version: 66.11
glider: 129
mission: 4
dive: 331
start: 1 22 113 20 43 33
data:
$ID,129
$MISSION,4
$DIVE,331
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,30
$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,-3133.9304
$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,82
$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,21.5
$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
$GPS1,220113,203453,1940.883,12355.347,25,1.0,43,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-64.8
$GPS2,220113,204307,1940.741,12355.436,14,1.0,14,-2.4
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,HEADING
$TGT_LATLONG,1950.093,12401.176
$TGT_RADIUS,1852.000
$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,32.4,20000,-15.3,-9.429,-18.41
$D_GRID,5357
$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,20,-0.58,-184.9,0.0,0.0,0,83,0.00,0.00,-61.03,0.000,2,0.000,0.000,59,1889,1759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.58,-184.9,3.1,-3.2,11,140,7.88,2.15,-38.33,0.000,4,0.238,0.045,1956,3291,3164,0,0,0,0,0,0,24.93,26.08,26.55
$GC,224,-0.53,-184.9,29.6,-27.3,35,230,0.12,1.92,0.00,0.000,6,0.163,0.021,1988,1908,3165,0,0,0,0,0,0,25.89,26.28,28.83
$GC,538,-0.48,-184.9,108.2,-18.7,54,543,0.00,1.95,0.00,0.000,4,0.000,0.028,1988,545,3164,0,0,0,0,0,0,28.83,26.26,28.83
$GC,677,-0.45,-184.9,131.8,-18.6,60,684,0.12,1.92,0.00,0.000,6,0.157,0.020,2013,1904,3163,0,0,0,0,0,0,26.00,26.34,28.83
$GC,982,-0.43,-184.9,180.4,-14.5,76,987,0.00,1.95,0.00,0.000,4,0.000,0.027,2013,543,3166,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1055,-0.41,-184.9,190.0,-15.2,79,1060,0.00,1.95,0.00,0.000,6,0.000,0.020,2005,1932,3166,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1368,-0.40,-184.9,234.8,-13.6,95,1373,0.00,2.00,0.00,0.000,4,0.000,0.033,1994,3311,3166,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1386,-0.38,-184.9,234.8,-13.6,95,1393,0.15,1.92,0.00,0.000,6,0.125,0.020,2040,1901,3166,0,0,0,0,0,0,26.06,26.39,28.83
$GC,1692,-0.40,-184.9,264.7,-7.9,111,1697,0.00,1.95,0.00,0.000,4,0.000,0.028,2040,560,3165,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1760,-0.41,-184.9,270.0,-8.3,114,1765,0.00,1.92,0.00,0.000,6,0.000,0.020,2034,1928,3165,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2079,-0.42,-184.9,297.6,-8.5,130,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1928,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2381,-0.43,-184.9,322.1,-8.6,145,2387,0.00,2.03,0.00,0.000,4,0.000,0.028,2034,560,3163,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2454,-0.45,-184.9,328.3,-9.2,148,2459,0.00,1.92,0.00,0.000,6,0.000,0.021,2034,1934,3163,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2768,-0.46,-184.9,356.5,-8.1,164,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1935,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3071,-0.48,-184.9,377.9,-6.7,179,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1935,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3370,-0.50,-184.9,402.2,-8.6,194,3372,0.12,0.00,0.00,0.000,6,0.096,0.000,1973,1936,3161,0,0,0,0,0,0,26.43,28.83,28.83
$GC,3669,-0.50,-184.9,440.5,-12.7,209,3674,0.00,2.00,0.00,0.000,4,0.000,0.028,1973,560,3161,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3712,-0.50,-184.9,446.3,-12.7,211,3718,0.12,1.95,0.00,0.000,6,0.145,0.021,2000,1929,3159,0,0,0,0,0,0,26.04,26.36,28.83
$GC,4036,-0.50,-184.9,477.1,-8.6,227,4042,0.00,2.03,0.00,0.000,4,0.000,0.029,2000,568,3157,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4103,-0.50,-184.9,482.5,-8.4,230,4108,0.00,1.92,0.00,0.000,6,0.000,0.021,1992,1931,3157,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4421,-0.50,-184.9,509.9,-9.1,246,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1930,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4723,-0.50,-184.9,538.6,-9.9,261,4728,0.00,2.00,0.00,0.000,4,0.000,0.030,1992,567,3154,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4776,-0.50,-184.9,543.4,-10.2,263,4782,0.00,1.92,0.00,0.000,6,0.000,0.021,1983,1920,3152,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5089,-0.50,-184.9,575.9,-9.6,279,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1920,3150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5412,-0.50,-184.9,607.0,-9.8,294,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1920,3148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5709,-0.50,-184.9,635.9,-9.6,304,5715,0.00,1.98,0.00,0.000,4,0.000,0.030,1983,568,3145,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5812,-0.50,-184.9,645.2,-9.9,307,5817,0.00,1.95,0.00,0.000,6,0.000,0.022,1974,1929,3145,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6137,-0.50,-184.9,676.0,-9.2,318,6138,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1929,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6436,-0.50,-184.9,702.8,-9.0,328,6442,0.00,2.00,0.00,0.000,4,0.000,0.031,1975,563,3141,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6500,-0.50,-184.9,708.9,-9.2,330,6506,0.12,1.98,0.00,0.000,6,0.151,0.023,2001,1929,3140,0,0,0,0,0,0,25.97,26.32,28.83
$GC,6834,-0.52,-184.9,731.6,-6.6,341,6840,0.00,2.05,0.00,0.000,4,0.000,0.031,2001,535,3139,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6877,-0.54,-184.9,734.1,-6.8,342,6882,0.00,2.00,0.00,0.000,6,0.000,0.022,1993,1930,3139,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7202,-0.55,-184.9,758.0,-7.3,353,7208,0.00,2.05,0.00,0.000,4,0.000,0.031,1989,562,3137,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7225,-0.56,-184.9,758.0,-7.3,353,7231,0.00,1.95,0.00,0.000,6,0.000,0.022,1985,1926,3136,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7539,-0.56,-184.9,784.4,-7.7,364,7544,0.00,2.03,0.00,0.000,4,0.000,0.031,1984,561,3135,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7564,-0.56,-184.9,784.4,-7.7,364,7569,0.00,1.98,0.00,0.000,6,0.000,0.023,1976,1936,3135,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7877,-0.56,-184.9,812.6,-8.7,375,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1936,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8177,-0.56,-184.9,840.0,-9.4,385,8182,0.00,2.03,0.00,0.000,4,0.000,0.036,1966,3307,3131,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8200,-0.56,-184.9,840.0,-9.4,385,8206,0.00,1.95,0.00,0.000,6,0.000,0.021,1966,1942,3132,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8513,-0.56,-184.9,873.6,-9.8,396,8519,0.00,2.05,0.00,0.000,4,0.000,0.031,1966,534,3131,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8596,-0.56,-184.9,880.3,-10.4,398,8602,0.00,1.98,0.00,0.000,6,0.000,0.022,1956,1924,3130,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8909,-0.56,-184.9,913.5,-10.0,409,8914,0.00,2.03,0.00,0.000,4,0.000,0.031,1952,543,3129,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8942,-0.56,-184.9,917.0,-10.0,410,8948,0.12,2.00,0.00,0.000,6,0.151,0.023,1982,1921,3129,0,0,0,0,0,0,25.91,26.27,28.83
$GC,9277,-0.57,-184.9,944.1,-7.9,421,9278,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1921,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9577,-0.59,-184.9,966.8,-7.4,431,9582,0.00,2.05,0.00,0.000,4,0.000,0.037,1973,3307,3126,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9605,-0.60,-184.9,966.8,-7.4,431,9612,0.00,2.00,0.00,0.000,6,0.000,0.022,1974,1916,3126,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,9908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9908,begin apogee
$GC,9914,-0.17,0.0,992.2,-7.3,442,10076,0.38,0.00,154.00,1.414,6,0.118,0.000,2100,1913,2409,0,0,0,0,0,0,25.63,28.83,22.26
$STATE,10077,end apogee,CONTROL_FINISHED_OK
$STATE,10078,begin climb
$GC,10080,0.58,184.9,997.4,0.0,447,10256,0.73,0.00,172.12,1.365,6,0.092,0.000,2340,1913,1658,0,0,0,0,0,0,24.23,28.83,21.85
$GC,10541,0.63,246.2,967.5,7.3,463,10600,0.00,2.25,53.38,1.349,4,0.000,0.034,2348,514,1407,0,0,0,0,0,0,28.83,25.10,23.34
$GC,10714,0.66,283.1,955.1,8.2,468,10754,0.00,2.05,32.80,1.320,6,0.000,0.021,2348,1922,1257,0,0,0,0,0,0,28.83,26.01,23.55
$GC,11054,0.70,330.1,926.8,7.8,480,11103,0.12,2.17,42.92,1.334,4,0.103,0.036,2404,3285,1062,0,0,0,0,0,0,26.21,25.27,23.54
$GC,11201,0.70,330.1,912.9,11.3,484,11208,0.00,2.00,0.00,0.000,6,0.000,0.024,2412,1907,1056,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11508,0.70,330.1,873.7,12.0,495,11513,0.00,2.08,0.00,0.000,4,0.000,0.034,2423,512,1055,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11541,0.70,330.1,869.5,12.2,496,11547,0.15,2.03,0.00,0.000,6,0.136,0.021,2379,1916,1054,0,0,0,0,0,0,25.96,26.29,28.83
$GC,11875,0.71,330.1,836.4,9.7,507,11880,0.00,2.05,0.00,0.000,4,0.000,0.036,2379,3278,1053,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11995,0.73,330.1,826.8,10.2,510,12002,0.00,2.03,0.00,0.000,6,0.000,0.024,2386,1901,1051,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12301,0.74,330.1,793.6,10.0,521,12306,0.00,2.08,0.00,0.000,4,0.000,0.035,2387,510,1051,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12329,0.75,330.1,793.6,10.0,521,12336,0.00,2.00,0.00,0.000,6,0.000,0.021,2387,1896,1051,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12636,0.77,330.1,761.1,9.6,532,12641,0.00,2.08,0.00,0.000,4,0.000,0.034,2387,3282,1050,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12709,0.78,330.1,754.4,9.9,534,12714,0.00,2.03,0.00,0.000,6,0.000,0.024,2387,1889,1050,0,0,0,0,0,0,28.83,26.30,28.83
$GC,13033,0.79,330.1,723.2,9.5,545,13039,0.00,2.05,0.00,0.000,4,0.000,0.036,2385,502,1050,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13072,0.81,330.1,719.8,9.5,546,13077,0.00,2.00,0.00,0.000,6,0.000,0.021,2387,1904,1050,0,0,0,0,0,0,28.83,26.35,28.83
$GC,13402,0.82,330.1,687.0,9.9,557,13408,0.12,2.05,0.00,0.000,4,0.106,0.033,2445,3286,1050,0,0,0,0,0,0,26.32,26.13,28.83
$GC,13502,0.82,330.1,673.5,13.2,560,13508,0.00,2.03,0.00,0.000,6,0.000,0.024,2455,1879,1049,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13833,0.82,330.1,625.7,14.0,571,13834,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1879,1050,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19575,end climb,SURFACE_DEPTH_REACHED
$STATE,19575,begin surface coast
$FINISH,1.1,1.022524
$STATE,19598,end surface coast,CONTROL_FINISHED_OK
$STATE,19598,begin surface
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$IRIDIUM_FIX,1938.95,12353.47,220113,151544
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.88
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3893248
$24V_AH,21.9,67.033
$10V_AH,9.6,45.948
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.780,0.000,0.000,0.000
$MEM,329084
$DATA_FILE_SIZE,33308,906
$CAP_FILE_SIZE,217796,0
$CFSIZE,260034560,218222592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230113,021235,1941.032,12356.189,27,1.2,27,-2.4