version: 66.11
glider: 129
mission: 4
dive: 514
start: 3 2 113 15 59 53
data:
$ID,129
$MISSION,4
$DIVE,514
$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,-4333.8232
$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,2225
$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,2050
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,73
$R_STBD_OVSHOOT,77
$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
$GPS1,020313,155137,1938.488,12420.917,12,1.5,12,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-57.4
$GPS2,020313,155925,1938.416,12421.097,12,1.5,12,-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,220.7,187630,-15.3,-9.429,-18.41
$D_GRID,5635
$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,-46.35,0.000,2,0.000,0.000,55,1960,1842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.06,-184.9,3.3,-4.5,8,123,7.30,1.98,-34.38,0.000,4,0.227,0.044,1876,655,3163,0,0,0,0,0,0,24.86,25.65,26.42
$GC,354,-1.06,-184.9,87.0,-33.3,37,360,0.00,2.03,0.00,0.000,6,0.000,0.023,1868,2041,3167,0,0,0,0,0,0,28.83,25.79,28.83
$GC,673,-1.06,-184.9,179.0,-22.8,53,678,0.00,2.08,0.00,0.000,4,0.000,0.028,1868,648,3164,0,0,0,0,0,0,28.83,25.63,28.83
$GC,712,-1.06,-184.9,185.3,-24.0,54,719,0.00,2.05,0.00,0.000,6,0.000,0.021,1857,2066,3165,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1017,-1.06,-184.9,263.4,-22.8,70,1022,0.00,2.10,0.00,0.000,4,0.000,0.028,1858,654,3165,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1152,-1.06,-184.9,295.0,-24.8,76,1158,0.15,2.03,0.00,0.000,6,0.173,0.023,1884,2041,3165,0,0,0,0,0,0,25.18,25.82,28.83
$GC,1466,-1.06,-184.9,359.2,-19.0,92,1473,0.00,2.08,0.00,0.000,4,0.000,0.029,1884,650,3166,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1545,-1.06,-184.9,372.1,-20.1,95,1552,0.00,2.05,0.00,0.000,6,0.000,0.023,1876,2057,3166,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1851,-1.06,-184.9,435.8,-19.2,111,1856,0.00,2.10,0.00,0.000,4,0.000,0.029,1876,655,3165,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2031,-1.06,-184.9,469.0,-20.1,119,2038,0.00,2.05,0.00,0.000,6,0.000,0.023,1865,2055,3164,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2336,-1.06,-184.9,529.6,-18.8,135,2342,0.00,2.10,0.00,0.000,4,0.000,0.029,1865,657,3163,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2415,-1.06,-184.9,541.8,-19.0,138,2422,0.00,2.05,0.00,0.000,6,0.000,0.023,1855,2054,3164,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2721,-1.06,-184.9,603.2,-18.5,154,2726,0.00,2.08,0.00,0.000,4,0.000,0.030,1855,664,3162,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2839,-1.06,-184.9,620.8,-18.6,157,2848,0.15,2.03,0.00,0.000,6,0.174,0.024,1882,2049,3161,0,0,0,0,0,0,25.15,25.79,28.83
$GC,3148,-1.06,-184.9,672.3,-15.1,168,3153,0.00,2.08,0.00,0.000,4,0.000,0.031,1882,662,3159,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3312,-1.06,-184.9,697.9,-16.3,173,3317,0.00,2.05,0.00,0.000,6,0.000,0.024,1874,2050,3157,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3636,-1.06,-184.9,752.6,-16.4,184,3641,0.00,2.10,0.00,0.000,4,0.000,0.031,1874,664,3155,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3794,-1.06,-184.9,779.4,-17.2,189,3800,0.00,2.08,0.00,0.000,6,0.000,0.024,1864,2059,3154,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4126,-1.06,-184.9,831.8,-15.4,200,4131,0.00,2.12,0.00,0.000,4,0.000,0.031,1864,668,3152,0,0,0,0,0,0,28.83,25.49,28.83
$GC,4253,-1.06,-184.9,851.5,-15.6,204,4258,0.00,2.08,0.00,0.000,6,0.000,0.024,1854,2053,3151,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4589,-1.06,-184.9,903.6,-15.1,215,4595,0.12,2.12,0.00,0.000,4,0.181,0.029,1890,668,3148,0,0,0,0,0,0,25.72,25.39,28.83
$GC,4695,-1.06,-184.9,917.9,-14.9,218,4700,0.00,2.05,0.00,0.000,6,0.000,0.024,1881,2051,3147,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5020,-1.06,-184.9,966.0,-14.6,229,5025,0.00,2.12,0.00,0.000,4,0.000,0.032,1881,666,3145,0,0,0,0,0,0,28.83,25.43,28.83
$GC,5129,-1.06,-184.9,980.7,-15.3,232,5134,0.00,2.08,0.00,0.000,6,0.000,0.024,1872,2055,3145,0,0,0,0,0,0,28.83,25.69,28.83
$STATE,5175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5175,begin apogee
$GC,5182,-0.21,0.0,990.3,-15.1,234,5349,0.93,0.00,155.18,1.401,6,0.132,0.000,2153,1779,2409,0,0,0,0,0,0,23.80,28.83,22.30
$STATE,5351,end apogee,CONTROL_FINISHED_OK
$STATE,5351,begin climb
$GC,5354,1.06,184.9,997.3,0.0,239,5541,1.20,2.47,173.07,1.344,4,0.056,0.033,2568,3188,1654,0,0,1,0,0,0,23.74,22.63,21.49
$GC,5589,1.06,184.9,974.8,17.1,247,5594,0.00,2.25,0.00,0.000,6,0.000,0.025,2576,1829,1650,0,0,0,0,0,0,28.83,23.61,28.83
$GC,5908,1.06,184.9,904.9,20.6,258,5913,0.00,2.10,0.00,0.000,4,0.000,0.032,2576,3205,1645,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5961,1.06,184.9,897.4,20.9,259,5967,0.00,2.12,0.00,0.000,6,0.000,0.026,2586,1790,1645,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6275,1.06,184.9,825.6,21.3,270,6281,0.00,2.15,0.00,0.000,4,0.000,0.032,2582,3204,1643,0,0,0,0,0,0,28.83,25.61,28.83
$GC,6350,1.06,184.9,811.6,21.8,272,6355,0.00,2.12,0.00,0.000,6,0.000,0.027,2586,1794,1643,0,0,0,0,0,0,28.83,25.76,28.83
$GC,6676,1.06,184.9,743.0,20.1,283,6682,0.00,2.15,0.00,0.000,4,0.000,0.031,2578,3205,1641,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6771,1.06,184.9,723.0,20.6,286,6777,0.00,2.12,0.00,0.000,6,0.000,0.027,2587,1799,1639,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7107,1.06,184.9,657.0,19.3,297,7112,0.00,2.12,0.00,0.000,4,0.000,0.032,2581,3201,1641,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7207,1.06,184.9,637.5,20.0,300,7212,0.00,2.12,0.00,0.000,6,0.000,0.027,2590,1793,1640,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7520,1.06,184.9,575.8,19.7,312,7525,0.00,2.17,0.00,0.000,4,0.000,0.032,2590,3205,1639,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7636,1.06,184.9,553.8,20.6,317,7642,0.15,2.12,0.00,0.000,6,0.210,0.027,2567,1798,1640,0,0,0,0,0,0,24.84,25.64,28.83
$GC,7950,1.06,184.9,493.9,17.5,333,7956,0.00,2.12,0.00,0.000,4,0.000,0.032,2567,3198,1639,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8025,1.06,184.9,482.0,18.5,336,8030,0.00,2.12,0.00,0.000,6,0.000,0.026,2577,1794,1640,0,0,0,0,0,0,28.83,25.62,28.83
$GC,8339,1.06,184.9,427.5,16.7,352,8344,0.00,2.15,0.00,0.000,4,0.000,0.031,2568,3206,1639,0,0,0,0,0,0,28.83,25.40,28.83
$GC,8443,1.06,184.9,408.5,18.4,357,8448,0.00,2.15,0.00,0.000,6,0.000,0.027,2576,1793,1638,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8767,1.06,184.9,354.3,16.7,373,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1793,1638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9072,1.06,184.9,308.9,14.3,388,9077,0.00,2.15,0.00,0.000,4,0.000,0.031,2568,3202,1638,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9293,1.06,184.9,280.6,13.5,398,9300,0.00,2.12,0.00,0.000,6,0.000,0.026,2577,1792,1638,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9598,1.06,184.9,237.2,14.7,414,9604,0.00,2.15,0.00,0.000,4,0.000,0.030,2568,3208,1638,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9709,1.06,184.9,223.0,13.3,419,9715,0.00,2.10,0.00,0.000,6,0.000,0.025,2577,1795,1639,0,0,0,0,0,0,28.83,25.62,28.83
$GC,10028,1.06,184.9,181.9,13.2,435,10033,0.00,2.12,0.00,0.000,4,0.000,0.030,2568,3208,1638,0,0,0,0,0,0,28.83,25.42,28.83
$GC,10102,1.06,184.9,172.9,13.8,438,10108,0.00,2.10,0.00,0.000,6,0.000,0.025,2577,1800,1639,0,0,0,0,0,0,28.83,25.63,28.83
$GC,10416,1.06,184.9,133.7,11.4,454,10421,0.00,2.12,0.00,0.000,4,0.000,0.030,2577,3201,1639,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10637,1.06,184.9,113.2,9.5,464,10644,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1774,1640,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10943,1.06,184.9,85.4,9.8,480,10948,0.00,2.08,0.00,0.000,4,0.000,0.034,2597,403,1641,0,0,0,0,0,0,28.83,25.36,28.83
$GC,11049,1.09,199.0,75.7,8.9,485,11069,0.00,2.08,10.75,0.657,6,0.000,0.019,2595,1835,1597,0,0,0,0,0,0,28.83,25.87,24.23
$GC,11367,1.14,218.4,47.9,8.8,502,11393,0.00,2.05,17.55,0.661,4,0.000,0.029,2595,3175,1518,0,0,0,0,0,0,28.83,25.50,24.43
$GC,11625,1.14,218.4,20.2,11.2,531,11632,0.00,2.05,0.00,0.000,6,0.000,0.025,2604,1788,1517,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,11815,end climb,SURFACE_DEPTH_REACHED
$STATE,11815,begin surface coast
$FINISH,1.3,1.022703
$STATE,11842,end surface coast,CONTROL_FINISHED_OK
$STATE,11842,begin surface
$SM_CCo,11863,79.00,0.053,0,0,775,400.08
$SM_GC,2.17,6.90,0.32,79.00,0.051,0.035,0.053,69,2092,775,-6.66,-2.52,400.08,0,0,0,0,0,0,25.13,26.15,25.51
$IRIDIUM_FIX,1932.09,12422.03,020313,121216
$TT8_MAMPS,0.024717,0.024717
$HUMID,53.54
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3823040
$24V_AH,21.5,105.477
$10V_AH,9.6,68.051
$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,16.900,110.175,356.550,79.000,0.000,0.000,0.000,249.600,0.000,0.000,12.727,2160.690,7265.299,561.167,1974.192,448.767,0.000,1724.235,0.000,1677.416,0.000,0.539,0.000
$DEVICE_MAMPS,227.205,43.605,1401.480,52.785,0.000,0.000,0.000,129.285,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11871.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.496,0.000,0.000,0.000
$MEM,328604
$DATA_FILE_SIZE,20120,573
$CAP_FILE_SIZE,141937,0
$CFSIZE,260034560,200601600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.195, 67.1,1
$GPS,020313,192035,1937.274,12421.963,55,0.9,55,-2.4