version: 66.11
glider: 129
mission: 4
dive: 459
start: 2 19 113 13 10 42
data:
$ID,129
$MISSION,4
$DIVE,459
$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,-3358.4712
$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,61
$R_STBD_OVSHOOT,76
$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
$GPS1,190213,130130,1938.375,12316.323,42,1.2,42,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-62.0
$GPS2,190213,131012,1938.361,12316.362,10,1.1,16,-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,54.4,129733,-15.3,-9.429,-18.41
$D_GRID,4960
$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,-184.9,0.0,0.0,0,92,0.00,0.00,-69.65,0.000,2,0.000,0.000,56,1885,1893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.58,-184.9,3.3,-4.5,12,145,7.88,2.12,-33.50,0.000,4,0.234,0.044,1957,3310,3164,0,0,0,0,0,0,24.87,25.91,26.51
$GC,172,-0.54,-184.9,12.5,-17.6,24,178,0.00,2.03,0.00,0.000,6,0.000,0.022,1958,1904,3164,0,0,0,0,0,0,28.83,26.09,28.83
$GC,497,-0.49,-184.9,85.4,-19.6,53,504,0.12,2.00,0.00,0.000,4,0.161,0.029,1996,532,3164,0,0,0,0,0,0,25.94,25.93,28.83
$GC,632,-0.47,-184.9,107.2,-16.4,59,638,0.00,2.03,0.00,0.000,6,0.000,0.021,1988,1924,3164,0,0,0,0,0,0,28.83,26.11,28.83
$GC,946,-0.45,-184.9,159.0,-16.2,75,952,0.00,2.03,0.00,0.000,4,0.000,0.029,1988,534,3164,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1000,-0.43,-184.9,166.4,-16.6,77,1006,0.15,2.00,0.00,0.000,6,0.142,0.021,2021,1931,3164,0,0,0,0,0,0,25.70,26.13,28.83
$GC,1315,-0.43,-184.9,204.6,-10.5,93,1320,0.00,2.08,0.00,0.000,4,0.000,0.030,2021,532,3164,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1353,-0.43,-184.9,207.0,-10.3,94,1360,0.00,2.00,0.00,0.000,6,0.000,0.021,2012,1945,3164,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1659,-0.43,-184.9,242.7,-11.6,110,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1945,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1961,-0.43,-184.9,276.6,-10.7,125,1967,0.00,2.08,0.00,0.000,4,0.000,0.030,2012,535,3163,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2049,-0.43,-184.9,286.3,-11.2,129,2054,0.00,1.98,0.00,0.000,6,0.000,0.021,2003,1924,3162,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2367,-0.43,-184.9,324.2,-12.2,145,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1925,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2669,-0.43,-184.9,356.1,-11.1,160,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1925,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2972,-0.43,-184.9,386.8,-9.6,175,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1925,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3270,-0.43,-184.9,411.8,-8.0,190,3276,0.00,2.05,0.00,0.000,4,0.000,0.031,2003,536,3161,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3335,-0.43,-184.9,417.3,-8.1,193,3341,0.00,2.00,0.00,0.000,6,0.000,0.021,1993,1924,3161,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3659,-0.43,-184.9,447.2,-9.8,209,3665,0.00,2.03,0.00,0.000,4,0.000,0.033,1983,3298,3160,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3713,-0.43,-184.9,451.5,-9.8,211,3719,0.15,2.00,0.00,0.000,6,0.119,0.022,2029,1915,3160,0,0,0,0,0,0,25.77,26.12,28.83
$GC,4028,-0.45,-184.9,477.8,-8.1,227,4034,0.00,2.03,0.00,0.000,4,0.000,0.032,2029,541,3159,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4108,-0.47,-184.9,483.4,-8.6,230,4115,0.00,2.00,0.00,0.000,6,0.000,0.021,2021,1936,3158,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4413,-0.49,-184.9,508.7,-7.2,246,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1936,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4717,-0.51,-184.9,528.3,-6.4,261,4723,0.00,2.03,0.00,0.000,4,0.000,0.034,2011,3297,3154,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4746,-0.53,-184.9,530.2,-6.5,262,4752,0.00,2.00,0.00,0.000,6,0.000,0.023,2011,1933,3154,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5066,-0.55,-184.9,552.5,-7.1,278,5071,0.00,2.08,0.00,0.000,4,0.000,0.033,2011,530,3153,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5182,-0.56,-184.9,560.4,-7.6,283,5187,0.00,2.00,0.00,0.000,6,0.000,0.021,2002,1921,3152,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5496,-0.58,-184.9,583.9,-7.6,299,5501,0.00,2.05,0.00,0.000,4,0.000,0.034,1992,3301,3149,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5556,-0.59,-184.9,587.3,-7.8,301,5562,0.00,2.03,0.00,0.000,6,0.000,0.023,1992,1917,3149,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5882,-0.59,-184.9,616.7,-8.8,315,5887,0.00,2.05,0.00,0.000,4,0.000,0.033,1991,533,3147,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5976,-0.59,-184.9,625.9,-9.6,318,5982,0.00,2.03,0.00,0.000,6,0.000,0.022,1983,1925,3147,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6312,-0.59,-184.9,655.3,-8.5,329,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1925,3145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6611,-0.59,-184.9,679.3,-8.0,339,6616,0.00,2.08,0.00,0.000,4,0.000,0.033,1982,534,3144,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6675,-0.59,-184.9,684.6,-8.1,341,6680,0.00,2.03,0.00,0.000,6,0.000,0.022,1974,1927,3144,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7012,-0.59,-184.9,713.5,-9.1,352,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1926,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7309,-0.59,-184.9,741.3,-9.4,362,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1926,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7608,-0.59,-184.9,770.9,-9.9,372,7613,0.00,2.12,0.00,0.000,4,0.000,0.033,1973,534,3139,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7657,-0.59,-184.9,774.6,-10.1,373,7663,0.00,2.03,0.00,0.000,6,0.000,0.023,1964,1922,3139,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7976,-0.59,-184.9,810.0,-10.8,384,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1922,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8277,-0.59,-184.9,840.3,-9.8,394,8282,0.00,2.08,0.00,0.000,4,0.000,0.035,1954,3306,3136,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8316,-0.59,-184.9,843.6,-9.7,395,8321,0.00,2.03,0.00,0.000,6,0.000,0.025,1954,1917,3136,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8647,-0.59,-184.9,875.5,-9.3,406,8652,0.00,2.10,0.00,0.000,4,0.000,0.034,1954,531,3135,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8711,-0.59,-184.9,881.9,-9.5,408,8716,0.00,2.05,0.00,0.000,6,0.000,0.023,1944,1930,3134,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9047,-0.59,-184.9,914.0,-9.6,419,9052,0.00,2.12,0.00,0.000,4,0.000,0.034,1944,532,3134,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9070,-0.59,-184.9,914.0,-9.6,419,9076,0.12,2.05,0.00,0.000,6,0.158,0.023,1968,1931,3134,0,0,0,0,0,0,25.58,26.01,28.83
$GC,9388,-0.59,-184.9,943.2,-8.4,430,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1932,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9685,-0.59,-184.9,968.0,-8.2,440,9690,0.00,2.08,0.00,0.000,4,0.000,0.036,1959,3316,3131,0,0,0,0,0,0,28.83,25.64,28.83
$GC,9723,-0.59,-184.9,970.9,-8.2,441,9729,0.00,2.03,0.00,0.000,6,0.000,0.026,1959,1930,3130,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,9959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9959,begin apogee
$GC,9965,-0.17,0.0,992.1,-8.7,449,10128,0.43,0.00,153.55,1.422,6,0.120,0.000,2098,1922,2409,0,0,0,0,0,0,25.13,28.83,22.49
$STATE,10130,end apogee,CONTROL_FINISHED_OK
$STATE,10130,begin climb
$GC,10133,0.58,184.9,998.2,0.0,454,10313,0.75,2.42,171.07,1.370,4,0.091,0.034,2345,3283,1655,0,0,0,0,0,0,24.12,23.18,21.56
$GC,10374,0.62,270.3,989.1,6.5,462,10459,0.00,2.15,77.45,1.345,6,0.000,0.028,2355,1910,1307,0,0,0,0,0,0,28.83,24.84,22.38
$GC,10778,0.65,313.2,955.3,8.0,476,10826,0.00,2.30,38.33,1.336,4,0.000,0.040,2365,491,1132,0,0,0,0,0,0,28.83,25.24,23.47
$GC,10849,0.69,356.9,950.5,7.9,478,10898,0.00,2.08,41.00,1.324,6,0.000,0.024,2365,1896,953,0,0,0,0,0,0,28.83,25.77,23.27
$GC,11200,0.73,403.6,921.6,7.8,490,11248,0.00,2.17,41.85,1.331,4,0.000,0.034,2365,3290,762,0,0,0,0,0,0,28.83,25.24,23.47
$GC,11284,0.77,447.7,916.8,7.9,492,11331,0.10,2.10,41.05,1.315,6,0.115,0.028,2410,1889,583,0,0,0,0,0,0,25.63,25.75,23.33
$GC,11656,0.78,447.7,869.2,12.9,505,11661,0.00,2.12,0.00,0.000,4,0.000,0.039,2421,496,578,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11700,0.80,447.7,864.7,13.1,506,11706,0.00,2.05,0.00,0.000,6,0.000,0.024,2421,1903,578,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12024,0.80,447.7,818.0,14.2,517,12029,0.00,2.08,0.00,0.000,4,0.000,0.034,2421,3288,577,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12089,0.81,447.7,808.9,14.2,519,12094,0.00,2.10,0.00,0.000,6,0.000,0.028,2426,1891,577,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12424,0.81,447.7,761.5,13.9,530,12430,0.00,2.12,0.00,0.000,4,0.000,0.038,2434,492,579,0,0,0,0,0,0,28.83,25.83,28.83
$GC,12489,0.82,447.7,752.9,13.4,532,12495,0.00,2.08,0.00,0.000,6,0.000,0.024,2434,1904,578,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12825,0.82,447.7,707.3,13.4,543,12830,0.00,2.05,0.00,0.000,4,0.000,0.034,2434,3286,576,0,0,0,0,0,0,28.83,25.83,28.83
$GC,12903,0.82,447.7,698.4,13.6,545,12909,0.00,2.08,0.00,0.000,6,0.000,0.028,2442,1896,576,0,0,0,0,0,0,28.83,25.96,28.83
$GC,13222,0.82,447.7,652.5,13.5,556,13227,0.00,2.12,0.00,0.000,4,0.000,0.038,2452,501,576,0,0,0,0,0,0,28.83,25.74,28.83
$GC,13279,0.82,447.7,648.1,13.4,557,13286,0.00,2.05,0.00,0.000,6,0.000,0.024,2453,1903,576,0,0,0,0,0,0,28.83,26.05,28.83
$GC,13586,0.82,447.7,603.5,13.7,568,13591,0.00,2.05,0.00,0.000,4,0.000,0.034,2453,3283,575,0,0,0,0,0,0,28.83,25.77,28.83
$GC,13659,0.82,447.7,595.0,13.4,571,13665,0.15,2.08,0.00,0.000,6,0.150,0.028,2418,1894,576,0,0,0,0,0,0,25.50,25.92,28.83
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$STATE,18525,end climb,SURFACE_DEPTH_REACHED
$STATE,18525,begin surface coast
$FINISH,1.4,1.023271
$STATE,18541,end surface coast,CONTROL_FINISHED_OK
$STATE,18541,begin surface
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$IRIDIUM_FIX,1929.80,12316.01,190213,070712
$TT8_MAMPS,0.024717,0.024717
$HUMID,53.38
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,22.80
$XPDR_PINGS,0
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$24V_AH,21.6,94.827
$10V_AH,9.6,61.594
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.425,161.250,569.825,0.000,0.000,0.000,0.000,291.075,0.000,0.000,16.817,2755.574,12739.875,680.024,2412.743,546.331,0.000,2169.092,0.000,2048.135,0.000,0.539,0.000
$DEVICE_MAMPS,234.090,44.370,1422.135,0.000,0.000,0.000,0.000,133.110,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18576.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.370,0.000,0.000,0.000
$MEM,329004
$DATA_FILE_SIZE,30096,858
$CAP_FILE_SIZE,205906,0
$CFSIZE,260034560,205651968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.008,146.4,1
$GPS,190213,182224,1940.334,12318.815,40,1.1,40,-2.3