version: 66.11
glider: 129
mission: 4
dive: 335
start: 1 23 113 19 10 52
data:
$ID,129
$MISSION,4
$DIVE,335
$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,-3166.408
$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,57
$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,21.5
$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
$GPS1,230113,190401,1940.206,12357.613,9,1.6,9,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-60.9
$GPS2,230113,191027,1940.048,12357.645,15,2.6,34,-2.4
$SPEED_LIMITS,0.163,0.283
$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,164.5,214186,-15.3,-9.429,-18.41
$D_GRID,5356
$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,-0.58,-184.9,0.0,0.0,0,87,0.00,0.00,-65.25,0.000,2,0.000,0.000,75,1931,1785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.58,-184.9,3.2,-4.4,11,145,7.93,2.12,-37.88,0.000,4,0.239,0.042,1969,517,3165,0,0,0,0,0,0,24.89,26.17,26.65
$GC,234,-0.52,-184.9,33.0,-27.7,34,242,0.12,2.00,0.00,0.000,6,0.172,0.021,1992,1919,3165,0,0,0,0,0,0,25.89,26.29,28.83
$GC,551,-0.47,-184.9,110.7,-23.0,53,552,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1920,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,852,-0.43,-184.9,173.1,-18.9,68,857,0.00,2.05,0.00,0.000,4,0.000,0.028,1992,509,3165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,926,-0.40,-184.9,183.1,-15.6,71,933,0.15,2.03,0.00,0.000,6,0.146,0.020,2027,1943,3165,0,0,0,0,0,0,25.96,26.36,28.83
$GC,1241,-0.40,-184.9,221.4,-12.3,87,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1944,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1543,-0.40,-184.9,250.7,-8.9,102,1549,0.00,2.08,0.00,0.000,4,0.000,0.028,2027,514,3164,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1576,-0.40,-184.9,253.0,-8.7,103,1581,0.00,1.98,0.00,0.000,6,0.000,0.019,2018,1931,3165,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1889,-0.40,-184.9,285.3,-11.5,119,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1931,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2191,-0.40,-184.9,317.0,-9.4,134,2197,0.00,2.03,0.00,0.000,4,0.000,0.032,2008,3319,3162,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2224,-0.40,-184.9,319.3,-9.2,135,2230,0.00,1.98,0.00,0.000,6,0.000,0.019,2007,1885,3162,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2539,-0.40,-184.9,347.9,-9.1,151,2544,0.00,1.92,0.00,0.000,4,0.000,0.028,2008,545,3161,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2665,-0.40,-184.9,359.7,-9.2,157,2671,0.00,1.92,0.00,0.000,6,0.000,0.020,2000,1929,3161,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2990,-0.40,-184.9,391.5,-9.1,173,2996,0.00,2.03,0.00,0.000,4,0.000,0.028,2000,544,3159,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3029,-0.40,-184.9,393.8,-9.1,174,3036,0.15,1.92,0.00,0.000,6,0.135,0.020,2036,1917,3158,0,0,0,0,0,0,26.01,26.37,28.83
$GC,3334,-0.43,-184.9,413.9,-6.0,190,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1917,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3637,-0.45,-184.9,434.9,-7.0,205,3642,0.00,2.03,0.00,0.000,4,0.000,0.034,2034,3302,3157,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3664,-0.48,-184.9,436.6,-6.9,206,3670,0.00,1.90,0.00,0.000,6,0.000,0.019,2032,1930,3157,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3984,-0.50,-184.9,456.9,-6.3,222,3989,0.10,1.98,0.00,0.000,4,0.112,0.026,1983,549,3154,0,0,0,0,0,0,26.45,26.26,28.83
$GC,4122,-0.50,-184.9,469.1,-10.1,228,4130,0.00,1.95,-0.10,0.000,6,0.000,0.021,1974,1938,3189,0,0,0,0,0,0,28.83,26.36,25.25
$GC,4428,-0.50,-184.9,505.1,-11.5,244,4434,0.00,2.03,0.00,0.000,4,0.000,0.028,1974,544,3184,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4477,-0.50,-184.9,510.2,-11.5,246,4483,0.05,1.98,0.00,0.000,6,0.099,0.021,1997,1914,3184,0,0,0,0,0,0,26.02,26.36,28.83
$GC,4797,-0.50,-184.9,537.6,-7.9,262,4802,0.00,2.05,0.00,0.000,4,0.000,0.034,1989,3314,3184,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4851,-0.51,-184.9,541.0,-7.8,264,4856,0.00,1.95,0.00,0.000,6,0.000,0.021,1989,1913,3184,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5164,-0.51,-184.9,570.4,-9.4,280,5169,0.00,1.98,0.00,0.000,4,0.000,0.029,1988,540,3184,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5309,-0.51,-184.9,584.8,-9.8,287,5314,0.00,1.98,0.00,0.000,6,0.000,0.021,1979,1932,3181,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5644,-0.51,-184.9,615.4,-9.1,301,5649,0.00,2.00,0.00,0.000,4,0.000,0.034,1969,3302,3179,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5678,-0.51,-184.9,618.5,-9.0,302,5683,0.00,1.95,0.00,0.000,6,0.000,0.021,1969,1928,3178,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6013,-0.51,-184.9,650.8,-9.9,313,6018,0.00,2.00,0.00,0.000,4,0.000,0.030,1968,540,3179,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6182,-0.51,-184.9,667.9,-10.9,318,6188,0.12,1.98,0.00,0.000,6,0.146,0.021,1996,1932,3176,0,0,0,0,0,0,25.98,26.32,28.83
$GC,6505,-0.53,-184.9,695.7,-8.2,329,6506,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1933,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6802,-0.54,-184.9,719.2,-7.3,339,6808,0.00,2.05,0.00,0.000,4,0.000,0.031,1996,548,3171,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6860,-0.55,-184.9,721.8,-7.2,340,6868,0.00,2.00,0.00,0.000,6,0.000,0.022,1989,1926,3171,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7168,-0.57,-184.9,744.5,-6.9,351,7169,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1926,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7467,-0.58,-184.9,767.2,-7.8,361,7472,0.00,2.05,0.00,0.000,4,0.000,0.031,1990,549,3168,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7511,-0.59,-184.9,770.2,-7.9,362,7517,0.00,1.98,0.00,0.000,6,0.000,0.023,1982,1934,3168,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7836,-0.59,-184.9,796.0,-7.2,373,7842,0.00,2.05,0.00,0.000,4,0.000,0.031,1982,551,3166,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7931,-0.59,-184.9,803.3,-7.6,376,7936,0.00,1.98,0.00,0.000,6,0.000,0.023,1974,1932,3167,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8266,-0.59,-184.9,829.0,-8.0,387,8272,0.00,2.05,0.00,0.000,4,0.000,0.031,1974,552,3165,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8331,-0.59,-184.9,834.5,-8.2,389,8336,0.00,2.00,0.00,0.000,6,0.000,0.023,1967,1917,3164,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8667,-0.59,-184.9,863.6,-8.8,400,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1917,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8965,-0.59,-184.9,887.6,-7.6,410,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1917,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9265,-0.59,-184.9,910.5,-7.9,420,9270,0.00,2.05,0.00,0.000,4,0.000,0.031,1967,553,3161,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9353,-0.59,-184.9,916.1,-8.4,422,9360,0.00,1.98,0.00,0.000,6,0.000,0.023,1959,1929,3161,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9658,-0.59,-184.9,948.5,-10.4,433,9664,0.00,2.08,0.00,0.000,4,0.000,0.031,1959,555,3160,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9706,-0.59,-184.9,952.3,-10.7,434,9712,0.00,2.00,0.00,0.000,6,0.000,0.024,1950,1923,3159,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10025,-0.59,-184.9,988.9,-10.5,445,10027,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1922,3157,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10053,begin apogee
$GC,10058,-0.17,0.0,992.1,-10.4,446,10231,0.45,0.00,161.40,1.416,6,0.123,0.000,2100,1922,2409,0,0,0,0,0,0,25.47,28.83,22.16
$STATE,10232,end apogee,CONTROL_FINISHED_OK
$STATE,10232,begin climb
$GC,10235,0.58,184.9,999.2,0.0,451,10415,0.73,2.35,171.32,1.366,4,0.088,0.032,2347,532,1655,0,0,0,0,0,0,24.20,23.63,21.82
$GC,10458,0.61,256.2,989.9,7.0,459,10532,0.00,2.12,66.28,1.335,6,0.000,0.020,2346,1902,1363,0,0,0,0,0,0,28.83,24.72,22.09
$GC,10841,0.63,256.2,953.6,9.6,472,10847,0.00,2.10,0.00,0.000,4,0.000,0.035,2347,3296,1355,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10899,0.65,256.2,950.0,9.8,473,10907,0.00,2.00,0.00,0.000,6,0.000,0.024,2347,1913,1354,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11208,0.68,288.2,920.5,8.3,484,11238,0.00,0.00,28.40,1.325,6,0.000,0.000,2347,1912,1235,0,0,0,0,0,0,28.83,28.83,23.62
$GC,11537,0.71,312.2,893.4,8.6,495,11565,0.12,0.00,22.20,1.304,6,0.110,0.000,2396,1912,1138,0,0,0,0,0,0,26.22,28.83,23.75
$GC,11867,0.71,312.2,852.6,12.6,506,11872,0.00,2.08,0.00,0.000,4,0.000,0.034,2396,3283,1133,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11910,0.71,312.2,847.7,12.9,507,11915,0.00,2.00,0.00,0.000,6,0.000,0.024,2402,1895,1132,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12234,0.71,312.2,806.9,11.7,518,12239,0.00,2.12,0.00,0.000,4,0.000,0.034,2402,3294,1131,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12262,0.71,312.2,806.9,11.7,518,12270,0.00,2.00,0.00,0.000,6,0.000,0.024,2408,1900,1130,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12568,0.71,312.2,767.5,11.6,529,12569,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1900,1130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12868,0.71,312.2,732.9,11.5,539,12870,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1900,1130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13167,0.71,312.2,697.1,12.1,549,13172,0.00,2.10,0.00,0.000,4,0.000,0.034,2409,3289,1129,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13209,0.71,312.2,693.0,12.1,550,13214,0.00,2.00,0.00,0.000,6,0.000,0.024,2413,1900,1129,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13535,0.71,312.2,655.9,10.4,561,13540,0.00,2.10,0.00,0.000,4,0.000,0.034,2413,3290,1129,0,0,0,0,0,0,28.83,26.12,28.83
$GC,13568,0.71,312.2,652.1,10.4,562,13573,0.00,2.03,0.00,0.000,6,0.000,0.024,2413,1891,1128,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13903,0.71,312.2,619.6,10.0,573,13904,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1890,1129,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19955,end climb,SURFACE_DEPTH_REACHED
$STATE,19955,begin surface coast
$FINISH,1.1,1.016458
$STATE,19967,end surface coast,CONTROL_FINISHED_OK
$STATE,19967,begin surface
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$IRIDIUM_FIX,1932.09,12357.27,230113,181830
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.63
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3891712
$24V_AH,21.8,67.929
$10V_AH,9.9,46.474
$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,0.000,0.000,0.000,0.000,0.000,0.000,11.614,0.000,0.000,0.000
$MEM,329180
$DATA_FILE_SIZE,33371,912
$CAP_FILE_SIZE,224026,1
$CFSIZE,260034560,217812992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.212,187.5,1
$GPS,240113,004606,1934.936,12358.729,28,1.5,28,-2.4