version: 66.11
glider: 129
mission: 4
dive: 248
start: 1 3 113 10 0 21
data:
$ID,129
$MISSION,4
$DIVE,248
$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,-2967.0562
$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,66
$R_STBD_OVSHOOT,96
$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
$GPS1,030113,095216,1830.379,12220.941,11,3.5,30,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-57.1
$GPS2,030113,095954,1830.751,12220.847,18,2.9,37,-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,262.5,7991,-14.2,-8.462,-17.62
$D_GRID,470
$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,19,-0.54,-175.2,0.0,0.0,0,86,0.00,0.00,-65.22,0.000,2,0.000,0.000,49,1919,1907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.4,-5.9,11,133,7.88,2.03,-27.67,0.000,4,0.241,0.046,1968,3297,3124,0,0,0,0,0,0,25.22,26.14,26.57
$GC,251,-0.48,-175.2,42.7,-29.1,35,259,0.12,1.98,0.00,0.000,6,0.168,0.023,2000,1906,3124,0,0,0,0,0,0,25.93,26.32,28.83
$GC,558,-0.44,-175.2,101.6,-14.2,52,563,0.00,1.98,0.00,0.000,4,0.000,0.031,2001,537,3124,0,0,0,0,0,0,28.83,26.32,28.83
$GC,762,-0.41,-175.2,134.2,-14.5,62,768,0.12,1.95,0.00,0.000,6,0.151,0.021,2032,1910,3126,0,0,0,0,0,0,26.10,26.42,28.83
$GC,1086,-0.40,-175.2,167.3,-12.8,78,1092,0.00,1.98,0.00,0.000,4,0.000,0.029,2028,538,3125,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1205,-0.40,-175.2,178.9,-11.0,83,1211,0.00,1.98,0.00,0.000,6,0.000,0.021,2020,1937,3126,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1510,-0.40,-175.2,208.2,-8.1,99,1516,0.00,2.05,0.00,0.000,4,0.000,0.031,2020,548,3125,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1553,-0.40,-175.2,211.9,-8.1,101,1558,0.00,1.95,0.00,0.000,6,0.000,0.021,2012,1931,3128,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1876,-0.40,-175.2,246.0,-10.8,117,1881,0.00,2.03,0.00,0.000,4,0.000,0.030,2012,542,3124,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2003,-0.40,-175.2,258.8,-10.2,123,2008,0.00,1.98,0.00,0.000,6,0.000,0.022,2005,1918,3123,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2321,-0.40,-175.2,290.0,-9.4,139,2326,0.00,2.05,0.00,0.000,4,0.000,0.034,1994,3312,3122,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2384,-0.40,-175.2,295.4,-8.5,142,2390,0.12,1.98,0.00,0.000,6,0.132,0.022,2032,1910,3122,0,0,0,0,0,0,26.17,26.45,28.83
$GC,2708,-0.41,-175.2,316.4,-6.3,158,2714,0.00,1.98,0.00,0.000,4,0.000,0.031,2032,550,3121,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2806,-0.41,-175.2,322.6,-7.4,162,2813,0.00,1.95,0.00,0.000,6,0.000,0.023,2031,1923,3119,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3113,-0.42,-175.2,346.3,-7.2,178,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1923,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3414,-0.43,-175.2,365.1,-6.3,193,3419,0.00,2.03,0.00,0.000,4,0.000,0.031,2031,539,3117,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3458,-0.43,-175.2,368.4,-6.9,195,3463,0.00,2.00,0.00,0.000,6,0.000,0.022,2032,1918,3116,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3782,-0.43,-175.2,391.8,-6.2,211,3788,0.00,2.03,-0.08,0.000,4,0.000,0.043,2032,555,3140,0,0,0,0,0,0,28.83,26.32,25.46
$GC,3847,-0.43,-175.2,397.2,-8.1,214,3852,0.00,1.95,0.00,0.000,6,0.000,0.023,2032,1924,3141,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4170,-0.45,-175.2,422.4,-8.0,230,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1924,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4471,-0.46,-175.2,443.0,-6.5,245,4476,0.00,2.03,0.00,0.000,4,0.000,0.032,2032,552,3140,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4515,-0.47,-175.2,446.2,-6.8,247,4520,0.00,1.98,0.00,0.000,6,0.000,0.023,2031,1928,3140,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4839,-0.49,-175.2,468.5,-6.9,263,4844,0.00,2.05,0.00,0.000,4,0.000,0.037,2031,3308,3139,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,4860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4860,begin apogee
$GC,4868,-0.17,0.0,470.2,-6.7,264,5012,0.20,0.00,138.95,1.010,6,0.116,0.000,2104,1912,2409,0,0,0,0,0,0,26.15,28.83,23.99
$STATE,5014,end apogee,CONTROL_FINISHED_OK
$STATE,5014,begin climb
$GC,5016,0.54,175.2,476.5,0.0,271,5165,0.65,2.25,139.80,0.977,4,0.090,0.033,2332,514,1694,0,0,0,0,0,0,25.16,24.82,23.69
$GC,5229,0.61,291.6,471.0,4.7,282,5329,0.00,2.05,93.80,0.964,6,0.000,0.021,2333,1904,1222,0,0,0,0,0,0,28.83,25.67,23.85
$GC,5629,0.69,404.6,451.6,4.8,302,5730,0.12,2.10,92.68,0.966,4,0.096,0.032,2393,3276,758,0,0,0,0,0,0,26.25,25.27,24.20
$GC,5776,0.70,404.6,438.4,9.7,309,5781,0.00,2.03,0.00,0.000,6,0.000,0.024,2397,1905,755,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6099,0.72,404.6,407.0,9.5,325,6105,0.00,2.08,0.00,0.000,4,0.000,0.035,2402,503,752,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6142,0.74,404.6,402.3,10.4,327,6149,0.00,2.00,0.00,0.000,6,0.000,0.021,2402,1911,752,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6466,0.75,404.6,364.9,13.0,343,6472,0.00,2.00,0.00,0.000,4,0.000,0.034,2402,3278,751,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6539,0.76,404.6,356.5,13.2,346,6544,0.00,2.00,0.00,0.000,6,0.000,0.024,2402,1887,751,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6852,0.78,404.6,320.1,10.7,362,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1887,750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7154,0.80,404.6,288.5,10.6,377,7159,0.00,2.05,0.00,0.000,4,0.000,0.037,2402,507,750,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7172,0.81,404.6,288.5,10.6,377,7179,0.00,1.98,0.00,0.000,6,0.000,0.021,2402,1889,750,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7478,0.83,404.6,256.0,9.9,393,7484,0.00,2.05,0.00,0.000,4,0.000,0.034,2402,3282,749,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7536,0.85,404.6,251.5,10.0,395,7543,0.00,2.03,0.00,0.000,6,0.000,0.025,2402,1870,747,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7841,0.87,404.6,221.7,9.2,411,7847,0.10,2.03,0.00,0.000,4,0.112,0.034,2453,502,749,0,0,0,0,0,0,26.48,26.29,28.83
$GC,7880,0.88,404.6,219.3,9.6,412,7887,0.00,2.00,0.00,0.000,6,0.000,0.021,2454,1915,748,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8185,0.88,404.6,179.4,12.9,428,8190,0.00,2.00,0.00,0.000,4,0.000,0.034,2453,3277,748,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8258,0.88,404.6,169.9,14.9,431,8264,0.00,1.98,0.00,0.000,6,0.000,0.024,2460,1894,748,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8572,0.88,404.6,122.0,14.2,447,8577,0.00,2.05,0.00,0.000,4,0.000,0.033,2460,3271,748,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8659,0.88,404.6,110.6,13.7,451,8664,0.00,1.98,0.00,0.000,6,0.000,0.024,2465,1897,748,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8976,0.88,404.6,75.1,8.9,467,8982,0.00,2.05,0.00,0.000,4,0.000,0.035,2468,504,748,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9030,0.90,407.2,71.4,8.4,469,9035,0.00,1.98,0.00,0.000,6,0.000,0.020,2468,1893,748,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9343,0.92,407.2,39.7,8.5,490,9349,0.00,2.05,0.00,0.000,4,0.000,0.034,2468,511,748,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9439,0.95,412.5,32.5,8.3,499,9451,0.00,1.98,6.38,0.575,6,0.000,0.020,2468,1914,727,0,0,0,0,0,0,28.83,26.44,24.34
$GC,9753,0.98,412.5,5.9,10.1,553,9760,0.00,2.08,0.00,0.000,4,0.000,0.031,2468,500,727,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9831,1.08,576.0,3.1,3.1,567,9853,0.12,2.00,15.82,0.054,2,0.091,0.020,2526,1930,581,0,0,0,0,0,0,26.29,26.44,28.83
$STATE,9854,end climb,SURFACE_DEPTH_REACHED
$STATE,9854,begin surface coast
$FINISH,0.9,1.010581
$STATE,9882,end surface coast,CONTROL_FINISHED_OK
$STATE,9882,begin surface
$SM_CCo,9957,0.00,0.000,0,0,578,449.14
$SM_GC,1.66,6.40,0.00,0.00,0.049,0.000,0.000,65,1928,578,-6.47,-0.20,449.14,0,0,0,0,0,0,26.16,28.83,28.83
$IRIDIUM_FIX,1823.67,12223.22,030113,060650
$TT8_MAMPS,0.024717,0.024717
$HUMID,52.04
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3925152
$24V_AH,23.7,49.490
$10V_AH,10.3,34.866
$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,15.850,92.650,487.425,0.000,0.000,0.000,0.000,256.975,0.000,0.000,38.835,1785.252,6136.436,545.229,1689.001,257.281,0.000,1593.811,0.000,1347.402,0.000,0.541,0.000
$DEVICE_MAMPS,240.975,45.900,1009.800,0.000,0.000,0.000,0.000,132.345,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9910.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.346,0.000,0.000,0.000
$MEM,308692
$DATA_FILE_SIZE,20117,575
$CAP_FILE_SIZE,132360,0
$CFSIZE,260034560,226779136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,190.0,1
$GPS,030113,124736,1829.875,12219.462,40,0.9,40,-2.0