version: 66.11
glider: 129
mission: 4
dive: 254
start: 1 3 113 23 22 26
data:
$ID,129
$MISSION,4
$DIVE,254
$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,-2974.5903
$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,74
$R_STBD_OVSHOOT,82
$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
$GPS1,030113,231407,1830.387,12220.146,9,1.9,9,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-60.9
$GPS2,030113,232200,1830.621,12220.082,36,2.0,41,-2.0
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,19.8,284223,-14.2,-8.462,-17.62
$D_GRID,487
$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,-175.2,0.0,0.0,0,92,0.00,0.00,-70.70,0.000,2,0.000,0.000,46,1908,1925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.54,-175.2,3.3,-6.0,12,139,7.93,2.10,-26.38,0.000,4,0.244,0.048,1967,3292,3126,0,0,0,0,0,0,25.22,26.21,26.62
$GC,198,-0.48,-175.2,26.9,-26.6,30,204,0.15,1.92,0.00,0.000,6,0.169,0.021,2005,1902,3126,0,0,0,0,0,0,25.91,26.36,28.83
$GC,513,-0.44,-175.2,103.4,-19.5,49,519,0.00,2.05,0.00,0.000,4,0.000,0.032,1996,3307,3127,0,0,0,0,0,0,28.83,26.34,28.83
$GC,627,-0.42,-175.2,119.3,-14.8,54,633,0.00,1.92,0.00,0.000,6,0.000,0.021,1996,1918,3129,0,0,0,0,0,0,28.83,26.46,28.83
$GC,940,-0.39,-175.2,166.7,-11.9,70,947,0.12,1.98,0.00,0.000,4,0.148,0.028,2037,542,3127,0,0,0,0,0,0,26.25,26.39,28.83
$GC,1084,-0.39,-175.2,180.2,-9.0,77,1090,0.00,1.95,0.00,0.000,6,0.000,0.021,2038,1925,3128,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1408,-0.39,-175.2,209.2,-9.3,93,1413,0.00,2.00,0.00,0.000,4,0.000,0.028,2033,544,3127,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1464,-0.39,-175.2,213.2,-9.6,95,1471,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1940,3127,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1771,-0.39,-175.2,238.1,-8.1,111,1776,0.00,2.03,0.00,0.000,4,0.000,0.029,2033,532,3127,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1848,-0.39,-175.2,243.5,-8.6,114,1854,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1928,3126,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2154,-0.39,-175.2,268.0,-8.1,130,2159,0.00,2.00,0.00,0.000,4,0.000,0.028,2033,538,3126,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2191,-0.39,-175.2,270.0,-8.2,131,2198,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1931,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2496,-0.39,-175.2,299.1,-8.7,147,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1931,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2799,-0.40,-175.2,323.9,-7.9,162,2805,0.00,2.05,0.00,0.000,4,0.000,0.029,2033,514,3123,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2846,-0.40,-175.2,328.0,-8.5,164,2853,0.00,2.03,0.00,0.000,6,0.000,0.021,2033,1922,3123,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3166,-0.42,-175.2,351.8,-6.3,180,3171,0.00,2.03,0.00,0.000,4,0.000,0.029,2033,538,3121,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3214,-0.43,-175.2,354.5,-6.0,182,3219,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1934,3120,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3534,-0.44,-175.2,376.0,-7.5,198,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1935,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3834,-0.46,-175.2,398.8,-7.0,213,3840,0.00,2.03,0.00,0.000,4,0.000,0.031,2033,539,3116,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3867,-0.47,-175.2,400.8,-7.1,214,3873,0.00,2.00,0.00,0.000,6,0.000,0.022,2033,1929,3116,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4181,-0.49,-175.2,425.7,-8.0,230,4187,0.00,2.03,-0.08,0.000,4,0.000,0.042,2033,548,3142,0,0,0,0,0,0,28.83,26.33,25.46
$GC,4220,-0.50,-175.2,427.5,-7.7,231,4228,0.10,1.95,0.00,0.000,6,0.114,0.022,1985,1930,3142,0,0,0,0,0,0,26.28,26.43,28.83
$GC,4524,-0.50,-175.2,461.5,-11.0,247,4529,0.00,2.05,0.00,0.000,4,0.000,0.031,1985,540,3142,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4607,-0.49,-175.2,470.3,-10.8,251,4612,0.00,1.95,0.00,0.000,6,0.000,0.022,1976,1921,3142,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,4768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4768,begin apogee
$GC,4773,-0.17,0.0,487.8,-10.4,259,4921,0.38,0.00,139.20,1.028,6,0.122,0.000,2102,1922,2409,0,0,0,0,0,0,25.88,28.83,24.07
$STATE,4923,end apogee,CONTROL_FINISHED_OK
$STATE,4923,begin climb
$GC,4925,0.54,175.2,493.2,0.0,266,5074,0.65,2.17,138.88,0.997,4,0.090,0.031,2330,3286,1694,0,0,0,0,0,0,25.28,25.06,23.94
$GC,5098,0.58,231.0,486.0,6.6,275,5151,0.00,2.05,45.50,0.966,6,0.000,0.022,2338,1903,1466,0,0,0,0,0,0,28.83,25.56,24.02
$GC,5460,0.62,279.3,459.0,6.9,293,5504,0.00,2.17,38.95,0.972,4,0.000,0.034,2346,507,1269,0,0,0,0,0,0,28.83,25.63,24.46
$GC,5602,0.65,285.2,447.7,8.3,300,5614,0.00,2.03,5.88,0.764,6,0.000,0.020,2346,1919,1246,0,0,0,0,0,0,28.83,26.17,24.56
$GC,5927,0.68,303.9,422.1,7.9,316,5951,0.10,2.05,16.75,0.933,4,0.113,0.034,2390,3264,1168,0,0,0,0,0,0,26.39,26.00,24.70
$GC,5973,0.69,303.9,418.0,8.6,318,5979,0.00,1.98,0.00,0.000,6,0.000,0.023,2390,1903,1167,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6292,0.69,303.9,386.6,9.8,334,6297,0.00,2.05,0.00,0.000,4,0.000,0.034,2389,510,1164,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6343,0.69,303.9,382.4,10.0,336,6349,0.00,1.98,0.00,0.000,6,0.000,0.021,2390,1896,1164,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6658,0.69,303.9,350.3,9.3,352,6663,0.00,2.05,0.00,0.000,4,0.000,0.032,2390,3293,1162,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6797,0.69,303.9,337.0,10.9,358,6805,0.00,2.03,0.00,0.000,6,0.000,0.024,2390,1903,1162,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7103,0.70,303.9,305.0,9.4,374,7109,0.00,2.05,0.00,0.000,4,0.000,0.034,2390,510,1161,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7161,0.72,303.9,301.1,9.0,376,7168,0.00,1.95,0.00,0.000,6,0.000,0.020,2390,1901,1160,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7466,0.73,303.9,273.3,8.7,392,7472,0.00,2.03,0.00,0.000,4,0.000,0.032,2390,3294,1161,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7504,0.74,303.9,271.1,8.9,393,7511,0.00,2.00,0.00,0.000,6,0.000,0.024,2390,1898,1160,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7809,0.75,303.9,242.7,9.4,409,7815,0.00,2.05,0.00,0.000,4,0.000,0.035,2390,500,1159,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7857,0.77,303.9,238.8,9.2,411,7863,0.00,2.03,0.00,0.000,6,0.000,0.020,2393,1946,1164,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8176,0.78,303.9,210.3,8.6,427,8181,0.00,1.92,0.00,0.000,4,0.000,0.032,2390,3277,1159,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8234,0.79,303.9,206.4,8.6,429,8241,0.00,1.98,0.00,0.000,6,0.000,0.024,2390,1898,1159,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8540,0.81,303.9,179.5,8.5,445,8541,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1898,1159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8842,0.87,396.9,158.1,5.4,460,8924,0.15,2.10,75.68,0.813,4,0.090,0.032,2466,507,789,0,0,0,0,0,0,26.43,25.51,24.38
$GC,8967,0.87,396.9,142.9,14.2,466,8973,0.00,2.03,0.00,0.000,6,0.000,0.019,2465,1909,788,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9285,0.87,396.9,107.6,9.3,482,9290,0.00,2.00,0.00,0.000,4,0.000,0.031,2466,3276,785,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9382,0.87,396.9,98.3,11.3,486,9389,0.12,1.98,0.00,0.000,6,0.157,0.024,2437,1900,784,0,0,0,0,0,0,26.02,26.34,28.83
$GC,9689,0.96,564.3,76.1,3.0,502,9808,0.00,2.10,109.78,0.721,4,0.000,0.030,2437,3279,210,0,0,0,0,0,0,28.83,25.47,24.49
$GC,9837,1.06,654.6,69.6,5.5,509,9843,0.20,2.00,0.00,0.000,6,0.076,0.023,2517,1893,208,0,0,0,0,0,0,25.71,25.82,28.83
$GC,10146,1.11,654.6,36.9,10.7,530,10147,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1890,207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10449,1.13,654.6,7.2,9.4,577,10455,0.00,2.03,0.00,0.000,4,0.000,0.034,2521,504,207,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,10501,end climb,SURFACE_DEPTH_REACHED
$STATE,10501,begin surface coast
$FINISH,0.8,1.022048
$STATE,10518,end surface coast,CONTROL_FINISHED_OK
$STATE,10518,begin surface
$SM_CCo,10596,0.00,0.000,0,0,206,540.64
$SM_GC,1.61,6.28,2.05,0.00,0.041,0.018,0.000,53,1929,206,-6.47,-2.21,540.64,0,0,0,0,0,0,26.28,26.45,28.83
$IRIDIUM_FIX,1823.67,12220.08,030113,202012
$TT8_MAMPS,0.024717,0.024717
$HUMID,53.15
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3922848
$24V_AH,23.9,50.333
$10V_AH,10.0,35.337
$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,16.175,96.725,570.600,0.000,0.000,0.000,0.000,275.875,0.000,0.000,42.520,1789.268,6657.621,628.483,1725.130,269.780,0.000,1722.852,0.000,1359.737,0.000,0.541,0.000
$DEVICE_MAMPS,244.035,48.195,1028.160,0.000,0.000,0.000,0.000,130.050,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10541.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.239,0.000,0.000,0.000
$MEM,308640
$DATA_FILE_SIZE,20071,590
$CAP_FILE_SIZE,136113,0
$CFSIZE,260034560,226381824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029, 79.1,1
$GPS,040113,022005,1832.134,12220.536,25,1.7,25,-2.0