version: 66.11
glider: 129
mission: 4
dive: 513
start: 3 2 113 12 36 9
data:
$ID,129
$MISSION,4
$DIVE,513
$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,-4332.5688
$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,60
$R_STBD_OVSHOOT,91
$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
$GPS1,020313,122735,1939.558,12419.955,38,1.2,43,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-57.5
$GPS2,020313,123542,1939.553,12420.010,14,1.2,19,-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,207.0,188666,-15.3,-9.429,-18.41
$D_GRID,5647
$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,-184.9,0.0,0.0,0,64,0.00,0.00,-40.90,0.000,2,0.000,0.000,59,2025,1707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-1.06,-184.9,3.2,-4.8,7,129,7.53,2.17,-44.33,0.000,4,0.239,0.043,1871,587,3163,0,0,0,0,0,0,24.91,25.67,26.43
$GC,325,-1.06,-184.9,70.8,-34.4,38,332,0.00,2.05,0.00,0.000,6,0.000,0.023,1862,2006,3165,0,0,0,0,0,0,28.83,25.82,28.83
$GC,631,-1.06,-184.9,170.1,-27.5,54,636,0.00,2.10,0.00,0.000,4,0.000,0.029,1862,597,3165,0,0,0,0,0,0,28.83,25.61,28.83
$GC,766,-1.06,-184.9,202.9,-26.9,60,772,0.00,2.05,0.00,0.000,6,0.000,0.023,1852,2010,3166,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1081,-1.06,-184.9,285.6,-24.8,76,1086,0.00,2.10,0.00,0.000,4,0.000,0.028,1851,599,3166,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1207,-1.06,-184.9,317.7,-24.8,82,1213,0.12,2.05,0.00,0.000,6,0.179,0.023,1870,2005,3166,0,0,0,0,0,0,25.31,25.82,28.83
$GC,1531,-1.06,-184.9,385.4,-19.9,98,1537,0.00,2.10,0.00,0.000,4,0.000,0.030,1871,599,3166,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1580,-1.06,-184.9,394.5,-20.3,100,1585,0.00,2.05,0.00,0.000,6,0.000,0.022,1862,2016,3166,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1899,-1.06,-184.9,461.2,-19.9,116,1904,0.00,2.10,0.00,0.000,4,0.000,0.030,1861,600,3165,0,0,0,0,0,0,28.83,25.61,28.83
$GC,2136,-1.06,-184.9,508.3,-20.1,127,2141,0.00,2.05,0.00,0.000,6,0.000,0.023,1852,2001,3165,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2450,-1.06,-184.9,572.7,-20.2,143,2455,0.00,2.12,0.00,0.000,4,0.000,0.030,1852,592,3164,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2576,-1.06,-184.9,597.3,-19.5,149,2582,0.12,2.08,0.00,0.000,6,0.176,0.023,1871,1997,3164,0,0,0,0,0,0,25.32,25.82,28.83
$GC,2903,-1.06,-184.9,654.3,-17.7,160,2909,0.00,2.10,0.00,0.000,4,0.000,0.031,1871,595,3162,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2973,-1.06,-184.9,666.3,-17.8,162,2979,0.00,2.08,0.00,0.000,6,0.000,0.023,1863,2009,3161,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3305,-1.06,-184.9,725.4,-17.5,173,3311,0.00,2.12,0.00,0.000,4,0.000,0.031,1862,593,3158,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3375,-1.06,-184.9,737.7,-17.8,175,3381,0.00,2.08,0.00,0.000,6,0.000,0.024,1852,2005,3158,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3706,-1.06,-184.9,800.4,-18.6,186,3712,0.00,2.15,0.00,0.000,4,0.000,0.031,1852,595,3155,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3834,-1.06,-184.9,823.9,-18.5,190,3841,0.12,2.08,0.00,0.000,6,0.175,0.024,1872,1999,3155,0,0,0,0,0,0,25.26,25.76,28.83
$GC,4170,-1.06,-184.9,875.7,-14.8,201,4176,0.00,2.12,0.00,0.000,4,0.000,0.032,1872,600,3152,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4268,-1.06,-184.9,889.9,-14.8,204,4274,0.00,2.08,0.00,0.000,6,0.000,0.024,1863,2004,3151,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4600,-1.06,-184.9,938.3,-14.0,215,4605,0.00,2.12,0.00,0.000,4,0.000,0.032,1863,604,3149,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4673,-1.06,-184.9,948.1,-14.3,217,4679,0.00,2.08,0.00,0.000,6,0.000,0.024,1853,2003,3148,0,0,0,0,0,0,28.83,25.72,28.83
$STATE,4965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4965,begin apogee
$GC,4974,-0.21,0.0,991.2,-14.3,227,5137,0.95,0.00,155.18,1.395,6,0.137,0.000,2138,1811,2409,0,0,0,0,0,0,23.73,28.83,22.44
$STATE,5139,end apogee,CONTROL_FINISHED_OK
$STATE,5139,begin climb
$GC,5142,1.06,184.9,995.4,0.0,232,5327,1.23,2.53,174.52,1.340,4,0.065,0.034,2556,3239,1654,0,0,0,0,0,0,23.76,22.82,21.53
$GC,5353,1.06,184.9,977.5,14.0,239,5358,0.00,2.25,0.00,0.000,6,0.000,0.024,2565,1890,1651,0,0,0,0,0,0,28.83,23.38,28.83
$GC,5666,1.06,184.9,907.9,20.3,250,5672,0.00,2.08,0.00,0.000,4,0.000,0.033,2565,3243,1646,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5695,1.06,184.9,907.9,20.3,250,5704,0.00,2.10,0.00,0.000,6,0.000,0.027,2576,1838,1645,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6000,1.06,184.9,840.0,20.1,261,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1838,1643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6300,1.06,184.9,781.6,19.3,271,6306,0.00,2.12,0.00,0.000,4,0.000,0.032,2567,3246,1642,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6414,1.06,184.9,763.0,19.8,274,6419,0.00,2.10,0.00,0.000,6,0.000,0.026,2576,1838,1642,0,0,0,0,0,0,28.83,25.73,28.83
$GC,6727,1.06,184.9,700.3,18.5,285,6732,0.00,2.15,0.00,0.000,4,0.000,0.033,2567,3243,1641,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6854,1.06,184.9,676.8,19.2,289,6859,0.00,2.08,0.00,0.000,6,0.000,0.026,2576,1849,1641,0,0,0,0,0,0,28.83,25.69,28.83
$GC,7190,1.06,184.9,615.4,18.5,300,7196,0.00,2.12,0.00,0.000,4,0.000,0.032,2567,3244,1639,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7376,1.06,184.9,579.5,19.3,308,7381,0.00,2.08,0.00,0.000,6,0.000,0.027,2576,1846,1639,0,0,0,0,0,0,28.83,25.66,28.83
$GC,7701,1.06,184.9,516.9,19.0,324,7706,0.00,2.12,0.00,0.000,4,0.000,0.032,2568,3244,1638,0,0,0,0,0,0,28.83,25.43,28.83
$GC,7718,1.06,184.9,516.9,19.0,324,7725,0.00,2.10,0.00,0.000,6,0.000,0.027,2576,1840,1638,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8025,1.06,184.9,461.1,15.5,340,8030,0.00,2.17,0.00,0.000,4,0.000,0.032,2568,3253,1637,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8132,1.06,184.9,444.0,16.5,345,8137,0.00,2.10,0.00,0.000,6,0.000,0.026,2577,1845,1637,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8451,1.06,184.9,390.6,16.8,361,8456,0.00,2.15,0.00,0.000,4,0.000,0.035,2587,452,1634,0,0,0,0,0,0,28.83,25.32,28.83
$GC,8535,1.06,184.9,375.1,18.4,365,8541,0.00,2.08,0.00,0.000,6,0.000,0.022,2582,1866,1636,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8859,1.06,184.9,322.2,14.9,381,8865,0.00,2.05,0.00,0.000,4,0.000,0.033,2582,3238,1636,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9095,1.06,184.9,288.0,14.6,392,9101,0.15,2.10,0.00,0.000,6,0.200,0.026,2556,1837,1636,0,0,0,0,0,0,24.86,25.62,28.83
$GC,9410,1.06,184.9,244.3,14.0,408,9415,0.00,2.12,0.00,0.000,4,0.000,0.031,2555,3231,1636,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9646,1.06,184.9,212.3,13.8,419,9652,0.00,2.08,0.00,0.000,6,0.000,0.025,2563,1842,1637,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9961,1.06,184.9,171.8,12.3,435,9962,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1842,1637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10263,1.12,208.4,142.0,8.6,450,10288,0.00,2.15,18.30,0.757,4,0.000,0.031,2563,3230,1558,0,0,0,0,0,0,28.83,25.39,24.25
$GC,10518,1.12,208.4,116.4,10.5,462,10523,0.00,2.05,0.00,0.000,6,0.000,0.024,2573,1848,1557,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10832,1.20,243.5,86.2,8.2,478,10871,0.00,2.17,29.40,0.716,4,0.000,0.031,2568,3235,1415,0,0,0,0,0,0,28.83,25.52,24.39
$GC,11104,1.20,243.5,56.7,11.8,491,11109,0.00,2.03,0.00,0.000,6,0.000,0.024,2577,1850,1414,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11412,1.20,243.5,23.4,11.2,520,11419,0.00,2.08,0.00,0.000,4,0.000,0.029,2576,3236,1414,0,0,0,0,0,0,28.83,25.58,28.83
$STATE,11567,end climb,SURFACE_DEPTH_REACHED
$STATE,11567,begin surface coast
$FINISH,1.2,1.023048
$STATE,11581,end surface coast,CONTROL_FINISHED_OK
$STATE,11581,begin surface
$SM_CCo,11602,68.90,0.052,0,0,777,400.08
$SM_GC,2.07,6.88,1.88,68.90,0.053,0.023,0.052,63,1977,777,-6.65,1.55,400.08,0,0,0,0,0,0,25.16,25.83,25.52
$IRIDIUM_FIX,1934.38,12418.85,020313,090946
$TT8_MAMPS,0.024717,0.024717
$HUMID,53.97
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3823424
$24V_AH,21.5,105.335
$10V_AH,9.6,67.955
$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,17.100,101.250,377.400,68.900,0.000,0.000,0.000,260.425,0.000,0.000,20.244,2073.414,7158.712,568.511,1922.569,433.026,0.000,1700.437,0.000,1600.596,0.000,0.539,0.000
$DEVICE_MAMPS,239.445,48.960,1395.360,52.020,0.000,0.000,0.000,128.520,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11609.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.437,0.000,0.000,0.000
$MEM,328596
$DATA_FILE_SIZE,20060,552
$CAP_FILE_SIZE,135167,0
$CFSIZE,260034560,200687616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152, 48.7,1
$GPS,020313,155137,1938.488,12420.917,12,1.5,12,-2.4