version: 66.11
glider: 129
mission: 4
dive: 337
start: 1 24 113 6 35 29
data:
$ID,129
$MISSION,4
$DIVE,337
$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,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,-3169.0164
$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,76
$R_STBD_OVSHOOT,77
$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
$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
$GPS1,240113,062629,1929.776,12401.629,39,1.0,39,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-64.2
$GPS2,240113,063501,1929.508,12401.812,12,1.2,12,-2.3
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,155.9,193354,-15.3,-9.429,-18.41
$D_GRID,5288
$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,-184.9,0.0,0.0,0,82,0.00,0.00,-59.90,0.000,2,0.000,0.000,64,1901,1939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.58,-184.9,3.4,-5.2,10,128,7.95,2.08,-28.55,0.000,4,0.241,0.043,1964,534,3165,0,0,0,0,0,0,24.91,26.10,26.55
$GC,212,-0.52,-184.9,30.6,-26.8,30,220,0.32,1.98,0.00,0.000,6,0.148,0.021,2046,1929,3165,0,0,0,0,0,0,25.51,26.25,28.83
$GC,519,-0.49,-184.9,93.9,-17.4,50,525,0.12,2.03,0.00,0.000,4,0.095,0.031,1974,3320,3165,0,0,0,0,0,0,26.38,26.18,28.83
$GC,573,-0.47,-184.9,102.8,-18.0,52,579,0.12,1.98,0.00,0.000,6,0.151,0.020,2008,1907,3166,0,0,0,0,0,0,25.98,26.35,28.83
$GC,887,-0.43,-184.9,157.6,-16.2,68,892,0.00,1.98,0.00,0.000,4,0.000,0.029,2008,551,3166,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1085,-0.41,-184.9,186.9,-17.0,77,1092,0.00,1.95,0.00,0.000,6,0.000,0.021,2000,1933,3166,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1392,-0.39,-184.9,233.0,-12.3,93,1394,0.12,0.00,0.00,0.000,6,0.145,0.000,2035,1935,3166,0,0,0,0,0,0,26.23,28.83,28.83
$GC,1694,-0.39,-184.9,261.8,-9.9,108,1699,0.00,2.03,0.00,0.000,4,0.000,0.028,2035,543,3166,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1737,-0.39,-184.9,266.1,-9.4,110,1742,0.00,1.98,0.00,0.000,6,0.000,0.020,2034,1931,3166,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2060,-0.39,-184.9,295.1,-9.6,126,2066,0.00,2.00,0.00,0.000,4,0.000,0.033,2024,3306,3165,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2088,-0.40,-184.9,297.5,-9.7,127,2093,0.00,1.95,0.00,0.000,6,0.000,0.021,2024,1906,3166,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2406,-0.40,-184.9,329.4,-9.2,143,2411,0.00,1.92,0.00,0.000,4,0.000,0.028,2024,554,3165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2525,-0.41,-184.9,338.0,-8.0,148,2532,0.00,1.92,0.00,0.000,6,0.000,0.020,2015,1933,3164,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2829,-0.41,-184.9,364.9,-8.8,164,2834,0.00,2.03,0.00,0.000,4,0.000,0.028,2016,549,3163,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2861,-0.41,-184.9,367.2,-9.1,165,2867,0.00,1.92,0.00,0.000,6,0.000,0.020,2007,1926,3163,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3176,-0.41,-184.9,397.6,-8.8,181,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1927,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3478,-0.41,-184.9,424.2,-8.6,196,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1926,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3777,-0.41,-184.9,450.7,-9.1,211,3783,0.00,2.05,0.00,0.000,4,0.000,0.029,2007,552,3161,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3844,-0.41,-184.9,457.2,-9.8,214,3850,0.00,1.92,0.00,0.000,6,0.000,0.021,1998,1921,3161,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4162,-0.41,-184.9,489.3,-10.2,230,4168,0.00,2.03,0.00,0.000,4,0.000,0.034,1988,3308,3158,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4220,-0.41,-184.9,493.3,-9.7,232,4228,0.10,1.95,0.00,0.000,6,0.103,0.020,2042,1937,3158,0,0,0,0,0,0,26.03,26.41,28.83
$GC,4527,-0.45,-184.9,514.2,-5.7,248,4532,0.00,2.03,0.00,0.000,4,0.000,0.029,2042,539,3156,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4607,-0.48,-184.9,518.0,-5.9,251,4614,0.00,1.95,0.00,0.000,6,0.000,0.021,2038,1929,3156,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4910,-0.50,-184.9,536.1,-5.3,267,4917,0.12,2.00,0.00,0.000,4,0.097,0.032,1966,3298,3154,0,0,0,0,0,0,26.41,26.18,28.83
$GC,4936,-0.53,-184.9,537.9,-5.7,268,4942,0.00,1.95,0.00,0.000,6,0.000,0.020,1966,1916,3154,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5260,-0.53,-184.9,570.4,-9.8,284,5265,0.00,1.98,0.00,0.000,4,0.000,0.029,1966,553,3152,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5478,-0.53,-184.9,591.4,-10.3,294,5485,0.12,1.92,0.00,0.000,6,0.145,0.021,1992,1918,3150,0,0,0,0,0,0,26.01,26.34,28.83
$GC,5796,-0.53,-184.9,618.2,-8.4,307,5801,0.00,2.05,0.00,0.000,4,0.000,0.034,1983,3305,3148,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5840,-0.54,-184.9,621.4,-8.5,308,5845,0.00,1.95,0.00,0.000,6,0.000,0.021,1983,1931,3148,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6166,-0.54,-184.9,652.0,-9.2,319,6172,0.00,2.03,0.00,0.000,4,0.000,0.030,1983,544,3146,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6239,-0.54,-184.9,658.2,-9.3,321,6244,0.00,1.98,0.00,0.000,6,0.000,0.021,1974,1939,3146,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6564,-0.54,-184.9,688.8,-9.4,332,6570,0.00,2.10,0.00,0.000,4,0.000,0.031,1974,520,3144,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6668,-0.54,-184.9,698.1,-9.6,335,6674,0.00,2.05,0.00,0.000,6,0.000,0.022,1968,1926,3143,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6993,-0.54,-184.9,729.8,-9.2,346,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1926,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7293,-0.54,-184.9,755.0,-8.1,356,7298,0.00,2.05,0.00,0.000,4,0.000,0.031,1967,545,3140,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7357,-0.54,-184.9,760.5,-8.3,358,7363,0.00,2.03,0.00,0.000,6,0.000,0.023,1959,1928,3140,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7694,-0.54,-184.9,791.4,-10.0,369,7695,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1928,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7990,-0.54,-184.9,823.6,-10.7,379,7996,0.00,2.08,0.00,0.000,4,0.000,0.031,1959,543,3136,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8078,-0.54,-184.9,830.6,-10.9,381,8086,0.12,2.00,0.00,0.000,6,0.149,0.023,1985,1924,3135,0,0,0,0,0,0,25.94,26.28,28.83
$GC,8386,-0.55,-184.9,857.6,-7.5,392,8391,0.00,2.05,0.00,0.000,4,0.000,0.031,1984,548,3134,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8429,-0.56,-184.9,860.3,-7.5,393,8435,0.00,1.98,0.00,0.000,6,0.000,0.023,1978,1931,3134,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8755,-0.56,-184.9,887.2,-8.4,404,8760,0.00,2.08,0.00,0.000,4,0.000,0.031,1977,541,3132,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8843,-0.56,-184.9,893.1,-8.7,406,8849,0.00,2.00,0.00,0.000,6,0.000,0.023,1969,1935,3132,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9149,-0.56,-184.9,922.3,-8.7,417,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1935,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9448,-0.56,-184.9,947.5,-8.4,427,9453,0.00,2.08,0.00,0.000,4,0.000,0.031,1969,545,3130,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9485,-0.56,-184.9,950.4,-8.5,428,9491,0.00,1.98,0.00,0.000,6,0.000,0.024,1962,1927,3130,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9816,-0.56,-184.9,979.0,-8.6,439,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1926,3128,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9961,begin apogee
$GC,9967,-0.17,0.0,991.4,-8.2,444,10130,0.43,0.00,154.57,1.417,6,0.119,0.000,2103,1926,2409,0,0,0,0,0,0,25.55,28.83,22.23
$STATE,10131,end apogee,CONTROL_FINISHED_OK
$STATE,10131,begin climb
$GC,10134,0.58,184.9,996.8,0.0,449,10314,0.73,2.35,171.12,1.364,4,0.087,0.032,2345,522,1654,0,0,0,0,0,0,24.25,23.64,21.83
$GC,10358,0.61,251.4,985.9,7.2,457,10426,0.00,2.12,61.25,1.331,6,0.000,0.020,2347,1894,1384,0,0,0,0,0,0,28.83,24.75,22.17
$GC,10750,0.64,272.0,951.8,8.7,470,10773,0.00,2.20,17.98,1.280,4,0.000,0.034,2347,3295,1301,0,0,0,0,0,0,28.83,25.65,23.72
$GC,10833,0.66,287.8,946.1,8.9,472,10854,0.00,2.05,16.05,1.262,6,0.000,0.024,2347,1897,1235,0,0,0,0,0,0,28.83,26.01,23.71
$GC,11178,0.69,311.6,915.0,8.6,484,11207,0.12,0.00,22.15,1.304,6,0.109,0.000,2396,1896,1139,0,0,0,0,0,0,26.24,28.83,23.77
$GC,11509,0.69,311.6,875.8,12.0,495,11510,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1896,1133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11807,0.69,311.6,840.8,11.6,505,11813,0.00,2.10,0.00,0.000,4,0.000,0.034,2396,3287,1131,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11871,0.69,311.6,833.0,11.9,507,11878,0.00,2.00,0.00,0.000,6,0.000,0.024,2404,1898,1131,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12207,0.69,311.6,793.5,12.1,518,12208,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1898,1129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12506,0.69,311.6,756.2,12.5,528,12507,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1898,1130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12806,0.69,311.6,717.2,13.3,538,12812,0.00,2.12,0.00,0.000,4,0.000,0.035,2404,3293,1130,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12834,0.69,311.6,717.2,13.3,538,12841,0.00,2.00,0.00,0.000,6,0.000,0.024,2410,1899,1129,0,0,0,0,0,0,28.83,26.31,28.83
$GC,13141,0.69,311.6,672.3,12.8,549,13147,0.00,2.10,0.00,0.000,4,0.000,0.035,2411,3288,1129,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13178,0.69,311.6,668.0,12.6,550,13183,0.00,2.03,0.00,0.000,6,0.000,0.024,2413,1896,1129,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13508,0.69,311.6,630.3,10.8,561,13509,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1896,1129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13806,0.69,311.6,598.9,10.5,571,13812,0.00,2.12,0.00,0.000,4,0.000,0.034,2414,3295,1128,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13884,0.69,311.6,591.6,11.1,574,13891,0.12,2.03,0.00,0.000,6,0.174,0.024,2381,1897,1128,0,0,0,0,0,0,25.84,26.27,28.83
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$STATE,19294,end climb,SURFACE_DEPTH_REACHED
$STATE,19295,begin surface coast
$FINISH,1.1,1.013883
$STATE,19306,end surface coast,CONTROL_FINISHED_OK
$STATE,19306,begin surface
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$TT8_MAMPS,0.024717,0.024717
$HUMID,50.98
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$TCM_TEMP,23.30
$XPDR_PINGS,0
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$24V_AH,21.8,68.375
$10V_AH,9.6,46.739
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.810,0.000,0.000,0.000
$MEM,328984
$DATA_FILE_SIZE,33389,877
$CAP_FILE_SIZE,213434,0
$CFSIZE,260034560,217612288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.278,174.7,1
$GPS,240113,115936,1924.064,12404.007,25,2.0,25,-2.3