version: 66.11
glider: 129
mission: 4
dive: 193
start: 12 21 112 4 22 45
data:
$ID,129
$MISSION,4
$DIVE,193
$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,390
$T_MISSION,410
$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,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,-2890.6782
$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
$PITCH_ADJ_DBAND,0
$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,63
$R_STBD_OVSHOOT,104
$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,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
$GPS1,211212,040706,1753.989,12438.854,26,1.6,26,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-60.0
$GPS2,211212,042219,1753.911,12439.084,13,1.4,13,-2.0
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,233.5,10213,-14.2,-8.462,-17.62
$D_GRID,4284
$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,18,-0.54,-175.2,0.0,0.0,0,86,0.00,0.00,-65.68,0.000,2,0.000,0.000,45,1909,1856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.2,-4.8,11,134,7.93,2.12,-30.00,0.000,4,0.245,0.044,1966,509,3126,3,0,0,0,0,0,25.08,26.07,26.46
$GC,361,-0.54,-175.2,76.3,-32.4,41,368,1.23,1.98,0.00,0.000,6,0.164,0.024,2139,1885,3127,4,0,0,0,0,0,25.50,26.28,28.83
$GC,667,-0.54,-175.2,109.2,-9.3,57,669,1.00,0.00,0.00,0.000,6,0.073,0.000,1977,1890,3126,0,0,0,0,0,0,26.10,28.83,28.83
$GC,970,-0.54,-175.2,176.9,-23.4,72,975,0.00,2.00,0.00,0.000,4,0.000,0.031,1976,515,3126,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1141,-0.54,-175.2,209.6,-18.1,80,1147,0.00,2.03,0.00,0.000,6,0.000,0.022,1966,1944,3126,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1454,-0.54,-175.2,266.8,-16.6,96,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1944,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1757,-0.54,-175.2,320.1,-17.7,111,1762,0.00,2.08,0.00,0.000,4,0.000,0.030,1966,517,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1900,-0.54,-175.2,344.2,-16.4,118,1905,0.00,2.03,0.00,0.000,6,0.000,0.023,1956,1920,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2223,-0.54,-175.2,393.0,-14.2,134,2228,0.00,2.05,0.00,0.000,4,0.000,0.030,1956,514,3124,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2309,-0.54,-175.2,405.1,-14.7,138,2315,0.12,2.00,0.00,0.000,6,0.159,0.021,1980,1927,3125,0,0,0,0,0,0,26.13,26.46,28.83
$GC,2629,-0.54,-175.2,444.6,-12.1,154,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1927,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2929,-0.54,-175.2,478.7,-11.1,169,2935,0.00,2.08,0.00,0.000,4,0.000,0.031,1980,529,3121,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3043,-0.54,-175.2,490.6,-11.4,174,3048,0.00,2.00,0.00,0.000,6,0.000,0.023,1972,1931,3121,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3356,-0.54,-175.2,524.4,-9.9,190,3361,0.00,2.08,0.00,0.000,4,0.000,0.031,1973,517,3117,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3452,-0.54,-175.2,533.2,-10.6,194,3459,0.00,2.03,0.00,0.000,6,0.000,0.023,1963,1931,3117,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3758,-0.54,-175.2,566.6,-10.2,210,3764,0.00,2.05,0.00,0.000,4,0.000,0.031,1964,525,3113,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3796,-0.54,-175.2,569.3,-10.4,211,3803,0.12,2.03,0.00,0.000,6,0.160,0.023,1987,1941,3113,0,0,0,0,0,0,26.10,26.44,28.83
$GC,4102,-0.54,-175.2,596.9,-8.2,227,4107,0.00,2.08,0.00,0.000,4,0.000,0.032,1987,518,3110,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4185,-0.54,-175.2,602.8,-9.1,230,4190,0.00,2.03,0.00,0.000,6,0.000,0.024,1980,1933,3110,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4498,-0.54,-175.2,632.9,-9.2,241,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1932,3107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4799,-0.54,-175.2,660.9,-9.1,251,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1933,3105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5098,-0.54,-175.2,684.5,-7.4,261,5104,0.00,2.05,0.00,0.000,4,0.000,0.032,1980,528,3103,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5175,-0.54,-175.2,689.6,-7.7,263,5181,0.00,2.00,0.00,0.000,6,0.000,0.024,1971,1923,3102,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5496,-0.54,-175.2,716.3,-8.3,274,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1923,3099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5794,-0.54,-175.2,742.2,-8.9,284,5799,0.00,2.08,0.00,0.000,4,0.000,0.037,1961,3306,3097,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5836,-0.54,-175.2,745.3,-9.0,285,5842,0.00,2.03,0.00,0.000,6,0.000,0.025,1961,1909,3096,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6161,-0.54,-175.2,777.4,-9.8,296,6166,0.00,2.03,0.00,0.000,4,0.000,0.034,1961,544,3094,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6358,-0.54,-175.2,797.7,-11.1,302,6364,0.12,2.00,0.00,0.000,6,0.162,0.024,1985,1934,3095,0,0,0,0,0,0,26.03,26.39,28.83
$GC,6678,-0.54,-175.2,827.3,-8.5,313,6683,0.00,2.08,0.00,0.000,4,0.000,0.034,1985,536,3092,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6711,-0.54,-175.2,830.4,-8.6,314,6716,0.00,2.03,0.00,0.000,6,0.000,0.024,1977,1938,3091,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7045,-0.54,-175.2,859.0,-8.4,325,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1938,3090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7345,-0.54,-175.2,882.0,-7.4,335,7350,0.00,2.10,0.00,0.000,4,0.000,0.034,1977,532,3089,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7378,-0.54,-175.2,885.0,-7.7,336,7383,0.00,2.03,0.00,0.000,6,0.000,0.024,1968,1926,3089,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7712,-0.54,-175.2,912.2,-8.3,347,7717,0.00,2.05,0.00,0.000,4,0.000,0.034,1968,534,3087,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7795,-0.54,-175.2,918.2,-8.8,349,7800,0.00,2.03,0.00,0.000,6,0.000,0.025,1959,1936,3089,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8108,-0.54,-175.2,949.2,-9.5,360,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1936,3086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8409,-0.54,-175.2,976.1,-8.8,370,8414,0.00,2.10,0.00,0.000,4,0.000,0.035,1959,534,3084,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8501,-0.54,-175.2,985.1,-9.4,373,8507,0.12,2.03,0.00,0.000,6,0.169,0.026,1981,1922,3084,0,0,0,0,0,0,25.94,26.33,28.83
$STATE,8563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8563,begin apogee
$GC,8568,-0.17,0.0,990.1,-8.9,375,8716,0.35,0.00,138.90,1.402,6,0.123,0.000,2099,1921,2409,0,0,0,0,0,0,25.75,28.83,23.24
$STATE,8718,end apogee,CONTROL_FINISHED_OK
$STATE,8718,begin climb
$GC,8720,0.54,175.2,994.2,0.0,380,8886,0.70,2.38,157.68,1.351,4,0.094,0.037,2334,531,1693,0,0,0,0,0,0,24.49,23.62,22.45
$GC,8903,0.57,233.2,985.3,6.6,386,8965,0.00,2.17,53.42,1.311,6,0.000,0.021,2334,1895,1457,0,0,0,0,0,0,28.83,24.16,22.45
$GC,9292,0.57,233.2,950.6,8.9,399,9298,0.00,2.10,0.00,0.000,4,0.000,0.036,2334,3293,1449,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9365,0.57,233.2,944.5,9.3,401,9370,0.00,2.05,0.00,0.000,6,0.000,0.027,2334,1908,1448,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9689,0.57,233.2,914.7,9.0,412,9695,0.00,2.10,0.00,0.000,4,0.000,0.035,2334,3295,1446,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9711,0.57,233.2,914.7,9.0,412,9717,0.00,2.05,0.00,0.000,6,0.000,0.027,2334,1897,1446,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10025,0.57,233.2,884.0,9.1,423,10026,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1897,1445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10325,0.57,233.2,856.8,9.1,433,10330,0.00,2.10,0.00,0.000,4,0.000,0.035,2334,3294,1444,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10362,0.57,233.2,853.5,9.3,434,10367,0.00,2.05,0.00,0.000,6,0.000,0.028,2334,1891,1444,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10691,0.57,233.2,823.4,8.9,445,10692,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1891,1443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10989,0.57,248.2,798.6,8.0,455,11008,0.00,2.17,11.48,1.194,4,0.000,0.036,2334,3296,1397,0,0,0,0,0,0,28.83,26.09,24.59
$GC,11030,0.58,262.2,796.0,8.0,456,11052,0.00,2.08,13.50,1.200,6,0.000,0.027,2334,1889,1342,0,0,0,0,0,0,28.83,26.13,24.44
$GC,11352,0.59,289.9,770.3,7.6,467,11385,0.00,2.22,26.08,1.246,4,0.000,0.035,2334,3289,1226,0,0,0,0,0,0,28.83,25.52,24.30
$GC,11407,0.60,313.1,768.0,7.7,468,11437,0.00,2.10,21.67,1.213,6,0.000,0.027,2333,1887,1131,0,0,0,0,0,0,28.83,25.72,24.10
$GC,11745,0.62,363.5,741.6,6.8,480,11791,0.00,0.00,44.70,1.239,6,0.000,0.000,2334,1887,927,0,0,0,0,0,0,28.83,28.83,24.04
$GC,12076,0.64,423.5,719.6,6.5,491,12136,0.10,2.22,52.53,1.219,4,0.116,0.034,2376,3293,681,0,0,0,0,0,0,26.11,25.10,23.99
$GC,12148,0.66,454.9,714.6,7.4,493,12183,0.00,2.12,27.90,1.171,6,0.000,0.027,2375,1901,556,0,0,0,0,0,0,28.83,25.36,23.89
$GC,12500,0.66,454.9,681.5,9.2,505,12507,0.00,2.10,0.00,0.000,4,0.000,0.039,2376,507,551,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12528,0.66,454.9,681.5,9.2,505,12535,0.00,2.05,0.00,0.000,6,0.000,0.021,2375,1923,551,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12834,0.66,454.9,651.7,8.9,516,12840,0.00,2.03,0.00,0.000,4,0.000,0.035,2375,3282,550,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12857,0.66,454.9,651.7,8.9,516,12863,0.00,2.03,0.00,0.000,6,0.000,0.028,2376,1895,550,0,0,0,0,0,0,28.83,26.26,28.83
$GC,13170,0.66,454.9,621.3,9.0,527,13176,0.00,2.05,0.00,0.000,4,0.000,0.038,2376,507,549,0,0,0,0,0,0,28.83,26.23,28.83
$GC,13214,0.66,454.9,618.2,9.0,528,13219,0.00,2.00,0.00,0.000,6,0.000,0.021,2376,1906,550,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13538,0.66,454.9,586.9,9.7,541,13544,0.00,2.00,0.00,0.000,4,0.000,0.034,2376,3276,550,0,0,0,0,0,0,28.83,26.26,28.83
$GC,13575,0.66,454.9,584.3,10.0,542,13582,0.00,2.00,0.00,0.000,6,0.000,0.027,2375,1898,548,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13881,0.66,454.9,552.4,9.6,558,13886,0.00,2.05,0.00,0.000,4,0.000,0.038,2375,513,548,0,0,0,0,0,0,28.83,26.26,28.83
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$STATE,19857,end climb,SURFACE_DEPTH_REACHED
$STATE,19857,begin surface coast
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$STATE,19868,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,0
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$10V_AH,10.1,27.693
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$FG_AHR_10Vo,0.000
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$MEM,329020
$DATA_FILE_SIZE,33333,886
$CAP_FILE_SIZE,209447,0
$CFSIZE,260034560,232411136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,7,0,0,0,0
$CURRENT,0.259, 52.4,1
$GPS,211212,095629,1753.127,12438.359,41,1.2,41,-2.0