version: 66.11
glider: 129
mission: 4
dive: 346
start: 1 26 113 9 12 47
data:
$ID,129
$MISSION,4
$DIVE,346
$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,-3181.2021
$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,84
$R_STBD_OVSHOOT,84
$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
$GPS1,260113,090329,1844.394,12421.546,41,1.5,41,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-62.7
$GPS2,260113,091219,1844.165,12421.824,14,1.1,14,-2.2
$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,194.1,102967,-15.3,-9.429,-18.41
$D_GRID,5644
$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,17,begin dive
$GC,19,-0.58,-184.9,0.0,0.0,0,86,0.00,0.00,-64.50,0.000,2,0.000,0.000,50,1909,1901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.58,-184.9,3.5,-5.5,11,134,7.95,2.12,-31.02,0.000,4,0.240,0.045,1954,3309,3164,0,0,0,0,0,0,24.87,26.08,26.55
$GC,189,-0.53,-184.9,21.6,-24.3,28,196,0.12,1.95,0.00,0.000,6,0.163,0.021,1986,1919,3166,0,0,0,0,0,0,25.87,26.26,28.83
$GC,505,-0.48,-184.9,103.4,-24.2,50,511,0.00,2.00,0.00,0.000,4,0.000,0.028,1987,521,3165,0,0,0,0,0,0,28.83,26.25,28.83
$GC,650,-0.44,-184.9,133.8,-19.6,57,656,0.15,1.98,0.00,0.000,6,0.150,0.021,2020,1922,3165,0,0,0,0,0,0,25.93,26.34,28.83
$GC,974,-0.43,-184.9,183.7,-13.8,73,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1922,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1276,-0.43,-184.9,220.6,-12.3,88,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1922,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1575,-0.43,-184.9,254.0,-11.0,103,1580,0.00,2.03,0.00,0.000,4,0.000,0.032,2011,3311,3166,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1628,-0.43,-184.9,258.6,-10.6,105,1634,0.00,1.95,0.00,0.000,6,0.000,0.020,2011,1901,3166,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1943,-0.43,-184.9,294.8,-11.4,121,1948,0.00,1.92,0.00,0.000,4,0.000,0.028,2011,556,3165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2050,-0.43,-184.9,306.9,-11.7,126,2055,0.00,1.92,0.00,0.000,6,0.000,0.020,2001,1942,3165,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2368,-0.43,-184.9,344.8,-11.4,142,2374,0.00,1.98,0.00,0.000,4,0.000,0.032,1991,3299,3163,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2432,-0.43,-184.9,351.8,-11.0,145,2439,0.00,1.90,0.00,0.000,6,0.000,0.019,1991,1927,3164,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2756,-0.43,-184.9,387.5,-11.0,161,2762,0.10,1.95,0.00,0.000,4,0.152,0.025,2018,554,3163,0,0,0,0,0,0,26.32,26.27,28.83
$GC,2814,-0.43,-184.9,391.8,-10.5,163,2821,0.00,1.95,0.00,0.000,6,0.000,0.020,2008,1924,3163,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3120,-0.43,-184.9,420.8,-10.1,179,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1924,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3423,-0.43,-184.9,451.0,-10.0,194,3428,0.00,2.03,0.00,0.000,4,0.000,0.033,2000,3303,3164,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3459,-0.43,-184.9,453.4,-9.7,195,3467,0.00,1.92,0.00,0.000,6,0.000,0.020,2000,1926,3162,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3766,-0.43,-184.9,481.9,-8.7,211,3772,0.00,1.98,0.00,0.000,4,0.000,0.028,2000,550,3159,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3920,-0.43,-184.9,495.4,-9.2,218,3925,0.00,1.95,0.00,0.000,6,0.000,0.021,1991,1936,3158,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4233,-0.43,-184.9,524.0,-9.6,234,4238,0.00,2.00,0.00,0.000,4,0.000,0.028,1992,552,3156,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4310,-0.43,-184.9,530.7,-10.2,237,4317,0.12,1.95,0.00,0.000,6,0.144,0.021,2019,1928,3157,0,0,0,0,0,0,26.03,26.34,28.83
$GC,4617,-0.45,-184.9,556.3,-8.1,253,4622,0.00,2.03,0.00,0.000,4,0.000,0.034,2010,3305,3154,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4645,-0.47,-184.9,558.1,-8.0,254,4650,0.00,1.95,0.00,0.000,6,0.000,0.020,2010,1922,3153,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4964,-0.49,-184.9,584.9,-8.2,270,4969,0.00,2.00,0.00,0.000,4,0.000,0.029,2010,538,3151,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5059,-0.50,-184.9,592.5,-9.0,274,5064,0.00,1.95,0.00,0.000,6,0.000,0.021,2002,1925,3151,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5395,-0.51,-184.9,619.0,-7.1,287,5400,0.00,2.00,0.00,0.000,4,0.000,0.029,2002,546,3148,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5429,-0.53,-184.9,621.8,-7.1,288,5435,0.00,1.98,0.00,0.000,6,0.000,0.021,1995,1924,3148,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5765,-0.54,-184.9,648.6,-8.3,299,5770,0.00,2.03,0.00,0.000,4,0.000,0.030,1994,545,3145,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5807,-0.55,-184.9,651.8,-8.6,300,5813,0.00,1.98,0.00,0.000,6,0.000,0.021,1987,1932,3145,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6134,-0.55,-184.9,681.9,-8.8,311,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1932,3143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6431,-0.55,-184.9,706.4,-8.0,321,6436,0.00,2.03,0.00,0.000,4,0.000,0.030,1987,545,3142,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6465,-0.55,-184.9,709.2,-8.1,322,6470,0.00,1.95,0.00,0.000,6,0.000,0.022,1978,1924,3142,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6801,-0.55,-184.9,735.2,-7.7,333,6806,0.00,2.05,0.00,0.000,4,0.000,0.036,1968,3306,3140,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6835,-0.55,-184.9,738.0,-7.7,334,6840,0.00,1.98,0.00,0.000,6,0.000,0.021,1968,1916,3140,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7170,-0.55,-184.9,768.0,-8.9,345,7175,0.00,2.00,0.00,0.000,4,0.000,0.031,1968,543,3137,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7306,-0.55,-184.9,780.1,-9.6,349,7311,0.00,1.98,0.00,0.000,6,0.000,0.022,1958,1924,3137,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7630,-0.55,-184.9,813.8,-10.3,360,7635,0.00,2.05,0.00,0.000,4,0.000,0.031,1958,538,3135,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7688,-0.55,-184.9,817.5,-10.4,361,7695,0.12,1.98,0.00,0.000,6,0.152,0.022,1983,1928,3135,0,0,0,0,0,0,25.92,26.27,28.83
$GC,7996,-0.56,-184.9,846.2,-8.4,372,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1928,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8295,-0.57,-184.9,871.6,-8.5,382,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1928,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8594,-0.58,-184.9,895.1,-7.5,392,8600,0.00,2.03,0.00,0.000,4,0.000,0.031,1983,550,3131,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8672,-0.60,-184.9,900.2,-7.7,394,8678,0.00,1.95,0.00,0.000,6,0.000,0.023,1976,1924,3131,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8994,-0.60,-184.9,924.3,-7.1,405,8999,0.00,2.05,0.00,0.000,4,0.000,0.031,1976,544,3129,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9031,-0.60,-184.9,927.2,-7.2,406,9037,0.00,2.00,0.00,0.000,6,0.000,0.023,1968,1933,3129,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9362,-0.60,-184.9,953.5,-8.1,417,9367,0.00,2.08,0.00,0.000,4,0.000,0.031,1968,541,3128,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9410,-0.60,-184.9,956.8,-8.3,418,9415,0.00,1.98,0.00,0.000,6,0.000,0.023,1960,1925,3126,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9731,-0.60,-184.9,986.7,-8.9,429,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1925,3127,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9786,begin apogee
$GC,9792,-0.17,0.0,992.3,-9.2,431,9955,0.43,0.00,154.93,1.409,6,0.119,0.000,2101,1925,2409,0,0,0,0,0,0,25.55,28.83,22.30
$STATE,9956,end apogee,CONTROL_FINISHED_OK
$STATE,9956,begin climb
$GC,9959,0.58,184.9,999.6,0.0,436,10138,0.73,2.40,171.25,1.362,4,0.086,0.033,2346,533,1655,0,0,0,0,0,0,24.29,23.66,21.84
$GC,10183,0.63,296.3,992.3,5.6,444,10295,0.00,2.12,102.93,1.340,6,0.000,0.020,2346,1907,1200,0,0,0,0,0,0,28.83,24.79,22.00
$GC,10606,0.67,340.4,960.4,7.9,458,10654,0.00,2.17,39.60,1.329,4,0.000,0.036,2346,3286,1020,0,0,0,0,0,0,28.83,25.29,23.49
$GC,10719,0.71,375.3,952.6,8.2,461,10759,0.15,2.03,32.55,1.310,6,0.097,0.024,2403,1906,879,0,0,0,0,0,0,25.79,25.93,23.54
$GC,11057,0.71,375.3,910.5,12.2,473,11058,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1906,874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11358,0.71,375.3,873.0,12.2,483,11359,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1906,872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11658,0.71,375.3,835.0,12.9,493,11663,0.00,2.08,0.00,0.000,4,0.000,0.035,2403,3285,871,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11700,0.71,375.3,830.5,13.1,494,11705,0.00,2.00,0.00,0.000,6,0.000,0.024,2409,1888,870,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12025,0.71,375.3,786.0,13.4,505,12027,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1888,870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12323,0.71,375.3,745.5,13.3,515,12328,0.00,2.10,0.00,0.000,4,0.000,0.035,2410,3294,870,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12350,0.71,375.3,745.5,13.3,515,12358,0.00,2.00,0.00,0.000,6,0.000,0.024,2413,1900,869,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12656,0.71,375.3,704.8,11.6,526,12662,0.00,2.08,0.00,0.000,4,0.000,0.034,2413,3288,869,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12679,0.71,375.3,704.8,11.6,526,12684,0.00,2.03,0.00,0.000,6,0.000,0.024,2413,1892,869,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12991,0.71,375.3,664.3,12.7,537,12993,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1892,869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13293,0.72,375.3,623.9,13.6,547,13299,0.00,2.10,0.00,0.000,4,0.000,0.035,2413,3291,869,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13336,0.72,375.3,618.9,13.7,548,13341,0.00,2.00,0.00,0.000,6,0.000,0.024,2414,1889,869,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13659,0.73,375.3,576.0,12.1,562,13661,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1890,869,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19036,end climb,SURFACE_DEPTH_REACHED
$STATE,19038,begin surface coast
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$CURRENT,0.245,123.4,1
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