000,6,0.000,0.026,2576,1844,1642,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6498,1.06,184.9,741.7,20.4,274,6503,0.00,2.10,0.00,0.000,4,0.000,0.033,2576,3235,1641,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6582,1.06,184.9,727.8,20.8,276,6587,0.00,2.05,0.00,0.000,6,0.000,0.027,2586,1848,1641,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6895,1.06,184.9,660.8,19.4,287,6901,0.12,2.12,0.00,0.000,4,0.208,0.030,2544,3236,1639,0,0,0,0,0,0,25.57,25.44,28.83
$GC,6944,1.06,184.9,654.2,19.3,288,6949,0.00,2.08,0.00,0.000,6,0.000,0.027,2552,1850,1640,0,0,0,0,0,0,28.83,25.69,28.83
$GC,7263,1.06,184.9,597.4,17.3,299,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1850,1639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7564,1.06,184.9,546.7,16.6,314,7570,0.00,2.12,0.00,0.000,4,0.000,0.033,2544,3239,1637,0,0,0,0,0,0,28.83,25.43,28.83
$GC,7643,1.06,184.9,535.3,17.2,317,7650,0.00,2.10,0.00,0.000,6,0.000,0.027,2552,1842,1638,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7948,1.06,184.9,482.7,16.4,333,7954,0.00,2.12,0.00,0.000,4,0.000,0.033,2552,3234,1637,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8029,1.06,184.9,472.6,15.6,336,8035,0.00,2.08,0.00,0.000,6,0.000,0.026,2560,1846,1637,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8333,1.06,184.9,422.7,16.3,352,8339,0.00,2.12,0.00,0.000,4,0.000,0.035,2571,451,1637,0,0,0,0,0,0,28.83,25.32,28.83
$GC,8352,1.06,184.9,422.7,16.3,352,8360,0.00,2.08,0.00,0.000,6,0.000,0.022,2567,1863,1636,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8657,1.06,184.9,373.6,14.7,368,8663,0.00,2.05,0.00,0.000,4,0.000,0.032,2567,3235,1636,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8712,1.06,184.9,366.7,15.2,370,8718,0.00,2.10,0.00,0.000,6,0.000,0.026,2576,1828,1636,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9026,1.06,184.9,316.8,15.6,386,9031,0.00,2.12,0.00,0.000,4,0.000,0.031,2576,3232,1636,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9080,1.06,184.9,309.4,16.4,388,9085,0.00,2.08,0.00,0.000,6,0.000,0.026,2586,1845,1636,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9393,1.06,184.9,261.1,13.1,404,9399,0.00,2.12,0.00,0.000,4,0.000,0.031,2582,3240,1636,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9569,1.06,184.9,238.2,14.1,412,9575,0.15,2.08,0.00,0.000,6,0.196,0.025,2555,1846,1636,0,0,0,0,0,0,24.89,25.65,28.83
$GC,9884,1.06,184.9,197.2,13.4,428,9885,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1846,1637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10187,1.06,184.9,161.9,10.7,443,10193,0.00,2.12,0.00,0.000,4,0.000,0.031,2555,3235,1637,0,0,0,0,0,0,28.83,25.43,28.83
$GC,10369,1.06,184.9,141.4,12.6,451,10375,0.00,2.08,0.00,0.000,6,0.000,0.025,2563,1837,1637,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10673,1.06,184.9,105.0,11.0,467,10679,0.00,2.12,0.00,0.000,4,0.000,0.034,2574,443,1637,0,0,0,0,0,0,28.83,25.38,28.83
$GC,10721,1.06,184.9,100.6,10.5,469,10728,0.00,2.05,0.00,0.000,6,0.000,0.020,2567,1855,1638,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11041,1.23,256.8,74.6,7.0,485,11105,0.12,2.08,56.97,0.722,4,0.109,0.029,2618,3231,1360,0,0,0,0,0,0,26.05,25.41,24.26
$GC,11326,1.23,256.8,37.1,14.8,503,11331,0.00,2.05,0.00,0.000,6,0.000,0.025,2629,1848,1355,0,0,0,0,0,0,28.83,25.83,28.83
$STATE,11565,end climb,SURFACE_DEPTH_REACHED
$STATE,11565,begin surface coast
$FINISH,1.2,1.023018
$STATE,11582,end surface coast,CONTROL_FINISHED_OK
$STATE,11582,begin surface
$SM_CCo,11602,62.35,0.054,0,0,777,400.08
$SM_GC,1.77,6.88,0.17,62.35,0.048,0.058,0.054,69,1989,777,-6.63,-2.35,400.08,0,0,0,0,0,0,25.44,26.16,25.50
$IRIDIUM_FIX,1936.66,12420.14,010313,222213
$TT8_MAMPS,0.024717,0.024717
$HUMID,54.64
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,3824608
$24V_AH,21.6,104.898
$10V_AH,9.5,67.670
$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,17.300,104.100,388.225,62.350,0.000,0.000,0.000,262.400,0.000,0.000,14.630,1984.272,7325.834,587.294,1824.203,425.306,0.000,1685.291,0.000,1509.899,0.000,0.539,0.000
$DEVICE_MAMPS,235.620,58.140,1398.420,53.550,0.000,0.000,0.000,129.285,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11614.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.082,0.000,0.000,0.000
$MEM,328620
$DATA_FILE_SIZE,20097,545
$CAP_FILE_SIZE,134166,0
$CFSIZE,260034560,200916992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109, 73.3,1
$GPS,020313,053037,1942.511,12420.542,23,1.7,23,-2.4