version: 66.11
glider: 129
mission: 4
dive: 490
start: 2 26 113 16 15 0
data:
$ID,129
$MISSION,4
$DIVE,490
$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,-3398.6045
$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,58
$R_STBD_OVSHOOT,79
$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
$GPS1,260213,160523,2013.026,12413.723,40,1.1,40,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-63.8
$GPS2,260213,161431,2013.050,12413.653,15,1.1,15,-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,74.5,11604,-15.3,-9.429,-18.41
$D_GRID,5468
$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,-59.10,0.000,2,0.000,0.000,57,1925,1892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.58,-184.9,3.2,-3.2,10,136,7.85,2.10,-33.55,0.000,4,0.236,0.044,1956,3315,3162,0,0,0,0,0,0,24.88,25.79,26.47
$GC,217,-0.54,-184.9,25.4,-22.1,32,224,0.00,2.05,0.00,0.000,6,0.000,0.024,1956,1905,3163,0,0,0,0,0,0,28.83,25.91,28.83
$GC,534,-0.48,-184.9,106.0,-23.7,53,539,0.15,2.03,0.00,0.000,4,0.154,0.030,2003,532,3163,0,0,0,0,0,0,25.75,25.67,28.83
$GC,635,-0.45,-184.9,121.6,-18.2,57,643,0.00,2.03,0.00,0.000,6,0.000,0.021,1995,1917,3163,0,0,0,0,0,0,28.83,25.96,28.83
$GC,938,-0.43,-184.9,169.3,-14.2,73,939,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1918,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1241,-0.42,-184.9,211.3,-13.7,88,1243,0.12,0.00,0.00,0.000,6,0.145,0.000,2030,1918,3164,0,0,0,0,0,0,26.00,28.83,28.83
$GC,1540,-0.42,-184.9,242.8,-10.3,103,1545,0.00,2.08,0.00,0.000,4,0.000,0.032,2030,536,3164,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1599,-0.42,-184.9,247.3,-9.8,105,1606,0.00,2.03,0.00,0.000,6,0.000,0.021,2022,1957,3164,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1904,-0.42,-184.9,278.1,-9.3,121,1909,0.00,1.98,0.00,0.000,4,0.000,0.033,2008,3301,3163,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1952,-0.42,-184.9,281.8,-8.8,123,1958,0.00,2.00,0.00,0.000,6,0.000,0.023,2012,1921,3164,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2271,-0.42,-184.9,313.7,-10.2,139,2277,0.00,2.08,0.00,0.000,4,0.000,0.032,2010,527,3163,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2356,-0.42,-184.9,322.6,-10.6,143,2362,0.00,2.03,0.00,0.000,6,0.000,0.021,2002,1929,3163,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2681,-0.42,-184.9,354.9,-9.5,159,2686,0.00,2.08,0.00,0.000,4,0.000,0.031,2002,534,3162,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2734,-0.42,-184.9,359.2,-9.7,161,2740,0.12,1.98,0.00,0.000,6,0.138,0.021,2028,1923,3163,0,0,0,0,0,0,25.63,25.99,28.83
$GC,3049,-0.43,-184.9,381.3,-6.5,177,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1922,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3354,-0.45,-184.9,400.1,-6.6,192,3360,0.00,2.10,0.00,0.000,4,0.000,0.033,2028,536,3161,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3388,-0.47,-184.9,402.2,-6.9,193,3393,0.00,2.03,0.00,0.000,6,0.000,0.021,2021,1921,3161,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3702,-0.48,-184.9,428.0,-8.2,209,3708,0.00,2.05,0.00,0.000,4,0.000,0.033,2010,3304,3160,0,0,0,0,0,0,28.83,25.66,28.83
$GC,3756,-0.50,-184.9,431.4,-7.9,211,3761,0.00,2.03,0.00,0.000,6,0.000,0.023,2011,1920,3159,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4070,-0.51,-184.9,457.2,-7.9,227,4076,0.00,2.05,0.00,0.000,4,0.000,0.033,2010,535,3158,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4182,-0.52,-184.9,465.5,-7.9,232,4188,0.00,2.03,0.00,0.000,6,0.000,0.021,2002,1935,3158,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4502,-0.52,-184.9,490.2,-7.4,248,4507,0.00,2.03,0.00,0.000,4,0.000,0.034,1991,3299,3156,0,0,0,0,0,0,28.83,25.64,28.83
$GC,4540,-0.52,-184.9,491.9,-7.5,249,4547,0.00,2.03,0.00,0.000,6,0.000,0.024,1991,1917,3154,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4846,-0.52,-184.9,517.9,-8.0,265,4852,0.00,2.08,0.00,0.000,4,0.000,0.034,1991,539,3154,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5005,-0.52,-184.9,530.5,-8.7,272,5013,0.00,2.03,0.00,0.000,6,0.000,0.022,1982,1932,3153,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5310,-0.52,-184.9,560.1,-9.7,288,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1932,3151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5615,-0.52,-184.9,589.7,-9.6,303,5620,0.00,2.12,0.00,0.000,4,0.000,0.033,1982,538,3151,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5668,-0.52,-184.9,594.5,-9.8,305,5673,0.00,2.00,0.00,0.000,6,0.000,0.022,1972,1924,3149,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5992,-0.52,-184.9,628.1,-9.9,317,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1925,3148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6291,-0.52,-184.9,656.6,-9.2,327,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1925,3146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6591,-0.52,-184.9,684.4,-9.3,337,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1925,3145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6892,-0.52,-184.9,713.4,-9.7,347,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1922,3143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7191,-0.52,-184.9,743.4,-10.2,357,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1925,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7492,-0.52,-184.9,774.0,-10.2,367,7493,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1925,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7791,-0.52,-184.9,803.3,-9.5,377,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1925,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8091,-0.52,-184.9,828.9,-8.3,387,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1925,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8392,-0.52,-184.9,852.7,-7.8,397,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1925,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8691,-0.52,-184.9,877.4,-8.4,407,8697,0.00,2.15,0.00,0.000,4,0.000,0.036,1972,543,3135,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8746,-0.52,-184.9,880.5,-8.4,408,8751,0.00,2.03,0.00,0.000,6,0.000,0.024,1963,1924,3134,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9062,-0.52,-184.9,909.6,-8.7,419,9067,0.00,2.10,0.00,0.000,4,0.000,0.036,1952,3319,3133,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9100,-0.52,-184.9,912.8,-8.7,420,9106,0.15,2.08,0.00,0.000,6,0.136,0.026,1994,1924,3132,0,0,0,0,0,0,25.27,25.70,28.83
$GC,9433,-0.54,-184.9,936.3,-7.0,431,9439,0.00,2.12,0.00,0.000,4,0.000,0.037,1994,528,3132,0,0,0,0,0,0,28.83,25.34,28.83
$GC,9524,-0.56,-184.9,941.6,-7.4,433,9531,0.00,2.08,0.00,0.000,6,0.000,0.024,1987,1937,3132,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9831,-0.57,-184.9,967.0,-7.9,444,9837,0.00,2.08,0.00,0.000,4,0.000,0.037,1976,3312,3131,0,0,0,0,0,0,28.83,25.36,28.83
$GC,9866,-0.59,-184.9,970.1,-8.0,445,9871,0.00,2.08,0.00,0.000,6,0.000,0.027,1973,1925,3131,0,0,0,0,0,0,28.83,25.68,28.83
$STATE,10106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10106,begin apogee
$GC,10114,-0.17,0.0,990.1,-8.0,453,10275,0.38,0.00,153.95,1.422,6,0.116,0.000,2099,1922,2409,0,0,0,0,0,0,25.04,28.83,22.26
$STATE,10277,end apogee,CONTROL_FINISHED_OK
$STATE,10277,begin climb
$GC,10280,0.58,184.9,996.2,0.0,458,10471,0.75,2.55,176.73,1.364,4,0.091,0.038,2351,516,1654,0,0,0,0,0,0,23.64,22.75,21.35
$GC,10510,0.61,244.4,985.1,7.4,466,10577,0.00,2.25,58.10,1.324,6,0.000,0.023,2351,1893,1412,0,0,0,0,0,0,28.83,23.73,21.37
$GC,10896,0.62,244.4,947.2,10.2,479,10901,0.00,2.10,0.00,0.000,4,0.000,0.035,2351,3299,1404,0,0,0,0,0,0,28.83,25.81,28.83
$GC,10976,0.64,244.4,940.0,10.7,481,10981,0.00,2.08,0.00,0.000,6,0.000,0.028,2361,1895,1403,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11297,0.65,244.4,903.2,10.8,492,11302,0.00,2.15,0.00,0.000,4,0.000,0.039,2371,499,1402,0,0,0,0,0,0,28.83,25.69,28.83
$GC,11326,0.67,244.4,903.2,10.8,492,11333,0.00,2.08,0.00,0.000,6,0.000,0.024,2371,1915,1402,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11630,0.67,244.4,867.3,10.2,503,11636,0.00,2.08,0.00,0.000,4,0.000,0.035,2371,3288,1401,0,0,0,0,0,0,28.83,25.65,28.83
$GC,11689,0.67,244.4,863.7,10.2,504,11696,0.00,2.05,0.00,0.000,6,0.000,0.028,2380,1899,1401,0,0,0,0,0,0,28.83,25.80,28.83
$GC,11995,0.67,244.4,831.6,9.6,515,12001,0.00,2.12,0.00,0.000,4,0.000,0.039,2389,504,1400,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12024,0.67,244.4,831.6,9.6,515,12031,0.00,2.05,0.00,0.000,6,0.000,0.024,2390,1909,1398,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12331,0.67,244.4,797.6,9.8,526,12337,0.00,2.08,0.00,0.000,4,0.000,0.035,2391,3287,1400,0,0,0,0,0,0,28.83,25.54,28.83
$GC,12434,0.67,244.4,787.7,10.3,529,12440,0.00,2.08,0.00,0.000,6,0.000,0.028,2399,1888,1399,0,0,0,0,0,0,28.83,25.72,28.83
$GC,12759,0.67,244.4,755.2,9.6,540,12760,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1888,1399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13058,0.67,244.4,726.1,9.9,550,13064,0.00,2.12,0.00,0.000,4,0.000,0.034,2399,3284,1400,0,0,0,0,0,0,28.83,25.48,28.83
$GC,13131,0.67,244.4,719.3,10.2,552,13138,0.12,2.08,0.00,0.000,6,0.167,0.028,2377,1901,1398,0,0,0,0,0,0,25.25,25.68,28.83
$GC,13461,0.70,281.9,691.8,8.1,563,13496,0.00,0.00,32.83,1.232,6,0.000,0.000,2377,1901,1259,0,0,0,0,0,0,28.83,28.83,23.74
$GC,13790,0.71,287.5,662.6,9.2,574,13801,0.00,2.22,6.03,0.980,4,0.000,0.038,2386,496,1236,0,0,0,0,0,0,28.83,25.77,24.13
$GC,13828,0.73,287.5,658.8,9.5,575,13834,0.00,2.05,0.00,0.000,6,0.000,0.024,2386,1900,1235,0,0,0,0,0,0,28.83,25.99,28.83
$GC,14160,0.74,287.5,622.7,11.1,586,14165,0.00,2.10,0.00,0.000,4,0.000,0.034,2386,3286,1233,0,0,0,0,0,0,28.83,25.61,28.83
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$STATE,19589,end climb,SURFACE_DEPTH_REACHED
$STATE,19589,begin surface coast
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$STATE,19605,end surface coast,CONTROL_FINISHED_OK
$STATE,19605,begin surface
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$XPDR_PINGS,0
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$10V_AH,9.5,65.603
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$FG_AHR_10Vo,0.000
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$MEM,329004
$DATA_FILE_SIZE,33390,896
$CAP_FILE_SIZE,206776,0
$CFSIZE,260034560,202481664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,279.6,1
$GPS,260213,214430,2014.499,12415.456,42,0.8,42,-2.5