version: 66.11
glider: 129
mission: 4
dive: 149
start: 12 9 112 21 39 14
data:
$ID,129
$MISSION,4
$DIVE,149
$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,380
$T_MISSION,400
$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,180
$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,1
$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,-2835.1282
$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,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$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,74
$R_STBD_OVSHOOT,92
$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,22
$MINV_10V,9.5
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$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
$GPS1,091212,212759,2013.654,12412.910,37,1.2,42,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-56.6
$GPS2,091212,213848,2013.458,12412.790,23,1.8,40,-2.5
$SPEED_LIMITS,0.150,0.269
$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,66.8,12849,-14.6,-8.684,-17.90
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.56,-175.2,0.0,0.0,0,68,0.00,0.00,-47.42,0.000,2,0.000,0.000,43,1882,1754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.56,-175.2,3.1,-4.1,8,126,7.65,2.08,-41.60,0.000,4,0.236,0.047,1970,523,3125,0,0,0,0,0,0,25.33,26.01,26.36
$GC,174,-0.51,-175.2,16.4,-23.8,26,183,0.05,2.00,0.00,0.000,6,0.122,0.022,1993,1896,3126,0,0,0,0,0,0,25.78,26.11,28.83
$GC,496,-0.46,-175.2,94.3,-22.2,52,501,0.00,1.98,0.00,0.000,4,0.000,0.031,1993,535,3126,0,0,0,0,0,0,28.83,26.22,28.83
$GC,614,-0.45,-175.2,109.6,-14.0,57,621,0.00,1.98,0.00,0.000,6,0.000,0.022,1986,1935,3126,0,0,0,0,0,0,28.83,26.32,28.83
$GC,920,-0.43,-175.2,149.9,-12.4,73,926,0.12,2.05,0.00,0.000,4,0.152,0.029,2027,530,3127,0,0,0,0,0,0,26.19,26.33,28.83
$GC,987,-0.43,-175.2,156.9,-11.0,76,992,0.00,1.98,0.00,0.000,6,0.000,0.022,2019,1929,3127,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1305,-0.43,-175.2,189.4,-9.7,92,1311,0.00,2.03,0.00,0.000,4,0.000,0.030,2019,534,3127,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1373,-0.44,-175.2,195.7,-9.7,95,1379,0.00,1.98,0.00,0.000,6,0.000,0.022,2010,1928,3127,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1691,-0.44,-175.2,226.6,-9.5,111,1696,0.00,2.03,0.00,0.000,4,0.000,0.035,2000,3308,3126,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1743,-0.45,-175.2,230.6,-9.4,113,1748,0.00,1.98,0.00,0.000,6,0.000,0.022,2000,1901,3126,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2056,-0.45,-175.2,262.4,-10.4,129,2061,0.00,1.92,0.00,0.000,4,0.000,0.031,2000,549,3126,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2113,-0.45,-175.2,267.0,-10.5,131,2120,0.00,1.92,0.00,0.000,6,0.000,0.021,1991,1928,3126,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2419,-0.45,-175.2,299.0,-9.1,147,2424,0.00,2.00,0.00,0.000,4,0.000,0.034,1983,3307,3125,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2462,-0.45,-175.2,302.6,-8.6,149,2468,0.12,1.95,0.00,0.000,6,0.132,0.022,2019,1916,3125,0,0,0,0,0,0,26.23,26.49,28.83
$GC,2786,-0.47,-175.2,324.3,-7.3,165,2792,0.00,1.98,0.00,0.000,4,0.000,0.031,2019,549,3125,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2850,-0.48,-175.2,329.8,-8.2,168,2856,0.00,1.92,0.00,0.000,6,0.000,0.022,2011,1927,3125,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3174,-0.50,-175.2,354.1,-6.7,184,3180,0.00,2.03,0.00,0.000,4,0.000,0.036,2002,3308,3124,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3202,-0.52,-175.2,355.5,-6.5,185,3208,0.00,1.98,0.00,0.000,6,0.000,0.022,2002,1926,3124,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3521,-0.53,-175.2,375.5,-6.0,201,3526,0.00,2.00,0.00,0.000,4,0.000,0.032,2002,530,3123,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3608,-0.54,-175.2,381.6,-7.3,205,3613,0.00,1.95,0.00,0.000,6,0.000,0.022,1994,1925,3123,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3927,-0.55,-175.2,407.8,-8.4,221,3932,0.00,2.03,0.00,0.000,4,0.000,0.036,1986,3313,3120,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3971,-0.57,-175.2,411.4,-8.4,223,3977,0.00,1.98,0.00,0.000,6,0.000,0.023,1986,1925,3122,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4294,-0.57,-175.2,440.1,-9.0,239,4300,0.00,2.00,0.00,0.000,4,0.000,0.031,1986,533,3120,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4474,-0.58,-175.2,456.5,-9.7,247,4481,0.00,1.98,0.00,0.000,6,0.000,0.023,1976,1923,3119,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4780,-0.58,-175.2,481.3,-7.2,263,4785,0.00,2.05,0.00,0.000,4,0.000,0.037,1967,3296,3118,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4824,-0.59,-175.2,484.5,-7.2,265,4829,0.00,1.98,0.00,0.000,6,0.000,0.024,1967,1934,3117,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5147,-0.59,-175.2,509.7,-7.9,281,5152,0.00,2.03,0.00,0.000,4,0.000,0.034,1967,531,3115,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5218,-0.59,-175.2,515.4,-8.9,284,5224,0.00,1.98,0.00,0.000,6,0.000,0.024,1958,1933,3115,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5532,-0.59,-175.2,543.5,-8.5,300,5537,0.00,2.08,0.00,0.000,4,0.000,0.034,1957,530,3115,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5596,-0.59,-175.2,549.4,-9.1,303,5601,0.00,2.00,0.00,0.000,6,0.000,0.024,1949,1919,3114,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5918,-0.59,-175.2,581.8,-10.4,319,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1919,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6220,-0.59,-175.2,612.8,-10.2,332,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1919,3109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6518,-0.59,-175.2,642.8,-9.9,342,6523,0.00,2.05,0.00,0.000,4,0.000,0.034,1949,527,3108,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6540,-0.59,-175.2,642.8,-9.9,342,6545,0.00,2.03,0.00,0.000,6,0.000,0.024,1941,1935,3108,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6853,-0.58,-175.2,677.2,-10.1,353,6855,0.12,0.00,0.00,0.000,6,0.147,0.000,1976,1936,3107,0,0,0,0,0,0,26.33,28.83,28.83
$GC,7155,-0.60,-175.2,699.6,-7.2,363,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1936,3105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7454,-0.61,-175.2,720.7,-6.9,373,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1936,3104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7754,-0.63,-175.2,741.7,-7.0,383,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1936,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8054,-0.64,-175.2,761.1,-6.2,393,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1936,3101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8354,-0.66,-175.2,778.0,-5.4,403,8359,0.00,2.10,0.00,0.000,4,0.000,0.037,1976,537,3099,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8406,-0.67,-175.2,780.0,-5.5,404,8411,0.00,2.00,0.00,0.000,6,0.000,0.025,1969,1935,3098,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8720,-0.68,-175.2,799.3,-5.9,415,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1936,3098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9021,-0.69,-175.2,817.5,-6.2,425,9022,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1936,3096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9319,-0.71,-175.2,836.5,-6.2,435,9325,0.12,2.10,0.00,0.000,4,0.103,0.035,1910,534,3095,0,0,0,0,0,0,26.47,26.26,28.83
$GC,9384,-0.71,-175.2,842.7,-8.0,437,9390,0.12,2.00,0.00,0.000,6,0.164,0.027,1932,1920,3094,0,0,0,0,0,0,26.01,26.37,28.83
$GC,9718,-0.71,-175.2,872.3,-9.0,448,9719,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,1921,3093,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10018,-0.71,-175.2,898.5,-8.4,458,10023,0.00,2.08,0.00,0.000,4,0.000,0.037,1933,544,3093,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10045,-0.71,-175.2,898.5,-8.4,458,10053,0.00,2.03,0.00,0.000,6,0.000,0.026,1925,1922,3092,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10355,-0.70,-175.2,927.3,-8.5,469,10360,0.00,2.08,0.00,0.000,4,0.000,0.039,1914,3311,3092,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10399,-0.69,-175.2,930.4,-8.4,470,10404,0.00,2.03,0.00,0.000,6,0.000,0.028,1914,1918,3091,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10722,-0.68,-175.2,959.2,-8.6,481,10727,0.00,2.05,0.00,0.000,4,0.000,0.038,1914,528,3091,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10824,-0.67,-175.2,967.9,-9.1,484,10830,0.15,2.00,0.00,0.000,6,0.155,0.027,1948,1923,3090,0,0,0,0,0,0,25.93,26.35,28.83
$GC,11149,-0.68,-175.2,989.2,-5.9,495,11150,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,1924,3089,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11175,begin apogee
$GC,11179,-0.17,0.0,990.9,-5.9,496,11329,0.45,0.00,140.15,1.424,6,0.119,0.000,2098,1923,2407,0,0,0,0,0,0,25.70,28.83,23.32
$STATE,11331,end apogee,CONTROL_FINISHED_OK
$STATE,11331,begin climb
$GC,11332,0.56,175.2,993.7,0.0,501,11498,0.68,2.38,156.15,1.370,4,0.067,0.037,2351,517,1692,0,0,0,0,0,0,24.50,23.57,22.56
$GC,11535,0.53,175.2,981.9,8.7,507,11542,0.00,2.20,0.00,0.000,6,0.000,0.024,2351,1906,1688,0,0,0,0,0,0,28.83,24.31,28.83
$GC,11842,0.51,175.2,943.1,11.5,518,11848,0.00,2.10,0.00,0.000,4,0.000,0.037,2351,3297,1683,0,0,0,0,0,0,28.83,25.60,28.83
$GC,11939,0.48,175.2,931.6,12.0,521,11946,0.17,2.05,0.00,0.000,6,0.173,0.029,2316,1908,1683,0,0,0,0,0,0,25.42,25.82,28.83
$GC,12269,0.48,181.5,902.0,8.5,532,12280,0.00,2.10,4.70,0.955,4,0.000,0.034,2315,3292,1669,0,0,0,0,0,0,28.83,26.01,24.68
$GC,12352,0.47,181.5,896.1,8.7,534,12357,0.00,2.05,0.00,0.000,6,0.000,0.028,2325,1892,1668,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12667,0.47,183.2,867.4,8.6,545,12668,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1892,1667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12965,0.46,186.6,841.5,8.6,555,12973,0.00,0.00,5.97,1.059,6,0.000,0.000,2325,1892,1648,0,0,0,0,0,0,28.83,28.83,24.87
$GC,13266,0.46,190.4,815.6,8.6,565,13277,0.00,2.12,4.85,0.964,4,0.000,0.034,2324,3302,1633,0,0,0,0,0,0,28.83,26.15,24.84
$GC,13383,0.45,190.4,806.3,9.7,568,13390,0.00,2.08,0.00,0.000,6,0.000,0.029,2334,1896,1632,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13690,0.44,190.4,774.9,9.8,579,13696,0.12,2.08,0.00,0.000,4,0.174,0.038,2305,499,1631,0,0,0,0,0,0,26.01,26.19,28.83
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$STATE,21291,end climb,SURFACE_DEPTH_REACHED
$STATE,21291,begin surface coast
$FINISH,1.1,1.023124
$STATE,21308,end surface coast,CONTROL_FINISHED_OK
$STATE,21308,begin surface
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$TT8_MAMPS,0.024717,0.024717
$HUMID,48.85
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3963072
$24V_AH,22.6,28.968
$10V_AH,10.1,21.639
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.450,183.675,527.275,0.000,0.000,0.000,0.000,386.850,3.000,0.000,41.108,3185.887,14967.269,692.436,2830.943,346.787,0.000,2401.074,0.000,2292.913,0.000,26.815,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.919,0.000,0.000,0.000
$MEM,329000
$DATA_FILE_SIZE,36774,972
$CAP_FILE_SIZE,245024,0
$CFSIZE,260034560,237142016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,263.7,1
$GPS,101212,033654,2015.041,12414.832,39,1.1,39,-2.5