version: 66.11
glider: 129
mission: 4
dive: 235
start: 12 31 112 9 57 59
data:
$ID,129
$MISSION,4
$DIVE,235
$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,-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,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,-2949.645
$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,71
$R_STBD_OVSHOOT,58
$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
$GPS1,311212,094930,1812.240,12302.931,40,1.0,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-58.2
$GPS2,311212,095731,1812.359,12302.830,13,1.2,13,-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,285.4,88921,-14.2,-8.462,-17.62
$D_GRID,3639
$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,-70.90,0.000,2,0.000,0.000,51,1892,1974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.54,-175.2,3.4,-5.2,12,139,7.88,2.12,-26.60,0.000,4,0.239,0.047,1965,3325,3127,1,0,0,0,0,0,25.10,26.08,26.51
$GC,237,-0.48,-175.2,38.6,-26.9,34,244,0.15,1.98,0.00,0.000,6,0.158,0.023,2005,1912,3127,0,0,0,0,0,0,25.84,26.26,28.83
$GC,562,-0.42,-175.2,127.2,-23.9,52,567,0.00,1.95,0.00,0.000,4,0.000,0.031,2005,542,3127,0,0,0,0,0,0,28.83,26.29,28.83
$GC,786,-0.38,-175.2,175.0,-18.6,63,792,0.70,1.98,0.00,0.000,6,0.123,0.021,2129,1941,3128,2,0,0,0,0,0,25.75,26.39,28.83
$GC,1110,-0.48,-175.2,199.1,-7.6,79,1116,0.62,2.03,0.00,0.000,4,0.083,0.028,2001,538,3127,0,0,0,0,0,0,26.06,26.34,28.83
$GC,1210,-0.48,-175.2,207.9,-10.3,83,1217,0.00,1.98,0.00,0.000,6,0.000,0.021,1991,1935,3127,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1515,-0.45,-175.2,253.1,-13.9,99,1521,0.00,2.03,0.00,0.000,4,0.000,0.030,1991,534,3129,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1539,-0.42,-175.2,256.5,-14.0,100,1546,0.15,1.98,0.00,0.000,6,0.142,0.021,2025,1922,3127,0,0,0,0,0,0,26.06,26.42,28.83
$GC,1864,-0.42,-175.2,290.2,-9.6,116,1869,0.00,2.03,0.00,0.000,4,0.000,0.030,2024,532,3126,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1926,-0.42,-175.2,296.7,-10.1,119,1932,0.00,2.00,0.00,0.000,6,0.000,0.021,2016,1937,3126,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2249,-0.42,-175.2,328.0,-9.3,135,2254,0.00,2.05,0.00,0.000,4,0.000,0.030,2017,533,3125,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2332,-0.42,-175.2,335.9,-9.6,139,2337,0.00,2.00,0.00,0.000,6,0.000,0.021,2008,1937,3125,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2655,-0.42,-175.2,363.9,-8.8,155,2660,0.00,2.05,0.00,0.000,4,0.000,0.030,2008,535,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2746,-0.42,-175.2,371.9,-9.5,159,2751,0.00,1.98,0.00,0.000,6,0.000,0.021,2000,1929,3124,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3059,-0.42,-175.2,402.5,-9.2,175,3065,0.00,2.03,0.00,0.000,4,0.000,0.030,2000,544,3122,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3131,-0.42,-175.2,409.2,-10.2,178,3137,0.12,1.98,0.00,0.000,6,0.146,0.022,2027,1936,3122,0,0,0,0,0,0,26.11,26.43,28.83
$GC,3445,-0.43,-175.2,433.2,-6.9,194,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1935,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3746,-0.44,-175.2,454.8,-7.3,209,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1935,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4047,-0.46,-175.2,476.4,-7.1,224,4053,0.00,2.05,-0.08,0.000,4,0.000,0.044,2028,546,3145,0,0,0,0,0,0,28.83,26.31,25.44
$GC,4085,-0.47,-175.2,478.3,-7.0,225,4093,0.00,1.98,0.00,0.000,6,0.000,0.022,2021,1937,3144,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4391,-0.48,-175.2,499.9,-6.5,241,4398,0.00,2.05,0.00,0.000,4,0.000,0.032,2022,537,3143,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4450,-0.49,-175.2,503.1,-7.0,243,4457,0.00,1.98,0.00,0.000,6,0.000,0.022,2014,1929,3143,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4755,-0.49,-175.2,526.4,-7.4,259,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1928,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5058,-0.50,-175.2,550.6,-8.4,274,5063,0.00,2.03,0.00,0.000,4,0.000,0.036,2004,3298,3140,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5085,-0.52,-175.2,552.6,-8.2,275,5090,0.00,1.95,0.00,0.000,6,0.000,0.023,2004,1929,3140,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5403,-0.52,-175.2,580.0,-8.4,291,5409,0.00,2.05,0.00,0.000,4,0.000,0.032,2004,524,3138,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5500,-0.52,-175.2,588.0,-9.6,295,5508,0.00,2.00,0.00,0.000,6,0.000,0.023,1997,1908,3137,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5811,-0.52,-175.2,614.3,-7.5,308,5816,0.00,2.08,0.00,0.000,4,0.000,0.036,1987,3312,3135,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5833,-0.52,-175.2,614.3,-7.5,308,5838,0.00,1.98,0.00,0.000,6,0.000,0.022,1986,1925,3135,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6146,-0.52,-175.2,642.1,-8.3,319,6151,0.00,2.03,0.00,0.000,4,0.000,0.031,1986,537,3132,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6275,-0.52,-175.2,653.7,-9.5,323,6281,0.00,1.98,0.00,0.000,6,0.000,0.024,1978,1929,3132,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6605,-0.52,-175.2,683.3,-8.9,334,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1929,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6903,-0.52,-175.2,709.6,-8.8,344,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1929,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7203,-0.52,-175.2,736.3,-9.1,354,7209,0.00,2.05,0.00,0.000,4,0.000,0.032,1978,535,3127,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7231,-0.52,-175.2,736.3,-9.1,354,7237,0.00,2.00,0.00,0.000,6,0.000,0.024,1970,1922,3128,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7537,-0.52,-175.2,767.9,-9.5,365,7542,0.00,2.05,0.00,0.000,4,0.000,0.033,1970,542,3125,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7590,-0.52,-175.2,771.2,-9.6,366,7595,0.00,1.98,0.00,0.000,6,0.000,0.024,1962,1926,3126,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7903,-0.52,-175.2,802.6,-9.0,377,7909,0.12,2.08,0.00,0.000,4,0.157,0.036,1994,3314,3124,0,0,0,0,0,0,26.19,26.14,28.83
$GC,7941,-0.52,-175.2,805.0,-8.4,378,7946,0.00,2.00,0.00,0.000,6,0.000,0.024,1994,1922,3124,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8271,-0.52,-175.2,825.9,-6.3,389,8276,0.00,2.05,0.00,0.000,4,0.000,0.034,1994,533,3122,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8385,-0.52,-175.2,832.5,-6.9,392,8390,0.00,2.03,0.00,0.000,6,0.000,0.024,1987,1935,3122,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8698,-0.52,-175.2,852.9,-6.2,403,8700,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1935,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8998,-0.52,-175.2,872.5,-6.8,413,9003,0.00,2.10,0.00,0.000,4,0.000,0.034,1987,533,3120,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9045,-0.52,-175.2,874.9,-7.0,414,9051,0.00,2.03,0.00,0.000,6,0.000,0.025,1979,1929,3119,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9365,-0.52,-175.2,899.3,-7.4,425,9370,0.00,2.08,0.00,0.000,4,0.000,0.034,1979,540,3118,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9392,-0.52,-175.2,899.3,-7.4,425,9399,0.00,2.00,0.00,0.000,6,0.000,0.024,1969,1935,3118,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9699,-0.52,-175.2,925.4,-7.7,436,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1936,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9999,-0.52,-175.2,949.7,-8.2,446,10004,0.00,2.10,0.00,0.000,4,0.000,0.034,1969,531,3116,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10051,-0.52,-175.2,952.9,-8.5,447,10057,0.00,2.00,0.00,0.000,6,0.000,0.025,1962,1923,3116,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10364,-0.52,-175.2,983.5,-9.2,458,10366,0.10,0.00,0.00,0.000,6,0.171,0.000,1989,1923,3115,0,0,0,0,0,0,26.32,28.83,28.83
$STATE,10452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10453,begin apogee
$GC,10457,-0.17,0.0,990.4,-8.1,461,10615,0.32,0.00,149.10,1.418,6,0.120,0.000,2100,1923,2409,0,0,0,0,0,0,25.74,28.83,22.58
$STATE,10617,end apogee,CONTROL_FINISHED_OK
$STATE,10617,begin climb
$GC,10619,0.54,175.2,996.7,0.0,466,10789,0.70,2.40,160.82,1.366,4,0.090,0.036,2330,517,1694,0,0,0,0,0,0,24.09,23.55,22.12
$GC,10825,0.58,258.3,988.8,5.8,473,10913,0.00,2.17,77.03,1.338,6,0.000,0.022,2330,1898,1353,0,0,0,0,0,0,28.83,24.35,22.08
$GC,11212,0.60,279.5,958.8,7.8,486,11235,0.00,2.22,18.70,1.287,4,0.000,0.037,2330,3295,1269,0,0,0,0,0,0,28.83,25.41,23.89
$GC,11295,0.63,294.1,953.7,8.0,488,11316,0.00,2.08,14.40,1.252,6,0.000,0.026,2334,1902,1211,0,0,0,0,0,0,28.83,25.81,23.92
$GC,11639,0.67,335.2,925.5,7.1,500,11683,0.12,2.17,37.58,1.345,4,0.108,0.037,2389,513,1041,0,0,0,0,0,0,26.14,25.27,23.89
$GC,11707,0.68,344.6,919.6,8.2,502,11721,0.00,2.08,9.80,1.173,6,0.000,0.024,2388,1906,1004,0,0,0,0,0,0,28.83,25.60,23.86
$GC,12034,0.68,344.6,884.7,10.3,513,12039,0.00,2.08,0.00,0.000,4,0.000,0.036,2388,3282,997,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12091,0.68,344.6,881.0,10.5,514,12099,0.00,2.03,0.00,0.000,6,0.000,0.027,2388,1896,997,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12397,0.68,344.6,842.6,12.0,525,12402,0.00,2.08,0.00,0.000,4,0.000,0.038,2388,510,996,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12433,0.68,344.6,838.8,12.0,526,12438,0.00,2.03,0.00,0.000,6,0.000,0.023,2389,1904,996,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12763,0.68,344.6,800.2,11.1,537,12768,0.00,2.08,0.00,0.000,4,0.000,0.036,2388,3294,996,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12799,0.68,344.6,796.1,11.1,538,12805,0.00,2.05,0.00,0.000,6,0.000,0.028,2389,1891,995,0,0,0,0,0,0,28.83,26.33,28.83
$GC,13129,0.68,344.6,760.3,10.6,549,13135,0.00,2.10,0.00,0.000,4,0.000,0.040,2388,498,995,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13162,0.68,344.6,756.9,10.4,550,13168,0.00,2.05,0.00,0.000,6,0.000,0.023,2388,1913,995,0,0,0,0,0,0,28.83,26.36,28.83
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$STATE,20716,end climb,SURFACE_DEPTH_REACHED
$STATE,20716,begin surface coast
$FINISH,1.0,1.022272
$STATE,20727,end surface coast,CONTROL_FINISHED_OK
$STATE,20727,begin surface
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$IRIDIUM_FIX,1805.50,12309.32,311212,030313
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.98
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,3930144
$24V_AH,22.1,46.843
$10V_AH,10.1,33.215
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$MEM,329044
$DATA_FILE_SIZE,36727,956
$CAP_FILE_SIZE,234381,0
$CFSIZE,260034560,228003840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0,0
$CURRENT,0.105,351.5,1
$GPS,311212,154559,1813.752,12259.626,39,1.4,39,-2.0