version: 66.11
glider: 129
mission: 4
dive: 469
start: 2 21 113 20 25 30
data:
$ID,129
$MISSION,4
$DIVE,469
$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,-3371.5269
$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,71
$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
$GPS1,210213,201606,1953.817,12338.051,39,1.0,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-59.8
$GPS2,210213,202501,1953.941,12337.995,15,1.7,15,-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,72.5,82752,-15.3,-9.429,-18.41
$D_GRID,5207
$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,18,begin dive
$GC,21,-0.58,-184.9,0.0,0.0,0,69,0.00,0.00,-46.25,0.000,2,0.000,0.000,47,1874,1825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.58,-184.9,3.1,-2.9,8,122,7.88,0.00,-36.65,0.000,6,0.233,0.000,1967,1883,3165,0,0,0,0,0,0,24.87,28.83,26.50
$GC,430,-0.53,-184.9,78.7,-22.7,48,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1878,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,731,-0.49,-184.9,130.4,-16.2,63,737,0.12,2.03,0.00,0.000,4,0.163,0.029,2006,520,3165,0,0,0,0,0,0,25.92,25.83,28.83
$GC,759,-0.45,-184.9,134.8,-16.5,64,765,0.00,2.00,0.00,0.000,6,0.000,0.021,1997,1931,3166,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1079,-0.44,-184.9,177.5,-13.2,80,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1932,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1381,-0.43,-184.9,216.9,-12.5,95,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1932,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1680,-0.42,-184.9,257.7,-13.8,110,1685,0.00,2.10,0.00,0.000,4,0.000,0.031,1998,524,3167,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1717,-0.42,-184.9,261.1,-13.7,111,1725,0.12,2.03,0.00,0.000,6,0.139,0.021,2024,1936,3166,0,0,0,0,0,0,25.72,26.08,28.83
$GC,2024,-0.43,-184.9,292.5,-9.5,127,2029,0.00,2.03,0.00,0.000,4,0.000,0.033,2015,3306,3166,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2048,-0.44,-184.9,294.8,-9.6,128,2053,0.00,2.03,0.00,0.000,6,0.000,0.021,2015,1913,3165,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2373,-0.44,-184.9,325.4,-8.8,144,2378,0.00,2.03,0.00,0.000,4,0.000,0.031,2015,530,3165,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2483,-0.44,-184.9,335.3,-9.4,149,2488,0.00,2.00,0.00,0.000,6,0.000,0.021,2010,1925,3165,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2801,-0.44,-184.9,368.7,-10.0,165,2808,0.00,2.03,0.00,0.000,4,0.000,0.032,1995,3306,3164,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2830,-0.44,-184.9,371.1,-9.9,166,2835,0.00,2.00,0.00,0.000,6,0.000,0.022,1995,1918,3164,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3148,-0.44,-184.9,406.1,-11.3,182,3153,0.00,2.03,0.00,0.000,4,0.000,0.031,1995,535,3164,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3242,-0.44,-184.9,415.9,-11.7,186,3248,0.12,1.98,0.00,0.000,6,0.138,0.021,2022,1930,3163,0,0,0,0,0,0,25.73,26.09,28.83
$GC,3557,-0.46,-184.9,444.6,-7.9,202,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1925,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3861,-0.48,-184.9,465.0,-6.5,217,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1925,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4159,-0.50,-184.9,486.0,-6.9,232,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1925,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4461,-0.52,-184.9,503.4,-5.2,247,4467,0.00,2.10,0.00,0.000,4,0.000,0.032,2022,534,3159,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4515,-0.54,-184.9,506.1,-5.5,249,4520,0.00,2.00,0.00,0.000,6,0.000,0.022,2015,1931,3159,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4829,-0.56,-184.9,526.5,-6.9,265,4835,0.10,2.12,0.00,0.000,4,0.108,0.031,1964,534,3157,0,0,0,0,0,0,26.31,25.77,28.83
$GC,4858,-0.57,-184.9,528.7,-7.4,266,4863,0.00,2.00,0.00,0.000,6,0.000,0.022,1954,1926,3157,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5177,-0.56,-184.9,568.4,-12.4,282,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1927,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5490,-0.56,-184.9,605.0,-11.3,297,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1926,3154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5787,-0.56,-184.9,639.6,-11.6,307,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1927,3152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6087,-0.56,-184.9,674.0,-11.3,317,6092,0.00,2.10,0.00,0.000,4,0.000,0.033,1954,545,3150,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6181,-0.56,-184.9,684.9,-11.5,320,6187,0.12,2.00,0.00,0.000,6,0.148,0.023,1979,1922,3150,0,0,0,0,0,0,25.62,26.01,28.83
$GC,6516,-0.56,-184.9,715.8,-9.3,331,6521,0.00,2.08,0.00,0.000,4,0.000,0.035,1970,3306,3148,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6545,-0.56,-184.9,715.8,-9.3,331,6552,0.00,2.03,0.00,0.000,6,0.000,0.024,1970,1925,3147,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6850,-0.56,-184.9,749.4,-10.4,342,6855,0.00,2.10,0.00,0.000,4,0.000,0.034,1970,525,3146,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6933,-0.56,-184.9,756.6,-10.9,344,6939,0.00,2.03,0.00,0.000,6,0.000,0.023,1961,1932,3146,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7247,-0.56,-184.9,791.9,-10.4,355,7253,0.00,2.05,0.00,0.000,4,0.000,0.036,1950,3306,3144,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7285,-0.56,-184.9,795.3,-10.3,356,7290,0.00,2.05,0.00,0.000,6,0.000,0.025,1950,1895,3144,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7617,-0.56,-184.9,830.4,-10.5,367,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1895,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7914,-0.56,-184.9,859.9,-9.8,377,7919,0.00,2.05,0.00,0.000,4,0.000,0.034,1950,528,3141,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7992,-0.56,-184.9,866.5,-10.1,379,7998,0.15,2.03,0.00,0.000,6,0.145,0.024,1982,1929,3141,0,0,0,0,0,0,25.47,25.94,28.83
$GC,8314,-0.57,-184.9,891.8,-7.3,390,8319,0.00,2.08,0.00,0.000,4,0.000,0.036,1973,3316,3140,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8345,-0.58,-184.9,891.8,-7.3,390,8352,0.00,2.05,0.00,0.000,6,0.000,0.026,1973,1933,3139,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8648,-0.58,-184.9,920.7,-8.9,401,8654,0.00,2.12,0.00,0.000,4,0.000,0.035,1973,529,3139,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8752,-0.58,-184.9,929.7,-9.5,404,8757,0.00,2.05,0.00,0.000,6,0.000,0.024,1963,1937,3138,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9078,-0.58,-184.9,960.3,-8.9,415,9079,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1938,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9376,-0.58,-184.9,986.5,-8.5,425,9381,0.00,2.10,0.00,0.000,4,0.000,0.037,1953,3310,3135,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9425,-0.58,-184.9,989.3,-8.4,426,9430,0.00,2.08,0.00,0.000,6,0.000,0.026,1953,1910,3135,0,0,0,0,0,0,28.83,25.83,28.83
$STATE,9441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9441,begin apogee
$GC,9447,-0.17,0.0,992.2,-8.5,427,9609,0.45,0.00,154.23,1.421,6,0.119,0.000,2100,1904,2409,0,0,0,0,0,0,24.98,28.83,22.51
$STATE,9611,end apogee,CONTROL_FINISHED_OK
$STATE,9611,begin climb
$GC,9614,0.58,184.9,997.6,0.0,432,9794,0.75,2.47,170.85,1.367,4,0.091,0.038,2355,521,1656,0,0,0,0,0,0,24.06,23.08,21.54
$GC,9827,0.61,258.8,988.3,6.9,439,9906,0.00,2.20,70.12,1.335,6,0.000,0.023,2355,1892,1353,0,0,0,0,0,0,28.83,24.14,21.74
$GC,10231,0.64,280.2,950.2,8.7,453,10259,0.00,2.20,18.85,1.282,4,0.000,0.037,2355,3299,1265,0,0,0,0,0,0,28.83,25.57,23.75
$GC,10319,0.66,293.0,944.3,9.0,455,10339,0.00,2.08,13.12,1.232,6,0.000,0.028,2365,1911,1215,0,0,0,0,0,0,28.83,25.94,23.77
$GC,10658,0.68,293.9,910.1,9.4,467,10664,0.00,2.12,0.00,0.000,4,0.000,0.039,2374,503,1208,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10712,0.70,293.9,906.7,9.5,468,10718,0.00,2.08,0.00,0.000,6,0.000,0.024,2374,1912,1209,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11030,0.71,293.9,873.2,9.8,479,11035,0.00,2.08,0.00,0.000,4,0.000,0.035,2375,3297,1208,0,0,0,0,0,0,28.83,25.80,28.83
$GC,11058,0.73,293.9,873.2,9.8,479,11065,0.00,2.08,0.00,0.000,6,0.000,0.028,2384,1891,1206,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11367,0.74,293.9,839.1,10.3,490,11373,0.00,2.12,0.00,0.000,4,0.000,0.038,2393,499,1206,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11441,0.75,293.9,831.8,10.6,492,11446,0.00,2.08,0.00,0.000,6,0.000,0.024,2393,1904,1206,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11767,0.75,293.9,795.1,10.8,503,11772,0.00,2.08,0.00,0.000,4,0.000,0.034,2393,3289,1206,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11835,0.75,293.9,787.4,11.2,505,11840,0.00,2.08,0.00,0.000,6,0.000,0.028,2402,1889,1208,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12166,0.75,293.9,751.4,10.6,516,12171,0.00,2.12,0.00,0.000,4,0.000,0.038,2412,493,1206,0,0,0,0,0,0,28.83,25.62,28.83
$GC,12210,0.75,293.9,747.7,10.4,517,12215,0.00,2.08,0.00,0.000,6,0.000,0.024,2412,1907,1205,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12536,0.75,293.9,712.4,10.4,528,12541,0.00,2.08,0.00,0.000,4,0.000,0.034,2412,3285,1205,0,0,0,0,0,0,28.83,25.66,28.83
$GC,12600,0.75,293.9,705.1,10.8,530,12606,0.00,2.05,0.00,0.000,6,0.000,0.028,2418,1898,1205,0,0,0,0,0,0,28.83,25.82,28.83
$GC,12936,0.75,293.9,669.2,10.9,541,12941,0.00,2.12,0.00,0.000,4,0.000,0.039,2428,500,1205,0,0,0,0,0,0,28.83,25.56,28.83
$GC,12989,0.75,293.9,665.0,11.0,542,12995,0.00,2.08,0.00,0.000,6,0.000,0.024,2428,1907,1205,0,0,0,0,0,0,28.83,25.94,28.83
$GC,13304,0.75,293.9,627.9,10.6,553,13310,0.00,2.05,0.00,0.000,4,0.000,0.034,2429,3284,1204,0,0,0,0,0,0,28.83,25.63,28.83
$GC,13342,0.75,293.9,624.0,10.6,554,13349,0.12,2.05,0.00,0.000,6,0.164,0.028,2405,1898,1204,0,0,0,0,0,0,25.39,25.78,28.83
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$STATE,19104,end climb,SURFACE_DEPTH_REACHED
$STATE,19104,begin surface coast
$FINISH,1.4,1.023289
$STATE,19120,end surface coast,CONTROL_FINISHED_OK
$STATE,19120,begin surface
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$TT8_MAMPS,0.024717,0.024717
$HUMID,52.28
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$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3840352
$24V_AH,21.5,97.019
$10V_AH,9.5,62.862
$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,0.000,0.000,0.000,0.000,0.000,0.000,11.187,0.000,0.000,0.000
$MEM,329000
$DATA_FILE_SIZE,33453,880
$CAP_FILE_SIZE,211140,0
$CFSIZE,260034560,204623872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.116,340.5,1
$GPS,220213,014636,1956.252,12340.557,27,1.4,27,-2.4