version: 66.11
glider: 129
mission: 4
dive: 247
start: 1 3 113 6 39 10
data:
$ID,129
$MISSION,4
$DIVE,247
$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,390
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-13
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$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,-2965.7993
$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,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,127
$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,0.00039999999
$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,22
$MINV_10V,9.5
$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
$GPS1,030113,062835,1829.472,12221.966,37,1.2,43,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-60.0
$GPS2,030113,063843,1829.880,12221.889,15,1.2,15,-2.0
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,265.2,10132,-14.2,-8.462,-17.62
$D_GRID,590
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.54,-175.2,0.0,0.0,0,86,0.00,0.00,-65.53,0.000,2,0.000,0.000,43,1928,1814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.2,-4.5,11,134,8.02,2.03,-30.90,0.000,4,0.246,0.047,1967,3257,3123,1,0,0,0,0,0,25.16,26.13,26.52
$GC,268,-0.48,-175.2,51.3,-28.9,36,274,0.12,1.92,0.00,0.000,6,0.166,0.022,1998,1897,3123,0,0,0,0,0,0,25.92,26.30,28.83
$GC,592,-0.44,-175.2,114.8,-17.3,52,597,0.00,1.95,0.00,0.000,4,0.000,0.030,1998,541,3124,0,0,0,0,0,0,28.83,26.32,28.83
$GC,810,-0.41,-175.2,145.9,-16.4,62,817,0.12,1.88,0.00,0.000,6,0.153,0.021,2026,1880,3125,0,0,0,0,0,0,26.09,26.42,28.83
$GC,1116,-0.41,-175.2,178.7,-8.2,78,1121,0.00,1.95,0.00,0.000,4,0.000,0.030,2026,540,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1142,-0.41,-175.2,180.6,-8.2,79,1147,0.00,1.92,0.00,0.000,6,0.000,0.021,2019,1919,3124,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1460,-0.41,-175.2,213.8,-9.9,95,1466,0.00,2.00,0.00,0.000,4,0.000,0.030,2019,548,3123,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1633,-0.41,-175.2,230.9,-11.3,103,1638,0.00,1.95,0.00,0.000,6,0.000,0.022,2010,1925,3123,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1946,-0.41,-175.2,264.5,-11.4,119,1951,0.00,2.03,0.00,0.000,4,0.000,0.035,2000,3313,3122,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1978,-0.41,-175.2,267.1,-11.5,120,1983,0.00,1.95,0.00,0.000,6,0.000,0.021,2000,1930,3122,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2290,-0.41,-175.2,304.4,-11.1,136,2295,0.00,2.00,0.00,0.000,4,0.000,0.031,2000,535,3121,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2417,-0.41,-175.2,317.5,-10.4,142,2423,0.12,1.98,0.00,0.000,6,0.153,0.022,2029,1924,3120,0,0,0,0,0,0,26.09,26.42,28.83
$GC,2736,-0.42,-175.2,344.4,-8.5,158,2741,0.00,2.03,0.00,0.000,4,0.000,0.031,2029,545,3118,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2760,-0.44,-175.2,346.5,-8.6,159,2765,0.00,1.98,0.00,0.000,6,0.000,0.021,2023,1926,3118,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3082,-0.44,-175.2,377.0,-9.3,175,3088,0.00,2.03,0.00,0.000,4,0.000,0.036,2014,3314,3116,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3106,-0.45,-175.2,379.1,-9.1,176,3112,0.00,2.00,0.00,0.000,6,0.000,0.022,2014,1904,3114,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3430,-0.45,-175.2,409.2,-8.9,192,3435,0.00,1.98,-0.08,0.000,4,0.000,0.044,2014,542,3141,0,0,0,0,0,0,28.83,26.30,25.44
$GC,3528,-0.45,-175.2,416.9,-9.2,196,3535,0.00,1.98,0.00,0.000,6,0.000,0.023,2007,1926,3142,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3833,-0.45,-175.2,446.9,-9.5,212,3839,0.00,2.08,0.00,0.000,4,0.000,0.033,2007,532,3140,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3900,-0.45,-175.2,453.5,-9.9,215,3905,0.00,2.00,0.00,0.000,6,0.000,0.023,2005,1927,3140,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4219,-0.45,-175.2,485.4,-9.2,231,4224,0.00,2.08,0.00,0.000,4,0.000,0.033,2005,531,3139,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4265,-0.45,-175.2,489.6,-9.3,233,4270,0.00,2.00,0.00,0.000,6,0.000,0.024,2005,1924,3141,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4583,-0.45,-175.2,519.6,-9.0,249,4589,0.00,2.05,0.00,0.000,4,0.000,0.033,2005,538,3135,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4631,-0.45,-175.2,523.7,-9.0,251,4636,0.00,2.00,0.00,0.000,6,0.000,0.024,2005,1928,3137,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4948,-0.45,-175.2,553.0,-9.4,267,4953,0.00,2.08,0.00,0.000,4,0.000,0.034,2005,535,3135,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5020,-0.45,-175.2,559.1,-9.8,270,5026,0.00,2.00,0.00,0.000,6,0.000,0.024,2005,1927,3134,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,5312,end dive,NO_VERTICAL_VELOCITY
$STATE,5312,begin apogee
$GC,5317,-0.17,0.0,568.5,0.0,285,5464,0.28,0.00,140.35,1.093,6,0.095,0.000,2109,1928,2409,0,0,0,0,0,0,26.13,28.83,23.74
$STATE,5465,end apogee,CONTROL_FINISHED_OK
$STATE,5465,begin climb
$GC,5468,0.54,175.2,568.5,0.0,292,5624,0.62,2.22,144.00,1.056,4,0.084,0.034,2330,3275,1693,0,0,0,0,0,0,25.01,24.29,23.09
$GC,5792,0.57,232.3,557.5,6.6,308,5847,0.00,2.03,46.67,1.040,6,0.000,0.025,2331,1905,1461,0,0,0,0,0,0,28.83,25.89,24.03
$GC,6160,0.62,294.3,535.0,6.4,327,6220,0.00,2.15,51.30,1.046,4,0.000,0.037,2331,511,1209,0,0,0,0,0,0,28.83,25.39,24.20
$GC,6249,0.67,353.3,529.5,6.5,331,6308,0.12,2.05,50.45,1.028,6,0.099,0.021,2384,1918,968,0,0,0,0,0,0,25.67,25.79,24.01
$GC,6626,0.68,353.3,491.2,10.0,350,6632,0.00,2.03,0.00,0.000,4,0.000,0.034,2384,3279,961,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6704,0.69,353.3,484.3,10.6,353,6711,0.00,2.03,0.00,0.000,6,0.000,0.026,2386,1888,960,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7010,0.71,354.7,456.4,8.4,369,7015,0.00,2.05,0.00,0.000,4,0.000,0.036,2386,502,959,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7049,0.72,358.6,454.6,8.3,370,7060,0.00,2.00,4.47,0.719,6,0.000,0.022,2386,1898,947,0,0,0,0,0,0,28.83,26.39,24.32
$GC,7379,0.75,379.6,426.2,7.8,387,7404,0.00,2.08,19.55,0.977,4,0.000,0.031,2386,3285,860,0,0,0,0,0,0,28.83,25.94,24.55
$GC,7457,0.76,381.3,420.7,8.4,390,7464,0.00,2.05,0.00,0.000,6,0.000,0.025,2386,1901,859,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7762,0.79,409.8,396.1,7.5,406,7791,0.00,0.00,26.30,0.972,6,0.000,0.000,2386,1902,738,0,0,0,0,0,0,28.83,28.83,24.49
$GC,8082,0.82,426.9,372.4,7.9,422,8103,0.12,2.15,15.50,0.926,4,0.102,0.037,2457,513,668,0,0,0,0,0,0,26.27,25.94,24.60
$GC,8121,0.84,426.9,370.5,8.5,423,8127,0.00,2.03,0.00,0.000,6,0.000,0.021,2457,1912,667,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8426,0.84,426.9,318.2,16.2,439,8431,0.00,2.00,0.00,0.000,4,0.000,0.036,2457,3274,665,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8569,0.84,426.9,294.1,16.5,446,8575,0.12,2.00,0.00,0.000,6,0.167,0.024,2432,1896,664,0,0,0,0,0,0,26.00,26.36,28.83
$GC,8893,0.84,426.9,252.0,12.7,462,8899,0.00,2.05,0.00,0.000,4,0.000,0.032,2436,3275,666,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8931,0.84,426.9,249.0,12.8,463,8937,0.00,2.00,0.00,0.000,6,0.000,0.025,2440,1892,664,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9237,0.84,426.9,213.9,11.1,479,9242,0.00,2.05,0.00,0.000,4,0.000,0.036,2449,503,664,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9274,0.84,426.9,211.0,11.7,480,9282,0.00,2.00,0.00,0.000,6,0.000,0.021,2449,1911,664,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9580,0.84,426.9,168.0,11.3,496,9586,0.00,2.00,0.00,0.000,4,0.000,0.034,2449,3280,663,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9673,0.84,426.9,158.2,11.7,500,9678,0.00,2.00,0.00,0.000,6,0.000,0.025,2456,1902,663,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9986,0.84,426.9,117.4,12.0,516,9991,0.00,2.08,0.00,0.000,4,0.000,0.035,2458,499,663,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10114,0.86,426.9,106.6,8.5,522,10119,0.00,2.00,0.00,0.000,6,0.000,0.021,2457,1908,663,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10433,0.89,442.4,78.0,8.0,538,10453,0.00,2.10,13.35,0.695,4,0.000,0.032,2457,499,606,0,0,0,0,0,0,28.83,26.16,24.68
$GC,10561,0.95,514.1,70.1,6.1,544,10626,0.00,2.03,57.88,0.716,6,0.000,0.021,2457,1900,313,0,0,0,0,0,0,28.83,26.32,24.53
$GC,10929,1.04,514.1,45.2,10.1,564,10935,0.12,2.08,0.00,0.000,4,0.114,0.031,2510,498,311,0,0,0,0,0,0,26.20,26.18,28.83
$GC,11166,1.12,514.1,24.7,8.9,587,11173,0.00,1.98,0.00,0.000,6,0.000,0.020,2511,1919,311,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,11412,end climb,SURFACE_DEPTH_REACHED
$STATE,11412,begin surface coast
$FINISH,1.1,1.005301
$STATE,11441,end surface coast,CONTROL_FINISHED_OK
$STATE,11441,begin surface
$SM_CCo,11517,0.00,0.000,0,0,312,514.64
$SM_GC,1.77,6.35,0.00,0.00,0.048,0.000,0.000,60,1929,312,-6.47,-0.11,514.64,0,0,0,0,0,0,26.23,28.83,28.83
$IRIDIUM_FIX,1821.40,12222.00,030113,060641
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.11
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3925536
$24V_AH,23.1,49.351
$10V_AH,9.9,34.775
$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,16.150,105.000,569.825,0.000,0.000,0.000,0.000,360.875,0.000,0.000,16.261,2081.830,7068.977,620.582,2051.534,297.184,0.000,1917.255,0.000,1612.052,0.000,0.540,0.000
$DEVICE_MAMPS,246.330,46.665,1093.185,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11472.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.782,0.000,0.000,0.000
$MEM,308672
$DATA_FILE_SIZE,23466,640
$CAP_FILE_SIZE,149977,0
$CFSIZE,260034560,226844672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$CURRENT,0.086, 22.3,1
$GPS,030113,095216,1830.379,12220.941,11,3.5,30,-2.0