version: 66.11
glider: 129
mission: 4
dive: 261
start: 1 5 113 9 14 52
data:
$ID,129
$MISSION,4
$DIVE,261
$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,-2983.8796
$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,76
$R_STBD_OVSHOOT,102
$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
$GPS1,050113,090606,1849.698,12229.476,24,1.7,24,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-59.7
$GPS2,050113,091425,1849.935,12229.296,15,1.7,15,-2.1
$SPEED_LIMITS,0.147,0.266
$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,97.8,248633,-14.2,-8.462,-17.62
$D_GRID,1610
$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,17,begin dive
$GC,19,-0.54,-175.2,0.0,0.0,0,92,0.00,0.00,-70.80,0.000,2,0.000,0.000,63,1873,1976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.54,-175.2,3.3,-4.5,12,139,7.82,2.00,-25.90,0.000,4,0.239,0.044,1974,539,3126,0,0,0,0,0,0,25.10,26.10,26.51
$GC,212,-0.46,-175.2,32.3,-30.9,30,220,0.15,1.95,0.00,0.000,6,0.172,0.022,2004,1900,3123,0,0,0,0,0,0,25.77,26.22,28.83
$GC,529,-0.41,-175.2,121.8,-21.7,49,534,0.00,2.00,0.00,0.000,4,0.000,0.028,2005,524,3125,0,0,0,0,0,0,28.83,26.29,28.83
$GC,585,-0.36,-175.2,129.8,-19.7,51,592,0.15,2.00,0.00,0.000,6,0.147,0.021,2038,1941,3126,0,0,0,0,0,0,25.98,26.37,28.83
$GC,891,-0.36,-175.2,173.8,-11.8,67,897,0.00,2.03,0.00,0.000,4,0.000,0.034,2033,3308,3125,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1023,-0.36,-175.2,187.4,-10.4,73,1029,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1903,3126,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1338,-0.36,-175.2,218.4,-8.8,89,1343,0.00,1.92,0.00,0.000,4,0.000,0.029,2033,544,3126,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1450,-0.36,-175.2,228.0,-9.0,94,1455,0.00,1.95,0.00,0.000,6,0.000,0.020,2033,1936,3126,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1763,-0.36,-175.2,256.4,-9.5,110,1769,0.00,2.00,0.00,0.000,4,0.000,0.034,2033,3299,3125,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1821,-0.37,-175.2,260.3,-9.4,112,1828,0.00,1.92,0.00,0.000,6,0.000,0.021,2036,1942,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2127,-0.39,-175.2,287.8,-7.8,128,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1942,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2429,-0.40,-175.2,310.5,-7.4,143,2434,0.00,2.00,0.00,0.000,4,0.000,0.031,2033,546,3123,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2507,-0.41,-175.2,315.7,-7.7,146,2514,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1915,3122,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2813,-0.42,-175.2,339.4,-7.6,162,2818,0.00,2.03,0.00,0.000,4,0.000,0.034,2032,3309,3121,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2840,-0.43,-175.2,341.0,-7.4,163,2845,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1924,3121,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3158,-0.45,-175.2,364.6,-7.5,179,3164,0.00,2.00,0.00,0.000,4,0.000,0.030,2033,542,3119,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3252,-0.46,-175.2,371.4,-8.1,183,3257,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1923,3117,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3565,-0.47,-175.2,394.1,-6.7,199,3567,0.00,0.00,-0.08,0.000,6,0.000,0.000,2033,1924,3137,0,0,0,0,0,0,28.83,28.83,25.29
$GC,3865,-0.49,-175.2,413.0,-5.9,214,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1924,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4167,-0.51,-175.2,430.6,-6.1,229,4173,0.12,2.05,0.00,0.000,4,0.099,0.029,1967,538,3136,0,0,0,0,0,0,26.44,26.29,28.83
$GC,4226,-0.51,-175.2,435.1,-7.9,231,4234,0.15,1.98,0.00,0.000,6,0.145,0.021,2000,1925,3136,0,0,0,0,0,0,26.01,26.40,28.83
$GC,4531,-0.51,-175.2,461.9,-8.1,247,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1925,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4834,-0.51,-175.2,485.0,-7.6,262,4839,0.00,2.05,0.00,0.000,4,0.000,0.034,1992,3309,3131,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4881,-0.51,-175.2,488.6,-7.8,264,4887,0.00,1.98,0.00,0.000,6,0.000,0.021,1991,1920,3132,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5199,-0.51,-175.2,516.4,-8.7,280,5204,0.00,2.00,0.00,0.000,4,0.000,0.031,1991,537,3130,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5323,-0.51,-175.2,528.1,-9.6,286,5328,0.00,2.00,0.00,0.000,6,0.000,0.021,1983,1931,3129,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5646,-0.51,-175.2,562.9,-11.6,302,5651,0.00,2.00,0.00,0.000,4,0.000,0.035,1972,3303,3127,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5674,-0.51,-175.2,565.6,-11.7,303,5679,0.00,1.95,0.00,0.000,6,0.000,0.021,1972,1911,3126,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5981,-0.51,-175.2,605.2,-12.7,318,5987,0.00,1.98,0.00,0.000,4,0.000,0.031,1972,548,3125,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6079,-0.50,-175.2,617.4,-13.3,321,6085,0.12,1.98,0.00,0.000,6,0.155,0.022,1998,1930,3124,0,0,0,0,0,0,26.01,26.36,28.83
$GC,6410,-0.50,-175.2,650.6,-9.3,332,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1930,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6708,-0.50,-175.2,675.1,-7.7,342,6713,0.00,2.05,0.00,0.000,4,0.000,0.031,2001,545,3121,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6745,-0.50,-175.2,677.9,-7.9,343,6750,0.00,1.98,0.00,0.000,6,0.000,0.023,1992,1930,3121,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7075,-0.50,-175.2,704.1,-7.7,354,7080,0.00,2.05,0.00,0.000,4,0.000,0.032,1992,541,3119,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7132,-0.50,-175.2,706.7,-7.6,355,7140,0.00,1.98,0.00,0.000,6,0.000,0.024,1984,1919,3119,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7438,-0.50,-175.2,732.0,-7.8,366,7443,0.00,2.05,0.00,0.000,4,0.000,0.032,1984,536,3117,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7511,-0.50,-175.2,737.4,-8.3,368,7517,0.00,2.03,0.00,0.000,6,0.000,0.024,1974,1926,3117,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7837,-0.50,-175.2,767.8,-9.5,379,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1926,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8135,-0.50,-175.2,796.1,-9.6,389,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1927,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8435,-0.50,-175.2,823.4,-8.6,399,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1927,3113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8735,-0.50,-175.2,846.5,-7.3,409,8736,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1927,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9035,-0.50,-175.2,866.0,-6.1,419,9036,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1927,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9335,-0.50,-175.2,883.8,-5.9,429,9341,0.00,2.10,0.00,0.000,4,0.000,0.034,1974,550,3110,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9383,-0.50,-175.2,886.2,-6.2,430,9390,0.08,2.03,0.00,0.000,6,0.134,0.025,2006,1923,3110,0,0,0,0,0,0,25.84,26.27,28.83
$GC,9705,-0.51,-175.2,902.9,-4.8,441,9706,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1923,3109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10004,-0.53,-175.2,919.3,-6.1,451,10010,0.00,2.05,0.00,0.000,4,0.000,0.034,2005,543,3108,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10052,-0.54,-175.2,921.8,-6.4,452,10057,0.00,2.03,0.00,0.000,6,0.000,0.025,2001,1935,3108,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10373,-0.55,-175.2,940.7,-5.0,463,10378,0.00,2.05,0.00,0.000,4,0.000,0.034,2000,550,3107,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10415,-0.57,-175.2,942.6,-5.0,464,10420,0.00,2.00,0.00,0.000,6,0.000,0.024,1993,1929,3107,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10740,-0.57,-175.2,964.1,-6.9,475,10745,0.00,2.08,0.00,0.000,4,0.000,0.034,1993,548,3106,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10798,-0.57,-175.2,966.9,-7.1,476,10806,0.00,2.03,0.00,0.000,6,0.000,0.026,1985,1921,3106,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,11071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11071,begin apogee
$GC,11076,-0.17,0.0,990.6,-8.2,486,11234,0.35,0.00,147.60,1.415,6,0.122,0.000,2101,1922,2410,0,0,0,0,0,0,25.63,28.83,22.42
$STATE,11235,end apogee,CONTROL_FINISHED_OK
$STATE,11236,begin climb
$GC,11238,0.54,175.2,998.6,0.0,491,11408,0.70,2.42,161.73,1.366,4,0.092,0.036,2331,538,1694,0,0,0,0,0,0,24.03,23.53,22.00
$GC,11465,0.59,294.7,993.6,4.6,498,11584,0.00,2.12,110.47,1.343,6,0.000,0.022,2331,1904,1207,0,0,0,0,0,0,28.83,24.58,22.00
$GC,11894,0.63,334.3,962.3,7.2,513,11937,0.00,2.20,35.25,1.330,4,0.000,0.037,2331,3286,1045,0,0,0,0,0,0,28.83,25.16,23.65
$GC,11965,0.67,372.9,957.9,7.2,515,12010,0.15,2.05,36.30,1.317,6,0.094,0.024,2386,1918,887,0,0,0,0,0,0,25.44,25.55,23.41
$GC,12318,0.67,372.9,920.2,10.8,527,12323,0.00,2.10,0.00,0.000,4,0.000,0.037,2392,511,881,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12411,0.67,372.9,909.5,11.4,530,12416,0.00,2.03,0.00,0.000,6,0.000,0.023,2392,1900,881,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12745,0.67,372.9,868.5,12.6,541,12750,0.00,2.05,0.00,0.000,4,0.000,0.036,2392,3293,880,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12792,0.67,372.9,863.9,12.8,542,12798,0.00,2.03,0.00,0.000,6,0.000,0.024,2401,1894,878,0,0,0,0,0,0,28.83,26.31,28.83
$GC,13113,0.67,372.9,823.0,11.5,553,13114,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1893,878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13411,0.67,372.9,791.1,10.2,563,13416,0.00,2.12,0.00,0.000,4,0.000,0.035,2401,3305,878,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13474,0.67,372.9,784.3,10.3,565,13480,0.12,2.03,0.00,0.000,6,0.172,0.024,2377,1898,877,0,0,0,0,0,0,25.97,26.35,28.83
$GC,13808,0.69,375.4,756.6,8.4,576,13813,0.00,2.08,0.00,0.000,4,0.000,0.036,2386,506,878,0,0,0,0,0,0,28.83,26.23,28.83
$GC,13842,0.71,375.4,753.6,8.5,577,13848,0.00,2.03,0.00,0.000,6,0.000,0.022,2385,1914,877,0,0,0,0,0,0,28.83,26.38,28.83
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$STATE,20995,end climb,SURFACE_DEPTH_REACHED
$STATE,20995,begin surface coast
$FINISH,0.9,1.021993
$STATE,21006,end surface coast,CONTROL_FINISHED_OK
$STATE,21007,begin surface
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$TT8_MAMPS,0.024717,0.024717
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$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,3920128
$24V_AH,22.0,51.737
$10V_AH,10.1,36.250
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.825,161.875,629.175,0.000,0.000,0.000,0.000,302.050,0.000,0.000,16.721,3005.444,14790.423,755.372,2601.895,420.823,0.000,2334.402,0.000,2199.977,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$MEM,308664
$DATA_FILE_SIZE,33403,940
$CAP_FILE_SIZE,225741,0
$CFSIZE,260034560,225587200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.237,342.0,1
$GPS,050113,150736,1852.349,12231.850,40,1.0,40,-2.1