version: 66.11
glider: 129
mission: 4
dive: 463
start: 2 20 113 10 55 0
data:
$ID,129
$MISSION,4
$DIVE,463
$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,-3363.6938
$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,62
$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,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
$GPS1,200213,104523,1944.325,12325.040,26,1.9,43,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-55.1
$GPS2,200213,105430,1944.343,12324.981,11,1.7,11,-2.4
$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,60.1,111186,-15.3,-9.429,-18.41
$D_GRID,5117
$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,-184.9,0.0,0.0,0,93,0.00,0.00,-70.30,0.000,2,0.000,0.000,47,1914,1884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.58,-184.9,3.4,-4.3,12,146,8.02,2.12,-32.22,0.000,4,0.239,0.047,1971,537,3165,0,0,0,0,0,0,24.91,25.90,26.51
$GC,163,-0.54,-184.9,11.9,-17.2,22,170,0.00,1.98,0.00,0.000,6,0.000,0.021,1961,1924,3165,0,0,0,0,0,0,28.83,26.11,28.83
$GC,479,-0.49,-184.9,87.2,-22.3,50,485,0.12,2.05,0.00,0.000,4,0.168,0.031,1990,3307,3165,0,0,0,0,0,0,25.91,25.89,28.83
$GC,507,-0.44,-184.9,92.0,-21.8,51,512,0.00,2.00,0.00,0.000,6,0.000,0.023,1990,1916,3165,0,0,0,0,0,0,28.83,26.08,28.83
$GC,825,-0.42,-184.9,143.1,-16.2,67,832,0.12,2.03,0.00,0.000,4,0.148,0.030,2031,528,3165,0,0,0,0,0,0,26.00,25.89,28.83
$GC,919,-0.42,-184.9,154.2,-12.9,71,925,0.00,2.00,0.00,0.000,6,0.000,0.021,2022,1929,3166,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1232,-0.42,-184.9,192.8,-11.7,87,1238,0.00,2.08,0.00,0.000,4,0.000,0.031,2022,534,3166,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1256,-0.42,-184.9,195.5,-11.7,88,1261,0.00,2.00,0.00,0.000,6,0.000,0.021,2012,1935,3166,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1579,-0.42,-184.9,230.9,-10.6,104,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1935,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1882,-0.42,-184.9,263.4,-11.0,119,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1935,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2183,-0.42,-184.9,297.4,-11.7,134,2189,0.00,2.08,0.00,0.000,4,0.000,0.031,2009,531,3164,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2212,-0.42,-184.9,300.8,-11.9,135,2217,0.00,2.00,0.00,0.000,6,0.000,0.021,2003,1927,3164,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2530,-0.42,-184.9,339.0,-11.7,151,2535,0.00,2.08,0.00,0.000,4,0.000,0.031,2003,538,3163,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2627,-0.42,-184.9,349.1,-12.3,155,2635,0.12,2.00,0.00,0.000,6,0.140,0.021,2026,1929,3163,0,0,0,0,0,0,25.77,26.12,28.83
$GC,2934,-0.43,-184.9,375.5,-7.7,171,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1929,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3236,-0.45,-184.9,398.7,-8.0,186,3242,0.00,2.05,0.00,0.000,4,0.000,0.034,2021,3301,3162,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3275,-0.47,-184.9,400.8,-8.0,187,3283,0.00,2.00,0.00,0.000,6,0.000,0.023,2020,1926,3161,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3580,-0.49,-184.9,427.9,-8.3,203,3587,0.00,2.05,0.00,0.000,4,0.000,0.033,2020,533,3161,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3698,-0.50,-184.9,437.3,-8.8,208,3703,0.00,1.98,0.00,0.000,6,0.000,0.021,2011,1931,3161,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4012,-0.51,-184.9,463.9,-7.9,224,4017,0.00,2.03,0.00,0.000,4,0.000,0.033,1998,3302,3159,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4040,-0.53,-184.9,465.9,-8.1,225,4046,0.00,2.00,0.00,0.000,6,0.000,0.023,2001,1919,3159,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4359,-0.53,-184.9,492.7,-8.3,241,4365,0.00,2.03,0.00,0.000,4,0.000,0.032,2001,539,3157,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4474,-0.53,-184.9,502.0,-9.1,246,4480,0.00,2.00,0.00,0.000,6,0.000,0.021,1992,1931,3156,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4789,-0.53,-184.9,530.9,-8.6,262,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1931,3154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5091,-0.53,-184.9,556.2,-8.0,277,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1931,3152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5392,-0.53,-184.9,579.7,-7.6,292,5397,0.00,2.10,0.00,0.000,4,0.000,0.032,1992,541,3151,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5461,-0.53,-184.9,585.3,-8.1,295,5467,0.00,2.00,0.00,0.000,6,0.000,0.022,1983,1919,3151,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5793,-0.53,-184.9,615.1,-8.9,309,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1918,3148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6090,-0.53,-184.9,643.0,-9.5,319,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1918,3147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6391,-0.53,-184.9,672.4,-9.9,329,6397,0.00,2.10,0.00,0.000,4,0.000,0.033,1983,534,3145,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6429,-0.53,-184.9,676.1,-10.1,330,6434,0.00,2.03,0.00,0.000,6,0.000,0.022,1974,1930,3145,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6758,-0.53,-184.9,710.4,-10.3,341,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1931,3143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7057,-0.53,-184.9,740.2,-9.6,351,7063,0.00,2.05,0.00,0.000,4,0.000,0.035,1964,3307,3141,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7081,-0.53,-184.9,740.2,-9.6,351,7087,0.00,2.03,0.00,0.000,6,0.000,0.025,1964,1925,3141,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7398,-0.53,-184.9,771.5,-9.2,362,7404,0.00,2.10,0.00,0.000,4,0.000,0.034,1964,528,3140,0,0,0,0,0,0,28.83,25.74,28.83
$GC,7464,-0.53,-184.9,778.2,-9.4,364,7470,0.12,2.05,0.00,0.000,6,0.149,0.023,1988,1932,3141,0,0,0,0,0,0,25.65,26.03,28.83
$GC,7802,-0.54,-184.9,803.0,-7.3,375,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1932,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8099,-0.55,-184.9,826.2,-7.8,385,8101,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1932,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8400,-0.57,-184.9,851.2,-8.4,395,8407,0.00,2.12,0.00,0.000,4,0.000,0.034,1988,536,3134,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8430,-0.58,-184.9,851.2,-8.4,395,8437,0.00,2.03,0.00,0.000,6,0.000,0.024,1981,1922,3135,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8735,-0.58,-184.9,880.4,-8.6,406,8736,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1923,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9036,-0.58,-184.9,905.5,-8.4,416,9042,0.00,2.10,0.00,0.000,4,0.000,0.036,1968,3319,3133,0,0,0,0,0,0,28.83,25.64,28.83
$GC,9070,-0.58,-184.9,908.4,-8.4,417,9077,0.00,2.08,0.00,0.000,6,0.000,0.026,1970,1923,3133,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9409,-0.58,-184.9,938.1,-9.0,428,9415,0.00,2.08,0.00,0.000,4,0.000,0.036,1970,536,3131,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9504,-0.58,-184.9,947.5,-9.4,431,9510,0.00,2.08,0.00,0.000,6,0.000,0.024,1961,1928,3131,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9841,-0.58,-184.9,978.6,-9.1,442,9842,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1928,3130,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9985,begin apogee
$GC,9991,-0.17,0.0,991.7,-8.8,447,10154,0.43,0.00,153.25,1.427,6,0.118,0.000,2101,1929,2409,0,0,0,0,0,0,25.13,28.83,22.49
$STATE,10155,end apogee,CONTROL_FINISHED_OK
$STATE,10156,begin climb
$GC,10158,0.58,184.9,997.3,0.0,452,10338,0.73,2.55,170.82,1.372,4,0.086,0.038,2351,510,1655,0,0,0,0,0,0,24.13,23.15,21.58
$GC,10417,0.60,234.0,983.5,7.7,461,10467,0.00,2.12,44.30,1.333,6,0.000,0.024,2352,1897,1455,0,0,0,0,0,0,28.83,25.20,22.95
$GC,10777,0.62,234.0,948.6,9.9,473,10782,0.00,2.10,0.00,0.000,4,0.000,0.036,2352,3300,1447,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10850,0.63,234.0,941.5,10.4,475,10855,0.00,2.08,0.00,0.000,6,0.000,0.028,2361,1909,1445,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11177,0.65,234.0,907.2,10.1,486,11182,0.00,2.15,0.00,0.000,4,0.000,0.039,2372,504,1444,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11205,0.66,234.0,907.2,10.1,486,11212,0.00,2.08,0.00,0.000,6,0.000,0.024,2371,1915,1444,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11511,0.66,234.0,872.8,10.1,497,11516,0.00,2.08,0.00,0.000,4,0.000,0.035,2371,3293,1443,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11584,0.66,234.0,866.0,10.3,499,11590,0.00,2.08,0.00,0.000,6,0.000,0.028,2381,1886,1443,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11910,0.66,234.0,832.7,9.6,510,11911,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1886,1443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12209,0.66,242.8,805.3,9.1,520,12218,0.00,0.00,6.97,1.100,6,0.000,0.000,2381,1886,1420,0,0,0,0,0,0,28.83,28.83,23.99
$GC,12509,0.66,245.1,777.6,9.3,530,12518,0.00,2.15,3.53,0.770,4,0.000,0.034,2381,3287,1410,0,0,0,0,0,0,28.83,25.91,24.04
$GC,12586,0.66,245.1,771.2,9.7,532,12592,0.00,2.08,0.00,0.000,6,0.000,0.028,2389,1898,1410,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12906,0.66,245.1,737.7,10.1,543,12907,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1898,1409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13206,0.66,245.1,707.6,9.9,553,13212,0.00,2.10,0.00,0.000,4,0.000,0.034,2389,3286,1409,0,0,0,0,0,0,28.83,25.73,28.83
$GC,13261,0.66,245.1,704.1,9.9,554,13266,0.00,2.08,0.00,0.000,6,0.000,0.028,2397,1901,1409,0,0,0,0,0,0,28.83,25.86,28.83
$GC,13575,0.66,246.2,671.3,9.4,565,13576,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1901,1409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13875,0.67,268.1,644.7,8.7,575,13905,0.00,2.17,22.15,1.193,4,0.000,0.037,2408,494,1315,0,0,0,0,0,0,28.83,25.46,23.77
$GC,13928,0.68,286.0,642.0,8.8,576,13952,0.00,2.10,17.55,1.151,6,0.000,0.024,2408,1910,1243,0,0,0,0,0,0,28.83,25.82,23.61
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$STATE,19710,end climb,SURFACE_DEPTH_REACHED
$STATE,19710,begin surface coast
$FINISH,1.3,1.021016
$STATE,19729,end surface coast,CONTROL_FINISHED_OK
$STATE,19729,begin surface
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$TT8_MAMPS,0.024717,0.024717
$HUMID,53.54
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,21.00
$XPDR_PINGS,0
$SC_FREEKB,3842656
$24V_AH,21.6,95.723
$10V_AH,9.6,62.097
$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,0.000,0.000,0.000,0.000,0.000,0.000,10.913,0.000,0.000,0.000
$MEM,329000
$DATA_FILE_SIZE,33272,895
$CAP_FILE_SIZE,213065,0
$CFSIZE,260034560,205238272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.025,237.9,1
$GPS,200213,162630,1945.979,12327.470,42,1.9,42,-2.4