version: 66.11
glider: 129
mission: 4
dive: 302
start: 1 15 113 19 32 10
data:
$ID,129
$MISSION,4
$DIVE,302
$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,-3096.7754
$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,75
$R_STBD_OVSHOOT,99
$ROLL_AD_RATE,125
$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
$GPS1,150113,192125,1954.724,12345.034,37,1.6,37,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-58.2
$GPS2,150113,193142,1954.576,12345.028,12,1.8,17,-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,29.6,71576,-14.2,-8.462,-17.62
$D_GRID,5160
$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,-64.82,0.000,2,0.000,0.000,2,1889,1785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.1,-3.4,11,144,10.07,2.12,-34.55,0.000,4,0.237,0.045,2175,3289,3125,11,0,0,0,0,0,24.84,26.10,26.54
$GC,223,-0.66,-175.2,15.8,-11.8,35,231,1.45,1.95,0.00,0.000,6,0.080,0.020,1940,1893,3125,0,0,0,0,0,0,25.89,26.31,28.83
$GC,551,-0.57,-175.2,124.2,-31.7,62,557,0.12,2.05,0.00,0.000,4,0.181,0.028,1967,3300,3125,0,0,0,0,0,0,26.07,26.28,28.83
$GC,660,-0.53,-175.2,147.4,-20.2,67,665,0.00,1.90,0.00,0.000,6,0.000,0.021,1967,1929,3125,0,0,0,0,0,0,28.83,26.38,28.83
$GC,978,-0.49,-175.2,204.9,-17.6,83,985,0.12,2.00,0.00,0.000,4,0.157,0.028,2007,532,3125,0,0,0,0,0,0,26.18,26.30,28.83
$GC,1213,-0.47,-175.2,236.2,-12.9,94,1218,0.00,1.95,0.00,0.000,6,0.000,0.021,2000,1916,3125,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1526,-0.46,-175.2,276.5,-12.4,110,1531,0.00,2.00,0.00,0.000,4,0.000,0.028,1999,529,3125,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1560,-0.44,-175.2,279.8,-12.8,111,1565,0.00,1.98,0.00,0.000,6,0.000,0.021,1989,1922,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1873,-0.42,-175.2,325.8,-13.4,127,1879,0.12,2.03,0.00,0.000,4,0.151,0.031,2022,3320,3124,0,0,0,0,0,0,26.21,26.27,28.83
$GC,1907,-0.41,-175.2,328.7,-13.1,128,1914,0.00,2.00,0.00,0.000,6,0.000,0.021,2022,1904,3124,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2222,-0.41,-175.2,361.1,-9.3,144,2227,0.00,1.95,0.00,0.000,4,0.000,0.029,2022,546,3124,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2395,-0.41,-175.2,376.8,-9.6,152,2400,0.00,1.98,0.00,0.000,6,0.000,0.021,2006,1946,3123,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2709,-0.41,-175.2,407.2,-9.7,168,2714,0.00,2.05,0.00,0.000,4,0.000,0.028,2014,546,3122,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2797,-0.41,-175.2,415.9,-10.3,172,2803,0.00,1.98,0.00,0.000,6,0.000,0.021,2006,1922,3122,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3115,-0.41,-175.2,446.3,-8.8,188,3120,0.00,2.03,0.00,0.000,4,0.000,0.029,2006,538,3120,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3151,-0.41,-175.2,448.4,-8.6,189,3158,0.00,1.98,0.00,0.000,6,0.000,0.020,1998,1933,3120,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3458,-0.41,-175.2,475.8,-8.6,205,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1933,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3760,-0.41,-175.2,502.2,-8.7,220,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1933,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4060,-0.41,-175.2,526.5,-8.1,235,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1933,3113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4360,-0.41,-175.2,550.8,-8.2,250,4365,0.00,2.08,0.00,0.000,4,0.000,0.030,1998,545,3110,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4444,-0.41,-175.2,558.3,-8.9,254,4450,0.12,1.98,0.00,0.000,6,0.145,0.021,2027,1931,3110,0,0,0,0,0,0,26.07,26.38,28.83
$GC,4768,-0.43,-175.2,580.4,-6.9,270,4773,0.00,2.03,0.00,0.000,4,0.000,0.030,2027,542,3109,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4812,-0.45,-175.2,583.8,-7.4,272,4817,0.00,1.98,0.00,0.000,6,0.000,0.021,2024,1928,3108,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5146,-0.46,-175.2,606.6,-6.6,287,5152,0.00,2.08,0.00,0.000,4,0.000,0.031,2024,546,3106,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5182,-0.48,-175.2,609.0,-6.7,288,5187,0.00,2.00,0.00,0.000,6,0.000,0.022,2024,1936,3105,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5517,-0.50,-175.2,633.5,-7.8,299,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1936,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5816,-0.52,-175.2,656.4,-7.5,309,5822,0.00,2.05,0.00,0.000,4,0.000,0.031,2024,556,3101,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5885,-0.54,-175.2,661.5,-7.5,311,5891,0.12,1.98,0.00,0.000,6,0.100,0.023,1967,1935,3100,0,0,0,0,0,0,26.20,26.35,28.83
$GC,6215,-0.54,-175.2,693.8,-9.9,322,6222,0.00,2.08,0.00,0.000,4,0.000,0.031,1967,532,3097,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6279,-0.54,-175.2,700.7,-10.0,324,6285,0.00,2.00,0.00,0.000,6,0.000,0.023,1958,1925,3099,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6616,-0.53,-175.2,738.2,-11.3,335,6622,0.12,2.03,0.00,0.000,4,0.154,0.029,1998,554,3096,0,0,0,0,0,0,26.17,26.23,28.83
$GC,6654,-0.53,-175.2,742.0,-11.0,336,6659,0.00,2.00,0.00,0.000,6,0.000,0.023,1995,1938,3096,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6985,-0.53,-175.2,770.3,-8.3,347,6990,0.00,2.05,0.00,0.000,4,0.000,0.036,1985,3318,3095,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7013,-0.53,-175.2,770.3,-8.3,347,7019,0.00,1.95,0.00,0.000,6,0.000,0.022,1985,1937,3092,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7318,-0.53,-175.2,798.2,-8.2,358,7323,0.00,2.05,0.00,0.000,4,0.000,0.032,1985,539,3092,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7454,-0.53,-175.2,809.3,-8.9,362,7460,0.00,2.00,0.00,0.000,6,0.000,0.023,1975,1930,3093,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7780,-0.53,-175.2,836.4,-8.0,373,7786,0.00,2.08,0.00,0.000,4,0.000,0.031,1976,532,3091,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7839,-0.53,-175.2,839.4,-8.1,374,7846,0.00,2.03,0.00,0.000,6,0.000,0.024,1968,1933,3090,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8143,-0.53,-175.2,868.4,-8.8,385,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1933,3089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8444,-0.53,-175.2,894.2,-8.5,395,8449,0.00,2.10,0.00,0.000,4,0.000,0.032,1968,530,3088,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8521,-0.53,-175.2,899.9,-8.7,397,8527,0.00,2.05,0.00,0.000,6,0.000,0.024,1969,1940,3088,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8841,-0.53,-175.2,925.4,-7.4,408,8842,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1940,3087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9140,-0.53,-175.2,947.4,-7.3,418,9147,0.00,2.10,0.00,0.000,4,0.000,0.032,1968,527,3086,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9184,-0.53,-175.2,950.3,-7.5,419,9190,0.00,2.05,0.00,0.000,6,0.000,0.024,1968,1931,3087,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9510,-0.53,-175.2,975.5,-7.5,430,9511,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1933,3085,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9716,begin apogee
$GC,9722,-0.17,0.0,991.1,-7.6,437,9874,0.40,0.00,144.15,1.400,6,0.116,0.000,2104,1935,2409,0,0,0,0,0,0,25.70,28.83,22.43
$STATE,9876,end apogee,CONTROL_FINISHED_OK
$STATE,9876,begin climb
$GC,9878,0.54,175.2,996.4,0.0,442,10051,0.68,2.45,161.95,1.354,4,0.086,0.034,2331,525,1693,0,0,0,0,0,0,24.27,23.64,21.94
$GC,10088,0.57,241.5,987.8,6.3,449,10158,0.00,2.15,60.78,1.325,6,0.000,0.021,2331,1911,1426,0,0,0,0,0,0,28.83,24.58,22.10
$GC,10477,0.60,269.5,958.3,7.6,462,10507,0.00,2.20,24.85,1.305,4,0.000,0.035,2331,3306,1310,0,0,0,0,0,0,28.83,25.48,23.74
$GC,10581,0.62,284.4,950.5,8.0,465,10601,0.00,2.08,14.80,1.246,6,0.000,0.024,2331,1891,1249,0,0,0,0,0,0,28.83,25.97,23.83
$GC,10903,0.66,310.4,925.5,7.6,476,10935,0.12,2.15,23.90,1.310,4,0.107,0.036,2387,515,1143,0,0,0,0,0,0,26.20,25.58,23.87
$GC,10958,0.68,323.8,922.6,8.0,477,10978,0.00,2.05,13.70,1.229,6,0.000,0.021,2387,1932,1087,0,0,0,0,0,0,28.83,25.84,23.78
$GC,11296,0.68,323.8,880.3,11.6,489,11302,0.00,1.98,0.00,0.000,4,0.000,0.034,2387,3272,1082,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11379,0.68,323.8,872.5,12.0,491,11384,0.00,2.00,0.00,0.000,6,0.000,0.024,2387,1894,1081,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11693,0.68,323.8,833.8,11.4,502,11698,0.00,2.05,0.00,0.000,4,0.000,0.036,2387,503,1081,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11716,0.68,323.8,833.8,11.4,502,11722,0.00,2.00,0.00,0.000,6,0.000,0.021,2387,1911,1081,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12030,0.68,323.8,797.2,10.4,513,12036,0.00,2.03,0.00,0.000,4,0.000,0.034,2387,3282,1079,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12084,0.68,323.8,793.5,10.4,514,12089,0.00,2.00,0.00,0.000,6,0.000,0.024,2386,1886,1079,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12397,0.68,323.8,761.4,9.2,525,12403,0.00,2.05,0.00,0.000,4,0.000,0.036,2387,496,1079,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12445,0.68,323.8,758.3,9.2,526,12451,0.00,2.03,0.00,0.000,6,0.000,0.021,2387,1915,1079,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12764,0.68,323.8,727.3,9.4,537,12769,0.00,2.05,0.00,0.000,4,0.000,0.034,2387,3292,1078,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12811,0.68,323.8,723.9,9.6,538,12816,0.00,2.03,0.00,0.000,6,0.000,0.024,2387,1890,1078,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13130,0.68,323.8,691.9,9.6,549,13135,0.00,2.05,0.00,0.000,4,0.000,0.035,2387,510,1078,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13177,0.69,323.8,688.7,9.5,550,13183,0.00,1.98,0.00,0.000,6,0.000,0.021,2387,1897,1078,0,0,0,0,0,0,28.83,26.37,28.83
$GC,13498,0.69,323.8,656.7,9.8,561,13503,0.00,2.08,0.00,0.000,4,0.000,0.035,2387,3294,1078,0,0,0,0,0,0,28.83,26.17,28.83
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$STATE,20202,end climb,SURFACE_DEPTH_REACHED
$STATE,20202,begin surface coast
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$STATE,20214,end surface coast,CONTROL_FINISHED_OK
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$HUMID,48.58
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$TCM_TEMP,24.30
$XPDR_PINGS,0
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$24V_AH,21.9,60.721
$10V_AH,9.9,42.013
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
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$MEM,329020
$DATA_FILE_SIZE,33336,921
$CAP_FILE_SIZE,229655,0
$CFSIZE,260034560,221229056
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,11,0,0,0,0
$CURRENT,0.234,194.8,1
$GPS,160113,011136,1954.723,12345.146,35,1.0,35,-2.4