version: 66.11
glider: 129
mission: 4
dive: 458
start: 2 19 113 7 50 49
data:
$ID,129
$MISSION,4
$DIVE,458
$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,-3357.1165
$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,58
$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,20
$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
$GPS1,190213,074130,1936.948,12314.468,42,1.4,42,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-64.9
$GPS2,190213,075019,1936.906,12314.496,15,1.4,15,-2.3
$SPEED_LIMITS,0.163,0.283
$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,53.0,133908,-15.3,-9.429,-18.41
$D_GRID,4941
$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,21,-0.58,-184.9,0.0,0.0,0,75,0.00,0.00,-52.30,0.000,2,0.000,0.000,53,1908,1782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.58,-184.9,3.2,-4.5,9,136,7.97,2.17,-41.88,0.000,4,0.238,0.047,1954,3313,3164,0,0,0,0,0,0,24.94,25.89,26.51
$GC,186,-0.54,-184.9,16.0,-20.2,27,194,0.12,2.03,0.00,0.000,6,0.155,0.021,1987,1898,3164,0,0,0,0,0,0,25.70,26.09,28.83
$GC,512,-0.50,-184.9,81.7,-17.9,55,518,0.00,1.98,0.00,0.000,4,0.000,0.031,1987,534,3165,0,0,0,0,0,0,28.83,25.93,28.83
$GC,678,-0.48,-184.9,109.6,-15.7,63,683,0.00,2.00,0.00,0.000,6,0.000,0.021,1978,1936,3165,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1002,-0.45,-184.9,161.3,-16.7,79,1008,0.12,2.08,0.00,0.000,4,0.152,0.028,2019,541,3165,0,0,0,0,0,0,26.01,25.94,28.83
$GC,1021,-0.42,-184.9,161.3,-16.7,79,1028,0.00,1.98,0.00,0.000,6,0.000,0.021,2010,1925,3165,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1328,-0.42,-184.9,203.9,-12.5,95,1333,0.00,2.03,0.00,0.000,4,0.000,0.030,2010,539,3166,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1412,-0.42,-184.9,214.7,-12.6,99,1419,0.00,1.98,0.00,0.000,6,0.000,0.021,2001,1929,3166,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1737,-0.42,-184.9,254.9,-11.6,115,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1929,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2040,-0.42,-184.9,289.3,-11.1,130,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1929,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2339,-0.42,-184.9,325.1,-11.7,145,2344,0.00,2.05,0.00,0.000,4,0.000,0.031,2001,538,3165,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2364,-0.42,-184.9,328.1,-11.4,146,2370,0.12,2.03,0.00,0.000,6,0.142,0.021,2027,1927,3165,0,0,0,0,0,0,25.80,26.15,28.83
$GC,2689,-0.44,-184.9,356.1,-7.9,162,2695,0.00,2.08,0.00,0.000,4,0.000,0.031,2027,536,3164,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2739,-0.45,-184.9,359.6,-7.8,164,2744,0.00,2.00,0.00,0.000,6,0.000,0.021,2020,1935,3164,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3058,-0.47,-184.9,384.7,-7.8,180,3063,0.00,2.03,0.00,0.000,4,0.000,0.033,2009,3310,3163,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3107,-0.48,-184.9,388.2,-8.1,182,3113,0.00,1.98,0.00,0.000,6,0.000,0.022,2009,1923,3163,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3426,-0.48,-184.9,419.1,-9.9,198,3431,0.00,2.03,0.00,0.000,4,0.000,0.032,2009,540,3163,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3510,-0.48,-184.9,427.4,-10.0,202,3516,0.00,2.00,0.00,0.000,6,0.000,0.021,2001,1929,3163,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3835,-0.48,-184.9,457.0,-8.7,218,3840,0.00,2.05,0.00,0.000,4,0.000,0.033,1990,3305,3161,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3863,-0.48,-184.9,459.3,-8.8,219,3868,0.00,2.00,0.00,0.000,6,0.000,0.022,1990,1919,3161,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4181,-0.48,-184.9,489.4,-9.5,235,4187,0.00,2.05,0.00,0.000,4,0.000,0.031,1990,534,3159,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4327,-0.48,-184.9,504.1,-10.0,242,4334,0.00,2.03,0.00,0.000,6,0.000,0.021,1980,1931,3159,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4652,-0.48,-184.9,538.0,-10.7,258,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1931,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4954,-0.48,-184.9,568.3,-9.7,273,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1931,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5257,-0.48,-184.9,596.5,-9.4,288,5258,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1931,3154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5562,-0.48,-184.9,625.7,-9.0,299,5568,0.00,2.10,0.00,0.000,4,0.000,0.032,1980,544,3152,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5591,-0.48,-184.9,625.7,-9.0,299,5598,0.12,2.00,0.00,0.000,6,0.146,0.022,2005,1923,3152,0,0,0,0,0,0,25.73,26.10,28.83
$GC,5900,-0.50,-184.9,651.0,-7.3,310,5906,0.00,2.08,0.00,0.000,4,0.000,0.034,1998,3303,3149,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5925,-0.52,-184.9,651.0,-7.3,310,5931,0.00,2.00,0.00,0.000,6,0.000,0.024,1997,1930,3149,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6243,-0.53,-184.9,680.2,-8.8,321,6249,0.00,2.10,0.00,0.000,4,0.000,0.034,1998,523,3147,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6338,-0.54,-184.9,689.5,-9.4,324,6343,0.00,2.05,0.00,0.000,6,0.000,0.022,1989,1930,3147,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6675,-0.54,-184.9,717.9,-8.0,335,6680,0.00,2.12,0.00,0.000,4,0.000,0.033,1988,530,3145,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6703,-0.54,-184.9,717.9,-8.0,335,6710,0.00,2.03,0.00,0.000,6,0.000,0.023,1979,1938,3145,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7010,-0.54,-184.9,744.1,-7.8,346,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1938,3144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7309,-0.54,-184.9,768.8,-8.3,356,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1938,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7609,-0.54,-184.9,794.6,-8.7,366,7615,0.00,2.08,0.00,0.000,4,0.000,0.035,1969,3310,3140,0,0,0,0,0,0,28.83,25.73,28.83
$GC,7633,-0.54,-184.9,794.6,-8.7,366,7638,0.00,2.03,0.00,0.000,6,0.000,0.024,1969,1920,3140,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7949,-0.54,-184.9,824.6,-8.7,377,7954,0.00,2.08,0.00,0.000,4,0.000,0.034,1969,530,3139,0,0,0,0,0,0,28.83,25.74,28.83
$GC,8075,-0.54,-184.9,836.5,-9.5,381,8081,0.00,2.08,0.00,0.000,6,0.000,0.024,1959,1944,3138,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8412,-0.54,-184.9,867.8,-9.1,392,8413,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1946,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8710,-0.54,-184.9,894.9,-9.1,402,8717,0.00,2.12,0.00,0.000,4,0.000,0.034,1959,534,3136,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8775,-0.54,-184.9,901.4,-9.5,404,8781,0.12,2.05,0.00,0.000,6,0.155,0.024,1983,1929,3136,0,0,0,0,0,0,25.60,25.99,28.83
$GC,9113,-0.55,-184.9,927.7,-7.9,415,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1929,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9410,-0.56,-184.9,951.8,-8.0,425,9415,0.00,2.10,0.00,0.000,4,0.000,0.037,1974,3317,3134,0,0,0,0,0,0,28.83,25.64,28.83
$GC,9438,-0.58,-184.9,951.8,-8.0,425,9446,0.00,2.08,0.00,0.000,6,0.000,0.026,1974,1933,3134,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9747,-0.58,-184.9,978.8,-8.0,436,9752,0.00,2.10,0.00,0.000,4,0.000,0.035,1974,530,3133,0,0,0,0,0,0,28.83,25.64,28.83
$GC,9867,-0.58,-184.9,987.1,-8.5,439,9874,0.00,2.05,0.00,0.000,6,0.000,0.024,1964,1931,3132,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,9898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9898,begin apogee
$GC,9905,-0.17,0.0,992.2,-8.6,441,10067,0.43,0.00,153.60,1.428,6,0.119,0.000,2104,1932,2409,0,0,0,0,0,0,25.14,28.83,22.47
$STATE,10069,end apogee,CONTROL_FINISHED_OK
$STATE,10069,begin climb
$GC,10072,0.58,184.9,998.5,0.0,446,10252,0.73,2.55,170.90,1.371,4,0.086,0.037,2355,506,1654,0,0,0,0,0,0,24.14,23.18,21.57
$GC,10336,0.62,263.4,987.6,6.7,455,10417,0.00,2.10,70.20,1.349,6,0.000,0.023,2355,1889,1334,0,0,0,0,0,0,28.83,25.31,22.82
$GC,10717,0.66,316.7,957.6,7.6,468,10770,0.00,2.17,47.28,1.350,4,0.000,0.034,2356,3291,1117,0,0,0,0,0,0,28.83,25.15,23.39
$GC,10850,0.69,350.4,947.4,8.3,472,10889,0.00,2.10,31.38,1.317,6,0.000,0.028,2365,1894,980,0,0,0,0,0,0,28.83,25.89,23.44
$GC,11203,0.72,380.0,916.9,8.4,484,11236,0.00,2.15,26.62,1.312,4,0.000,0.038,2374,507,861,0,0,0,0,0,0,28.83,25.44,23.66
$GC,11265,0.76,406.5,911.5,8.5,486,11297,0.00,2.10,25.50,1.293,6,0.000,0.024,2374,1911,753,0,0,0,0,0,0,28.83,25.85,23.47
$GC,11627,0.79,415.6,879.1,9.1,498,11642,0.12,2.08,9.55,1.175,4,0.103,0.034,2431,3293,714,0,0,0,0,0,0,26.13,25.83,23.95
$GC,11670,0.81,415.6,875.1,9.6,499,11675,0.00,2.10,0.00,0.000,6,0.000,0.028,2441,1889,713,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11994,0.81,415.6,825.0,15.4,510,11999,0.00,2.08,0.00,0.000,4,0.000,0.037,2451,504,712,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12037,0.81,415.6,819.7,15.3,511,12042,0.00,2.03,0.00,0.000,6,0.000,0.024,2451,1903,712,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12363,0.81,415.6,766.0,16.4,522,12369,0.00,2.10,0.00,0.000,4,0.000,0.034,2452,3298,711,0,0,0,0,0,0,28.83,25.88,28.83
$GC,12446,0.81,415.6,754.9,16.8,524,12452,0.15,2.10,0.00,0.000,6,0.159,0.028,2419,1894,710,0,0,0,0,0,0,25.54,25.98,28.83
$GC,12763,0.82,415.6,708.0,13.9,535,12769,0.00,2.12,0.00,0.000,4,0.000,0.039,2428,499,710,0,0,0,0,0,0,28.83,25.78,28.83
$GC,12817,0.83,415.6,702.9,13.8,536,12822,0.00,2.05,0.00,0.000,6,0.000,0.024,2428,1899,710,0,0,0,0,0,0,28.83,26.07,28.83
$GC,13131,0.83,415.6,655.0,14.5,547,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1899,710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13430,0.83,415.6,614.9,12.9,557,13435,0.00,2.08,0.00,0.000,4,0.000,0.034,2428,3293,710,0,0,0,0,0,0,28.83,25.79,28.83
$GC,13458,0.83,415.6,614.9,12.9,557,13465,0.00,2.10,0.00,0.000,6,0.000,0.028,2435,1885,710,0,0,0,0,0,0,28.83,25.92,28.83
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$STATE,18466,end climb,SURFACE_DEPTH_REACHED
$STATE,18466,begin surface coast
$FINISH,1.5,1.023236
$STATE,18479,end surface coast,CONTROL_FINISHED_OK
$STATE,18479,begin surface
$SM_CCo,18557,0.00,0.000,0,0,269,524.70
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$IRIDIUM_FIX,1927.51,12314.76,190213,020207
$TT8_MAMPS,0.024717,0.024717
$HUMID,52.95
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$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,3844576
$24V_AH,21.6,94.599
$10V_AH,9.6,61.470
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.025,157.500,627.650,0.000,0.000,0.000,0.000,296.875,0.000,0.000,16.015,2708.154,12692.980,709.510,2405.185,562.311,0.000,2203.997,0.000,2033.905,0.000,0.539,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.328,0.000,0.000,0.000
$MEM,329032
$DATA_FILE_SIZE,30055,839
$CAP_FILE_SIZE,205294,0
$CFSIZE,260034560,205758464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,215.1,1
$GPS,190213,130130,1938.375,12316.323,42,1.2,42,-2.3