version: 66.11
glider: 129
mission: 4
dive: 287
start: 1 12 113 0 15 48
data:
$ID,129
$MISSION,4
$DIVE,287
$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,-3076.8433
$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,82
$R_STBD_OVSHOOT,118
$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,21.5
$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
$GPS1,120113,000626,1944.911,12330.810,30,3.6,49,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-56.8
$GPS2,120113,001521,1944.926,12330.722,14,3.9,33,-2.4
$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,68.0,102144,-14.2,-8.462,-17.62
$D_GRID,5182
$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,-0.54,-175.2,0.0,0.0,0,92,0.00,0.00,-70.45,0.000,2,0.000,0.000,53,1944,1923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.54,-175.2,3.3,-4.8,12,139,7.93,2.03,-29.27,0.000,4,0.239,0.045,1967,3275,3126,0,0,0,0,0,0,25.10,26.10,26.55
$GC,164,-0.49,-175.2,14.0,-21.4,23,171,0.12,1.92,0.00,0.000,6,0.164,0.021,1999,1906,3126,0,0,0,0,0,0,25.86,26.25,28.83
$GC,474,-0.43,-175.2,98.0,-25.8,48,479,0.00,1.92,0.00,0.000,4,0.000,0.030,1999,549,3126,0,0,0,0,0,0,28.83,26.27,28.83
$GC,517,-0.37,-175.2,108.1,-23.8,50,523,0.17,1.90,0.00,0.000,6,0.150,0.021,2041,1891,3126,0,0,0,0,0,0,25.89,26.36,28.83
$GC,841,-0.35,-175.2,160.3,-14.3,66,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1892,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1143,-0.35,-175.2,196.2,-11.9,81,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1891,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1443,-0.35,-175.2,230.5,-10.6,96,1448,0.00,1.95,0.00,0.000,4,0.000,0.029,2041,550,3127,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1495,-0.35,-175.2,235.2,-10.4,98,1500,0.00,1.92,0.00,0.000,6,0.000,0.020,2033,1936,3127,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1808,-0.35,-175.2,269.5,-9.8,114,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1936,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2110,-0.35,-175.2,299.0,-10.5,129,2115,0.00,2.03,0.00,0.000,4,0.000,0.028,2033,545,3125,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2187,-0.35,-175.2,305.7,-10.4,132,2194,0.00,1.92,0.00,0.000,6,0.000,0.021,2033,1922,3125,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2493,-0.35,-175.2,338.6,-10.2,148,2498,0.00,2.00,0.00,0.000,4,0.000,0.028,2033,546,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2547,-0.35,-175.2,343.1,-9.9,150,2552,0.00,1.95,0.00,0.000,6,0.000,0.020,2033,1928,3121,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2860,-0.35,-175.2,369.1,-7.4,166,2866,0.00,2.03,0.00,0.000,4,0.000,0.034,2033,3303,3123,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2919,-0.36,-175.2,372.0,-6.8,168,2926,0.00,1.95,0.00,0.000,6,0.000,0.020,2033,1926,3123,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3224,-0.37,-175.2,394.0,-6.9,184,3229,0.00,1.98,0.00,0.000,4,0.000,0.028,2033,537,3120,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3402,-0.38,-175.2,407.6,-8.4,192,3409,0.00,2.00,0.00,0.000,6,0.000,0.021,2033,1933,3122,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3708,-0.40,-175.2,435.0,-8.9,208,3713,0.00,2.03,0.00,0.000,4,0.000,0.028,2033,548,3121,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3766,-0.41,-175.2,439.0,-9.2,210,3772,0.00,1.92,0.00,0.000,6,0.000,0.021,2033,1923,3120,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4072,-0.43,-175.2,465.1,-7.3,226,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1927,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4373,-0.45,-175.2,484.0,-5.7,241,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1927,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4673,-0.46,-175.2,500.3,-5.3,256,4679,0.00,2.05,0.00,0.000,4,0.000,0.030,2033,525,3115,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4721,-0.48,-175.2,502.7,-5.2,258,4728,0.00,2.00,0.00,0.000,6,0.000,0.021,2033,1929,3114,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5041,-0.53,-175.2,522.0,-6.3,274,5047,0.12,2.00,0.00,0.000,4,0.099,0.028,1963,549,3112,0,0,0,0,0,0,26.44,26.30,28.83
$GC,5141,-0.53,-175.2,529.8,-9.2,278,5149,0.12,1.92,0.00,0.000,6,0.155,0.022,1988,1913,3111,0,0,0,0,0,0,26.04,26.38,28.83
$GC,5445,-0.53,-175.2,558.5,-8.5,294,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1913,3109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5747,-0.53,-175.2,582.3,-7.5,309,5748,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1913,3108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6045,-0.53,-175.2,606.8,-8.9,323,6050,0.00,2.03,0.00,0.000,4,0.000,0.031,1988,556,3106,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6072,-0.53,-175.2,606.8,-8.9,323,6079,0.00,1.98,0.00,0.000,6,0.000,0.022,1981,1936,3106,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6379,-0.53,-175.2,639.7,-10.0,334,6384,0.00,2.05,0.00,0.000,4,0.000,0.031,1981,548,3104,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6416,-0.53,-175.2,643.1,-10.0,335,6421,0.00,1.95,0.00,0.000,6,0.000,0.022,1973,1931,3104,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6746,-0.53,-175.2,675.8,-9.7,346,6752,0.00,2.05,0.00,0.000,4,0.000,0.031,1972,545,3102,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6779,-0.53,-175.2,679.3,-9.6,347,6785,0.00,1.98,0.00,0.000,6,0.000,0.023,1964,1932,3102,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7114,-0.53,-175.2,711.0,-9.5,358,7120,0.00,2.05,0.00,0.000,4,0.000,0.031,1964,548,3100,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7147,-0.53,-175.2,714.5,-9.7,359,7154,0.12,2.00,0.00,0.000,6,0.150,0.023,1989,1932,3100,0,0,0,0,0,0,26.01,26.34,28.83
$GC,7482,-0.53,-175.2,739.2,-7.1,370,7489,0.00,2.08,0.00,0.000,4,0.000,0.031,1989,550,3098,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7526,-0.53,-175.2,741.7,-7.0,371,7533,0.00,2.00,0.00,0.000,6,0.000,0.023,1982,1929,3098,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7852,-0.53,-175.2,767.1,-7.9,382,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1929,3097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8151,-0.53,-175.2,790.3,-7.9,392,8157,0.00,2.03,0.00,0.000,4,0.000,0.036,1972,3302,3095,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8176,-0.53,-175.2,790.3,-7.9,392,8182,0.00,1.95,0.00,0.000,6,0.000,0.022,1972,1940,3095,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8491,-0.53,-175.2,818.7,-8.4,403,8497,0.00,2.05,0.00,0.000,4,0.000,0.032,1972,539,3094,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8645,-0.53,-175.2,833.4,-9.5,408,8651,0.00,2.03,0.00,0.000,6,0.000,0.023,1964,1922,3093,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8981,-0.53,-175.2,866.2,-10.4,419,8986,0.00,2.08,0.00,0.000,4,0.000,0.032,1964,528,3094,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9019,-0.53,-175.2,870.0,-10.4,420,9025,0.12,2.00,0.00,0.000,6,0.152,0.023,1988,1931,3091,0,0,0,0,0,0,25.96,26.31,28.83
$GC,9349,-0.53,-175.2,901.8,-9.6,431,9350,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1931,3090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9648,-0.53,-175.2,931.0,-9.6,441,9650,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1930,3089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9947,-0.53,-175.2,958.3,-8.9,451,9949,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1931,3088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10248,-0.53,-175.2,984.0,-8.4,461,10254,0.00,2.10,0.00,0.000,4,0.000,0.033,1989,539,3088,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10320,-0.53,-175.2,989.7,-8.7,463,10326,0.00,2.00,0.00,0.000,6,0.000,0.024,1982,1930,3087,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,10341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10342,begin apogee
$GC,10347,-0.17,0.0,992.7,-9.0,464,10500,0.35,0.00,144.68,1.411,6,0.116,0.000,2100,1928,2409,0,0,0,0,0,0,25.74,28.83,22.42
$STATE,10502,end apogee,CONTROL_FINISHED_OK
$STATE,10502,begin climb
$GC,10504,0.54,175.2,999.9,0.0,469,10677,0.68,2.40,161.90,1.363,4,0.086,0.034,2330,517,1693,0,0,0,0,0,0,24.21,23.61,21.99
$GC,10729,0.58,269.5,993.0,5.4,476,10824,0.00,2.12,86.35,1.340,6,0.000,0.021,2330,1895,1310,0,0,0,0,0,0,28.83,24.73,22.05
$GC,11133,0.62,308.8,962.8,7.2,490,11176,0.00,2.22,34.75,1.323,4,0.000,0.035,2330,3294,1149,0,0,0,0,0,0,28.83,25.29,23.66
$GC,11230,0.65,342.7,956.1,7.4,493,11269,0.12,2.05,31.50,1.311,6,0.105,0.024,2379,1902,1011,0,0,0,0,0,0,25.70,25.83,23.61
$GC,11588,0.67,343.0,923.7,8.5,505,11593,0.00,2.05,0.00,0.000,4,0.000,0.035,2386,515,1006,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11622,0.68,343.9,921.0,8.4,506,11627,0.00,2.05,0.00,0.000,6,0.000,0.021,2385,1919,1005,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11956,0.68,343.9,890.6,9.2,517,11962,0.00,2.03,0.00,0.000,4,0.000,0.035,2385,3287,1003,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12014,0.68,343.9,887.1,9.6,518,12020,0.00,2.00,0.00,0.000,6,0.000,0.024,2386,1905,1003,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12320,0.68,343.9,854.8,9.7,529,12326,0.00,2.05,0.00,0.000,4,0.000,0.035,2386,511,1002,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12353,0.68,343.9,851.6,9.6,530,12358,0.00,2.03,0.00,0.000,6,0.000,0.021,2386,1908,1002,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12690,0.68,343.9,820.3,9.1,541,12695,0.00,2.03,0.00,0.000,4,0.000,0.035,2386,3289,1001,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12771,0.68,343.9,813.9,9.4,543,12776,0.00,2.00,0.00,0.000,6,0.000,0.024,2386,1894,1001,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13086,0.69,343.9,784.2,9.1,554,13092,0.00,2.03,0.00,0.000,4,0.000,0.035,2386,511,1001,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13114,0.70,343.9,784.2,9.1,554,13121,0.00,2.00,0.00,0.000,6,0.000,0.021,2386,1904,1001,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13422,0.71,343.9,750.9,10.1,565,13427,0.00,2.03,0.00,0.000,4,0.000,0.034,2385,3289,1001,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,20528,end climb,SURFACE_DEPTH_REACHED
$STATE,20528,begin surface coast
$FINISH,1.1,1.012317
$STATE,20540,end surface coast,CONTROL_FINISHED_OK
$STATE,20540,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,48.11
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,3910144
$24V_AH,22.0,57.422
$10V_AH,10.0,39.886
$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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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.929,0.000,0.000,0.000
$MEM,329036
$DATA_FILE_SIZE,33322,926
$CAP_FILE_SIZE,223463,0
$CFSIZE,260034560,222838784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091,200.8,1
$GPS,120113,060036,1945.579,12333.221,33,1.0,33,-2.4