version: 66.11
glider: 129
mission: 4
dive: 515
start: 3 2 113 19 29 23
data:
$ID,129
$MISSION,4
$DIVE,515
$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,-4335.082
$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,58
$R_STBD_OVSHOOT,123
$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
$GPS1,020313,192035,1937.274,12421.963,55,0.9,55,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-58.3
$GPS2,020313,192855,1937.182,12422.151,16,1.3,16,-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,236.0,186448,-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,-46.40,0.000,2,0.000,0.000,65,2093,1834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.06,-184.9,3.1,-3.4,8,123,7.45,1.98,-33.80,0.000,4,0.236,0.044,1869,3393,3162,0,0,0,0,0,0,24.91,25.59,26.43
$GC,294,-1.06,-184.9,58.8,-28.4,36,300,0.00,1.98,0.00,0.000,6,0.000,0.023,1869,2036,3162,0,0,0,0,0,0,28.83,25.82,28.83
$GC,613,-1.06,-184.9,159.5,-29.2,52,618,0.00,2.05,0.00,0.000,4,0.000,0.030,1869,648,3163,0,0,0,0,0,0,28.83,25.60,28.83
$GC,780,-1.06,-184.9,200.8,-24.4,60,786,0.00,1.95,0.00,0.000,6,0.000,0.021,1859,2001,3164,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1100,-1.06,-184.9,284.2,-26.6,76,1105,0.00,2.03,0.00,0.000,4,0.000,0.029,1859,646,3164,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1267,-1.06,-184.9,326.2,-24.1,84,1274,0.12,2.05,0.00,0.000,6,0.181,0.021,1878,2051,3164,0,0,0,0,0,0,25.31,25.84,28.83
$GC,1592,-1.06,-184.9,393.6,-21.1,100,1598,0.00,2.08,0.00,0.000,4,0.000,0.028,1878,657,3164,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1720,-1.06,-184.9,418.3,-19.3,106,1726,0.00,2.05,0.00,0.000,6,0.000,0.021,1870,2062,3164,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2045,-1.06,-184.9,483.4,-19.5,122,2050,0.00,2.12,0.00,0.000,4,0.000,0.029,1869,647,3164,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2253,-1.06,-184.9,522.6,-18.0,132,2259,0.00,2.05,0.00,0.000,6,0.000,0.022,1859,2049,3164,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2573,-1.06,-184.9,583.0,-19.0,148,2578,0.00,2.05,0.00,0.000,4,0.000,0.028,1859,658,3162,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2729,-1.06,-184.9,613.4,-19.6,155,2735,0.12,2.05,0.00,0.000,6,0.177,0.022,1878,2047,3162,0,0,0,0,0,0,25.29,25.81,28.83
$GC,3064,-1.06,-184.9,670.1,-16.5,166,3070,0.00,2.10,0.00,0.000,4,0.000,0.030,1879,657,3159,0,0,0,0,0,0,28.83,25.54,28.83
$GC,3224,-1.06,-184.9,695.9,-16.4,171,3229,0.00,2.05,0.00,0.000,6,0.000,0.023,1870,2053,3157,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3555,-1.06,-184.9,751.4,-17.1,182,3560,0.00,2.10,0.00,0.000,4,0.000,0.030,1870,661,3155,0,0,0,0,0,0,28.83,25.52,28.83
$GC,3659,-1.06,-184.9,768.1,-17.3,185,3665,0.00,2.08,0.00,0.000,6,0.000,0.024,1860,2044,3154,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3985,-1.06,-184.9,828.6,-18.1,196,3992,0.00,2.08,0.00,0.000,4,0.000,0.031,1860,661,3152,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4096,-1.06,-184.9,846.0,-17.7,199,4102,0.12,2.08,0.00,0.000,6,0.177,0.024,1879,2062,3151,0,0,0,0,0,0,25.23,25.75,28.83
$GC,4418,-1.06,-184.9,900.7,-16.0,210,4423,0.00,2.15,0.00,0.000,4,0.000,0.031,1880,655,3149,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4567,-1.06,-184.9,921.6,-16.6,214,4574,0.00,2.08,0.00,0.000,6,0.000,0.024,1871,2058,3147,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4874,-1.06,-184.9,976.0,-16.2,225,4879,0.00,2.12,0.00,0.000,4,0.000,0.031,1871,658,3143,0,0,0,0,0,0,28.83,25.44,28.83
$STATE,4965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4965,begin apogee
$GC,4974,-0.21,0.0,991.5,-16.5,228,5139,0.95,0.00,155.23,1.393,6,0.132,0.000,2150,1812,2409,0,0,0,0,0,0,23.74,28.83,22.33
$STATE,5140,end apogee,CONTROL_FINISHED_OK
$STATE,5140,begin climb
$GC,5144,1.06,184.9,999.7,0.0,233,5328,1.20,2.45,173.10,1.340,4,0.053,0.033,2583,420,1654,0,0,0,0,0,0,23.74,22.78,21.50
$GC,5377,1.06,184.9,976.4,17.5,241,5383,0.00,2.28,0.00,0.000,6,0.000,0.021,2580,1817,1651,0,0,0,0,0,0,28.83,23.61,28.83
$GC,5697,1.06,184.9,901.5,23.0,252,5702,0.00,2.08,0.00,0.000,4,0.000,0.033,2580,3204,1646,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5846,1.06,184.9,872.6,23.4,256,5853,0.00,2.08,0.00,0.000,6,0.000,0.027,2589,1811,1644,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6152,1.06,184.9,797.9,21.7,267,6158,0.00,2.12,0.00,0.000,4,0.000,0.031,2580,3207,1642,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6221,1.06,184.9,783.8,21.6,269,6227,0.00,2.10,0.00,0.000,6,0.000,0.027,2589,1795,1642,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6554,1.06,184.9,712.7,20.8,280,6559,0.00,2.15,0.00,0.000,4,0.000,0.032,2581,3200,1641,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6733,1.06,184.9,680.1,20.9,285,6740,0.00,2.10,0.00,0.000,6,0.000,0.027,2590,1797,1640,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7039,1.06,184.9,618.0,18.2,296,7044,0.00,2.12,0.00,0.000,4,0.000,0.031,2581,3201,1639,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7127,1.06,184.9,606.0,18.6,298,7135,0.00,2.10,0.00,0.000,6,0.000,0.026,2589,1801,1639,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7442,1.06,184.9,545.1,17.9,314,7448,0.00,2.15,0.00,0.000,4,0.000,0.031,2581,3206,1639,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7528,1.06,184.9,529.7,18.3,318,7534,0.00,2.12,0.00,0.000,6,0.000,0.026,2590,1795,1639,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7854,1.06,184.9,473.3,16.8,334,7859,0.00,2.15,0.00,0.000,4,0.000,0.031,2590,3201,1638,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7942,1.06,184.9,458.0,18.2,338,7949,0.15,2.10,0.00,0.000,6,0.209,0.027,2566,1795,1638,0,0,0,0,0,0,24.81,25.60,28.83
$GC,8262,1.06,184.9,404.1,16.3,354,8268,0.00,2.15,0.00,0.000,4,0.000,0.036,2576,396,1637,0,0,0,0,0,0,28.83,25.29,28.83
$GC,8287,1.06,184.9,400.5,15.8,355,8293,0.00,2.10,0.00,0.000,6,0.000,0.022,2577,1814,1632,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8612,1.06,184.9,350.9,14.3,371,8617,0.00,2.08,0.00,0.000,4,0.000,0.031,2577,3190,1637,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8848,1.06,184.9,318.8,14.4,382,8853,0.00,2.10,0.00,0.000,6,0.000,0.026,2586,1797,1637,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9161,1.06,184.9,274.5,14.0,398,9168,0.00,2.12,0.00,0.000,4,0.000,0.030,2581,3198,1637,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9369,1.06,184.9,242.9,14.6,408,9375,0.00,2.10,0.00,0.000,6,0.000,0.025,2590,1796,1637,0,0,0,0,0,0,28.83,25.61,28.83
$GC,9693,1.06,184.9,197.4,14.1,424,9699,0.00,2.10,0.00,0.000,4,0.000,0.030,2590,3189,1637,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9929,1.06,184.9,163.4,14.6,435,9935,0.15,2.05,0.00,0.000,6,0.196,0.025,2565,1798,1638,0,0,0,0,0,0,24.87,25.63,28.83
$GC,10245,1.19,238.3,132.3,7.6,451,10297,0.12,2.20,42.00,0.770,4,0.109,0.029,2616,3193,1436,0,0,0,0,0,0,26.03,25.40,24.26
$GC,10529,1.19,238.3,89.4,16.5,465,10534,0.00,2.08,0.00,0.000,6,0.000,0.025,2627,1798,1433,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10843,1.19,238.3,47.3,12.2,481,10848,0.00,2.10,0.00,0.000,4,0.000,0.028,2627,3194,1433,0,0,0,0,0,0,28.83,25.58,28.83
$GC,11081,1.19,238.3,17.4,13.6,509,11088,0.12,2.08,0.00,0.000,6,0.207,0.024,2610,1793,1432,0,0,0,0,0,0,25.08,25.70,28.83
$STATE,11197,end climb,SURFACE_DEPTH_REACHED
$STATE,11197,begin surface coast
$FINISH,1.2,1.022837
$STATE,11209,end surface coast,CONTROL_FINISHED_OK
$STATE,11209,begin surface
$SM_CCo,11229,70.32,0.052,0,0,777,400.08
$SM_GC,1.96,6.95,0.32,70.32,0.052,0.034,0.052,69,2109,777,-6.67,-1.98,400.08,0,0,0,0,0,0,25.15,26.16,25.44
$IRIDIUM_FIX,1929.80,12422.03,020313,151511
$TT8_MAMPS,0.024717,0.024717
$HUMID,54.09
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3822656
$24V_AH,21.5,105.622
$10V_AH,9.4,68.143
$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,17.475,100.650,370.325,70.325,0.000,0.000,0.000,275.500,0.000,0.000,16.947,2127.500,6670.844,523.168,2042.629,433.951,0.000,1735.464,0.000,1705.699,0.000,0.540,0.000
$DEVICE_MAMPS,236.385,44.370,1393.065,52.020,0.000,0.000,0.000,129.285,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11237.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.014,0.000,0.000,0.000
$MEM,328624
$DATA_FILE_SIZE,20074,533
$CAP_FILE_SIZE,136759,0
$CFSIZE,260034560,200527872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170, 83.7,1
$GPS,020313,223936,1935.859,12422.712,68,1.0,68,-2.4