version: 66.11
glider: 129
mission: 4
dive: 511
start: 3 2 113 5 42 6
data:
$ID,129
$MISSION,4
$DIVE,511
$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,-4330.0537
$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,59
$R_STBD_OVSHOOT,68
$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
$GPS1,020313,053037,1942.511,12420.542,23,1.7,23,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-63.6
$GPS2,020313,054136,1942.409,12420.604,28,1.8,28,-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,224.5,193883,-15.3,-9.429,-18.41
$D_GRID,5623
$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,-184.9,0.0,0.0,0,69,0.00,0.00,-46.55,0.000,2,0.000,0.000,68,1991,1831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.06,-184.9,3.1,-3.4,8,123,7.45,2.17,-35.08,0.000,4,0.239,0.044,1865,599,3162,0,0,0,0,0,0,24.89,25.63,26.44
$GC,313,-1.06,-184.9,69.4,-34.5,37,319,0.00,2.05,0.00,0.000,6,0.000,0.024,1857,2002,3163,0,0,0,0,0,0,28.83,25.79,28.83
$GC,632,-1.06,-184.9,162.5,-28.4,53,637,0.00,2.10,0.00,0.000,4,0.000,0.028,1857,589,3164,0,0,0,0,0,0,28.83,25.64,28.83
$GC,666,-1.06,-184.9,169.0,-28.8,54,672,0.00,2.05,0.00,0.000,6,0.000,0.021,1851,2007,3164,0,0,0,0,0,0,28.83,25.86,28.83
$GC,981,-1.06,-184.9,254.5,-27.0,70,986,0.00,2.08,0.00,0.000,4,0.000,0.028,1846,597,3164,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1095,-1.06,-184.9,284.3,-28.5,75,1101,0.15,2.05,0.00,0.000,6,0.177,0.022,1872,2004,3164,0,0,0,0,0,0,25.19,25.83,28.83
$GC,1410,-1.06,-184.9,354.3,-20.1,91,1416,0.00,2.12,0.00,0.000,4,0.000,0.029,1872,587,3165,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1565,-1.06,-184.9,387.3,-22.9,98,1571,0.00,2.08,0.00,0.000,6,0.000,0.022,1863,1997,3165,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1879,-1.06,-184.9,452.8,-18.7,114,1885,0.00,2.10,0.00,0.000,4,0.000,0.029,1864,599,3164,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1933,-1.06,-184.9,461.6,-19.5,116,1938,0.00,2.05,0.00,0.000,6,0.000,0.022,1853,2005,3164,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2247,-1.06,-184.9,526.3,-20.8,132,2252,0.00,2.12,0.00,0.000,4,0.000,0.030,1853,596,3163,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2325,-1.06,-184.9,539.7,-21.0,135,2332,0.00,2.05,0.00,0.000,6,0.000,0.023,1843,1999,3163,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2641,-1.06,-184.9,608.0,-20.0,151,2647,0.12,2.12,0.00,0.000,4,0.179,0.028,1880,600,3162,0,0,0,0,0,0,25.75,25.51,28.83
$GC,2725,-1.06,-184.9,620.3,-19.5,153,2731,0.00,2.05,0.00,0.000,6,0.000,0.023,1871,2000,3161,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3039,-1.06,-184.9,679.3,-17.6,164,3045,0.00,2.12,0.00,0.000,4,0.000,0.031,1871,602,3159,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3127,-1.06,-184.9,690.7,-17.7,166,3134,0.00,2.08,0.00,0.000,6,0.000,0.024,1861,2007,3159,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3434,-1.06,-184.9,748.5,-17.4,177,3440,0.00,2.12,0.00,0.000,4,0.000,0.031,1861,599,3155,0,0,0,0,0,0,28.83,25.52,28.83
$GC,3528,-1.06,-184.9,765.4,-17.8,180,3533,0.00,2.10,0.00,0.000,6,0.000,0.024,1851,2008,3155,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3865,-1.06,-184.9,825.5,-17.9,191,3870,0.00,2.15,0.00,0.000,4,0.000,0.031,1851,603,3153,0,0,0,0,0,0,28.83,25.50,28.83
$GC,3982,-1.06,-184.9,843.3,-18.3,194,3990,0.12,2.08,0.00,0.000,6,0.175,0.024,1870,2002,3152,0,0,0,0,0,0,25.24,25.74,28.83
$GC,4293,-1.06,-184.9,895.9,-15.6,205,4298,0.00,2.15,0.00,0.000,4,0.000,0.033,1871,600,3149,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4340,-1.06,-184.9,902.0,-15.6,206,4345,0.00,2.10,0.00,0.000,6,0.000,0.024,1862,2014,3149,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4660,-1.06,-184.9,951.8,-14.5,217,4665,0.00,2.17,0.00,0.000,4,0.000,0.032,1862,599,3146,0,0,0,0,0,0,28.83,25.43,28.83
$GC,4708,-1.06,-184.9,957.2,-14.8,218,4714,0.00,2.10,0.00,0.000,6,0.000,0.024,1852,2011,3146,0,0,0,0,0,0,28.83,25.72,28.83
$STATE,4905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4905,begin apogee
$GC,4913,-0.21,0.0,990.1,-15.6,225,5077,0.95,0.00,155.52,1.401,6,0.138,0.000,2136,1804,2409,0,0,0,0,0,0,23.68,28.83,22.38
$STATE,5079,end apogee,CONTROL_FINISHED_OK
$STATE,5079,begin climb
$GC,5082,1.06,184.9,996.0,0.0,230,5266,1.25,0.00,175.25,1.338,6,0.066,0.000,2559,1804,1654,0,0,0,0,0,0,23.71,28.83,21.50
$GC,5567,1.06,184.9,919.0,19.8,247,5573,0.00,2.20,0.00,0.000,4,0.000,0.033,2555,3241,1646,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5671,1.06,184.9,899.9,20.2,250,5677,0.00,2.03,0.00,0.000,6,0.000,0.026,2563,1889,1645,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5998,1.06,184.9,833.2,19.7,261,6004,0.00,2.08,0.00,0.000,4,0.000,0.033,2563,3249,1641,0,0,0,0,0,0,28.83,25.62,28.83
$GC,6092,1.06,184.9,813.7,20.0,264,6098,0.00,2.10,0.00,0.000,6,0.000,0.026,2573,1849,1642,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6431,1.06,184.9,750.5,18.5,275,6437,0.00,2.10,0.00,0.000,4,0.000,0.033,2565,3238,1641,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6534,1.06,184.9,731.1,19.4,278,6540,0.00,2.10,0.00,0.000,6,0.000,0.027,2573,1838,1641,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6859,1.06,184.9,668.7,19.1,289,6865,0.00,2.15,0.00,0.000,4,0.000,0.033,2565,3239,1640,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6893,1.06,184.9,661.8,19.4,290,6900,0.00,2.10,0.00,0.000,6,0.000,0.027,2574,1851,1640,0,0,0,0,0,0,28.83,25.68,28.83
$GC,7232,1.06,184.9,596.6,19.6,301,7238,0.00,2.12,0.00,0.000,4,0.000,0.033,2565,3242,1639,0,0,0,0,0,0,28.83,25.45,28.83
$GC,7393,1.06,184.9,567.3,19.5,308,7400,0.00,2.10,0.00,0.000,6,0.000,0.027,2574,1837,1638,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7699,1.06,184.9,510.8,17.2,324,7704,0.00,2.17,0.00,0.000,4,0.000,0.032,2565,3247,1637,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7819,1.06,184.9,492.3,17.8,329,7827,0.00,2.12,0.00,0.000,6,0.000,0.027,2574,1827,1637,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8122,1.06,184.9,442.8,14.2,345,8127,0.00,2.17,0.00,0.000,4,0.000,0.031,2566,3247,1637,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8221,1.06,184.9,430.5,14.9,349,8228,0.00,2.10,0.00,0.000,6,0.000,0.027,2576,1846,1637,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8526,1.06,184.9,382.0,15.2,365,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1846,1636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8830,1.06,184.9,335.2,15.1,380,8836,0.00,2.15,0.00,0.000,4,0.000,0.031,2568,3249,1637,0,0,0,0,0,0,28.83,25.40,28.83
$GC,8843,1.06,184.9,335.2,15.1,380,8848,0.00,2.10,0.00,0.000,6,0.000,0.026,2577,1847,1637,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9157,1.06,184.9,286.6,13.9,396,9158,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1847,1637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9460,1.06,184.9,245.5,13.6,411,9465,0.00,2.12,0.00,0.000,4,0.000,0.031,2577,3249,1637,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9569,1.06,184.9,230.1,14.7,416,9574,0.00,2.10,0.00,0.000,6,0.000,0.025,2584,1842,1637,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9888,1.06,184.9,185.5,13.7,432,9893,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,3252,1636,0,0,0,0,0,0,28.83,25.43,28.83
$GC,10089,1.06,184.9,160.1,12.9,441,10097,0.17,2.10,0.00,0.000,6,0.194,0.024,2555,1841,1638,0,0,0,0,0,0,24.77,25.67,28.83
$GC,10396,1.06,184.9,126.7,10.1,457,10402,0.00,2.12,0.00,0.000,4,0.000,0.031,2555,3250,1638,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10557,1.12,211.1,113.7,8.5,464,10583,0.00,2.08,20.42,0.738,6,0.000,0.024,2563,1848,1548,0,0,0,0,0,0,28.83,25.69,24.27
$GC,10882,1.12,211.1,81.9,9.9,481,10887,0.00,2.12,0.00,0.000,4,0.000,0.030,2563,3252,1546,0,0,0,0,0,0,28.83,25.56,28.83
$GC,11098,1.12,211.1,63.2,9.5,491,11103,0.00,2.08,0.00,0.000,6,0.000,0.024,2573,1846,1546,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11413,1.12,211.1,33.3,9.8,515,11414,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1847,1549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11717,1.27,273.0,7.8,7.3,566,11754,0.12,2.12,27.80,0.060,4,0.109,0.031,2637,459,1295,0,0,0,0,0,0,26.05,25.56,25.23
$STATE,11772,end climb,SURFACE_DEPTH_REACHED
$STATE,11772,begin surface coast
$FINISH,1.3,1.000325
$STATE,11783,end surface coast,CONTROL_FINISHED_OK
$STATE,11783,begin surface
$SM_CCo,11805,55.65,0.052,0,0,778,400.08
$SM_GC,1.85,7.00,2.35,55.65,0.051,0.029,0.052,51,1993,778,-6.65,-1.89,400.08,0,0,0,0,0,0,25.44,25.58,25.41
$IRIDIUM_FIX,1934.38,12415.06,020313,050519
$TT8_MAMPS,0.024717,0.024717
$HUMID,53.11
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3824224
$24V_AH,21.5,105.043
$10V_AH,9.5,67.766
$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,17.350,105.825,379.000,55.650,0.000,0.000,0.000,361.775,0.000,0.000,31.421,2032.485,7518.908,575.266,1954.389,440.669,0.000,1774.113,0.000,1534.394,0.000,0.539,0.000
$DEVICE_MAMPS,238.680,46.665,1401.480,52.020,0.000,0.000,0.000,126.225,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11811.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.802,0.000,0.000,0.000
$MEM,328592
$DATA_FILE_SIZE,20088,577
$CAP_FILE_SIZE,137800,0
$CFSIZE,260034560,200839168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072, 83.8,1
$GPS,020313,090106,1940.860,12420.304,34,1.1,34,-2.4