version: 66.11
glider: 129
mission: 4
dive: 509
start: 3 1 113 22 48 34
data:
$ID,129
$MISSION,4
$DIVE,509
$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,-4325.2432
$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,2215
$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,2000
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,80
$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
$GPS1,010313,223936,1945.117,12419.719,28,1.7,28,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-66.8
$GPS2,010313,224807,1945.072,12419.768,14,1.7,14,-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,208.8,197724,-15.3,-9.429,-18.41
$D_GRID,5508
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.06,-184.9,0.0,0.0,0,70,0.00,0.00,-46.10,0.000,2,0.000,0.000,56,2067,1833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.06,-184.9,3.3,-4.1,8,123,7.53,2.22,-34.17,0.000,4,0.240,0.041,1867,601,3163,0,0,0,0,0,0,24.88,25.66,26.44
$GC,301,-1.06,-184.9,67.7,-35.2,34,307,0.00,2.03,0.00,0.000,6,0.000,0.023,1858,1993,3165,0,0,0,0,0,0,28.83,25.82,28.83
$GC,615,-1.06,-184.9,159.6,-29.1,50,620,0.00,2.08,0.00,0.000,4,0.000,0.029,1856,601,3165,0,0,0,0,0,0,28.83,25.63,28.83
$GC,768,-1.06,-184.9,198.5,-26.0,57,774,0.00,2.03,0.00,0.000,6,0.000,0.022,1848,2004,3166,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1083,-1.06,-184.9,286.9,-26.9,73,1088,0.00,2.08,0.00,0.000,4,0.000,0.028,1848,597,3166,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1199,-1.06,-184.9,315.8,-27.8,78,1205,0.12,2.05,0.00,0.000,6,0.187,0.022,1867,2007,3166,0,0,0,0,0,0,25.31,25.86,28.83
$GC,1513,-1.06,-184.9,388.8,-20.7,94,1520,0.00,2.10,0.00,0.000,4,0.000,0.029,1867,593,3166,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1665,-1.06,-184.9,420.3,-21.0,101,1671,0.00,2.05,0.00,0.000,6,0.000,0.022,1858,2009,3166,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1984,-1.06,-184.9,483.6,-19.3,117,1989,0.00,2.12,0.00,0.000,4,0.000,0.029,1858,593,3165,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2078,-1.06,-184.9,500.8,-20.5,121,2083,0.00,2.05,0.00,0.000,6,0.000,0.022,1848,2001,3165,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2391,-1.06,-184.9,565.8,-19.2,137,2396,0.00,2.10,0.00,0.000,4,0.000,0.029,1847,596,3164,0,0,0,0,0,0,28.83,25.61,28.83
$GC,2490,-1.06,-184.9,582.1,-19.4,141,2497,0.12,2.08,0.00,0.000,6,0.181,0.023,1867,2007,3164,0,0,0,0,0,0,25.32,25.83,28.83
$GC,2807,-1.06,-184.9,637.9,-16.0,154,2812,0.00,2.12,0.00,0.000,4,0.000,0.030,1867,590,3162,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2880,-1.06,-184.9,649.2,-16.8,156,2886,0.00,2.08,0.00,0.000,6,0.000,0.023,1858,2004,3161,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3207,-1.06,-184.9,708.4,-17.9,167,3212,0.00,2.12,0.00,0.000,4,0.000,0.031,1858,606,3159,0,0,0,0,0,0,28.83,25.55,28.83
$GC,3310,-1.06,-184.9,725.8,-18.3,170,3315,0.00,2.05,0.00,0.000,6,0.000,0.024,1848,1998,3158,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3636,-1.06,-184.9,785.3,-18.0,181,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1998,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3935,-1.06,-184.9,840.0,-17.7,191,3940,0.00,2.15,0.00,0.000,4,0.000,0.031,1848,595,3154,0,0,0,0,0,0,28.83,25.50,28.83
$GC,4098,-1.06,-184.9,867.8,-17.8,196,4104,0.12,2.10,0.00,0.000,6,0.179,0.024,1864,2007,3152,0,0,0,0,0,0,25.24,25.75,28.83
$GC,4426,-1.06,-184.9,922.9,-16.5,207,4432,0.00,2.15,0.00,0.000,4,0.000,0.032,1867,600,3151,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4470,-1.06,-184.9,929.2,-16.5,208,4476,0.00,2.08,0.00,0.000,6,0.000,0.024,1859,2001,3150,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4795,-1.06,-184.9,985.6,-17.1,219,4801,0.00,2.12,0.00,0.000,4,0.000,0.033,1859,607,3147,0,0,0,0,0,0,28.83,25.44,28.83
$STATE,4826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4826,begin apogee
$GC,4835,-0.21,0.0,991.7,-17.2,220,5001,0.98,0.00,156.20,1.392,6,0.137,0.000,2141,1867,2409,0,0,0,0,0,0,23.72,28.83,22.49
$STATE,5002,end apogee,CONTROL_FINISHED_OK
$STATE,5002,begin climb
$GC,5005,1.06,184.9,999.3,0.0,225,5190,1.20,2.47,173.85,1.338,4,0.057,0.034,2572,466,1654,0,0,0,0,0,0,23.87,22.87,21.57
$GC,5204,1.06,184.9,984.0,13.0,232,5209,0.00,2.28,0.00,0.000,6,0.000,0.022,2571,1842,1652,0,0,0,0,0,0,28.83,23.30,28.83
$GC,5530,1.06,184.9,912.4,21.4,243,5535,0.00,2.12,0.00,0.000,4,0.000,0.034,2568,3252,1645,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5705,1.06,184.9,877.4,22.0,248,5710,0.00,2.10,0.00,0.000,6,0.000,0.026,2577,1849,1644,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6019,1.06,184.9,804.6,21.4,259,6024,0.00,2.12,0.00,0.000,4,0.000,0.033,2577,3251,1642,0,0,0,0,0,0,28.83,25.62,28.83
$GC,6098,1.06,184.9,790.7,21.7,261,6104,0.00,2.10,0.00,0.000,6,0.000,0.026,2586,1848,1642,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6417,1.06,184.9,721.8,20.2,272,6423,0.00,2.15,0.00,0.000,4,0.000,0.032,2582,3253,1640,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6608,1.06,184.9,684.9,19.5,278,6614,0.15,2.12,0.00,0.000,6,0.208,0.027,2557,1843,1638,0,0,0,0,0,0,24.94,25.71,28.83
$GC,6941,1.06,184.9,628.5,16.9,289,6946,0.00,2.15,0.00,0.000,4,0.000,0.032,2555,3245,1638,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6998,1.06,184.9,622.0,16.9,290,7006,0.00,2.10,0.00,0.000,6,0.000,0.026,2563,1849,1638,0,0,0,0,0,0,28.83,25.68,28.83
$GC,7306,1.06,184.9,567.8,16.5,304,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1849,1640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7609,1.06,184.9,517.9,16.4,319,7614,0.00,2.15,0.00,0.000,4,0.000,0.033,2563,3249,1637,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7682,1.06,184.9,505.9,17.2,322,7687,0.00,2.10,0.00,0.000,6,0.000,0.026,2573,1848,1637,0,0,0,0,0,0,28.83,25.66,28.83
$GC,7997,1.06,184.9,451.0,17.8,338,8003,0.00,2.12,0.00,0.000,4,0.000,0.035,2583,449,1636,0,0,0,0,0,0,28.83,25.34,28.83
$GC,8087,1.06,184.9,435.1,18.6,342,8093,0.00,2.10,0.00,0.000,6,0.000,0.022,2580,1878,1635,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8406,1.06,184.9,380.7,15.4,358,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1878,1635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8708,1.06,184.9,336.3,13.8,373,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1878,1635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9011,1.06,184.9,295.2,13.1,388,9016,0.00,2.03,0.00,0.000,4,0.000,0.032,2580,3232,1635,0,0,0,0,0,0,28.83,25.42,28.83
$GC,9239,1.06,184.9,263.0,13.7,399,9244,0.12,2.08,0.00,0.000,6,0.201,0.025,2561,1844,1635,0,0,0,0,0,0,25.03,25.65,28.83
$GC,9564,1.06,184.9,221.1,12.7,415,9570,0.00,2.10,0.00,0.000,4,0.000,0.031,2554,3235,1637,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9617,1.06,184.9,215.6,12.4,417,9622,0.00,2.08,0.00,0.000,6,0.000,0.025,2562,1847,1636,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9931,1.06,184.9,176.3,11.9,433,9936,0.00,2.10,0.00,0.000,4,0.000,0.030,2562,3243,1636,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10026,1.06,184.9,166.2,12.1,437,10032,0.00,2.08,0.00,0.000,6,0.000,0.024,2572,1846,1636,0,0,0,0,0,0,28.83,25.69,28.83
$GC,10341,1.06,184.9,132.5,10.4,453,10346,0.00,2.12,0.00,0.000,4,0.000,0.034,2581,450,1636,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10419,1.06,184.9,125.0,11.2,456,10426,0.00,2.05,0.00,0.000,6,0.000,0.021,2581,1868,1636,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10726,1.11,207.2,92.7,8.7,472,10750,0.00,2.08,17.42,0.698,4,0.000,0.030,2581,3219,1564,0,0,0,0,0,0,28.83,25.44,24.27
$GC,10981,1.11,207.2,69.9,9.5,484,10986,0.00,2.03,0.00,0.000,6,0.000,0.024,2590,1846,1562,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11296,1.14,217.7,38.3,9.1,505,11313,0.00,0.00,10.38,0.619,6,0.000,0.000,2590,1846,1521,0,0,0,0,0,0,28.83,28.83,24.49
$GC,11620,1.24,260.5,9.6,8.0,554,11645,0.00,2.17,19.38,0.066,4,0.000,0.034,2600,448,1345,0,0,0,0,0,0,28.83,25.64,25.31
$STATE,11693,end climb,SURFACE_DEPTH_REACHED
$STATE,11693,begin surface coast
$FINISH,1.2,1.023060
$STATE,11708,end surface coast,CONTROL_FINISHED_OK
$STATE,11709,begin surface
$SM_CCo,11731,60.95,0.053,0,0,777,400.08
$SM_GC,2.22,6.82,2.30,60.95,0.048,0.021,0.053,63,1989,777,-6.63,-2.40,400.08,0,0,0,0,0,0,25.37,25.77,25.50
$IRIDIUM_FIX,1938.95,12418.25,010313,191906
$TT8_MAMPS,0.024717,0.024717
$HUMID,52.59
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3824992
$24V_AH,21.6,104.749
$10V_AH,9.6,67.579
$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,17.175,101.250,377.225,60.950,0.000,0.000,0.000,290.625,0.000,0.000,15.335,2039.612,7393.975,516.797,1915.723,435.161,0.000,1688.823,0.000,1585.565,0.000,0.539,0.000
$DEVICE_MAMPS,240.210,41.310,1392.300,52.785,0.000,0.000,0.000,128.520,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11736.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.679,0.000,0.000,0.000
$MEM,328600
$DATA_FILE_SIZE,20126,570
$CAP_FILE_SIZE,136973,0
$CFSIZE,260034560,200990720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100, 56.1,1
$GPS,020313,020634,1943.826,12420.078,39,1.0,43,-2.4