version: 66.11
glider: 129
mission: 4
dive: 334
start: 1 23 113 13 22 39
data:
$ID,129
$MISSION,4
$DIVE,334
$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,350
$T_MISSION,380
$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,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,30
$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,-3137.9954
$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,89
$R_STBD_OVSHOOT,99
$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
$GPS1,230113,131306,1940.211,12357.497,34,1.1,34,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-59.1
$GPS2,230113,132213,1939.870,12357.502,13,1.8,13,-2.4
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,HEADING
$TGT_LATLONG,1949.223,12403.241
$TGT_RADIUS,1852.000
$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,32.4,20000,-15.3,-9.429,-18.41
$D_GRID,5352
$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,-0.58,-184.9,0.0,0.0,0,88,0.00,0.00,-66.07,0.000,2,0.000,0.000,60,1881,1801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.58,-184.9,3.1,-4.4,12,144,7.90,2.15,-36.03,0.000,4,0.238,0.046,1959,3288,3164,0,0,0,0,0,0,24.88,26.07,26.54
$GC,183,-0.53,-184.9,16.9,-22.6,28,190,0.00,1.92,0.00,0.000,6,0.000,0.020,1959,1925,3165,0,0,0,0,0,0,28.83,26.25,28.83
$GC,498,-0.47,-184.9,99.6,-23.4,52,504,0.15,2.00,0.00,0.000,4,0.160,0.026,2006,535,3165,0,0,0,0,0,0,26.01,26.24,28.83
$GC,622,-0.44,-184.9,122.9,-18.1,58,627,0.00,1.95,0.00,0.000,6,0.000,0.021,1998,1916,3165,0,0,0,0,0,0,28.83,26.34,28.83
$GC,945,-0.41,-184.9,177.5,-16.2,74,951,0.12,1.98,0.00,0.000,4,0.156,0.024,2038,539,3165,0,0,0,0,0,0,26.16,26.28,28.83
$GC,989,-0.39,-184.9,183.4,-14.5,76,994,0.00,1.98,0.00,0.000,6,0.000,0.020,2031,1931,3165,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1311,-0.39,-184.9,216.9,-10.2,92,1317,0.00,2.03,0.00,0.000,4,0.000,0.026,2033,535,3165,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1388,-0.39,-184.9,223.2,-10.0,95,1395,0.00,1.95,0.00,0.000,6,0.000,0.019,2022,1936,3165,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1694,-0.39,-184.9,255.8,-10.0,111,1700,0.00,2.05,0.00,0.000,4,0.000,0.027,2022,526,3166,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1732,-0.39,-184.9,258.2,-10.2,112,1738,0.00,1.98,0.00,0.000,6,0.000,0.019,2014,1927,3165,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2038,-0.39,-184.9,293.1,-11.1,128,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1927,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2339,-0.39,-184.9,327.7,-11.3,143,2345,0.00,2.03,0.00,0.000,4,0.000,0.032,2003,3309,3163,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2357,-0.39,-184.9,327.7,-11.3,143,2364,0.00,1.95,0.00,0.000,6,0.000,0.019,2004,1902,3163,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2662,-0.39,-184.9,365.1,-11.4,159,2668,0.10,1.95,0.00,0.000,4,0.151,0.026,2031,550,3163,0,0,0,0,0,0,26.33,26.27,28.83
$GC,2749,-0.40,-184.9,373.1,-9.5,163,2754,0.00,1.95,0.00,0.000,6,0.000,0.020,2023,1925,3162,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3073,-0.41,-184.9,399.8,-7.5,179,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1925,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3375,-0.43,-184.9,420.6,-6.6,194,3380,0.00,1.98,0.00,0.000,4,0.000,0.028,2027,562,3160,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3438,-0.45,-184.9,425.4,-7.2,197,3444,0.00,1.95,0.00,0.000,6,0.000,0.020,2016,1933,3161,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3762,-0.46,-184.9,448.0,-7.3,213,3768,0.00,2.00,0.00,0.000,4,0.000,0.028,2016,556,3158,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3789,-0.47,-184.9,450.1,-7.5,214,3795,0.00,1.95,0.00,0.000,6,0.000,0.020,2008,1933,3158,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4108,-0.48,-184.9,476.6,-8.1,230,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1933,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4410,-0.49,-184.9,500.2,-7.8,245,4415,0.00,2.00,0.00,0.000,4,0.000,0.028,2008,561,3155,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4454,-0.51,-184.9,503.9,-7.9,247,4459,0.00,1.95,0.00,0.000,6,0.000,0.021,2001,1926,3155,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4777,-0.51,-184.9,531.0,-8.3,263,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1927,3153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5079,-0.51,-184.9,555.4,-8.1,278,5084,0.00,2.05,0.00,0.000,4,0.000,0.029,2001,561,3150,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5103,-0.51,-184.9,557.6,-8.0,279,5108,0.00,1.98,0.00,0.000,6,0.000,0.021,1994,1935,3151,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5427,-0.51,-184.9,584.4,-8.5,295,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1935,3149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5727,-0.51,-184.9,610.5,-8.6,308,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1935,3146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6026,-0.51,-184.9,637.9,-9.3,318,6032,0.00,2.03,0.00,0.000,4,0.000,0.031,1994,559,3144,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6068,-0.51,-184.9,641.3,-9.5,319,6073,0.00,1.95,0.00,0.000,6,0.000,0.023,1987,1935,3144,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6392,-0.51,-184.9,674.7,-9.9,330,6397,0.00,2.03,0.00,0.000,4,0.000,0.036,1976,3301,3142,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6425,-0.51,-184.9,678.1,-9.8,331,6430,0.00,1.95,0.00,0.000,6,0.000,0.021,1976,1937,3142,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6760,-0.51,-184.9,708.8,-8.7,342,6765,0.00,2.05,0.00,0.000,4,0.000,0.031,1976,534,3140,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6842,-0.51,-184.9,714.7,-8.8,344,6848,0.00,2.00,0.00,0.000,6,0.000,0.022,1968,1925,3140,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7158,-0.51,-184.9,742.4,-8.3,355,7159,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1925,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7456,-0.51,-184.9,767.4,-8.3,365,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1925,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7756,-0.51,-184.9,792.3,-8.6,375,7761,0.00,2.03,0.00,0.000,4,0.000,0.031,1968,544,3135,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7809,-0.51,-184.9,795.3,-8.6,376,7814,0.12,1.98,0.00,0.000,6,0.153,0.022,1996,1930,3135,0,0,0,0,0,0,25.92,26.28,28.83
$GC,8125,-0.52,-184.9,817.9,-6.4,387,8130,0.00,2.05,0.00,0.000,4,0.000,0.031,1997,536,3134,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8159,-0.54,-184.9,820.4,-6.6,388,8164,0.00,2.03,0.00,0.000,6,0.000,0.022,1990,1933,3133,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8494,-0.55,-184.9,843.5,-6.9,399,8499,0.00,2.05,0.00,0.000,4,0.000,0.031,1990,544,3132,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8543,-0.56,-184.9,846.2,-7.0,400,8548,0.00,2.00,0.00,0.000,6,0.000,0.023,1982,1929,3132,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8863,-0.57,-184.9,871.5,-7.6,411,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1929,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9162,-0.59,-184.9,894.3,-7.5,421,9163,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1929,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9461,-0.60,-184.9,916.5,-7.3,431,9467,0.00,2.08,0.00,0.000,4,0.000,0.032,1982,538,3128,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9521,-0.61,-184.9,919.2,-7.4,432,9527,0.00,2.03,0.00,0.000,6,0.000,0.023,1974,1936,3128,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9826,-0.61,-184.9,943.5,-7.0,443,9831,0.00,2.05,0.00,0.000,4,0.000,0.031,1974,545,3126,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9859,-0.61,-184.9,946.3,-7.3,444,9865,0.00,2.03,0.00,0.000,6,0.000,0.023,1967,1921,3127,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10195,-0.61,-184.9,971.9,-7.8,455,10201,0.00,2.05,0.00,0.000,4,0.000,0.032,1967,534,3125,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10229,-0.61,-184.9,975.1,-8.1,456,10234,0.00,2.05,0.00,0.000,6,0.000,0.024,1960,1925,3129,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,10410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10410,begin apogee
$GC,10416,-0.17,0.0,990.4,-8.3,462,10577,0.43,0.00,154.50,1.421,6,0.120,0.000,2101,1925,2410,0,0,0,0,0,0,25.51,28.83,22.11
$STATE,10579,end apogee,CONTROL_FINISHED_OK
$STATE,10579,begin climb
$GC,10582,0.58,184.9,995.7,0.0,467,10766,0.73,2.42,172.23,1.367,4,0.087,0.033,2349,531,1654,0,0,0,0,0,0,24.11,23.58,21.76
$GC,10805,0.62,269.3,986.1,6.5,475,10893,0.00,2.12,78.43,1.337,6,0.000,0.021,2349,1901,1310,0,0,0,0,0,0,28.83,24.62,21.91
$GC,11195,0.65,311.2,955.1,8.0,488,11238,0.00,2.15,37.55,1.333,4,0.000,0.034,2349,3282,1139,0,0,0,0,0,0,28.83,25.27,23.46
$GC,11317,0.68,327.9,944.3,8.9,492,11340,0.00,2.05,16.10,1.257,6,0.000,0.024,2349,1902,1072,0,0,0,0,0,0,28.83,25.94,23.66
$GC,11649,0.72,372.0,918.0,7.9,503,11697,0.12,2.17,40.78,1.333,4,0.108,0.036,2413,510,892,0,0,0,0,0,0,26.20,25.29,23.51
$GC,11731,0.74,372.0,911.1,9.5,505,11736,0.00,2.05,0.00,0.000,6,0.000,0.021,2413,1915,890,0,0,0,0,0,0,28.83,25.75,28.83
$GC,12045,0.74,372.0,869.7,12.3,516,12050,0.00,2.05,0.00,0.000,4,0.000,0.036,2413,3282,886,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12171,0.74,372.0,853.4,13.2,520,12176,0.00,2.03,0.00,0.000,6,0.000,0.024,2413,1890,885,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12506,0.74,372.0,812.3,12.4,531,12511,0.00,2.08,0.00,0.000,4,0.000,0.036,2413,505,884,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12539,0.74,372.0,807.9,12.5,532,12545,0.00,2.00,0.00,0.000,6,0.000,0.021,2413,1910,884,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12875,0.74,372.0,765.5,12.9,543,12880,0.00,2.05,0.00,0.000,4,0.000,0.036,2413,3275,884,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13012,0.74,372.0,748.9,13.3,547,13017,0.00,1.98,0.00,0.000,6,0.000,0.024,2413,1897,883,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13331,0.74,372.0,708.0,12.2,558,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1897,884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13630,0.74,372.0,673.5,11.1,568,13635,0.00,2.08,0.00,0.000,4,0.000,0.034,2413,3277,883,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,19564,end climb,SURFACE_DEPTH_REACHED
$STATE,19564,begin surface coast
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$STATE,19590,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,0
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$10V_AH,9.4,46.337
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$FG_AHR_10Vo,0.000
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$MEM,329060
$DATA_FILE_SIZE,33352,907
$CAP_FILE_SIZE,215802,0
$CFSIZE,260034560,217923584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230113,185135,1940.526,12357.555,27,1.3,27,-2.4