version: 66.11
glider: 129
mission: 4
dive: 292
start: 1 13 113 6 13 11
data:
$ID,129
$MISSION,4
$DIVE,292
$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,-3083.519
$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,98
$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
$GPS1,130113,060436,1949.964,12337.964,41,1.0,41,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-63.3
$GPS2,130113,061243,1949.878,12338.102,11,1.4,11,-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,47.3,86397,-14.2,-8.462,-17.62
$D_GRID,5293
$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,-64.95,0.000,2,0.000,0.000,49,1908,1977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.4,-5.3,11,134,7.93,2.05,-26.65,0.000,4,0.239,0.047,1969,3292,3126,0,0,0,0,0,0,25.00,26.10,26.55
$GC,182,-0.48,-175.2,21.9,-25.3,27,190,0.10,1.95,0.00,0.000,6,0.145,0.022,2010,1920,3125,0,0,0,0,0,0,25.80,26.27,28.83
$GC,509,-0.42,-175.2,111.9,-27.1,49,515,0.00,1.98,0.00,0.000,4,0.000,0.030,2010,543,3126,0,0,0,0,0,0,28.83,26.29,28.83
$GC,742,-0.38,-175.2,155.1,-16.3,60,748,0.12,1.92,0.00,0.000,6,0.165,0.021,2035,1907,3126,0,0,0,0,0,0,26.04,26.39,28.83
$GC,1056,-0.38,-175.2,195.7,-11.3,76,1062,0.00,2.05,0.00,0.000,4,0.000,0.032,2026,3313,3127,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1089,-0.38,-175.2,198.4,-11.6,77,1095,0.00,1.95,0.00,0.000,6,0.000,0.021,2026,1923,3127,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1402,-0.38,-175.2,237.3,-11.4,93,1408,0.00,1.98,0.00,0.000,4,0.000,0.028,2026,542,3127,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1566,-0.38,-175.2,256.6,-12.1,101,1571,0.00,1.95,0.00,0.000,6,0.000,0.020,2016,1932,3126,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1890,-0.37,-175.2,298.4,-12.3,117,1895,0.00,1.98,0.00,0.000,4,0.000,0.027,2016,551,3125,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1942,-0.36,-175.2,303.9,-12.4,119,1948,0.12,1.92,0.00,0.000,6,0.145,0.020,2042,1924,3125,0,0,0,0,0,0,26.11,26.43,28.83
$GC,2256,-0.36,-175.2,329.1,-8.1,135,2263,0.00,2.03,0.00,0.000,4,0.000,0.028,2043,548,3125,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2314,-0.36,-175.2,333.4,-9.0,137,2321,0.00,1.95,0.00,0.000,6,0.000,0.021,2037,1930,3124,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2621,-0.36,-175.2,367.4,-10.9,153,2626,0.00,2.00,0.00,0.000,4,0.000,0.028,2036,539,3123,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2745,-0.36,-175.2,381.1,-11.1,159,2750,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1925,3123,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3068,-0.36,-175.2,407.1,-6.6,175,3074,0.00,2.03,0.00,0.000,4,0.000,0.028,2034,546,3122,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3112,-0.36,-175.2,410.1,-6.7,177,3117,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1935,3122,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3436,-0.37,-175.2,432.1,-7.2,193,3441,0.00,2.03,0.00,0.000,4,0.000,0.028,2034,547,3121,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3473,-0.38,-175.2,434.1,-7.6,194,3481,0.00,1.95,0.00,0.000,6,0.000,0.021,2034,1924,3121,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3779,-0.39,-175.2,458.5,-6.9,210,3785,0.00,2.03,0.00,0.000,4,0.000,0.034,2034,3314,3118,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3844,-0.41,-175.2,462.4,-6.4,213,3850,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1931,3119,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4169,-0.43,-175.2,478.3,-3.6,229,4174,0.00,2.00,0.00,0.000,4,0.000,0.029,2034,545,3115,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4252,-0.45,-175.2,481.9,-4.3,233,4257,0.00,1.95,0.00,0.000,6,0.000,0.021,2034,1931,3116,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4576,-0.46,-175.2,495.7,-4.9,249,4578,0.00,0.00,-0.08,0.000,6,0.000,0.000,2034,1931,3139,0,0,0,0,0,0,28.83,28.83,25.31
$GC,4876,-0.48,-175.2,513.5,-6.2,264,4881,0.00,2.05,0.00,0.000,4,0.000,0.029,2034,539,3140,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4943,-0.50,-175.2,517.9,-6.6,267,4949,0.10,1.98,0.00,0.000,6,0.113,0.021,1985,1929,3139,0,0,0,0,0,0,26.26,26.41,28.83
$GC,5262,-0.50,-175.2,544.6,-8.3,283,5268,0.00,2.03,0.00,0.000,4,0.000,0.029,1985,538,3138,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5310,-0.50,-175.2,548.6,-8.6,285,5315,0.00,1.98,0.00,0.000,6,0.000,0.021,1975,1923,3138,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5628,-0.50,-175.2,578.6,-9.9,301,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1924,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5928,-0.50,-175.2,607.4,-9.4,315,5933,0.00,2.05,0.00,0.000,4,0.000,0.030,1974,537,3133,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5955,-0.50,-175.2,607.4,-9.4,315,5962,0.12,2.00,0.00,0.000,6,0.149,0.022,2001,1931,3133,0,0,0,0,0,0,26.06,26.38,28.83
$GC,6264,-0.50,-175.2,634.2,-7.7,326,6269,0.00,2.03,0.00,0.000,4,0.000,0.031,2001,542,3132,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6301,-0.50,-175.2,637.2,-7.8,327,6307,0.00,1.98,0.00,0.000,6,0.000,0.022,1994,1926,3131,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6632,-0.50,-175.2,662.9,-7.5,338,6637,0.00,2.05,0.00,0.000,4,0.000,0.031,1994,538,3129,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6669,-0.50,-175.2,665.8,-7.7,339,6674,0.00,2.00,0.00,0.000,6,0.000,0.023,1994,1931,3129,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6999,-0.50,-175.2,691.1,-7.5,350,7004,0.00,2.03,0.00,0.000,4,0.000,0.031,1994,547,3128,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7042,-0.50,-175.2,694.0,-7.7,351,7047,0.00,2.00,0.00,0.000,6,0.000,0.023,1994,1937,3128,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7367,-0.50,-175.2,718.7,-7.5,362,7372,0.00,2.05,0.00,0.000,4,0.000,0.031,1994,549,3126,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7420,-0.50,-175.2,721.6,-7.7,363,7425,0.00,2.00,0.00,0.000,6,0.000,0.023,1994,1936,3125,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7733,-0.50,-175.2,744.3,-6.2,374,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1936,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8034,-0.50,-175.2,761.1,-5.5,384,8039,0.00,2.05,0.00,0.000,4,0.000,0.031,1994,545,3122,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8131,-0.50,-175.2,767.2,-6.4,387,8136,0.00,2.00,0.00,0.000,6,0.000,0.023,1994,1927,3122,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8462,-0.50,-175.2,785.5,-5.7,398,8463,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1928,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8759,-0.50,-175.2,804.2,-6.4,408,8760,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1928,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9060,-0.50,-175.2,824.2,-6.8,418,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1928,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9359,-0.50,-175.2,844.7,-6.7,428,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1928,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9660,-0.50,-175.2,864.8,-6.7,438,9665,0.00,2.05,0.00,0.000,4,0.000,0.032,1994,543,3115,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9702,-0.50,-175.2,867.2,-6.8,439,9708,0.00,2.00,0.00,0.000,6,0.000,0.024,1994,1924,3116,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10027,-0.50,-175.2,888.2,-6.1,450,10028,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1924,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10328,-0.51,-175.2,905.7,-5.7,460,10329,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1924,3113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10626,-0.52,-175.2,922.4,-5.8,470,10627,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1924,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10927,-0.53,-175.2,942.0,-6.8,480,10932,0.00,2.08,0.00,0.000,4,0.000,0.037,1994,3309,3112,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10961,-0.54,-175.2,944.2,-6.7,481,10967,0.00,1.98,0.00,0.000,6,0.000,0.022,1994,1934,3111,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11297,-0.56,-175.2,967.3,-7.0,492,11302,0.00,2.05,0.00,0.000,4,0.000,0.032,1994,543,3111,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11340,-0.57,-175.2,970.1,-7.0,493,11345,0.00,2.00,0.00,0.000,6,0.000,0.024,1994,1927,3111,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,11664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11664,begin apogee
$GC,11669,-0.17,0.0,991.5,-6.2,504,11828,0.32,0.00,150.15,1.415,6,0.116,0.000,2108,1928,2408,0,0,0,0,0,0,25.77,28.83,22.32
$STATE,11830,end apogee,CONTROL_FINISHED_OK
$STATE,11830,begin climb
$GC,11832,0.54,175.2,996.2,0.0,509,12001,0.68,2.38,161.50,1.364,4,0.087,0.034,2331,528,1693,0,0,0,0,0,0,24.15,23.60,21.94
$GC,12029,0.57,237.0,987.1,6.5,516,12093,0.00,2.17,57.53,1.329,6,0.000,0.021,2331,1893,1443,0,0,0,0,0,0,28.83,24.35,22.01
$GC,12422,0.60,257.8,957.1,7.8,529,12445,0.00,2.20,18.38,1.283,4,0.000,0.035,2331,3294,1357,0,0,0,0,0,0,28.83,25.59,23.83
$GC,12535,0.61,257.9,949.1,8.5,532,12540,0.00,2.05,0.00,0.000,6,0.000,0.024,2331,1894,1354,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12850,0.64,271.5,922.0,8.0,543,12866,0.10,0.00,13.20,1.253,6,0.122,0.000,2369,1894,1302,0,0,0,0,0,0,26.30,28.83,24.04
$GC,13150,0.64,271.5,891.7,10.1,553,13155,0.00,2.10,0.00,0.000,4,0.000,0.034,2370,3299,1298,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13202,0.64,271.5,888.0,10.2,554,13207,0.00,2.03,0.00,0.000,6,0.000,0.024,2378,1899,1300,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13516,0.64,271.5,853.5,10.3,565,13521,0.00,2.10,0.00,0.000,4,0.000,0.034,2378,3296,1297,0,0,0,0,0,0,28.83,26.21,28.83
$GC,13548,0.64,271.5,849.9,10.4,566,13554,0.00,2.03,0.00,0.000,6,0.000,0.024,2386,1899,1296,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13882,0.64,271.5,814.5,10.7,577,13888,0.00,2.10,0.00,0.000,4,0.000,0.034,2386,3293,1296,0,0,0,0,0,0,28.83,26.21,28.83
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$STATE,22334,end climb,SURFACE_DEPTH_REACHED
$STATE,22334,begin surface coast
$FINISH,1.1,1.011005
$STATE,22350,end surface coast,CONTROL_FINISHED_OK
$STATE,22350,begin surface
$SM_CCo,22426,0.00,0.000,0,0,314,513.90
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$IRIDIUM_FIX,1938.95,12335.05,130113,000047
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.30
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.30
$XPDR_PINGS,0
$SC_FREEKB,3908224
$24V_AH,21.9,58.518
$10V_AH,9.9,40.591
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.200,174.450,610.875,0.000,0.000,0.000,0.000,288.900,0.000,0.000,11.956,3218.933,15745.801,739.327,2729.091,470.052,0.000,2373.301,0.000,2353.930,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.519,0.000,0.000,0.000
$MEM,329052
$DATA_FILE_SIZE,36660,1009
$CAP_FILE_SIZE,239128,0
$CFSIZE,260034560,222294016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.197,217.3,1
$GPS,130113,122806,1950.516,12338.685,31,1.2,31,-2.4