version: 66.11
glider: 129
mission: 4
dive: 516
start: 3 2 113 22 47 46
data:
$ID,129
$MISSION,4
$DIVE,516
$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,-4336.3384
$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,56
$R_STBD_OVSHOOT,72
$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
$GPS1,020313,223936,1935.859,12422.712,68,1.0,68,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-60.1
$GPS2,020313,224719,1935.810,12422.918,14,1.1,14,-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,240.3,184839,-15.3,-9.429,-18.41
$D_GRID,5631
$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,-184.9,0.0,0.0,0,69,0.00,0.00,-45.95,0.000,2,0.000,0.000,66,2097,1838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.06,-184.9,3.1,-3.1,8,123,7.57,2.08,-35.80,0.000,4,0.243,0.044,1866,3438,3165,0,0,0,0,0,0,24.91,25.64,26.43
$GC,292,-1.06,-184.9,61.5,-28.2,35,297,0.00,2.05,0.00,0.000,6,0.000,0.023,1866,2031,3165,0,0,0,0,0,0,28.83,25.79,28.83
$GC,615,-1.06,-184.9,168.6,-32.3,51,621,0.00,2.05,0.00,0.000,4,0.000,0.029,1865,653,3166,0,0,0,0,0,0,28.83,25.61,28.83
$GC,800,-1.06,-184.9,215.6,-23.9,60,805,0.00,2.03,0.00,0.000,6,0.000,0.022,1855,2045,3167,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1124,-1.06,-184.9,297.3,-23.9,76,1129,0.00,2.08,0.00,0.000,4,0.000,0.028,1856,647,3167,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1265,-1.06,-184.9,328.9,-24.9,82,1273,0.15,2.05,0.00,0.000,6,0.177,0.022,1882,2054,3167,0,0,0,0,0,0,25.17,25.82,28.83
$GC,1569,-1.06,-184.9,396.1,-20.2,98,1576,0.00,2.10,0.00,0.000,4,0.000,0.028,1882,644,3167,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1598,-1.06,-184.9,401.0,-20.3,99,1603,0.00,2.05,0.00,0.000,6,0.000,0.022,1873,2055,3167,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1916,-1.06,-184.9,466.3,-20.1,115,1922,0.00,2.10,0.00,0.000,4,0.000,0.028,1873,647,3167,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2086,-1.06,-184.9,500.1,-20.0,123,2092,0.00,2.05,0.00,0.000,6,0.000,0.022,1863,2055,3167,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2405,-1.06,-184.9,562.8,-18.3,139,2410,0.00,2.08,0.00,0.000,4,0.000,0.029,1863,656,3167,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2534,-1.06,-184.9,584.5,-17.2,145,2540,0.12,2.05,0.00,0.000,6,0.174,0.022,1883,2053,3166,0,0,0,0,0,0,25.31,25.81,28.83
$GC,2846,-1.06,-184.9,636.1,-16.7,157,2851,0.00,2.10,0.00,0.000,4,0.000,0.029,1883,657,3164,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2924,-1.06,-184.9,647.2,-16.7,159,2930,0.00,2.05,0.00,0.000,6,0.000,0.022,1874,2058,3163,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3244,-1.06,-184.9,704.4,-17.0,170,3249,0.00,2.10,0.00,0.000,4,0.000,0.029,1874,653,3161,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3339,-1.06,-184.9,719.9,-16.7,173,3344,0.00,2.08,0.00,0.000,6,0.000,0.023,1864,2061,3161,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3674,-1.06,-184.9,774.2,-16.0,184,3680,0.00,2.10,0.00,0.000,4,0.000,0.030,1864,659,3158,0,0,0,0,0,0,28.83,25.52,28.83
$GC,3788,-1.06,-184.9,790.6,-16.9,187,3794,0.00,2.05,0.00,0.000,6,0.000,0.024,1854,2055,3157,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4103,-1.06,-184.9,845.6,-16.0,198,4109,0.00,2.10,0.00,0.000,4,0.000,0.031,1854,659,3155,0,0,0,0,0,0,28.83,25.49,28.83
$GC,4239,-1.06,-184.9,866.7,-17.0,202,4245,0.15,2.08,0.00,0.000,6,0.171,0.024,1881,2053,3154,0,0,0,0,0,0,25.10,25.73,28.83
$GC,4566,-1.06,-184.9,914.7,-13.9,213,4571,0.00,2.15,0.00,0.000,4,0.000,0.031,1881,654,3152,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4614,-1.06,-184.9,920.0,-14.0,214,4620,0.00,2.08,0.00,0.000,6,0.000,0.024,1873,2054,3152,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4933,-1.06,-184.9,968.9,-14.7,225,4938,0.00,2.15,0.00,0.000,4,0.000,0.031,1873,654,3149,0,0,0,0,0,0,28.83,25.41,28.83
$GC,5083,-1.06,-184.9,987.5,-15.0,229,5090,0.00,2.08,0.00,0.000,6,0.000,0.024,1863,2047,3148,0,0,0,0,0,0,28.83,25.70,28.83
$STATE,5116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5116,begin apogee
$GC,5124,-0.21,0.0,996.6,-14.8,231,5290,0.95,0.00,156.90,1.396,6,0.134,0.000,2149,1765,2409,0,0,0,0,0,0,23.69,28.83,22.23
$STATE,5292,end apogee,CONTROL_FINISHED_OK
$STATE,5292,begin climb
$GC,5295,1.06,184.9,1003.4,0.0,236,5480,1.23,2.38,174.38,1.341,4,0.057,0.035,2582,446,1654,0,0,0,0,0,0,23.62,22.70,21.42
$GC,5547,1.06,184.9,974.9,19.1,245,5552,0.00,2.20,0.00,0.000,6,0.000,0.021,2582,1797,1651,0,0,0,0,0,0,28.83,23.73,28.83
$GC,5882,1.06,184.9,903.3,21.4,256,5888,0.00,2.10,0.00,0.000,4,0.000,0.034,2581,3204,1647,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6062,1.06,184.9,868.0,22.3,261,6069,0.00,2.05,0.00,0.000,6,0.000,0.026,2589,1831,1644,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6370,1.06,184.9,795.6,21.7,272,6375,0.00,2.08,0.00,0.000,4,0.000,0.031,2581,3198,1642,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6393,1.06,184.9,795.6,21.7,272,6398,0.00,2.10,0.00,0.000,6,0.000,0.026,2590,1801,1642,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6707,1.06,184.9,724.6,21.0,283,6712,0.00,2.12,0.00,0.000,4,0.000,0.031,2581,3204,1641,0,0,0,0,0,0,28.83,25.52,28.83
$GC,6866,1.06,184.9,691.0,21.5,288,6872,0.00,2.12,0.00,0.000,6,0.000,0.027,2590,1793,1640,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7198,1.06,184.9,624.8,19.5,299,7203,0.00,2.15,0.00,0.000,4,0.000,0.031,2590,3202,1639,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7268,1.06,184.9,611.5,19.6,301,7274,0.15,2.12,0.00,0.000,6,0.207,0.027,2566,1790,1639,0,0,0,0,0,0,24.86,25.63,28.83
$GC,7588,1.06,184.9,552.0,17.7,316,7593,0.00,2.12,0.00,0.000,4,0.000,0.031,2566,3199,1638,0,0,0,0,0,0,28.83,25.43,28.83
$GC,7777,1.06,184.9,517.8,18.5,325,7783,0.00,2.12,0.00,0.000,6,0.000,0.027,2576,1790,1640,0,0,0,0,0,0,28.83,25.59,28.83
$GC,8096,1.06,184.9,465.9,15.3,341,8101,0.00,2.15,0.00,0.000,4,0.000,0.031,2567,3207,1638,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8160,1.06,184.9,454.8,17.0,344,8165,0.00,2.15,0.00,0.000,6,0.000,0.027,2576,1789,1638,0,0,0,0,0,0,28.83,25.59,28.83
$GC,8484,1.06,184.9,399.5,16.1,360,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1789,1638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8785,1.06,184.9,350.1,16.1,375,8791,0.00,2.15,0.00,0.000,4,0.000,0.031,2567,3200,1638,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8961,1.06,184.9,324.3,14.8,383,8967,0.00,2.12,0.00,0.000,6,0.000,0.026,2576,1783,1637,0,0,0,0,0,0,28.83,25.59,28.83
$GC,9275,1.06,184.9,279.4,13.8,399,9276,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1783,1637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9578,1.06,184.9,237.1,13.8,414,9583,0.00,2.15,0.00,0.000,4,0.000,0.030,2567,3203,1637,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9784,1.06,184.9,208.4,13.0,424,9790,0.00,2.12,0.00,0.000,6,0.000,0.025,2576,1797,1639,0,0,0,0,0,0,28.83,25.62,28.83
$GC,10110,1.06,184.9,166.5,11.5,440,10115,0.00,2.15,0.00,0.000,4,0.000,0.030,2567,3212,1639,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10345,1.06,184.9,141.4,10.0,451,10350,0.00,2.12,0.00,0.000,6,0.000,0.025,2576,1788,1639,0,0,0,0,0,0,28.83,25.63,28.83
$GC,10659,1.17,233.1,111.7,7.8,467,10703,0.00,2.15,38.15,0.743,4,0.000,0.027,2568,3202,1459,0,0,0,0,0,0,28.83,25.41,24.29
$GC,10936,1.17,233.1,83.2,10.6,480,10941,0.00,2.08,0.00,0.000,6,0.000,0.024,2576,1790,1456,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11250,1.42,338.2,58.7,5.8,496,11342,0.25,2.22,84.53,0.691,4,0.084,0.028,2677,3205,1029,0,0,0,0,0,0,25.79,25.46,24.38
$STATE,11562,end climb,SURFACE_DEPTH_REACHED
$STATE,11562,begin surface coast
$FINISH,1.1,1.022563
$STATE,11575,end surface coast,CONTROL_FINISHED_OK
$STATE,11575,begin surface
$SM_CCo,11597,26.62,0.053,0,0,777,400.08
$SM_GC,1.50,6.95,1.75,26.62,0.047,0.022,0.053,63,2016,777,-6.66,1.47,400.08,0,0,0,0,0,0,25.54,25.88,25.55
$IRIDIUM_FIX,1929.80,12422.03,020313,191907
$TT8_MAMPS,0.024717,0.024717
$HUMID,54.48
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3822272
$24V_AH,21.4,105.783
$10V_AH,9.6,68.237
$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,17.525,101.200,453.950,26.625,0.000,0.000,0.000,246.325,0.000,0.000,14.961,2076.851,7063.270,528.504,1978.990,437.978,0.000,1714.837,0.000,1681.775,0.000,0.539,0.000
$DEVICE_MAMPS,242.505,43.605,1396.125,52.785,0.000,0.000,0.000,130.050,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11601.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.045,0.000,0.000,0.000
$MEM,328648
$DATA_FILE_SIZE,20059,535
$CAP_FILE_SIZE,136532,0
$CFSIZE,260034560,200454144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128, 71.0,1
$GPS,030313,020323,1934.688,12423.012,51,1.3,68,-2.4