version: 66.11
glider: 129
mission: 4
dive: 498
start: 2 28 113 7 40 29
data:
$ID,129
$MISSION,4
$DIVE,498
$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,-3408.7632
$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,26
$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,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,73
$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,0.0020000001
$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
$GPS1,280213,073106,2003.404,12420.267,34,1.1,34,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-66.1
$GPS2,280213,074000,2003.283,12420.166,11,1.3,16,-2.5
$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,171.1,229074,-15.3,-9.429,-18.41
$D_GRID,5484
$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,-0.96,-184.9,0.0,0.0,0,69,0.00,0.00,-46.12,0.000,2,0.000,0.000,60,1901,1826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.96,-184.9,3.3,-4.0,8,128,7.38,2.10,-38.50,0.000,4,0.239,0.045,1843,523,3165,0,0,0,0,0,0,24.88,25.76,26.45
$GC,292,-0.96,-184.9,66.2,-35.9,35,297,0.00,2.03,0.00,0.000,6,0.000,0.022,1834,1924,3165,0,0,0,0,0,0,28.83,25.91,28.83
$GC,615,-0.96,-184.9,170.3,-28.2,51,621,0.00,2.08,0.00,0.000,4,0.000,0.030,1834,520,3166,0,0,0,0,0,0,28.83,25.67,28.83
$GC,708,-0.96,-184.9,192.8,-26.7,55,714,0.00,2.03,0.00,0.000,6,0.000,0.022,1824,1932,3166,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1023,-0.96,-184.9,288.0,-28.9,71,1028,0.00,2.10,0.00,0.000,4,0.000,0.029,1820,522,3166,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1088,-0.96,-184.9,306.3,-28.3,74,1094,0.15,2.03,0.00,0.000,6,0.189,0.021,1849,1925,3166,0,0,0,0,0,0,25.22,25.90,28.83
$GC,1412,-0.96,-184.9,384.8,-22.6,90,1418,0.00,2.10,0.00,0.000,4,0.000,0.028,1849,518,3166,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1481,-0.96,-184.9,398.9,-21.8,93,1486,0.00,2.05,0.00,0.000,6,0.000,0.021,1840,1936,3166,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1800,-0.96,-184.9,475.5,-23.1,109,1805,0.00,2.12,0.00,0.000,4,0.000,0.030,1840,522,3166,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1857,-0.96,-184.9,486.0,-23.9,111,1864,0.00,2.05,0.00,0.000,6,0.000,0.022,1830,1931,3166,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2163,-0.96,-184.9,555.4,-21.0,127,2169,0.00,2.10,0.00,0.000,4,0.000,0.030,1830,521,3165,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2250,-0.96,-184.9,574.5,-22.8,131,2256,0.12,2.05,0.00,0.000,6,0.187,0.023,1849,1923,3164,0,0,0,0,0,0,25.35,25.90,28.83
$GC,2569,-0.96,-184.9,636.3,-18.1,144,2575,0.00,2.10,0.00,0.000,4,0.000,0.031,1849,526,3161,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2664,-0.96,-184.9,653.6,-18.5,147,2670,0.00,2.08,0.00,0.000,6,0.000,0.023,1840,1935,3162,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3002,-0.96,-184.9,715.0,-18.1,158,3008,0.00,2.15,0.00,0.000,4,0.000,0.031,1839,520,3160,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3141,-0.96,-184.9,740.0,-19.6,162,3147,0.00,2.08,0.00,0.000,6,0.000,0.024,1830,1935,3160,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3461,-0.96,-184.9,803.3,-19.0,173,3467,0.00,2.15,0.00,0.000,4,0.000,0.031,1830,527,3156,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3612,-0.96,-184.9,827.9,-19.7,177,3619,0.12,2.08,0.00,0.000,6,0.184,0.024,1849,1928,3155,0,0,0,0,0,0,25.30,25.84,28.83
$GC,3921,-0.96,-184.9,884.9,-16.6,188,3926,0.00,2.15,0.00,0.000,4,0.000,0.032,1848,521,3153,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4016,-0.96,-184.9,901.6,-17.1,191,4021,0.00,2.10,0.00,0.000,6,0.000,0.024,1840,1935,3153,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4352,-0.96,-184.9,958.0,-16.5,202,4357,0.00,2.17,0.00,0.000,4,0.000,0.032,1840,521,3150,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4420,-0.96,-184.9,969.3,-16.8,204,4426,0.00,2.10,0.00,0.000,6,0.000,0.024,1830,1932,3149,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,4566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4566,begin apogee
$GC,4573,-0.19,0.0,994.7,-16.7,209,4739,0.88,0.00,155.32,1.394,6,0.142,0.000,2090,1932,2409,0,0,0,0,0,0,23.89,28.83,22.75
$STATE,4741,end apogee,CONTROL_FINISHED_OK
$STATE,4741,begin climb
$GC,4744,0.96,184.9,1000.5,0.0,214,4923,1.12,2.38,170.70,1.341,4,0.085,0.034,2463,3281,1654,0,0,0,0,0,0,24.08,23.11,21.75
$GC,4966,0.96,184.9,982.0,12.4,222,4971,0.00,2.20,0.00,0.000,6,0.000,0.027,2472,1912,1649,0,0,0,0,0,0,28.83,24.06,28.83
$GC,5297,0.96,184.9,935.3,13.8,233,5303,0.00,2.12,0.00,0.000,4,0.000,0.034,2473,3296,1645,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5386,0.96,184.9,925.2,14.6,235,5393,0.00,2.12,0.00,0.000,6,0.000,0.028,2483,1879,1644,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5692,0.96,184.9,877.5,14.3,246,5697,0.00,2.17,0.00,0.000,4,0.000,0.033,2483,3293,1642,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5810,0.96,184.9,862.9,15.2,249,5818,0.00,2.08,0.00,0.000,6,0.000,0.027,2493,1891,1641,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6115,0.96,184.9,813.6,14.6,260,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1891,1640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6416,0.96,184.9,770.7,14.4,270,6421,0.00,2.15,0.00,0.000,4,0.000,0.033,2493,3291,1637,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6460,0.96,184.9,765.5,14.6,271,6466,0.15,2.10,0.00,0.000,6,0.183,0.027,2466,1889,1639,0,0,0,0,0,0,25.12,25.75,28.83
$GC,6787,0.96,184.9,723.9,12.2,282,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1889,1638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7086,0.96,184.9,687.6,12.3,292,7092,0.00,2.15,0.00,0.000,4,0.000,0.034,2466,3294,1637,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7151,0.96,184.9,678.9,12.8,294,7157,0.00,2.08,0.00,0.000,6,0.000,0.027,2476,1901,1637,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7488,0.96,184.9,635.3,13.2,305,7494,0.00,2.15,0.00,0.000,4,0.000,0.033,2476,3295,1637,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7586,0.96,184.9,621.9,13.7,308,7592,0.00,2.08,0.00,0.000,6,0.000,0.027,2484,1895,1636,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7910,0.96,184.9,583.0,11.7,321,7915,0.00,2.12,0.00,0.000,4,0.000,0.033,2484,3291,1636,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7922,0.96,184.9,583.0,11.7,321,7927,0.00,2.08,0.00,0.000,6,0.000,0.027,2494,1895,1636,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8235,0.96,184.9,539.9,14.4,337,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1895,1638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8540,0.96,184.9,496.3,14.0,352,8545,0.00,2.15,0.00,0.000,4,0.000,0.033,2494,3295,1635,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8676,0.96,184.9,478.3,14.0,358,8682,0.12,2.08,0.00,0.000,6,0.181,0.027,2473,1901,1635,0,0,0,0,0,0,25.10,25.65,28.83
$GC,8990,0.96,184.9,443.6,10.5,374,8991,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1900,1635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9294,0.96,184.9,408.8,11.7,389,9299,0.00,2.15,0.00,0.000,4,0.000,0.033,2473,3299,1635,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9386,0.96,184.9,397.8,12.6,393,9391,0.00,2.10,0.00,0.000,6,0.000,0.027,2482,1900,1635,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9700,0.96,184.9,362.5,10.7,409,9706,0.00,2.15,0.00,0.000,4,0.000,0.036,2492,497,1635,0,0,0,0,0,0,28.83,25.32,28.83
$GC,9748,0.96,184.9,357.3,11.0,411,9754,0.00,2.05,0.00,0.000,6,0.000,0.022,2492,1917,1634,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10067,0.96,184.9,322.2,10.6,427,10072,0.00,2.08,0.00,0.000,4,0.000,0.033,2492,3285,1635,0,0,0,0,0,0,28.83,25.40,28.83
$GC,10235,0.96,184.9,304.1,10.8,435,10242,0.12,2.05,0.00,0.000,6,0.174,0.026,2471,1898,1635,0,0,0,0,0,0,25.16,25.65,28.83
$GC,10555,0.97,190.3,274.1,9.2,451,10561,0.00,2.10,0.00,0.000,4,0.000,0.031,2472,3287,1635,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10604,0.97,192.9,269.9,9.3,453,10615,0.00,2.05,4.43,0.648,6,0.000,0.025,2481,1894,1624,0,0,0,0,0,0,28.83,25.67,24.06
$GC,10924,0.98,196.7,239.6,9.3,469,10932,0.00,0.00,5.70,0.693,6,0.000,0.000,2480,1893,1607,0,0,0,0,0,0,28.83,28.83,24.25
$GC,11224,0.98,196.7,210.5,9.8,484,11225,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1893,1606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11526,1.00,205.2,181.1,9.1,499,11540,0.00,2.12,9.20,0.726,4,0.000,0.030,2481,3287,1572,0,0,0,0,0,0,28.83,25.51,24.36
$GC,11771,1.00,205.2,155.5,9.8,511,11776,0.00,2.08,0.00,0.000,6,0.000,0.025,2489,1897,1572,0,0,0,0,0,0,28.83,25.79,28.83
$GC,12096,1.00,205.2,127.6,9.4,527,12101,0.00,2.10,0.00,0.000,4,0.000,0.034,2499,493,1571,0,0,0,0,0,0,28.83,25.46,28.83
$GC,12180,1.01,211.0,119.9,9.2,531,12195,0.00,2.03,6.75,0.636,6,0.000,0.020,2499,1903,1548,0,0,0,0,0,0,28.83,25.90,24.41
$GC,12504,1.03,220.8,92.2,9.1,547,12515,0.00,0.00,9.85,0.663,6,0.000,0.000,2499,1901,1508,0,0,0,0,0,0,28.83,28.83,24.46
$GC,12804,1.14,276.9,69.1,7.5,562,12857,0.00,2.10,45.85,0.703,4,0.000,0.031,2502,3281,1280,0,0,0,0,0,0,28.83,25.55,24.32
$GC,12907,1.14,276.9,59.7,9.6,567,12914,0.00,2.05,0.00,0.000,6,0.000,0.025,2509,1893,1278,0,0,0,0,0,0,28.83,25.87,28.83
$GC,13222,1.14,276.9,27.0,10.1,593,13227,0.00,2.10,0.00,0.000,4,0.000,0.030,2509,3281,1277,0,0,0,0,0,0,28.83,25.69,28.83
$GC,13272,1.14,276.9,21.7,10.8,600,13279,0.00,2.03,0.00,0.000,6,0.000,0.024,2519,1893,1277,0,0,0,0,0,0,28.83,25.83,28.83
$STATE,13477,end climb,SURFACE_DEPTH_REACHED
$STATE,13477,begin surface coast
$FINISH,1.3,1.023131
$STATE,13499,end surface coast,CONTROL_FINISHED_OK
$STATE,13499,begin surface
$SM_CCo,13518,53.65,0.052,0,0,778,400.08
$SM_GC,1.95,6.60,0.00,53.65,0.048,0.000,0.052,58,1893,778,-6.48,-0.93,400.08,0,0,0,0,0,0,25.41,28.83,25.54
$IRIDIUM_FIX,1957.29,12422.12,280213,030310
$TT8_MAMPS,0.024717,0.024717
$HUMID,52.59
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3829216
$24V_AH,21.7,103.108
$10V_AH,9.7,66.529
$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,16.775,113.500,407.800,53.650,0.000,0.000,0.000,311.450,0.000,0.000,16.903,2230.294,8788.089,554.286,2041.041,492.031,0.000,1823.708,0.000,1708.757,0.000,0.539,0.000
$DEVICE_MAMPS,238.680,45.135,1393.830,52.020,0.000,0.000,0.000,127.755,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13528.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.359,0.000,0.000,0.000
$MEM,328840
$DATA_FILE_SIZE,23367,644
$CAP_FILE_SIZE,154575,0
$CFSIZE,260034560,201814016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,296.8,1
$GPS,280213,112806,2001.891,12420.350,40,0.9,40,-2.5