version: 66.11
glider: 129
mission: 4
dive: 316
start: 1 19 113 8 46 27
data:
$ID,129
$MISSION,4
$DIVE,316
$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,-3114.3967
$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,125
$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,85
$R_STBD_OVSHOOT,78
$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
$GPS1,190113,083236,1953.501,12343.267,27,1.1,27,-2.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-57.9
$GPS2,190113,084600,1953.213,12343.229,35,1.3,35,-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,15.1,75565,-14.2,-8.462,-17.62
$D_GRID,5198
$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,20,-0.54,-175.2,0.0,0.0,0,75,0.00,0.00,-53.10,0.000,2,0.000,0.000,45,1877,1860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.54,-175.2,3.2,-4.0,9,129,7.97,2.15,-32.58,0.000,4,0.238,0.046,1965,3299,3125,0,0,0,0,0,0,25.04,26.10,26.56
$GC,173,-0.49,-175.2,18.2,-22.2,25,181,0.08,1.95,0.00,0.000,6,0.147,0.020,2002,1910,3125,0,0,0,0,0,0,25.85,26.29,28.83
$GC,486,-0.43,-175.2,94.5,-24.3,49,492,0.00,2.08,0.00,0.000,4,0.000,0.031,1993,3310,3125,0,0,0,0,0,0,28.83,26.22,28.83
$GC,515,-0.37,-175.2,100.6,-24.5,50,521,0.17,1.90,0.00,0.000,6,0.142,0.019,2043,1918,3125,0,0,0,0,0,0,25.93,26.39,28.83
$GC,834,-0.36,-175.2,149.2,-11.7,66,839,0.00,1.95,0.00,0.000,4,0.000,0.028,2044,550,3128,0,0,0,0,0,0,28.83,26.30,28.83
$GC,981,-0.36,-175.2,165.6,-11.2,73,987,0.00,1.92,0.00,0.000,6,0.000,0.020,2036,1940,3126,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1300,-0.36,-175.2,202.8,-11.6,89,1305,0.00,1.98,0.00,0.000,4,0.000,0.033,2034,3303,3126,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1318,-0.36,-175.2,202.8,-11.6,89,1324,0.00,1.88,0.00,0.000,6,0.000,0.019,2034,1931,3125,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1623,-0.36,-175.2,236.6,-10.1,105,1628,0.00,1.98,0.00,0.000,4,0.000,0.028,2034,549,3126,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1697,-0.36,-175.2,242.7,-9.6,108,1703,0.00,1.95,0.00,0.000,6,0.000,0.020,2034,1933,3126,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2010,-0.36,-175.2,276.6,-10.7,124,2016,0.00,2.00,0.00,0.000,4,0.000,0.027,2034,538,3125,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2029,-0.36,-175.2,276.6,-10.7,124,2035,0.00,1.95,0.00,0.000,6,0.000,0.019,2034,1942,3125,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2334,-0.36,-175.2,307.7,-8.4,140,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1942,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2636,-0.36,-175.2,329.9,-7.6,155,2642,0.00,2.03,0.00,0.000,4,0.000,0.027,2034,549,3124,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2769,-0.36,-175.2,341.0,-9.1,161,2775,0.00,1.92,0.00,0.000,6,0.000,0.020,2034,1932,3123,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3084,-0.37,-175.2,368.7,-8.2,177,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1932,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3385,-0.38,-175.2,392.3,-7.8,192,3391,0.00,2.03,0.00,0.000,4,0.000,0.028,2034,536,3122,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3424,-0.40,-175.2,394.6,-8.1,193,3431,0.00,1.95,0.00,0.000,6,0.000,0.020,2034,1936,3122,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3730,-0.41,-175.2,419.5,-7.5,209,3735,0.00,2.03,0.00,0.000,4,0.000,0.034,2034,3324,3120,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3768,-0.43,-175.2,420.9,-7.1,210,3775,0.00,1.92,0.00,0.000,6,0.000,0.020,2034,1933,3119,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4074,-0.45,-175.2,439.9,-5.4,226,4079,0.00,2.03,0.00,0.000,4,0.000,0.029,2034,549,3117,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4169,-0.46,-175.2,445.0,-6.1,230,4175,0.00,1.95,0.00,0.000,6,0.000,0.021,2034,1930,3116,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4485,-0.48,-175.2,464.6,-6.5,246,4491,0.00,2.03,-0.08,0.000,4,0.000,0.046,2034,3303,3144,0,0,0,0,0,0,28.83,26.21,25.41
$GC,4510,-0.50,-175.2,466.3,-6.5,247,4516,0.12,1.92,0.00,0.000,6,0.096,0.019,1974,1920,3144,0,0,0,0,0,0,26.26,26.44,28.83
$GC,4834,-0.50,-175.2,501.1,-10.9,263,4840,0.00,1.98,0.00,0.000,4,0.000,0.029,1974,550,3144,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5007,-0.50,-175.2,520.0,-11.4,271,5013,0.08,1.98,0.00,0.000,6,0.129,0.021,1993,1918,3143,0,0,0,0,0,0,26.07,26.37,28.83
$GC,5321,-0.50,-175.2,550.1,-8.9,287,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1918,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5623,-0.50,-175.2,575.7,-8.7,302,5628,0.00,2.00,0.00,0.000,4,0.000,0.029,1993,549,3140,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5686,-0.50,-175.2,581.8,-9.3,305,5691,0.00,1.95,0.00,0.000,6,0.000,0.022,1986,1929,3139,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6009,-0.50,-175.2,613.8,-9.9,319,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1929,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6310,-0.50,-175.2,642.0,-9.1,329,6315,0.00,2.03,0.00,0.000,4,0.000,0.030,1986,546,3136,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6337,-0.50,-175.2,642.0,-9.1,329,6344,0.00,1.95,0.00,0.000,6,0.000,0.021,1977,1926,3136,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6645,-0.50,-175.2,672.0,-8.7,340,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1926,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6944,-0.50,-175.2,698.5,-8.7,350,6949,0.00,2.03,0.00,0.000,4,0.000,0.030,1977,548,3132,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7011,-0.50,-175.2,704.5,-9.1,352,7017,0.00,1.95,0.00,0.000,6,0.000,0.021,1968,1924,3132,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7341,-0.50,-175.2,733.4,-8.6,363,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1924,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7641,-0.50,-175.2,759.5,-8.6,373,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1923,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7942,-0.50,-175.2,784.4,-8.2,383,7947,0.00,2.03,0.00,0.000,4,0.000,0.031,1968,552,3128,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7969,-0.50,-175.2,784.4,-8.2,383,7978,0.15,1.95,0.00,0.000,6,0.142,0.022,2002,1921,3128,0,0,0,0,0,0,25.93,26.33,28.83
$GC,8279,-0.52,-175.2,805.1,-5.6,394,8284,0.00,2.03,0.00,0.000,4,0.000,0.031,2002,543,3126,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8337,-0.53,-175.2,807.4,-5.7,395,8343,0.00,1.98,0.00,0.000,6,0.000,0.022,1996,1933,3126,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8645,-0.54,-175.2,827.0,-5.8,406,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1933,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8943,-0.55,-175.2,845.8,-6.4,416,8949,0.00,2.05,0.00,0.000,4,0.000,0.031,1996,549,3123,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8991,-0.55,-175.2,848.3,-6.7,417,8997,0.00,2.00,0.00,0.000,6,0.000,0.023,1989,1922,3123,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9313,-0.55,-175.2,873.1,-7.4,428,9319,0.00,2.05,0.00,0.000,4,0.000,0.037,1979,3310,3122,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9336,-0.55,-175.2,873.1,-7.4,428,9341,0.00,1.95,0.00,0.000,6,0.000,0.022,1979,1931,3122,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9653,-0.55,-175.2,898.4,-7.4,439,9658,0.00,2.05,0.00,0.000,4,0.000,0.031,1979,537,3121,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9727,-0.55,-175.2,903.9,-7.8,441,9732,0.00,2.00,0.00,0.000,6,0.000,0.023,1970,1939,3121,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10052,-0.55,-175.2,930.9,-8.0,452,10054,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1939,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10351,-0.55,-175.2,952.5,-7.0,462,10352,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1939,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10650,-0.55,-175.2,972.8,-6.6,472,10652,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1939,3119,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10917,begin apogee
$GC,10924,-0.17,0.0,991.4,-7.2,481,11086,0.40,0.00,151.85,1.407,6,0.119,0.000,2103,1939,2409,0,0,0,0,0,0,25.60,28.83,22.34
$STATE,11087,end apogee,CONTROL_FINISHED_OK
$STATE,11087,begin climb
$GC,11090,0.54,175.2,995.6,0.0,486,11262,0.68,2.40,161.95,1.359,4,0.088,0.032,2331,515,1693,0,0,0,0,0,0,24.27,23.65,21.92
$GC,11280,0.58,270.0,989.4,5.4,492,11375,0.00,2.15,87.60,1.331,6,0.000,0.019,2332,1901,1310,0,0,0,0,0,0,28.83,24.32,21.94
$GC,11676,0.61,294.1,956.9,7.7,506,11706,0.00,2.10,22.17,1.293,4,0.000,0.033,2331,3281,1210,0,0,0,0,0,0,28.83,25.53,23.73
$GC,11740,0.64,307.7,951.6,8.0,508,11760,0.12,2.05,13.77,1.229,6,0.104,0.023,2380,1897,1154,0,0,0,0,0,0,25.74,25.87,23.72
$GC,12073,0.64,307.7,916.9,10.5,519,12078,0.00,2.05,0.00,0.000,4,0.000,0.034,2386,508,1149,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12106,0.64,307.7,913.2,10.6,520,12111,0.00,2.00,0.00,0.000,6,0.000,0.021,2386,1899,1148,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12440,0.64,307.7,875.5,11.4,531,12446,0.00,2.05,0.00,0.000,4,0.000,0.034,2387,3282,1147,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12522,0.64,307.7,867.7,11.8,533,12528,0.00,2.00,0.00,0.000,6,0.000,0.024,2387,1892,1146,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12836,0.64,307.7,831.2,10.6,544,12841,0.00,2.05,0.00,0.000,4,0.000,0.035,2387,507,1146,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12878,0.64,307.7,827.8,10.5,545,12883,0.00,2.03,0.00,0.000,6,0.000,0.021,2387,1920,1146,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13204,0.64,307.7,791.9,10.9,556,13209,0.00,2.00,0.00,0.000,4,0.000,0.034,2387,3275,1145,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13256,0.64,307.7,787.6,11.2,557,13261,0.00,2.00,0.00,0.000,6,0.000,0.024,2387,1893,1145,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13569,0.64,307.7,751.0,10.8,568,13574,0.00,2.08,0.00,0.000,4,0.000,0.035,2387,504,1145,0,0,0,0,0,0,28.83,26.19,28.83
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$STATE,21156,end climb,SURFACE_DEPTH_REACHED
$STATE,21157,begin surface coast
$FINISH,1.1,1.022505
$STATE,21178,end surface coast,CONTROL_FINISHED_OK
$STATE,21178,begin surface
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$IRIDIUM_FIX,1948.12,12341.40,190113,080811
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.29
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$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3899008
$24V_AH,21.9,63.728
$10V_AH,9.9,44.004
$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,0.000,0.000,0.000,0.000,0.000,0.000,11.927,0.000,0.000,0.000
$MEM,329052
$DATA_FILE_SIZE,36690,969
$CAP_FILE_SIZE,235203,0
$CFSIZE,260034560,219729920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.268,195.7,1
$GPS,190113,144205,1953.379,12342.680,37,1.0,42,-2.4