version: 66.11
glider: 129
mission: 4
dive: 519
start: 3 3 113 9 5 43
data:
$ID,129
$MISSION,4
$DIVE,519
$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,-4340.1133
$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,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
$GPS1,030313,085653,1932.268,12424.960,38,1.3,38,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-60.6
$GPS2,030313,090515,1932.256,12425.206,13,2.9,32,-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,247.6,181084,-15.3,-9.429,-18.41
$D_GRID,5546
$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,-46.40,0.000,2,0.000,0.000,51,2077,1870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.06,-184.9,3.4,-5.8,8,118,7.60,2.10,-31.52,0.000,4,0.241,0.044,1871,3426,3165,0,0,0,0,0,0,24.94,25.62,26.40
$GC,229,-1.06,-184.9,44.6,-31.3,31,234,0.00,2.03,0.00,0.000,6,0.000,0.021,1869,2025,3165,0,0,0,0,0,0,28.83,25.84,28.83
$GC,554,-1.06,-184.9,148.7,-31.5,48,560,0.00,2.03,0.00,0.000,4,0.000,0.029,1871,663,3166,0,0,0,0,0,0,28.83,25.60,28.83
$GC,642,-1.06,-184.9,173.0,-28.5,52,647,0.00,2.00,0.00,0.000,6,0.000,0.022,1865,2041,3166,0,0,0,0,0,0,28.83,25.79,28.83
$GC,961,-1.06,-184.9,253.1,-23.4,68,967,0.00,2.05,0.00,0.000,4,0.000,0.027,1861,649,3167,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1010,-1.06,-184.9,264.6,-24.5,70,1016,0.12,2.05,0.00,0.000,6,0.181,0.021,1880,2061,3167,0,0,0,0,0,0,25.29,25.82,28.83
$GC,1330,-1.06,-184.9,330.1,-20.2,86,1335,0.00,2.08,0.00,0.000,4,0.000,0.028,1880,664,3167,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1565,-1.06,-184.9,378.0,-20.2,97,1570,0.00,2.03,0.00,0.000,6,0.000,0.022,1872,2056,3167,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1878,-1.06,-184.9,441.9,-19.5,113,1884,0.00,2.08,0.00,0.000,4,0.000,0.028,1872,654,3166,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1951,-1.06,-184.9,454.4,-19.5,116,1958,0.00,2.05,0.00,0.000,6,0.000,0.021,1861,2062,3167,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2266,-1.06,-184.9,517.4,-19.6,132,2272,0.00,2.08,0.00,0.000,4,0.000,0.028,1861,662,3166,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2454,-1.06,-184.9,554.7,-20.0,141,2460,0.12,2.05,0.00,0.000,6,0.174,0.023,1881,2052,3164,0,0,0,0,0,0,25.30,25.80,28.83
$GC,2779,-1.06,-184.9,613.1,-17.3,156,2784,0.00,2.08,0.00,0.000,4,0.000,0.029,1881,662,3163,0,0,0,0,0,0,28.83,25.57,28.83
$GC,2918,-1.06,-184.9,634.8,-17.5,160,2923,0.00,2.03,0.00,0.000,6,0.000,0.023,1873,2051,3162,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3237,-1.06,-184.9,691.2,-16.9,171,3242,0.00,2.10,0.00,0.000,4,0.000,0.029,1873,663,3160,0,0,0,0,0,0,28.83,25.55,28.83
$GC,3386,-1.06,-184.9,712.0,-16.9,175,3394,0.00,2.08,0.00,0.000,6,0.000,0.024,1863,2068,3159,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3693,-1.06,-184.9,767.9,-16.8,186,3698,0.00,2.12,0.00,0.000,4,0.000,0.030,1862,669,3155,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3811,-1.06,-184.9,784.0,-17.2,189,3819,0.12,2.03,0.00,0.000,6,0.174,0.024,1882,2048,3154,0,0,0,0,0,0,25.25,25.75,28.83
$GC,4119,-1.06,-184.9,831.7,-14.4,200,4125,0.00,2.08,0.00,0.000,4,0.000,0.031,1882,675,3153,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4264,-1.06,-184.9,851.0,-15.1,204,4269,0.00,2.05,0.00,0.000,6,0.000,0.024,1874,2051,3152,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4579,-1.06,-184.9,901.5,-15.2,215,4584,0.00,2.10,0.00,0.000,4,0.000,0.031,1874,668,3149,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4657,-1.06,-184.9,911.6,-15.6,217,4663,0.00,2.08,0.00,0.000,6,0.000,0.024,1864,2057,3149,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4976,-1.06,-184.9,965.4,-16.3,228,4982,0.00,2.10,0.00,0.000,4,0.000,0.031,1864,671,3146,0,0,0,0,0,0,28.83,25.45,28.83
$GC,5074,-1.06,-184.9,980.7,-16.2,231,5080,0.00,2.05,0.00,0.000,6,0.000,0.024,1854,2050,3146,0,0,0,0,0,0,28.83,25.70,28.83
$STATE,5131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5131,begin apogee
$GC,5138,-0.21,0.0,990.7,-16.1,233,5305,0.98,0.00,155.77,1.388,6,0.133,0.000,2149,1775,2408,0,0,0,0,0,0,23.68,28.83,22.24
$STATE,5307,end apogee,CONTROL_FINISHED_OK
$STATE,5307,begin climb
$GC,5310,1.06,184.9,997.6,0.0,238,5494,1.23,2.35,173.68,1.333,4,0.056,0.034,2585,446,1654,0,0,0,0,0,0,23.65,22.70,21.46
$GC,5552,1.06,184.9,975.0,16.8,246,5559,0.00,2.20,0.00,0.000,6,0.000,0.021,2580,1804,1650,0,0,0,0,0,0,28.83,23.61,28.83
$GC,5858,1.06,184.9,907.1,20.3,257,5863,0.00,2.10,0.00,0.000,4,0.000,0.033,2580,3195,1645,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6047,1.06,184.9,867.2,21.5,263,6052,0.00,2.05,0.00,0.000,6,0.000,0.026,2589,1829,1644,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6379,1.06,184.9,798.8,20.5,274,6384,0.00,2.10,0.00,0.000,4,0.000,0.031,2581,3202,1642,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6476,1.06,184.9,778.7,20.7,277,6482,0.00,2.12,0.00,0.000,6,0.000,0.027,2589,1793,1641,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6810,1.06,184.9,712.6,19.7,288,6815,0.00,2.15,0.00,0.000,4,0.000,0.031,2581,3204,1640,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6959,1.06,184.9,686.9,20.1,292,6967,0.00,2.12,0.00,0.000,6,0.000,0.027,2586,1794,1640,0,0,0,0,0,0,28.83,25.66,28.83
$GC,7266,1.06,184.9,624.1,18.6,303,7272,0.00,2.12,0.00,0.000,4,0.000,0.031,2590,3196,1637,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7345,1.06,184.9,611.4,18.9,305,7351,0.15,2.10,0.00,0.000,6,0.203,0.027,2566,1803,1638,0,0,0,0,0,0,24.87,25.63,28.83
$GC,7654,1.06,184.9,556.4,16.6,320,7660,0.00,2.12,0.00,0.000,4,0.000,0.031,2566,3203,1637,0,0,0,0,0,0,28.83,25.42,28.83
$GC,7829,1.06,184.9,526.8,18.7,328,7834,0.00,2.12,0.00,0.000,6,0.000,0.027,2575,1800,1638,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8142,1.06,184.9,471.8,16.4,344,8148,0.00,2.15,0.00,0.000,4,0.000,0.036,2586,400,1637,0,0,0,0,0,0,28.83,25.27,28.83
$GC,8215,1.06,184.9,460.5,17.4,347,8221,0.00,2.08,0.00,0.000,6,0.000,0.021,2581,1816,1638,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8530,1.06,184.9,407.7,16.2,363,8535,0.00,2.03,0.00,0.000,4,0.000,0.031,2581,3181,1638,0,0,0,0,0,0,28.83,25.38,28.83
$GC,8752,1.06,184.9,373.7,16.7,373,8759,0.00,2.08,0.00,0.000,6,0.000,0.026,2589,1797,1638,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9058,1.06,184.9,322.3,15.8,389,9064,0.00,2.12,0.00,0.000,4,0.000,0.030,2590,3193,1638,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9176,1.06,184.9,304.5,17.1,394,9181,0.15,2.10,0.00,0.000,6,0.199,0.026,2565,1797,1638,0,0,0,0,0,0,24.82,25.58,28.83
$GC,9491,1.06,184.9,255.7,13.9,410,9496,0.00,2.12,0.00,0.000,4,0.000,0.035,2576,399,1638,0,0,0,0,0,0,28.83,25.26,28.83
$GC,9548,1.06,184.9,249.2,14.7,412,9555,0.00,2.05,0.00,0.000,6,0.000,0.021,2569,1805,1638,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9855,1.06,184.9,209.1,11.7,428,9860,0.00,2.08,0.00,0.000,4,0.000,0.030,2568,3187,1638,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10091,1.06,184.9,180.7,13.4,439,10097,0.00,2.08,0.00,0.000,6,0.000,0.025,2577,1798,1638,0,0,0,0,0,0,28.83,25.61,28.83
$GC,10406,1.06,184.9,147.1,9.6,455,10411,0.00,2.10,0.00,0.000,4,0.000,0.029,2577,3188,1638,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10642,1.17,230.6,130.1,7.9,466,10686,0.00,2.05,36.40,0.754,6,0.000,0.024,2587,1793,1468,0,0,0,0,0,0,28.83,25.65,24.30
$GC,10996,1.17,230.6,90.5,11.3,484,11002,0.00,2.10,0.00,0.000,4,0.000,0.029,2586,3187,1465,0,0,0,0,0,0,28.83,25.60,28.83
$GC,11232,1.17,230.6,66.6,10.6,495,11237,0.00,2.05,0.00,0.000,6,0.000,0.024,2590,1801,1464,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11545,1.39,327.7,44.1,6.1,515,11632,0.20,2.17,77.70,0.672,4,0.088,0.034,2684,406,1073,0,0,0,0,0,0,25.88,25.48,24.40
$GC,11775,1.39,327.7,10.6,17.8,545,11782,0.00,2.03,0.00,0.000,6,0.000,0.020,2684,1811,1069,0,0,0,0,0,0,28.83,25.92,28.83
$STATE,11821,end climb,SURFACE_DEPTH_REACHED
$STATE,11821,begin surface coast
$FINISH,1.2,1.001448
$STATE,11838,end surface coast,CONTROL_FINISHED_OK
$STATE,11838,begin surface
$SM_CCo,11857,31.45,0.051,0,0,777,400.08
$SM_GC,2.31,6.93,0.28,31.45,0.044,0.044,0.051,64,2063,777,-6.67,-2.35,400.08,0,0,0,0,0,0,25.47,26.08,25.55
$IRIDIUM_FIX,1927.51,12427.09,030313,050503
$TT8_MAMPS,0.024717,0.024717
$HUMID,53.46
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3821120
$24V_AH,21.5,106.254
$10V_AH,9.7,68.524
$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,17.600,109.125,443.550,31.450,0.000,0.000,0.000,260.825,0.000,0.000,34.298,2182.615,7123.921,541.956,2094.611,446.526,0.000,1786.026,0.000,1757.436,0.000,0.540,0.000
$DEVICE_MAMPS,240.975,44.370,1387.710,51.255,0.000,0.000,0.000,129.285,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11866.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.453,0.000,0.000,0.000
$MEM,328588
$DATA_FILE_SIZE,20131,556
$CAP_FILE_SIZE,143338,0
$CFSIZE,260034560,200224768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123, 82.2,1
$GPS,030313,122505,1931.117,12425.132,29,1.3,29,-2.4