version: 66.11
glider: 129
mission: 4
dive: 512
start: 3 2 113 9 10 4
data:
$ID,129
$MISSION,4
$DIVE,512
$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,-4331.3115
$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,64
$R_STBD_OVSHOOT,55
$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
$GPS1,020313,090106,1940.860,12420.304,34,1.1,34,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-60.6
$GPS2,020313,090937,1940.770,12420.286,16,1.2,16,-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,220.7,190906,-15.3,-9.429,-18.41
$D_GRID,5658
$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,-184.9,0.0,0.0,0,71,0.00,0.00,-46.92,0.000,2,0.000,0.000,50,2002,1847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-1.06,-184.9,3.2,-3.7,8,124,7.50,2.17,-35.40,0.000,4,0.237,0.044,1868,601,3164,0,0,0,0,0,0,24.89,25.63,26.44
$GC,357,-1.06,-184.9,86.8,-34.7,39,363,0.00,2.08,0.00,0.000,6,0.000,0.021,1859,2027,3165,0,0,0,0,0,0,28.83,25.86,28.83
$GC,681,-1.06,-184.9,181.6,-28.2,55,682,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2028,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,983,-1.06,-184.9,260.0,-25.9,70,988,0.00,2.15,0.00,0.000,4,0.000,0.029,1859,591,3166,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1157,-1.06,-184.9,302.1,-24.2,78,1163,0.00,2.05,0.00,0.000,6,0.000,0.022,1849,2000,3166,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1472,-1.06,-184.9,378.4,-23.1,94,1477,0.00,2.08,0.00,0.000,4,0.000,0.029,1849,600,3167,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1606,-1.06,-184.9,408.8,-24.0,100,1612,0.12,2.03,0.00,0.000,6,0.184,0.022,1868,2000,3166,0,0,0,0,0,0,25.30,25.84,28.83
$GC,1921,-1.06,-184.9,481.3,-21.6,116,1927,0.00,2.10,0.00,0.000,4,0.000,0.030,1868,595,3166,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2057,-1.06,-184.9,506.6,-20.3,122,2062,0.00,2.05,0.00,0.000,6,0.000,0.022,1859,2004,3165,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2370,-1.06,-184.9,568.1,-18.9,138,2376,0.00,2.12,0.00,0.000,4,0.000,0.031,1859,596,3164,0,0,0,0,0,0,28.83,25.57,28.83
$GC,2506,-1.06,-184.9,591.2,-18.1,144,2511,0.00,2.05,0.00,0.000,6,0.000,0.023,1849,2000,3164,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2829,-1.06,-184.9,654.3,-18.6,156,2835,0.00,2.10,0.00,0.000,4,0.000,0.031,1849,600,3162,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2898,-1.06,-184.9,666.9,-19.2,158,2904,0.12,2.08,0.00,0.000,6,0.177,0.023,1868,2016,3162,0,0,0,0,0,0,25.30,25.82,28.83
$GC,3230,-1.06,-184.9,723.4,-16.9,169,3235,0.00,2.15,0.00,0.000,4,0.000,0.031,1868,605,3159,0,0,0,0,0,0,28.83,25.52,28.83
$GC,3386,-1.06,-184.9,751.0,-17.5,174,3392,0.00,2.08,0.00,0.000,6,0.000,0.023,1860,2002,3158,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3722,-1.06,-184.9,810.2,-17.7,185,3728,0.00,2.12,0.00,0.000,4,0.000,0.031,1860,607,3155,0,0,0,0,0,0,28.83,25.49,28.83
$GC,3849,-1.06,-184.9,832.5,-17.7,189,3856,0.00,2.05,0.00,0.000,6,0.000,0.024,1850,2001,3154,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4187,-1.06,-184.9,890.3,-16.7,200,4193,0.00,2.12,0.00,0.000,4,0.000,0.031,1849,601,3153,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4271,-1.06,-184.9,901.6,-16.7,202,4278,0.12,2.08,0.00,0.000,6,0.177,0.024,1869,2007,3151,0,0,0,0,0,0,25.24,25.75,28.83
$GC,4589,-1.06,-184.9,950.2,-14.1,213,4595,0.00,2.15,0.00,0.000,4,0.000,0.032,1869,609,3149,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4668,-1.06,-184.9,960.1,-14.5,215,4674,0.00,2.08,0.00,0.000,6,0.000,0.024,1860,2005,3149,0,0,0,0,0,0,28.83,25.74,28.83
$STATE,4864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4864,begin apogee
$GC,4871,-0.21,0.0,991.2,-14.5,222,5038,0.93,0.00,155.48,1.391,6,0.132,0.000,2142,1815,2409,0,0,0,0,0,0,23.82,28.83,22.46
$STATE,5040,end apogee,CONTROL_FINISHED_OK
$STATE,5040,begin climb
$GC,5043,1.06,184.9,996.1,0.0,227,5230,1.20,2.33,173.20,1.338,4,0.064,0.035,2564,504,1654,0,0,0,0,0,0,23.83,22.85,21.58
$GC,5238,1.06,184.9,978.6,13.9,234,5244,0.00,2.25,0.00,0.000,6,0.000,0.022,2564,1851,1652,0,0,0,0,0,0,28.83,23.25,28.83
$GC,5570,1.06,184.9,908.6,20.3,245,5575,0.00,2.10,0.00,0.000,4,0.000,0.034,2564,3254,1646,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5701,1.06,184.9,881.9,21.2,249,5706,0.00,2.05,0.00,0.000,6,0.000,0.026,2574,1879,1645,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6032,1.06,184.9,813.3,20.1,260,6038,0.00,2.10,0.00,0.000,4,0.000,0.032,2567,3257,1642,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6116,1.06,184.9,799.5,20.5,262,6121,0.00,2.12,0.00,0.000,6,0.000,0.026,2576,1839,1642,0,0,0,0,0,0,28.83,25.76,28.83
$GC,6431,1.06,184.9,735.3,19.0,273,6436,0.00,2.15,0.00,0.000,4,0.000,0.032,2568,3250,1639,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6514,1.06,184.9,722.8,19.3,275,6519,0.00,2.10,0.00,0.000,6,0.000,0.026,2576,1847,1641,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6829,1.06,184.9,660.2,18.8,286,6834,0.00,2.15,0.00,0.000,4,0.000,0.033,2568,3264,1639,0,0,0,0,0,0,28.83,25.47,28.83
$GC,6881,1.06,184.9,653.5,18.9,287,6887,0.00,2.12,0.00,0.000,6,0.000,0.026,2576,1848,1639,0,0,0,0,0,0,28.83,25.68,28.83
$GC,7206,1.06,184.9,587.8,19.0,299,7212,0.00,2.15,0.00,0.000,4,0.000,0.033,2568,3252,1638,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7366,1.06,184.9,560.1,18.3,306,7373,0.00,2.08,0.00,0.000,6,0.000,0.026,2576,1848,1638,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7672,1.06,184.9,503.1,17.5,322,7677,0.00,2.12,0.00,0.000,4,0.000,0.032,2568,3255,1638,0,0,0,0,0,0,28.83,25.43,28.83
$GC,7735,1.06,184.9,492.5,16.9,325,7740,0.00,2.12,0.00,0.000,6,0.000,0.026,2576,1843,1637,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8059,1.06,184.9,439.7,16.4,341,8064,0.00,2.17,0.00,0.000,4,0.000,0.031,2568,3263,1637,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8091,1.06,184.9,435.7,16.7,342,8097,0.00,2.12,0.00,0.000,6,0.000,0.025,2577,1845,1637,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8406,1.06,184.9,384.2,15.8,358,8411,0.00,2.12,0.00,0.000,4,0.000,0.035,2587,449,1636,0,0,0,0,0,0,28.83,25.33,28.83
$GC,8433,1.06,184.9,380.2,16.1,359,8438,0.00,2.10,0.00,0.000,6,0.000,0.022,2581,1878,1636,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8752,1.06,184.9,329.1,15.5,375,8758,0.00,2.05,0.00,0.000,4,0.000,0.032,2581,3233,1635,0,0,0,0,0,0,28.83,25.40,28.83
$GC,8988,1.06,184.9,293.4,15.3,386,8994,0.15,2.08,0.00,0.000,6,0.197,0.026,2555,1847,1636,0,0,0,0,0,0,24.87,25.63,28.83
$GC,9303,1.06,184.9,249.7,12.7,402,9304,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1847,1635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9605,1.06,184.9,211.8,12.4,417,9610,0.00,2.10,0.00,0.000,4,0.000,0.031,2555,3238,1636,0,0,0,0,0,0,28.83,25.42,28.83
$GC,9843,1.06,184.9,183.7,12.2,428,9849,0.00,2.08,0.00,0.000,6,0.000,0.025,2563,1847,1637,0,0,0,0,0,0,28.83,25.66,28.83
$GC,10158,1.06,184.9,146.1,11.0,444,10163,0.00,2.12,0.00,0.000,4,0.000,0.034,2574,449,1637,0,0,0,0,0,0,28.83,25.35,28.83
$GC,10191,1.06,184.9,143.5,10.6,445,10197,0.00,2.05,0.00,0.000,6,0.000,0.021,2571,1860,1636,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10505,1.12,211.1,114.4,8.5,461,10531,0.00,2.12,20.40,0.732,4,0.000,0.030,2571,3229,1547,0,0,0,0,0,0,28.83,25.41,24.27
$GC,10672,1.12,211.1,97.4,11.0,469,10678,0.00,2.05,0.00,0.000,6,0.000,0.025,2580,1845,1546,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10997,1.12,211.1,66.0,9.5,485,11002,0.00,2.10,0.00,0.000,4,0.000,0.034,2593,444,1546,0,0,0,0,0,0,28.83,25.43,28.83
$GC,11131,1.12,211.1,52.4,11.2,491,11136,0.00,2.03,0.00,0.000,6,0.000,0.020,2590,1851,1546,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11446,1.23,258.5,25.3,7.8,522,11475,0.00,2.20,24.52,0.617,4,0.000,0.034,2601,455,1354,0,0,0,0,0,0,28.83,25.54,24.50
$GC,11565,1.23,258.5,14.7,11.5,543,11573,0.00,2.03,0.00,0.000,6,0.000,0.020,2601,1840,1351,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,11669,end climb,SURFACE_DEPTH_REACHED
$STATE,11669,begin surface coast
$FINISH,1.4,1.004419
$STATE,11681,end surface coast,CONTROL_FINISHED_OK
$STATE,11681,begin surface
$SM_CCo,11701,61.53,0.051,0,0,777,400.08
$SM_GC,2.08,6.80,0.17,61.53,0.050,0.063,0.051,63,2022,777,-6.63,-2.06,400.08,0,0,0,0,0,0,25.53,26.12,25.59
$IRIDIUM_FIX,1936.66,12420.14,020313,050541
$TT8_MAMPS,0.023968,0.023968
$HUMID,52.48
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3823808
$24V_AH,21.6,105.188
$10V_AH,9.6,67.862
$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,16.950,105.725,373.600,61.525,0.000,0.000,0.000,287.775,0.000,0.000,16.822,2070.620,7283.026,545.129,1935.955,437.469,0.000,1710.628,0.000,1601.959,0.000,0.540,0.000
$DEVICE_MAMPS,237.150,62.730,1390.770,51.255,0.000,0.000,0.000,127.755,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11708.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.766,0.000,0.000,0.000
$MEM,328612
$DATA_FILE_SIZE,20118,565
$CAP_FILE_SIZE,138015,0
$CFSIZE,260034560,200761344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068, 19.9,1
$GPS,020313,122735,1939.558,12419.955,38,1.2,43,-2.4