version: 66.11
glider: 129
mission: 4
dive: 241
start: 1 1 113 22 38 10
data:
$ID,129
$MISSION,4
$DIVE,241
$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,-2957.7683
$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,64
$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
$GPS1,010113,222906,1821.838,12242.387,41,0.9,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-52.9
$GPS2,010113,223743,1822.129,12242.234,16,0.9,16,-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,247.7,48596,-14.2,-8.462,-17.62
$D_GRID,3946
$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,-175.2,0.0,0.0,0,86,0.00,0.00,-65.28,0.000,2,0.000,0.000,50,1888,1820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.2,-5.1,11,139,7.97,2.00,-33.85,0.000,4,0.245,0.041,1975,513,3121,0,0,0,0,0,0,25.18,26.11,26.51
$GC,369,-0.46,-175.2,76.4,-29.9,44,375,0.15,2.00,0.00,0.000,6,0.171,0.024,2005,1906,3123,0,0,0,0,0,0,25.86,26.29,28.83
$GC,693,-0.42,-175.2,153.5,-18.5,60,698,0.00,2.03,0.00,0.000,4,0.000,0.029,2005,513,3123,0,0,0,0,0,0,28.83,26.32,28.83
$GC,782,-0.39,-175.2,167.3,-16.5,64,788,0.12,2.03,0.00,0.000,6,0.158,0.022,2030,1938,3124,0,0,0,0,0,0,26.05,26.39,28.83
$GC,1101,-0.39,-175.2,204.4,-9.3,80,1106,0.00,2.05,0.00,0.000,4,0.000,0.029,2030,521,3123,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1144,-0.39,-175.2,208.6,-9.5,82,1150,0.00,2.00,0.00,0.000,6,0.000,0.021,2022,1940,3124,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1467,-0.39,-175.2,245.6,-11.7,98,1473,0.00,2.08,0.00,0.000,4,0.000,0.030,2022,514,3122,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1525,-0.39,-175.2,250.3,-11.1,100,1532,0.00,2.00,0.00,0.000,6,0.000,0.021,2012,1934,3122,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1831,-0.39,-175.2,282.5,-10.1,116,1836,0.00,2.05,0.00,0.000,4,0.000,0.030,2013,512,3122,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2024,-0.39,-175.2,302.9,-10.9,125,2029,0.00,2.00,0.00,0.000,6,0.000,0.021,2003,1923,3122,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2336,-0.39,-175.2,337.7,-10.5,141,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1923,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2638,-0.39,-175.2,364.9,-8.7,156,2644,0.00,2.05,0.00,0.000,4,0.000,0.030,2003,513,3119,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2791,-0.39,-175.2,378.6,-9.5,163,2797,0.12,2.03,0.00,0.000,6,0.145,0.022,2030,1933,3118,0,0,0,0,0,0,26.11,26.41,28.83
$GC,3106,-0.41,-175.2,399.7,-6.4,179,3113,0.00,2.08,-0.08,0.000,4,0.000,0.041,2030,519,3142,0,0,0,0,0,0,28.83,26.32,25.44
$GC,3180,-0.42,-175.2,404.3,-7.1,182,3185,0.00,2.00,0.00,0.000,6,0.000,0.021,2023,1925,3142,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3493,-0.42,-175.2,425.3,-6.3,198,3498,0.00,2.08,0.00,0.000,4,0.000,0.031,2023,518,3141,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3576,-0.42,-175.2,431.2,-7.1,202,3581,0.00,2.03,0.00,0.000,6,0.000,0.022,2016,1935,3141,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3899,-0.42,-175.2,452.7,-6.8,218,3904,0.00,2.08,0.00,0.000,4,0.000,0.031,2016,527,3139,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3982,-0.42,-175.2,458.7,-7.3,222,3987,0.00,2.00,0.00,0.000,6,0.000,0.022,2008,1924,3138,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4305,-0.42,-175.2,481.3,-7.1,238,4311,0.00,2.08,0.00,0.000,4,0.000,0.031,2008,523,3136,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4369,-0.42,-175.2,486.3,-7.8,241,4375,0.00,2.03,0.00,0.000,6,0.000,0.023,2000,1933,3136,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4692,-0.42,-175.2,510.5,-7.7,257,4698,0.00,2.08,0.00,0.000,4,0.000,0.031,2000,527,3133,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4741,-0.42,-175.2,514.0,-7.8,259,4746,0.12,2.00,0.00,0.000,6,0.150,0.022,2028,1924,3133,0,0,0,0,0,0,26.07,26.39,28.83
$GC,5060,-0.44,-175.2,532.1,-5.6,275,5065,0.00,2.05,0.00,0.000,4,0.000,0.037,2019,3307,3130,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5087,-0.45,-175.2,533.3,-5.5,276,5094,0.00,2.03,0.00,0.000,6,0.000,0.023,2019,1906,3130,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5407,-0.46,-175.2,553.0,-6.4,292,5412,0.00,2.00,0.00,0.000,4,0.000,0.032,2019,537,3129,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5475,-0.48,-175.2,558.0,-7.7,295,5480,0.00,2.00,0.00,0.000,6,0.000,0.022,2011,1937,3129,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5793,-0.48,-175.2,583.4,-7.5,311,5798,0.00,2.03,0.00,0.000,4,0.000,0.037,2001,3302,3127,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5830,-0.48,-175.2,585.1,-7.5,312,5838,0.00,1.98,0.00,0.000,6,0.000,0.024,2001,1926,3127,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6137,-0.48,-175.2,611.9,-8.7,326,6142,0.00,2.03,0.00,0.000,4,0.000,0.032,2001,528,3125,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6234,-0.48,-175.2,621.4,-9.8,329,6239,0.00,2.00,0.00,0.000,6,0.000,0.023,1994,1920,3125,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6563,-0.48,-175.2,653.9,-9.6,340,6569,0.00,2.08,0.00,0.000,4,0.000,0.036,1984,3316,3123,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6611,-0.48,-175.2,657.2,-9.5,341,6617,0.00,2.00,0.00,0.000,6,0.000,0.024,1984,1926,3123,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6931,-0.48,-175.2,686.4,-8.1,352,6936,0.00,2.03,0.00,0.000,4,0.000,0.033,1984,530,3121,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7029,-0.48,-175.2,694.5,-8.4,355,7034,0.00,2.00,0.00,0.000,6,0.000,0.023,1976,1926,3121,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7359,-0.48,-175.2,718.8,-7.3,366,7361,0.10,0.00,0.00,0.000,6,0.164,0.000,2003,1926,3120,0,0,0,0,0,0,26.34,28.83,28.83
$GC,7659,-0.49,-175.2,737.3,-6.2,376,7664,0.00,2.08,0.00,0.000,4,0.000,0.032,2003,535,3119,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7706,-0.49,-175.2,739.7,-6.4,377,7711,0.00,2.00,0.00,0.000,6,0.000,0.024,1996,1927,3118,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8025,-0.49,-175.2,764.1,-7.6,388,8031,0.00,2.08,0.00,0.000,4,0.000,0.032,1996,535,3117,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8079,-0.49,-175.2,767.1,-7.9,389,8084,0.00,2.00,0.00,0.000,6,0.000,0.024,1987,1924,3117,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8391,-0.49,-175.2,794.9,-8.6,400,8396,0.00,2.08,0.00,0.000,4,0.000,0.037,1978,3314,3115,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8418,-0.49,-175.2,794.9,-8.6,400,8425,0.00,2.00,0.00,0.000,6,0.000,0.024,1978,1921,3115,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8724,-0.49,-175.2,824.6,-9.3,411,8730,0.00,2.03,0.00,0.000,4,0.000,0.033,1979,531,3115,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8891,-0.49,-175.2,840.4,-10.4,416,8897,0.12,2.03,0.00,0.000,6,0.155,0.024,2003,1929,3114,0,0,0,0,0,0,25.94,26.30,28.83
$GC,9213,-0.50,-175.2,865.3,-6.8,427,9219,0.00,2.05,0.00,0.000,4,0.000,0.038,1995,3311,3113,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9256,-0.51,-175.2,867.9,-6.9,428,9262,0.00,2.00,0.00,0.000,6,0.000,0.024,1995,1922,3112,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9582,-0.51,-175.2,891.0,-6.7,439,9587,0.00,2.03,0.00,0.000,4,0.000,0.034,1995,538,3112,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9664,-0.51,-175.2,895.8,-7.0,441,9669,0.00,2.03,0.00,0.000,6,0.000,0.024,1992,1936,3112,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9978,-0.51,-175.2,917.9,-6.5,452,9979,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1937,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10277,-0.51,-175.2,936.7,-6.3,462,10278,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1937,3109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10577,-0.51,-175.2,955.7,-6.5,472,10583,0.00,2.10,0.00,0.000,4,0.000,0.034,1992,535,3109,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10624,-0.51,-175.2,958.1,-6.4,473,10629,0.00,2.03,0.00,0.000,6,0.000,0.026,1984,1929,3108,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10944,-0.51,-175.2,978.7,-5.9,484,10945,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1929,3108,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11150,begin apogee
$GC,11155,-0.17,0.0,990.2,-5.5,491,11309,0.35,0.00,147.77,1.414,6,0.121,0.000,2101,1929,2410,0,0,0,0,0,0,25.66,28.83,22.51
$STATE,11311,end apogee,CONTROL_FINISHED_OK
$STATE,11311,begin climb
$GC,11313,0.54,175.2,992.7,0.0,496,11485,0.70,2.40,160.93,1.358,4,0.090,0.035,2331,522,1694,0,0,0,0,0,0,24.01,23.53,22.09
$GC,11518,0.54,175.2,979.0,8.7,503,11523,0.00,2.17,0.00,0.000,6,0.000,0.022,2331,1890,1690,0,0,0,0,0,0,28.83,24.33,28.83
$GC,11852,0.54,175.2,947.5,9.2,514,11857,0.00,2.12,0.00,0.000,4,0.000,0.037,2331,3297,1685,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11934,0.54,175.2,941.2,9.5,516,11939,0.00,2.05,0.00,0.000,6,0.000,0.025,2334,1900,1684,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12247,0.54,175.2,910.3,9.1,527,12248,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1901,1683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12548,0.55,188.6,884.8,8.0,537,12567,0.00,2.15,11.00,1.218,4,0.000,0.040,2334,510,1640,0,0,0,0,0,0,28.83,26.00,24.21
$GC,12589,0.56,207.7,882.3,7.8,538,12615,0.00,2.05,18.65,1.279,6,0.000,0.023,2334,1904,1561,0,0,0,0,0,0,28.83,26.10,24.03
$GC,12945,0.58,228.7,854.0,7.8,550,12973,0.00,2.15,19.15,1.277,4,0.000,0.037,2334,3291,1475,0,0,0,0,0,0,28.83,25.68,24.15
$GC,13027,0.59,242.8,848.7,8.0,552,13048,0.00,2.05,13.57,1.221,6,0.000,0.027,2334,1897,1419,0,0,0,0,0,0,28.83,25.94,24.02
$GC,13371,0.63,282.3,821.7,7.2,564,13414,0.00,2.20,35.33,1.291,4,0.000,0.039,2334,507,1257,0,0,0,0,0,0,28.83,25.35,23.94
$GC,13436,0.66,314.7,817.2,7.4,566,13472,0.12,2.10,29.50,1.258,6,0.109,0.022,2379,1918,1127,0,0,0,0,0,0,25.52,25.67,23.70
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$STATE,21684,end climb,SURFACE_DEPTH_REACHED
$STATE,21684,begin surface coast
$FINISH,0.9,1.009137
$STATE,21695,end surface coast,CONTROL_FINISHED_OK
$STATE,21697,begin surface
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$HUMID,48.07
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$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,3927840
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$10V_AH,10.1,34.040
$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,308672
$DATA_FILE_SIZE,36710,978
$CAP_FILE_SIZE,242086,0
$CFSIZE,260034560,227352576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231,348.2,1
$GPS,020113,044223,1823.226,12238.885,26,1.1,43,-2.0