version: 66.11
glider: 129
mission: 4
dive: 147
start: 12 9 112 9 21 57
data:
$ID,129
$MISSION,4
$DIVE,147
$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,380
$T_MISSION,400
$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,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,1
$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,-2832.5171
$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,1
$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,62
$R_STBD_OVSHOOT,74
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$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
$GPS1,091212,091336,2011.849,12408.981,39,1.0,39,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-56.7
$GPS2,091212,092131,2011.777,12408.963,13,1.1,13,-2.5
$SPEED_LIMITS,0.150,0.269
$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,60.8,20085,-14.6,-8.684,-17.90
$D_GRID,5536
$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,19,-0.56,-175.2,0.0,0.0,0,80,0.00,0.00,-59.12,0.000,2,0.000,0.000,46,1917,1928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.56,-175.2,3.2,-5.1,10,126,7.65,2.15,-30.45,0.000,4,0.238,0.047,1972,527,3125,0,0,0,0,0,0,25.44,25.97,26.31
$GC,175,-0.50,-175.2,19.6,-26.8,26,183,0.12,2.03,0.00,0.000,6,0.168,0.023,1995,1924,3126,0,0,0,0,0,0,25.76,26.06,28.83
$GC,497,-0.46,-175.2,90.9,-21.1,50,502,0.00,2.05,0.00,0.000,4,0.000,0.034,1986,3314,3126,0,0,0,0,0,0,28.83,26.17,28.83
$GC,528,-0.43,-175.2,94.1,-17.8,51,534,0.12,2.00,0.00,0.000,6,0.142,0.023,2021,1901,3126,0,0,0,0,0,0,26.01,26.29,28.83
$GC,841,-0.43,-175.2,129.7,-9.6,67,847,0.00,1.95,0.00,0.000,4,0.000,0.031,2021,537,3127,0,0,0,0,0,0,28.83,26.29,28.83
$GC,977,-0.43,-175.2,141.7,-9.7,73,985,0.00,2.03,0.00,0.000,6,0.000,0.022,2013,1940,3128,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1284,-0.43,-175.2,176.8,-10.9,89,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1941,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1585,-0.43,-175.2,206.2,-9.2,104,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1941,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1886,-0.44,-175.2,232.9,-8.8,119,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1941,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2186,-0.45,-175.2,259.7,-8.7,134,2192,0.00,2.03,0.00,0.000,4,0.000,0.031,2013,541,3127,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2213,-0.46,-175.2,262.0,-8.8,135,2218,0.00,1.98,0.00,0.000,6,0.000,0.021,2005,1940,3127,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2531,-0.46,-175.2,290.9,-8.6,151,2536,0.00,2.05,0.00,0.000,4,0.000,0.031,2005,538,3127,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2597,-0.47,-175.2,296.6,-9.0,154,2603,0.00,1.98,0.00,0.000,6,0.000,0.022,2002,1928,3127,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2916,-0.48,-175.2,324.3,-8.4,170,2921,0.00,2.00,0.00,0.000,4,0.000,0.031,2001,547,3125,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3002,-0.48,-175.2,331.9,-9.2,174,3007,0.00,1.95,0.00,0.000,6,0.000,0.022,1993,1929,3126,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3321,-0.49,-175.2,356.7,-7.4,190,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1930,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3622,-0.50,-175.2,380.5,-7.9,205,3628,0.00,2.00,0.00,0.000,4,0.000,0.031,1993,548,3125,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3650,-0.51,-175.2,382.7,-8.0,206,3656,0.00,1.95,0.00,0.000,6,0.000,0.022,1988,1921,3124,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3969,-0.51,-175.2,409.7,-8.5,222,3974,0.00,2.03,0.00,0.000,4,0.000,0.036,1989,3308,3124,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3996,-0.52,-175.2,411.7,-8.3,223,4002,0.00,1.95,0.00,0.000,6,0.000,0.023,1988,1935,3124,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4316,-0.53,-175.2,437.0,-7.5,239,4321,0.00,2.00,0.00,0.000,4,0.000,0.033,1992,539,3122,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4419,-0.54,-175.2,445.8,-8.7,244,4424,0.00,2.00,0.00,0.000,6,0.000,0.023,1988,1934,3122,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4743,-0.55,-175.2,471.8,-8.1,260,4748,0.00,2.00,0.00,0.000,4,0.000,0.037,1988,3308,3120,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4769,-0.56,-175.2,473.6,-7.9,261,4774,0.00,1.98,0.00,0.000,6,0.000,0.024,1988,1916,3120,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5087,-0.58,-175.2,498.7,-7.7,277,5093,0.00,2.00,0.00,0.000,4,0.000,0.033,1988,540,3119,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5142,-0.59,-175.2,502.2,-7.5,279,5147,0.00,1.98,0.00,0.000,6,0.000,0.023,1988,1928,3118,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5455,-0.60,-175.2,523.7,-6.5,295,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1929,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5756,-0.61,-175.2,544.4,-7.2,310,5762,0.00,2.05,0.00,0.000,4,0.000,0.033,1988,539,3115,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5799,-0.62,-175.2,547.9,-7.5,312,5805,0.00,1.98,0.00,0.000,6,0.000,0.024,1988,1923,3115,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6123,-0.64,-175.2,571.5,-7.6,328,6129,0.10,2.05,0.00,0.000,4,0.117,0.031,1944,537,3113,0,0,0,0,0,0,26.53,26.37,28.83
$GC,6157,-0.65,-175.2,573.8,-7.9,329,6162,0.00,2.00,0.00,0.000,6,0.000,0.024,1934,1934,3113,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6479,-0.64,-175.2,609.6,-10.6,344,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,1934,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6780,-0.63,-175.2,640.7,-10.2,354,6785,0.00,2.03,0.00,0.000,4,0.000,0.038,1923,3314,3110,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6822,-0.62,-175.2,644.1,-10.1,355,6828,0.12,2.00,0.00,0.000,6,0.148,0.024,1958,1908,3109,0,0,0,0,0,0,26.13,26.45,28.83
$GC,7146,-0.62,-175.2,670.7,-7.5,366,7151,0.00,2.00,0.00,0.000,4,0.000,0.034,1958,544,3108,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7213,-0.62,-175.2,676.0,-8.0,368,7219,0.00,2.00,0.00,0.000,6,0.000,0.024,1950,1934,3107,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7544,-0.62,-175.2,701.9,-7.8,379,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1934,3106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7843,-0.62,-175.2,724.6,-7.5,389,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1934,3105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8142,-0.62,-175.2,747.5,-7.8,399,8147,0.00,2.05,0.00,0.000,4,0.000,0.035,1950,548,3103,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8179,-0.62,-175.2,750.5,-8.1,400,8184,0.00,2.00,0.00,0.000,6,0.000,0.025,1941,1931,3103,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8508,-0.62,-175.2,779.4,-8.7,411,8514,0.00,2.10,0.00,0.000,4,0.000,0.037,1941,545,3101,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8550,-0.62,-175.2,782.6,-8.8,412,8556,0.00,2.00,0.00,0.000,6,0.000,0.026,1932,1927,3101,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8875,-0.61,-175.2,813.6,-9.5,423,8881,0.10,2.08,0.00,0.000,4,0.168,0.034,1959,542,3100,0,0,0,0,0,0,26.38,26.29,28.83
$GC,8942,-0.61,-175.2,819.9,-9.7,425,8948,0.00,2.00,0.00,0.000,6,0.000,0.026,1950,1924,3099,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9273,-0.61,-175.2,851.4,-9.6,436,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,1924,3101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9571,-0.61,-175.2,879.7,-9.3,446,9576,0.00,2.05,0.00,0.000,4,0.000,0.039,1941,3312,3098,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9618,-0.62,-175.2,882.8,-9.3,447,9623,0.00,2.00,0.00,0.000,6,0.000,0.028,1940,1934,3097,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9936,-0.62,-175.2,912.9,-8.9,458,9941,0.00,2.08,0.00,0.000,4,0.000,0.037,1940,535,3097,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10032,-0.62,-175.2,921.8,-9.3,461,10037,0.00,2.03,0.00,0.000,6,0.000,0.027,1931,1930,3096,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10361,-0.62,-175.2,949.9,-8.2,472,10367,0.00,2.10,0.00,0.000,4,0.000,0.037,1931,529,3095,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10395,-0.62,-175.2,952.7,-8.2,473,10401,0.15,2.05,0.00,0.000,6,0.151,0.026,1964,1931,3095,0,0,0,0,0,0,25.96,26.36,28.83
$GC,10730,-0.63,-175.2,973.1,-5.8,484,10731,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1932,3094,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11028,begin apogee
$GC,11032,-0.17,0.0,990.4,-5.8,494,11180,0.40,0.00,140.12,1.422,6,0.116,0.000,2101,1933,2410,0,0,0,0,0,0,25.79,28.83,23.34
$STATE,11182,end apogee,CONTROL_FINISHED_OK
$STATE,11182,begin climb
$GC,11184,0.56,175.2,994.4,0.0,499,11350,0.68,2.40,156.50,1.372,4,0.067,0.036,2354,516,1693,0,0,0,0,0,0,24.50,23.58,22.56
$GC,11372,0.54,205.8,984.7,7.7,505,11407,0.00,2.22,28.02,1.300,6,0.000,0.024,2355,1907,1571,0,0,0,0,0,0,28.83,24.16,22.70
$GC,11724,0.52,205.8,943.1,11.4,517,11729,0.00,2.12,0.00,0.000,4,0.000,0.038,2355,3300,1562,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11861,0.50,205.8,927.7,12.5,521,11867,0.15,2.08,0.00,0.000,6,0.177,0.028,2327,1905,1562,0,0,0,0,0,0,25.47,25.84,28.83
$GC,12180,0.50,205.8,894.7,9.6,532,12186,0.00,2.12,0.00,0.000,4,0.000,0.037,2326,3296,1563,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12216,0.49,205.8,891.4,9.7,533,12222,0.00,2.08,0.00,0.000,6,0.000,0.028,2335,1892,1559,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12546,0.48,205.8,859.3,9.5,544,12551,0.00,2.12,0.00,0.000,4,0.000,0.037,2335,3293,1559,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12609,0.47,205.8,852.3,10.3,546,12615,0.00,2.05,0.00,0.000,6,0.000,0.029,2343,1899,1559,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12944,0.46,205.8,816.6,10.9,557,12946,0.12,0.00,0.00,0.000,6,0.173,0.000,2310,1898,1562,0,0,0,0,0,0,26.08,28.83,28.83
$GC,13242,0.46,205.8,787.4,9.7,567,13243,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,1899,1557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13543,0.46,205.8,758.4,9.7,577,13548,0.00,2.12,0.00,0.000,4,0.000,0.038,2310,3300,1558,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13575,0.46,205.8,754.9,9.8,578,13580,0.00,2.08,0.00,0.000,6,0.000,0.028,2318,1888,1558,0,0,0,0,0,0,28.83,26.33,28.83
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$STATE,21585,end climb,SURFACE_DEPTH_REACHED
$STATE,21585,begin surface coast
$FINISH,1.2,1.023344
$STATE,21596,end surface coast,CONTROL_FINISHED_OK
$STATE,21596,begin surface
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$TT8_MAMPS,0.024717,0.024717
$HUMID,48.11
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3963840
$24V_AH,22.6,28.572
$10V_AH,10.0,21.364
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.300,180.175,495.800,0.000,0.000,0.000,0.000,308.175,3.000,0.000,13.863,3225.537,15177.609,651.940,2736.848,345.597,0.000,2274.021,0.000,2314.854,0.000,30.188,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.010,0.000,0.000,0.000
$MEM,329000
$DATA_FILE_SIZE,36731,992
$CAP_FILE_SIZE,243029,0
$CFSIZE,260034560,237359104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,188.2,1
$GPS,091212,152424,2012.539,12411.420,39,1.3,39,-2.5