version: 66.11
glider: 129
mission: 4
dive: 478
start: 2 23 113 22 14 55
data:
$ID,129
$MISSION,4
$DIVE,478
$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,-3383.0381
$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,59
$R_STBD_OVSHOOT,72
$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
$GPS1,230213,215700,2004.732,12353.544,43,1.1,43,-2.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-54.4
$GPS2,230213,221425,2004.836,12353.288,12,1.1,12,-2.5
$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,103.6,50085,-15.3,-9.429,-18.41
$D_GRID,5385
$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,-51.85,0.000,2,0.000,0.000,196,1882,1800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.58,-184.9,3.1,-2.5,9,135,8.62,2.05,-39.38,0.000,4,0.242,0.045,1985,514,3164,10,0,0,0,0,0,24.12,25.85,26.50
$GC,152,-0.60,-184.9,8.8,-11.9,20,159,0.38,2.05,0.00,0.000,6,0.056,0.021,1945,1948,3164,0,0,0,0,0,0,25.86,26.06,28.83
$GC,476,-0.54,-184.9,85.1,-24.3,52,481,0.12,2.12,0.00,0.000,4,0.174,0.028,1982,513,3164,0,0,0,0,0,0,25.84,25.81,28.83
$GC,530,-0.49,-184.9,95.2,-22.7,54,535,0.00,2.03,0.00,0.000,6,0.000,0.021,1973,1923,3164,0,0,0,0,0,0,28.83,26.03,28.83
$GC,844,-0.46,-184.9,151.5,-15.8,70,846,0.15,0.00,0.00,0.000,6,0.149,0.000,2015,1925,3164,0,0,0,0,0,0,25.89,28.83,28.83
$GC,1147,-0.46,-184.9,188.1,-10.9,85,1152,0.00,2.05,0.00,0.000,4,0.000,0.031,2015,528,3164,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1179,-0.46,-184.9,191.1,-11.1,86,1184,0.00,2.00,0.00,0.000,6,0.000,0.021,2007,1938,3163,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1492,-0.46,-184.9,228.1,-12.0,102,1498,0.00,2.10,0.00,0.000,4,0.000,0.030,2007,524,3164,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1563,-0.46,-184.9,235.7,-11.9,105,1568,0.00,2.03,0.00,0.000,6,0.000,0.021,1997,1936,3164,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1881,-0.46,-184.9,276.1,-12.9,121,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1936,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2184,-0.46,-184.9,312.7,-11.2,136,2190,0.00,2.05,0.00,0.000,4,0.000,0.034,1986,3293,3164,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2212,-0.46,-184.9,315.9,-11.3,137,2217,0.00,2.00,0.00,0.000,6,0.000,0.023,1986,1905,3164,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2531,-0.46,-184.9,350.2,-10.3,153,2536,0.00,2.03,0.00,0.000,4,0.000,0.032,1986,536,3163,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2624,-0.46,-184.9,358.8,-10.3,157,2630,0.12,1.98,0.00,0.000,6,0.144,0.021,2011,1930,3164,0,0,0,0,0,0,25.70,26.06,28.83
$GC,2938,-0.46,-184.9,384.4,-7.9,173,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1929,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3241,-0.47,-184.9,409.4,-8.4,188,3247,0.00,2.08,0.00,0.000,4,0.000,0.033,2003,3299,3160,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3276,-0.48,-184.9,411.5,-8.4,189,3281,0.00,2.00,0.00,0.000,6,0.000,0.024,2003,1923,3160,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3590,-0.48,-184.9,441.1,-8.9,205,3595,0.00,2.05,0.00,0.000,4,0.000,0.033,2003,534,3159,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3770,-0.48,-184.9,456.2,-9.2,213,3776,0.00,2.00,0.00,0.000,6,0.000,0.021,1993,1922,3159,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4076,-0.48,-184.9,483.0,-7.8,229,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1923,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4377,-0.48,-184.9,506.8,-8.6,244,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1922,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4678,-0.48,-184.9,532.8,-9.0,259,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1922,3153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4977,-0.48,-184.9,560.8,-9.2,274,4982,0.00,2.08,0.00,0.000,4,0.000,0.032,1993,539,3151,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5016,-0.48,-184.9,563.3,-9.3,275,5023,0.00,2.03,0.00,0.000,6,0.000,0.022,1985,1932,3151,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5322,-0.48,-184.9,591.9,-8.6,291,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1933,3150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5633,-0.48,-184.9,618.3,-8.6,303,5638,0.00,2.12,0.00,0.000,4,0.000,0.033,1984,523,3148,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5730,-0.48,-184.9,627.5,-9.4,306,5736,0.00,2.05,0.00,0.000,6,0.000,0.022,1975,1935,3147,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6061,-0.48,-184.9,659.7,-10.0,317,6066,0.00,2.15,0.00,0.000,4,0.000,0.033,1975,513,3145,0,0,0,0,0,0,28.83,25.69,28.83
$GC,6149,-0.48,-184.9,666.6,-10.4,319,6157,0.15,2.03,0.00,0.000,6,0.139,0.022,2009,1921,3145,0,0,0,0,0,0,25.54,25.99,28.83
$GC,6458,-0.50,-184.9,691.8,-7.1,330,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1921,3143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6757,-0.52,-184.9,710.3,-5.8,340,6762,0.00,2.10,0.00,0.000,4,0.000,0.035,2000,3313,3142,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6786,-0.54,-184.9,710.3,-5.8,340,6793,0.00,2.05,0.00,0.000,6,0.000,0.025,2001,1943,3140,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7093,-0.55,-184.9,730.8,-6.7,351,7099,0.00,2.12,0.00,0.000,4,0.000,0.035,2000,517,3140,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7215,-0.57,-184.9,739.1,-8.2,354,7223,0.00,2.05,0.00,0.000,6,0.000,0.023,1992,1928,3139,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7520,-0.58,-184.9,768.1,-8.8,365,7525,0.00,2.08,0.00,0.000,4,0.000,0.034,1982,3302,3138,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7600,-0.59,-184.9,773.9,-8.7,367,7605,0.00,2.05,0.00,0.000,6,0.000,0.025,1982,1915,3138,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7921,-0.59,-184.9,803.8,-8.9,378,7926,0.00,2.08,0.00,0.000,4,0.000,0.034,1982,528,3136,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7969,-0.59,-184.9,807.3,-9.1,379,7974,0.00,2.05,0.00,0.000,6,0.000,0.024,1973,1929,3136,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8289,-0.59,-184.9,840.0,-9.9,390,8294,0.00,2.15,0.00,0.000,4,0.000,0.034,1972,522,3134,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8326,-0.59,-184.9,843.5,-9.9,391,8332,0.00,2.03,0.00,0.000,6,0.000,0.024,1963,1921,3134,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8658,-0.59,-184.9,877.7,-10.4,402,8663,0.00,2.10,0.00,0.000,4,0.000,0.036,1953,3307,3132,0,0,0,0,0,0,28.83,25.53,28.83
$GC,8692,-0.59,-184.9,881.3,-10.4,403,8697,0.00,2.08,0.00,0.000,6,0.000,0.026,1953,1914,3132,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9031,-0.59,-184.9,915.4,-10.0,414,9036,0.00,2.08,0.00,0.000,4,0.000,0.034,1953,532,3131,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9156,-0.59,-184.9,928.6,-10.3,418,9162,0.00,2.05,0.00,0.000,6,0.000,0.024,1943,1937,3131,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9495,-0.59,-184.9,962.2,-9.8,429,9496,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,1938,3129,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9787,begin apogee
$GC,9794,-0.17,0.0,991.3,-9.7,439,9956,0.50,0.00,152.82,1.421,6,0.125,0.000,2103,1938,2409,0,0,0,0,0,0,24.76,28.83,22.56
$STATE,9958,end apogee,CONTROL_FINISHED_OK
$STATE,9958,begin climb
$GC,9961,0.58,184.9,996.3,0.0,444,10141,0.73,2.58,170.95,1.369,4,0.087,0.038,2353,521,1653,0,0,0,0,0,0,24.13,23.05,21.58
$GC,10194,0.61,252.1,985.2,7.1,452,10264,0.00,2.17,62.47,1.335,6,0.000,0.024,2352,1890,1381,0,0,0,0,0,0,28.83,24.44,22.09
$GC,10579,0.63,261.1,950.5,9.1,465,10593,0.00,2.17,7.90,1.134,4,0.000,0.036,2353,3306,1345,0,0,0,0,0,0,28.83,25.79,24.00
$GC,10661,0.65,261.1,944.0,9.5,467,10667,0.00,2.10,0.00,0.000,6,0.000,0.028,2362,1902,1343,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10980,0.67,267.0,912.0,9.2,478,10993,0.00,2.20,6.85,1.107,4,0.000,0.040,2371,496,1322,0,0,0,0,0,0,28.83,25.80,24.05
$GC,11021,0.69,275.0,908.6,9.2,479,11035,0.00,2.08,8.80,1.169,6,0.000,0.024,2371,1905,1288,0,0,0,0,0,0,28.83,26.04,23.94
$GC,11347,0.71,300.1,878.6,8.6,490,11380,0.00,2.20,24.05,1.308,4,0.000,0.035,2371,3295,1184,0,0,0,0,0,0,28.83,25.48,23.77
$GC,11409,0.73,324.0,873.0,8.6,492,11439,0.00,2.12,22.88,1.285,6,0.000,0.028,2380,1888,1088,0,0,0,0,0,0,28.83,25.83,23.60
$GC,11739,0.75,339.1,843.9,8.9,503,11761,0.00,2.17,14.50,1.240,4,0.000,0.040,2387,508,1026,0,0,0,0,0,0,28.83,25.66,23.94
$GC,11784,0.78,352.4,841.1,9.0,504,11804,0.00,2.08,13.68,1.216,6,0.000,0.024,2387,1908,972,0,0,0,0,0,0,28.83,25.94,23.77
$GC,12133,0.80,374.2,808.7,8.7,516,12163,0.00,2.15,20.33,1.264,4,0.000,0.035,2387,3284,886,0,0,0,0,0,0,28.83,25.57,23.83
$GC,12206,0.83,394.8,803.0,8.7,518,12234,0.00,2.08,20.08,1.237,6,0.000,0.028,2395,1897,799,0,0,0,0,0,0,28.83,25.90,23.72
$GC,12559,0.86,422.6,772.2,8.5,530,12588,0.12,0.00,26.02,1.259,6,0.105,0.000,2445,1897,686,0,0,0,0,0,0,26.11,28.83,23.77
$GC,12891,0.86,422.6,732.5,12.2,541,12896,0.00,2.12,0.00,0.000,4,0.000,0.039,2455,504,682,0,0,0,0,0,0,28.83,25.80,28.83
$GC,12944,0.86,422.6,727.9,12.4,542,12949,0.00,2.08,0.00,0.000,6,0.000,0.024,2455,1915,682,0,0,0,0,0,0,28.83,26.01,28.83
$GC,13257,0.86,422.6,682.4,13.9,553,13262,0.00,2.05,0.00,0.000,4,0.000,0.034,2455,3283,681,0,0,0,0,0,0,28.83,25.75,28.83
$GC,13327,0.86,422.6,673.1,14.4,555,13332,0.00,2.05,0.00,0.000,6,0.000,0.028,2463,1894,681,0,0,0,0,0,0,28.83,25.86,28.83
$GC,13657,0.86,422.6,622.3,15.7,566,13662,0.00,2.10,0.00,0.000,4,0.000,0.039,2474,506,680,0,0,0,0,0,0,28.83,25.61,28.83
$GC,13721,0.86,422.6,612.0,15.7,568,13727,0.15,2.08,0.00,0.000,6,0.143,0.024,2433,1916,680,0,0,0,0,0,0,25.47,25.93,28.83
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$STATE,18804,end climb,SURFACE_DEPTH_REACHED
$STATE,18804,begin surface coast
$FINISH,1.3,1.023287
$STATE,18826,end surface coast,CONTROL_FINISHED_OK
$STATE,18826,begin surface
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$TT8_MAMPS,0.024717,0.024717
$HUMID,53.46
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$TCM_TEMP,22.70
$XPDR_PINGS,0
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$24V_AH,21.6,99.030
$10V_AH,9.5,64.034
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
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$MEM,329004
$DATA_FILE_SIZE,33319,865
$CAP_FILE_SIZE,214160,0
$CFSIZE,260034560,203698176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,10,0,0,0,0
$CURRENT,0.187,302.5,1
$GPS,240213,033129,2005.396,12354.789,41,1.1,46,-2.5