version: 66.11
glider: 129
mission: 4
dive: 487
start: 2 25 113 23 51 42
data:
$ID,129
$MISSION,4
$DIVE,487
$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,-3394.6387
$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,57
$R_STBD_OVSHOOT,75
$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
$GPS1,250213,234205,2011.950,12406.892,39,1.0,39,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-60.8
$GPS2,250213,235113,2011.943,12406.806,16,1.3,16,-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,106.2,23615,-15.3,-9.429,-18.41
$D_GRID,5523
$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,-184.9,0.0,0.0,0,82,0.00,0.00,-59.30,0.000,2,0.000,0.000,57,1911,1950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.58,-184.9,3.4,-3.4,10,129,7.97,0.00,-31.75,0.000,6,0.241,0.000,1965,1910,3163,0,0,0,0,0,0,24.82,28.83,26.47
$GC,441,-0.53,-184.9,78.1,-21.0,49,447,0.00,2.08,0.00,0.000,4,0.000,0.033,1965,514,3164,0,0,0,0,0,0,28.83,25.70,28.83
$GC,546,-0.49,-184.9,99.1,-19.2,54,552,0.15,2.05,0.00,0.000,6,0.145,0.022,1997,1930,3164,0,0,0,0,0,0,25.48,25.94,28.83
$GC,871,-0.47,-184.9,147.8,-13.5,70,876,0.00,2.10,0.00,0.000,4,0.000,0.031,1997,524,3165,0,0,0,0,0,0,28.83,25.70,28.83
$GC,909,-0.45,-184.9,151.0,-13.3,71,916,0.00,2.05,0.00,0.000,6,0.000,0.022,1988,1942,3165,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1215,-0.43,-184.9,195.4,-14.0,87,1217,0.12,0.00,0.00,0.000,6,0.148,0.000,2023,1943,3164,0,0,0,0,0,0,26.00,28.83,28.83
$GC,1517,-0.43,-184.9,225.9,-9.7,102,1523,0.00,2.12,0.00,0.000,4,0.000,0.032,2024,525,3164,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1563,-0.43,-184.9,230.5,-9.9,104,1568,0.00,2.03,0.00,0.000,6,0.000,0.022,2015,1933,3165,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1886,-0.43,-184.9,265.8,-11.6,120,1892,0.00,2.05,0.00,0.000,4,0.000,0.034,2004,3305,3164,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1945,-0.43,-184.9,270.8,-11.5,122,1952,0.00,2.03,0.00,0.000,6,0.000,0.024,2005,1903,3164,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2250,-0.43,-184.9,307.5,-10.9,138,2255,0.00,2.00,0.00,0.000,4,0.000,0.032,2004,538,3164,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2355,-0.43,-184.9,318.8,-10.9,143,2360,0.00,2.00,0.00,0.000,6,0.000,0.021,1995,1929,3164,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2678,-0.43,-184.9,351.4,-9.6,159,2684,0.00,2.05,0.00,0.000,4,0.000,0.033,1984,3316,3164,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2712,-0.43,-184.9,353.8,-9.6,160,2719,0.12,2.03,0.00,0.000,6,0.128,0.023,2020,1918,3164,0,0,0,0,0,0,25.66,25.95,28.83
$GC,3028,-0.44,-184.9,380.6,-8.3,176,3033,0.00,2.05,0.00,0.000,4,0.000,0.032,2021,539,3163,0,0,0,0,0,0,28.83,25.71,28.83
$GC,3123,-0.46,-184.9,388.4,-9.3,180,3128,0.00,2.00,0.00,0.000,6,0.000,0.021,2013,1930,3163,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3437,-0.46,-184.9,417.1,-7.9,196,3443,0.00,2.05,0.00,0.000,4,0.000,0.033,2002,3300,3162,0,0,0,0,0,0,28.83,25.68,28.83
$GC,3472,-0.47,-184.9,419.0,-7.7,197,3477,0.00,2.00,0.00,0.000,6,0.000,0.024,2002,1921,3162,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3785,-0.47,-184.9,443.1,-7.3,213,3791,0.00,2.05,0.00,0.000,4,0.000,0.033,2002,532,3161,0,0,0,0,0,0,28.83,25.69,28.83
$GC,3924,-0.47,-184.9,453.7,-8.6,219,3931,0.00,2.03,0.00,0.000,6,0.000,0.022,1993,1932,3161,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4231,-0.47,-184.9,482.8,-9.8,235,4236,0.00,2.05,0.00,0.000,4,0.000,0.034,1983,3312,3159,0,0,0,0,0,0,28.83,25.66,28.83
$GC,4284,-0.47,-184.9,487.3,-9.8,237,4290,0.00,2.03,0.00,0.000,6,0.000,0.024,1983,1922,3159,0,0,0,0,0,0,28.83,25.92,28.83
$GC,4599,-0.47,-184.9,521.5,-9.8,253,4604,0.00,2.08,0.00,0.000,4,0.000,0.033,1982,536,3157,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4729,-0.47,-184.9,533.9,-9.8,259,4735,0.12,2.03,0.00,0.000,6,0.141,0.021,2008,1932,3157,0,0,0,0,0,0,25.61,25.98,28.83
$GC,5049,-0.48,-184.9,556.1,-7.1,275,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1932,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5351,-0.50,-184.9,579.7,-8.1,290,5357,0.00,2.12,0.00,0.000,4,0.000,0.034,2008,538,3154,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5431,-0.51,-184.9,585.5,-8.5,293,5437,0.00,2.03,0.00,0.000,6,0.000,0.023,2002,1925,3153,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5738,-0.52,-184.9,610.0,-7.2,307,5739,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1925,3152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6037,-0.54,-184.9,630.9,-6.8,317,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1925,3150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6336,-0.55,-184.9,652.9,-7.7,327,6342,0.00,2.10,0.00,0.000,4,0.000,0.035,2002,532,3149,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6387,-0.57,-184.9,655.8,-7.8,328,6392,0.00,2.05,0.00,0.000,6,0.000,0.024,1993,1931,3148,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6708,-0.58,-184.9,682.3,-7.6,339,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1928,3147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7010,-0.59,-184.9,703.5,-6.7,349,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1931,3145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7306,-0.60,-184.9,725.1,-7.6,359,7311,0.00,2.12,0.00,0.000,4,0.000,0.034,1993,530,3143,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7366,-0.61,-184.9,728.1,-7.9,360,7373,0.00,2.05,0.00,0.000,6,0.000,0.024,1985,1935,3143,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7670,-0.61,-184.9,756.7,-9.1,371,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1935,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7970,-0.61,-184.9,783.4,-8.8,381,7975,0.00,2.12,0.00,0.000,4,0.000,0.035,1985,536,3140,0,0,0,0,0,0,28.83,25.50,28.83
$GC,8009,-0.61,-184.9,786.5,-8.9,382,8015,0.00,2.03,0.00,0.000,6,0.000,0.024,1976,1929,3140,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8340,-0.61,-184.9,815.1,-8.3,393,8341,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1929,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8639,-0.61,-184.9,839.4,-8.1,403,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1929,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8938,-0.61,-184.9,864.5,-8.4,413,8945,0.00,2.12,0.00,0.000,4,0.000,0.036,1976,541,3136,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8994,-0.61,-184.9,867.7,-8.7,414,8999,0.00,2.03,0.00,0.000,6,0.000,0.025,1968,1925,3136,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9310,-0.61,-184.9,898.8,-9.4,425,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1925,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9607,-0.61,-184.9,926.2,-9.1,435,9613,0.00,2.12,0.00,0.000,4,0.000,0.037,1968,542,3133,0,0,0,0,0,0,28.83,25.40,28.83
$GC,9643,-0.61,-184.9,929.5,-9.1,436,9648,0.00,2.08,0.00,0.000,6,0.000,0.025,1958,1936,3134,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9979,-0.61,-184.9,960.2,-9.0,447,9980,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1937,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10278,-0.61,-184.9,986.3,-8.6,457,10279,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1937,3131,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10333,begin apogee
$GC,10340,-0.17,0.0,991.4,-8.5,459,10503,0.45,0.00,153.65,1.418,6,0.117,0.000,2105,1938,2410,0,0,0,0,0,0,24.88,28.83,22.44
$STATE,10505,end apogee,CONTROL_FINISHED_OK
$STATE,10505,begin climb
$GC,10508,0.58,184.9,996.6,0.0,464,10690,0.73,2.50,173.27,1.364,4,0.085,0.038,2353,526,1656,0,0,0,0,0,0,23.94,22.91,21.50
$GC,10764,0.60,224.1,982.1,8.1,473,10810,0.00,2.17,37.17,1.314,6,0.000,0.023,2353,1900,1495,0,0,0,0,0,0,28.83,24.50,22.39
$GC,11125,0.62,238.9,948.8,8.9,485,11144,0.00,2.20,13.60,1.249,4,0.000,0.035,2353,3296,1434,0,0,0,0,0,0,28.83,25.65,23.94
$GC,11203,0.63,245.7,942.7,9.2,487,11219,0.00,2.08,7.20,1.111,6,0.000,0.028,2362,1922,1407,0,0,0,0,0,0,28.83,25.94,23.96
$GC,11521,0.65,256.4,912.5,9.1,498,11540,0.00,2.22,10.75,1.225,4,0.000,0.040,2373,504,1363,0,0,0,0,0,0,28.83,25.70,24.02
$GC,11573,0.67,263.9,909.2,9.2,499,11590,0.00,2.10,8.48,1.154,6,0.000,0.024,2373,1925,1332,0,0,0,0,0,0,28.83,25.98,23.96
$GC,11919,0.68,263.9,872.8,10.0,511,11925,0.00,2.03,0.00,0.000,4,0.000,0.034,2373,3283,1329,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11983,0.68,263.9,866.1,10.2,513,11989,0.00,2.10,0.00,0.000,6,0.000,0.028,2382,1887,1328,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12322,0.68,280.5,835.3,8.9,524,12344,0.00,2.17,15.75,1.261,4,0.000,0.040,2392,496,1265,0,0,0,0,0,0,28.83,25.57,23.96
$GC,12377,0.69,298.6,832.1,8.8,525,12402,0.00,2.08,18.05,1.252,6,0.000,0.024,2392,1895,1191,0,0,0,0,0,0,28.83,25.93,23.77
$GC,12716,0.69,298.6,796.6,10.1,537,12721,0.00,2.10,0.00,0.000,4,0.000,0.034,2392,3299,1185,0,0,0,0,0,0,28.83,25.77,28.83
$GC,12773,0.69,298.6,792.9,10.4,538,12781,0.00,2.10,0.00,0.000,6,0.000,0.028,2401,1897,1185,0,0,0,0,0,0,28.83,25.87,28.83
$GC,13080,0.69,298.6,755.0,11.9,549,13085,0.00,2.12,0.00,0.000,4,0.000,0.039,2411,500,1184,0,0,0,0,0,0,28.83,25.58,28.83
$GC,13134,0.69,298.6,750.8,12.0,550,13139,0.00,2.05,0.00,0.000,6,0.000,0.024,2411,1910,1184,0,0,0,0,0,0,28.83,25.88,28.83
$GC,13448,0.69,298.6,707.8,13.0,561,13453,0.00,2.08,0.00,0.000,4,0.000,0.034,2411,3287,1183,0,0,0,0,0,0,28.83,25.58,28.83
$GC,13503,0.69,298.6,703.3,13.0,562,13509,0.15,2.08,0.00,0.000,6,0.164,0.028,2380,1901,1183,0,0,0,0,0,0,25.22,25.73,28.83
$GC,13820,0.71,312.2,670.4,9.0,573,13834,0.00,0.00,12.18,1.147,6,0.000,0.000,2380,1901,1136,0,0,0,0,0,0,28.83,28.83,24.03
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$STATE,19578,end climb,SURFACE_DEPTH_REACHED
$STATE,19578,begin surface coast
$FINISH,1.3,1.022695
$STATE,19590,end surface coast,CONTROL_FINISHED_OK
$STATE,19593,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,53.26
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$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,3833440
$24V_AH,21.5,100.986
$10V_AH,9.6,65.221
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
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$DEVICE_MAMPS,240.975,40.545,1417.545,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.681,0.000,0.000,0.000
$MEM,329004
$DATA_FILE_SIZE,33301,885
$CAP_FILE_SIZE,210929,0
$CFSIZE,260034560,202780672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,274.2,1
$GPS,260213,052054,2011.483,12408.933,39,1.4,39,-2.5