version: 66.11
glider: 120
mission: 16
dive: 5
start: 3 29 113 4 23 34
data:
$ID,120
$MISSION,16
$DIVE,5
$N_DIVES,0
$D_SURF,1
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,56148
$MASS_COMP,1128.8
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4739.3799
$TGT_DEFAULT_LON,-12219.1
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-40284.16
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,115
$PITCH_MAX,4069
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,294
$ROLL_MAX,3894
$ROLL_DEG,40
$C_ROLL_DIVE,1922
$C_ROLL_CLIMB,1922
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2672
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-5.6651554
$PRESSURE_SLOPE,0.0001164831
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.00438176
$SEABIRD_T_H,0.00064101926
$SEABIRD_T_I,2.5489926e-05
$SEABIRD_T_J,2.6782905e-06
$SEABIRD_C_G,-10.157237
$SEABIRD_C_H,1.1376933
$SEABIRD_C_I,-0.0013911312
$SEABIRD_C_J,0.00019179068
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,290313,041348,2447.699,-3747.704,9,1.3,9,-15.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-51.2
$GPS2,290313,042231,2447.690,-3747.698,10,1.9,10,-15.0
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.018,-0.257
$KALMAN_X,-1264.0,-102.2,-307.4,5238.5,-281.4
$KALMAN_Y,2162.2,398.1,95.3,-687.9,549.4
$MHEAD_RNG_PITCHd_Wd,194.0,50364,-17.6,-10.000,-21.21,2209
$D_GRID,1001
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.95,-146.6,129,1915,378,402,0.0,0.0,0,109,0.00,0.00,-85.40,0.000,16386,0.000,0.000,130,1916,2967,3058,2877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.95,-146.6,130,1916,3059,2877,2.5,-2.4,6,131,9.50,0.00,-6.32,0.000,18694,0.378,0.000,2289,1915,3272,3391,3153,0,0,0,0,0,0,14.30,28.83,14.80
$GC,425,-0.95,-146.6,2289,1915,3392,3159,47.3,-13.6,27,430,0.00,2.35,0.00,0.000,260,0.000,0.070,2280,3330,3275,3391,3159,0,0,0,0,0,0,28.83,14.57,28.83
$GC,552,-0.95,-146.6,2280,3331,3392,3159,63.8,-13.2,35,557,0.00,2.30,0.00,0.000,1030,0.000,0.055,2280,1927,3275,3392,3159,0,0,0,0,0,0,28.83,14.61,28.83
$GC,865,-0.95,-146.6,2280,1926,3392,3159,103.9,-12.3,56,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1926,3275,3392,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1165,-0.95,-146.6,2280,1927,3392,3159,141.5,-12.6,76,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1926,3275,3392,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1465,-0.95,-146.6,2280,1927,3392,3160,181.0,-13.6,96,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1927,3276,3392,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1765,-0.95,-146.6,2280,1927,3392,3160,222.5,-13.2,116,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1926,3275,3391,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2080,-0.95,-146.6,2280,1927,3392,3159,261.9,-12.3,134,2085,0.00,2.42,0.00,0.000,516,0.000,0.090,2280,513,3276,3392,3160,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2192,-0.95,-146.6,2280,513,3392,3159,274.1,-12.9,137,2197,0.00,2.30,0.00,0.000,1030,0.000,0.046,2272,1937,3275,3392,3159,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2505,-0.95,-146.6,2272,1938,3392,3159,317.6,-13.3,148,2510,0.00,2.30,0.00,0.000,260,0.000,0.071,2261,3331,3275,3392,3159,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2577,-0.95,-146.6,2261,3331,3391,3159,326.4,-13.8,150,2583,0.12,2.30,0.00,0.000,3078,0.243,0.057,2291,1922,3275,3392,3159,0,0,0,0,0,0,14.43,14.66,28.83
$GC,2903,-0.95,-146.6,2291,1921,3390,3159,365.3,-10.8,161,2908,0.00,2.40,0.00,0.000,516,0.000,0.087,2291,514,3274,3389,3159,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3045,-0.95,-146.6,2291,514,3388,3159,379.6,-11.5,165,3050,0.00,2.28,0.00,0.000,1030,0.000,0.048,2283,1920,3273,3388,3159,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3358,-0.95,-146.6,2282,1921,3386,3160,419.0,-12.0,176,3364,0.00,2.33,0.00,0.000,260,0.000,0.073,2272,3332,3272,3386,3159,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3445,-0.95,-146.6,2272,3332,3386,3159,426.9,-12.3,178,3452,0.00,2.30,0.00,0.000,1030,0.000,0.056,2272,1922,3272,3386,3159,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3752,-0.95,-146.6,2272,1922,3385,3159,469.5,-12.6,189,3757,0.00,2.40,0.00,0.000,516,0.000,0.088,2272,508,3271,3384,3159,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3824,-0.95,-146.6,2272,508,3383,3159,477.7,-12.8,191,3830,0.12,2.30,0.00,0.000,3078,0.249,0.049,2290,1928,3271,3383,3159,0,0,0,0,0,0,14.46,14.73,28.83
$GC,4149,-0.95,-146.6,2290,1928,3381,3159,515.1,-11.0,202,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1928,3270,3381,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4448,-0.95,-146.6,2291,1928,3380,3159,547.3,-10.9,212,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1928,3269,3380,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4748,-0.95,-146.6,2290,1928,3378,3159,580.5,-11.1,222,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1928,3269,3378,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5048,-0.95,-146.6,2290,1928,3377,3159,613.3,-11.0,232,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1928,3267,3376,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5348,-0.95,-146.6,2291,1928,3373,3159,645.4,-10.4,242,5353,0.00,2.47,0.00,0.000,516,0.000,0.092,2291,511,3265,3372,3159,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5490,-0.95,-146.6,2290,511,3371,3159,658.5,-10.6,246,5495,0.00,2.33,0.00,0.000,1030,0.000,0.055,2288,1926,3265,3371,3159,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5805,-0.95,-146.6,2288,1926,3369,3159,690.2,-9.2,257,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1926,3264,3369,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6103,-0.95,-146.6,2288,1926,3366,3159,719.2,-10.0,267,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1926,3262,3366,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6403,-0.95,-146.6,2288,1926,3364,3159,749.6,-10.0,277,6409,0.00,2.35,0.00,0.000,260,0.000,0.080,2277,3328,3261,3363,3159,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6516,-0.95,-146.6,2277,3327,3363,3159,759.2,-10.3,280,6521,0.00,2.33,0.00,0.000,1030,0.000,0.058,2277,1911,3261,3363,3159,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6829,-0.95,-146.6,2277,1911,3361,3159,794.7,-11.0,291,6834,0.00,2.42,0.00,0.000,516,0.000,0.099,2277,520,3260,3361,3159,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6966,-0.95,-146.6,2277,520,3360,3159,809.0,-11.6,295,6971,0.00,2.33,0.00,0.000,1030,0.000,0.056,2272,1926,3259,3360,3159,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7284,-0.95,-146.6,2272,1926,3357,3159,844.6,-10.3,306,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,1926,3258,3357,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7584,-0.95,-146.6,2272,1927,3355,3159,875.7,-10.6,316,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,1927,3257,3356,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7884,-0.95,-146.6,2272,1927,3354,3159,906.4,-10.0,326,7885,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,1927,3256,3354,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8184,-0.95,-146.6,2272,1927,3351,3159,936.0,-9.7,336,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,1927,3255,3351,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8484,-0.95,-146.6,2272,1926,3350,3158,961.4,-7.9,346,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,1927,3253,3350,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8784,-0.95,-146.6,2272,1926,3350,3156,982.6,-7.0,356,8785,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,1927,3253,3350,3157,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8901,begin apogee
$GC,8907,-0.22,0.0,2272,1927,3349,3156,991.6,-7.4,360,9044,0.82,0.00,128.02,2.440,10246,0.176,0.000,2527,1927,2671,2737,2606,0,0,0,0,0,0,14.42,28.83,12.91
$STATE,9045,end apogee,CONTROL_FINISHED_OK
$STATE,9045,begin climb
$GC,9048,0.95,146.6,2527,1927,2737,2606,993.7,0.0,364,9210,1.08,2.58,149.15,2.439,11012,0.079,0.086,2906,3327,2072,2097,2048,0,0,0,0,0,0,14.07,13.85,12.81
$GC,9360,0.95,146.6,2906,3327,2092,2048,978.6,13.0,375,9365,0.00,2.42,0.00,0.000,1030,0.000,0.070,2914,1918,2070,2093,2048,0,0,0,0,0,0,28.83,14.29,28.83
$GC,9695,0.95,146.6,2914,1919,2091,2048,939.1,11.3,386,9700,0.00,2.42,0.00,0.000,260,0.000,0.085,2907,3324,2069,2091,2047,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9777,0.95,146.6,2907,3324,2089,2047,931.9,11.1,388,9782,0.00,2.40,0.00,0.000,1030,0.000,0.071,2914,1914,2068,2089,2047,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10090,0.95,146.6,2914,1914,2088,2047,896.7,10.5,399,10095,0.00,2.42,0.00,0.000,260,0.000,0.086,2910,3325,2068,2089,2047,0,0,0,0,0,0,28.83,14.49,28.83
$GC,10238,0.95,146.6,2909,3323,2086,2047,882.5,11.5,403,10245,0.00,2.40,0.00,0.000,1030,0.000,0.072,2917,1915,2066,2086,2047,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10544,0.95,146.6,2918,1917,2085,2047,845.8,11.5,414,10550,0.00,2.45,0.00,0.000,260,0.000,0.087,2917,3332,2066,2086,2047,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10672,0.95,146.6,2917,3332,2083,2047,830.8,12.2,418,10678,0.00,2.40,0.00,0.000,1030,0.000,0.076,2926,1922,2065,2083,2047,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11002,0.95,146.6,2926,1922,2083,2044,789.2,13.0,429,11003,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1922,2063,2083,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11301,0.95,146.6,2926,1922,2083,2044,750.9,13.3,439,11302,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1921,2063,2083,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11600,0.95,146.6,2926,1921,2083,2042,717.7,10.6,449,11606,0.00,2.42,0.00,0.000,260,0.000,0.088,2926,3326,2062,2083,2042,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11749,0.95,146.6,2925,3325,2083,2042,703.6,11.4,453,11756,0.15,2.38,0.00,0.000,5126,0.347,0.071,2908,1918,2062,2083,2042,0,0,0,0,0,0,14.10,14.55,28.83
$GC,12057,0.95,146.6,2908,1918,2083,2042,668.0,10.6,464,12062,0.00,2.45,0.00,0.000,260,0.000,0.085,2906,3332,2063,2084,2042,0,0,0,0,0,0,28.83,14.45,28.83
$GC,12265,0.95,146.6,2906,3332,2083,2040,647.0,11.4,470,12272,0.00,2.40,0.00,0.000,1030,0.000,0.073,2914,1925,2062,2084,2040,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12571,0.95,146.6,2914,1925,2083,2040,604.2,13.4,481,12572,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1925,2061,2083,2040,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17484,end climb,SURFACE_DEPTH_REACHED
$STATE,17484,begin surface coast
$FINISH,-0.2,1.025685
$STATE,17488,end surface coast,CONTROL_FINISHED_OK
$STATE,17488,begin surface
$SM_CCo,17513,86.10,1.041,0,0,1651,250.21
$SM_GC,0.41,9.50,2.40,86.10,0.219,0.059,1.041,130,1921,1651,-7.72,0.76,250.21,5,0,0,0,0,0,13.75,14.52,13.80
$IRIDIUM_FIX,2432.32,-3346.67,290313,040417
$TT8_MAMPS,0.02247,0.02247
$HUMID,39.40
$INTERNAL_PRESSURE,8.32307
$TCM_TEMP,23.60
$XPDR_PINGS,166
$SC_FREEKB,4017696
$TM_FREEKB,7867492
$24V_AH,12.8,6.140
$10V_AH,13.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.650,109.625,277.175,86.100,0.000,0.000,0.000,0.000,41.500,0.000,11.286,2445.704,12527.369,501.732,1982.716,222.432,33.224,1507.594,0.000,1910.146,0.000,0.545,0.000
$DEVICE_MAMPS,377.910,98.685,2440.350,1041.165,0.000,0.000,0.000,0.000,420.000,0.000,23.220,8.720,2.190,8.720,27.440,31.940,44.670,16.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.603,12.815,0.000,0.000
$MEM,354004
$DATA_FILE_SIZE,26729,711
$CAP_FILE_SIZE,193158,0
$CFSIZE,260165632,257560576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,0,0,0,0
$GPS,290313,091805,2445.825,-3747.872,26,1.0,26,-15.0