version: 66.11
glider: 129
mission: 4
dive: 397
start: 2 7 113 1 7 13
data:
$ID,129
$MISSION,4
$DIVE,397
$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,-3251.7026
$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,80
$R_STBD_OVSHOOT,82
$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
$GPS1,070213,005806,1809.142,12309.969,36,0.9,36,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-62.7
$GPS2,070213,010643,1809.293,12309.940,16,1.3,16,-2.0
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,258.4,102636,-15.3,-9.429,-18.41
$D_GRID,3914
$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,-65.07,0.000,2,0.000,0.000,49,1905,1762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.1,-4.0,11,146,7.80,2.12,-38.28,0.000,4,0.231,0.045,1956,3303,3164,0,0,0,0,0,0,24.87,26.06,26.56
$GC,276,-0.53,-184.9,39.0,-25.3,39,284,0.12,1.95,0.00,0.000,6,0.161,0.021,1985,1915,3165,0,0,0,0,0,0,25.87,26.27,28.83
$GC,583,-0.47,-184.9,119.4,-25.4,57,588,0.00,1.95,0.00,0.000,4,0.000,0.029,1988,547,3164,0,0,0,0,0,0,28.83,26.19,28.83
$GC,816,-0.43,-184.9,166.9,-20.2,68,823,0.15,1.95,0.00,0.000,6,0.148,0.021,2022,1918,3167,0,0,0,0,0,0,25.88,26.28,28.83
$GC,1133,-0.43,-184.9,212.2,-11.8,84,1138,0.00,2.00,0.00,0.000,4,0.000,0.028,2023,544,3165,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1180,-0.43,-184.9,217.7,-11.5,86,1185,0.00,1.98,0.00,0.000,6,0.000,0.020,2015,1942,3165,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1498,-0.43,-184.9,253.8,-12.4,102,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1942,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1800,-0.43,-184.9,289.4,-12.2,117,1805,0.00,2.05,0.00,0.000,4,0.000,0.028,2014,535,3165,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1873,-0.43,-184.9,297.5,-12.7,120,1878,0.00,1.98,0.00,0.000,6,0.000,0.019,2004,1935,3164,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2186,-0.43,-184.9,334.5,-11.1,136,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1939,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2490,-0.43,-184.9,364.5,-9.2,151,2495,0.00,2.05,0.00,0.000,4,0.000,0.028,2005,538,3162,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2556,-0.43,-184.9,370.7,-9.3,154,2562,0.00,1.98,0.00,0.000,6,0.000,0.019,1995,1934,3165,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2875,-0.43,-184.9,401.1,-10.0,170,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1934,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3176,-0.43,-184.9,431.1,-10.3,185,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1933,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3477,-0.43,-184.9,463.1,-10.5,200,3482,0.00,2.05,0.00,0.000,4,0.000,0.028,1996,543,3157,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3551,-0.43,-184.9,470.5,-11.3,203,3557,0.12,1.98,0.00,0.000,6,0.140,0.021,2023,1929,3159,0,0,0,0,0,0,25.98,26.31,28.83
$GC,3867,-0.45,-184.9,497.5,-7.5,219,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1929,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4168,-0.47,-184.9,516.0,-5.9,234,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1929,3154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4469,-0.49,-184.9,536.3,-7.4,249,4474,0.00,2.05,0.00,0.000,4,0.000,0.030,2023,549,3152,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4547,-0.51,-184.9,541.9,-8.3,252,4553,0.00,1.98,0.00,0.000,6,0.000,0.021,2017,1938,3151,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4853,-0.53,-184.9,569.4,-8.8,268,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1939,3149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5157,-0.55,-184.9,592.7,-6.8,283,5159,0.12,0.00,0.00,0.000,6,0.094,0.000,1955,1939,3146,0,0,0,0,0,0,26.39,28.83,28.83
$GC,5475,-0.54,-184.9,625.4,-10.3,295,5480,0.00,2.08,0.00,0.000,4,0.000,0.030,1955,548,3145,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5523,-0.54,-184.9,629.4,-10.6,296,5530,0.10,2.00,0.00,0.000,6,0.122,0.022,1992,1916,3145,0,0,0,0,0,0,25.84,26.27,28.83
$GC,5846,-0.54,-184.9,654.3,-7.0,307,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1917,3143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6145,-0.56,-184.9,676.5,-7.6,317,6150,0.00,2.05,0.00,0.000,4,0.000,0.031,1992,547,3141,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6223,-0.57,-184.9,681.9,-7.9,319,6229,0.00,2.00,0.00,0.000,6,0.000,0.021,1985,1935,3141,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6545,-0.57,-184.9,710.0,-8.5,330,6550,0.00,2.05,0.00,0.000,4,0.000,0.034,1975,3307,3139,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6568,-0.57,-184.9,710.0,-8.5,330,6574,0.00,2.00,0.00,0.000,6,0.000,0.021,1974,1922,3139,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6882,-0.57,-184.9,741.2,-9.5,341,6887,0.00,2.03,0.00,0.000,4,0.000,0.031,1975,541,3137,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7030,-0.57,-184.9,753.8,-10.2,345,7037,0.00,2.00,0.00,0.000,6,0.000,0.022,1966,1935,3136,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7337,-0.57,-184.9,784.7,-9.1,356,7342,0.00,2.03,0.00,0.000,4,0.000,0.035,1956,3309,3135,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7366,-0.57,-184.9,784.7,-9.1,356,7372,0.00,1.98,0.00,0.000,6,0.000,0.021,1956,1920,3133,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7672,-0.57,-184.9,814.4,-8.6,367,7677,0.00,2.03,0.00,0.000,4,0.000,0.031,1955,542,3134,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7771,-0.57,-184.9,823.2,-9.3,370,7777,0.12,2.00,0.00,0.000,6,0.149,0.022,1981,1932,3133,0,0,0,0,0,0,25.86,26.22,28.83
$GC,8103,-0.57,-184.9,847.9,-7.4,381,8104,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1932,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8403,-0.57,-184.9,871.9,-8.3,391,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1932,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8702,-0.58,-184.9,898.1,-9.0,401,8707,0.00,2.08,0.00,0.000,4,0.000,0.031,1981,555,3129,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8756,-0.59,-184.9,901.3,-9.0,402,8761,0.00,2.00,0.00,0.000,6,0.000,0.022,1974,1935,3128,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9070,-0.59,-184.9,932.2,-9.1,413,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1936,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9370,-0.59,-184.9,956.9,-8.0,423,9371,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1936,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9671,-0.59,-184.9,980.5,-7.7,433,9676,0.00,2.10,0.00,0.000,4,0.000,0.031,1973,549,3125,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9698,-0.59,-184.9,980.5,-7.7,433,9705,0.00,2.00,0.00,0.000,6,0.000,0.023,1966,1924,3125,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,9792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9792,begin apogee
$GC,9799,-0.17,0.0,990.7,-8.2,437,9960,0.40,0.00,153.62,1.413,6,0.119,0.000,2100,1924,2409,0,0,0,0,0,0,25.49,28.83,22.49
$STATE,9961,end apogee,CONTROL_FINISHED_OK
$STATE,9961,begin climb
$GC,9964,0.58,184.9,996.6,0.0,442,10141,0.73,2.40,168.90,1.359,4,0.086,0.033,2355,530,1654,0,0,0,0,0,0,24.57,23.84,21.94
$GC,10190,0.61,261.3,986.5,6.8,450,10268,0.00,2.10,69.05,1.340,6,0.000,0.020,2355,1902,1342,0,0,0,0,0,0,28.83,25.15,22.67
$GC,10582,0.63,261.5,951.1,9.4,463,10587,0.00,2.08,0.00,0.000,4,0.000,0.035,2355,3283,1334,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10720,0.64,261.5,938.5,10.2,467,10726,0.00,2.00,0.00,0.000,6,0.000,0.024,2362,1901,1332,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11042,0.66,261.5,906.1,9.8,478,11047,0.00,2.10,0.00,0.000,4,0.000,0.034,2362,3293,1331,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11095,0.67,261.5,902.5,9.8,479,11101,0.00,2.03,0.00,0.000,6,0.000,0.024,2370,1894,1330,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11411,0.68,261.5,869.2,10.2,490,11416,0.00,2.12,0.00,0.000,4,0.000,0.034,2370,3294,1330,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11468,0.68,261.5,865.3,10.5,491,11475,0.00,2.00,0.00,0.000,6,0.000,0.024,2377,1899,1330,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11775,0.68,261.5,829.5,11.0,502,11780,0.00,2.12,0.00,0.000,4,0.000,0.034,2377,3292,1330,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11827,0.68,261.5,825.6,11.1,503,11832,0.00,2.03,0.00,0.000,6,0.000,0.024,2385,1900,1330,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12141,0.68,261.5,791.2,9.7,514,12142,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1899,1330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12441,0.68,261.5,762.4,9.5,524,12446,0.00,2.10,0.00,0.000,4,0.000,0.035,2386,3285,1329,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12514,0.68,261.5,755.8,9.7,526,12519,0.00,2.03,0.00,0.000,6,0.000,0.024,2389,1892,1328,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12840,0.68,261.5,722.1,10.2,537,12845,0.00,2.10,0.00,0.000,4,0.000,0.034,2389,3286,1328,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12877,0.68,261.5,718.0,10.5,538,12883,0.00,2.03,0.00,0.000,6,0.000,0.024,2397,1888,1328,0,0,0,0,0,0,28.83,26.21,28.83
$GC,13209,0.68,261.5,681.6,10.6,549,13210,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1888,1327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13507,0.68,261.5,651.7,9.5,559,13512,0.00,2.15,0.00,0.000,4,0.000,0.034,2397,3296,1327,0,0,0,0,0,0,28.83,25.98,28.83
$GC,13535,0.68,261.5,651.7,9.5,559,13542,0.00,2.03,0.00,0.000,6,0.000,0.023,2405,1901,1327,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13840,0.68,261.5,618.9,10.0,570,13846,0.00,2.10,0.00,0.000,4,0.000,0.034,2405,3286,1327,0,0,0,0,0,0,28.83,25.97,28.83
$GC,13878,0.68,261.5,615.3,10.2,571,13885,0.12,2.03,0.00,0.000,6,0.168,0.023,2381,1892,1327,0,0,0,0,0,0,25.75,26.18,28.83
$GC,14199,0.70,285.8,586.7,8.6,584,14222,0.00,0.00,20.27,1.134,6,0.000,0.000,2381,1892,1244,0,0,0,0,0,0,28.83,28.83,23.58
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$STATE,19777,end climb,SURFACE_DEPTH_REACHED
$STATE,19777,begin surface coast
$FINISH,1.0,1.016709
$STATE,19796,end surface coast,CONTROL_FINISHED_OK
$STATE,19796,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,50.39
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,3867872
$24V_AH,21.9,81.724
$10V_AH,9.7,54.373
$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,0.000,0.000,0.000,0.000,0.000,0.000,10.734,0.000,0.000,0.000
$MEM,329028
$DATA_FILE_SIZE,33367,898
$CAP_FILE_SIZE,214647,0
$CFSIZE,260034560,211472384
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,337.0,1
$GPS,070213,063936,1809.141,12306.733,29,1.4,29,-2.0