version: 66.11
glider: 129
mission: 4
dive: 379
start: 2 2 113 21 53 48
data:
$ID,129
$MISSION,4
$DIVE,379
$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,-3
$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,-3225.4136
$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,79
$R_STBD_OVSHOOT,85
$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
$GPS1,020213,214500,1756.432,12352.964,42,1.2,42,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-62.7
$GPS2,020213,215319,1756.418,12352.995,11,1.5,11,-2.0
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,278.0,181667,-15.3,-9.429,-18.41
$D_GRID,4644
$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,-184.9,0.0,0.0,0,88,0.00,0.00,-65.35,0.000,2,0.000,0.000,54,1906,1783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.1,-3.6,11,147,10.07,2.10,-40.30,0.000,4,0.231,0.044,2252,529,3164,7,0,0,0,0,0,24.58,26.10,26.56
$GC,218,-0.70,-184.9,10.6,-8.4,33,226,1.75,1.95,0.00,0.000,6,0.095,0.019,1934,1935,3165,0,0,0,0,0,0,25.69,26.29,28.83
$GC,531,-0.61,-184.9,107.1,-36.0,63,537,0.12,2.00,0.00,0.000,4,0.182,0.028,1961,3305,3164,0,0,0,0,0,0,25.99,26.20,28.83
$GC,580,-0.53,-184.9,120.7,-32.6,65,585,0.00,1.95,0.00,0.000,6,0.000,0.021,1961,1921,3165,0,0,0,0,0,0,28.83,26.32,28.83
$GC,899,-0.48,-184.9,200.2,-22.2,81,905,0.12,1.98,0.00,0.000,4,0.157,0.026,2001,537,3165,0,0,0,0,0,0,26.10,26.23,28.83
$GC,1016,-0.46,-184.9,215.9,-14.1,86,1021,0.00,1.95,0.00,0.000,6,0.000,0.020,1992,1917,3165,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1329,-0.44,-184.9,262.2,-13.7,102,1335,0.00,2.03,0.00,0.000,4,0.000,0.032,1982,3301,3165,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1374,-0.43,-184.9,268.4,-14.1,104,1381,0.15,1.92,0.00,0.000,6,0.126,0.020,2027,1909,3165,0,0,0,0,0,0,26.01,26.35,28.83
$GC,1699,-0.43,-184.9,299.9,-9.6,120,1704,0.00,1.95,0.00,0.000,4,0.000,0.028,2027,552,3164,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1783,-0.44,-184.9,308.1,-9.9,124,1789,0.00,1.95,0.00,0.000,6,0.000,0.019,2020,1932,3164,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2107,-0.44,-184.9,339.8,-9.8,140,2112,0.00,2.00,0.00,0.000,4,0.000,0.032,2010,3297,3163,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2154,-0.45,-184.9,344.0,-9.5,142,2159,0.00,1.92,0.00,0.000,6,0.000,0.019,2009,1911,3163,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2473,-0.45,-184.9,377.7,-10.1,158,2479,0.00,1.95,0.00,0.000,4,0.000,0.028,2009,556,3163,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2570,-0.45,-184.9,386.1,-10.1,162,2578,0.00,1.95,0.00,0.000,6,0.000,0.020,2002,1936,3163,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2876,-0.45,-184.9,417.0,-9.7,178,2882,0.00,2.03,0.00,0.000,4,0.000,0.027,2002,550,3159,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2980,-0.45,-184.9,428.2,-10.9,183,2986,0.00,1.98,0.00,0.000,6,0.000,0.020,1994,1936,3161,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3304,-0.45,-184.9,461.7,-10.0,199,3309,0.00,2.03,0.00,0.000,4,0.000,0.033,1984,3308,3159,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3361,-0.45,-184.9,465.6,-9.5,201,3368,0.00,1.90,0.00,0.000,6,0.000,0.020,1984,1934,3158,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3668,-0.45,-184.9,494.8,-8.5,217,3673,0.10,2.00,0.00,0.000,4,0.148,0.027,2011,541,3157,0,0,0,0,0,0,26.31,26.22,28.83
$GC,3821,-0.46,-184.9,505.5,-7.2,224,3827,0.00,1.98,0.00,0.000,6,0.000,0.021,2003,1929,3156,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4136,-0.47,-184.9,527.5,-7.0,240,4142,0.00,2.03,0.00,0.000,4,0.000,0.034,1993,3300,3153,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4184,-0.49,-184.9,530.7,-7.1,242,4189,0.00,1.92,0.00,0.000,6,0.000,0.020,1994,1933,3153,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4502,-0.49,-184.9,557.9,-8.8,258,4508,0.00,2.03,0.00,0.000,4,0.000,0.029,1993,538,3150,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4628,-0.49,-184.9,569.8,-9.6,264,4634,0.00,2.00,0.00,0.000,6,0.000,0.021,1984,1931,3150,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4953,-0.49,-184.9,597.5,-8.4,280,4958,0.00,2.03,0.00,0.000,4,0.000,0.034,1974,3301,3147,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4981,-0.49,-184.9,599.4,-8.2,281,4988,0.00,1.92,0.00,0.000,6,0.000,0.021,1974,1922,3147,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5301,-0.49,-184.9,629.6,-9.5,292,5307,0.00,2.00,0.00,0.000,4,0.000,0.030,1974,537,3145,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5446,-0.49,-184.9,642.1,-10.0,296,5452,0.12,2.00,0.00,0.000,6,0.150,0.021,2000,1929,3144,0,0,0,0,0,0,25.95,26.29,28.83
$GC,5765,-0.50,-184.9,668.8,-8.0,307,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1929,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6062,-0.52,-184.9,693.8,-8.7,317,6067,0.00,2.05,0.00,0.000,4,0.000,0.030,2001,551,3141,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6110,-0.53,-184.9,696.4,-8.3,318,6116,0.00,1.98,0.00,0.000,6,0.000,0.021,1994,1926,3140,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6432,-0.55,-184.9,723.4,-8.1,329,6437,0.00,2.05,0.00,0.000,4,0.000,0.030,1995,545,3139,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6456,-0.56,-184.9,723.4,-8.1,329,6461,0.00,2.00,0.00,0.000,6,0.000,0.022,1992,1937,3139,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6772,-0.57,-184.9,752.4,-8.0,340,6777,0.00,2.05,0.00,0.000,4,0.000,0.030,1992,550,3139,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6826,-0.58,-184.9,755.8,-8.3,341,6831,0.00,1.98,0.00,0.000,6,0.000,0.021,1985,1930,3137,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7142,-0.58,-184.9,782.6,-7.6,352,7147,0.00,2.05,0.00,0.000,4,0.000,0.035,1975,3306,3136,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7170,-0.58,-184.9,782.6,-7.6,352,7178,0.00,1.98,0.00,0.000,6,0.000,0.021,1975,1918,3134,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7476,-0.58,-184.9,809.5,-8.2,363,7481,0.00,2.03,0.00,0.000,4,0.000,0.031,1975,539,3133,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7554,-0.58,-184.9,815.3,-8.7,365,7560,0.00,2.00,0.00,0.000,6,0.000,0.022,1967,1926,3133,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7875,-0.58,-184.9,845.7,-9.0,376,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1926,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8174,-0.58,-184.9,872.0,-8.7,386,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1927,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8473,-0.58,-184.9,896.6,-7.8,396,8479,0.00,2.08,0.00,0.000,4,0.000,0.031,1967,537,3129,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8537,-0.58,-184.9,902.3,-8.2,398,8542,0.00,2.03,0.00,0.000,6,0.000,0.023,1959,1928,3128,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8873,-0.58,-184.9,929.9,-8.0,409,8878,0.00,2.08,0.00,0.000,4,0.000,0.031,1959,537,3127,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8910,-0.58,-184.9,932.9,-8.0,410,8915,0.00,2.00,0.00,0.000,6,0.000,0.023,1949,1932,3127,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9242,-0.58,-184.9,960.1,-8.2,421,9247,0.00,2.08,0.00,0.000,4,0.000,0.031,1949,542,3126,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9329,-0.58,-184.9,965.8,-8.2,423,9336,0.12,2.00,0.00,0.000,6,0.156,0.023,1974,1924,3126,0,0,0,0,0,0,25.82,26.20,28.83
$GC,9638,-0.58,-184.9,987.8,-6.3,434,9643,0.00,2.05,0.00,0.000,4,0.000,0.031,1974,549,3125,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,9669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9669,begin apogee
$GC,9677,-0.17,0.0,990.3,-6.4,435,9838,0.40,0.00,153.45,1.411,6,0.119,0.000,2102,1904,2411,0,0,0,0,0,0,25.53,28.83,22.50
$STATE,9840,end apogee,CONTROL_FINISHED_OK
$STATE,9840,begin climb
$GC,9842,0.58,184.9,994.9,0.0,440,10022,0.70,2.30,169.45,1.364,4,0.086,0.034,2342,3286,1654,0,0,0,0,0,0,24.56,23.82,21.96
$GC,10075,0.61,246.0,984.0,7.3,448,10138,0.00,2.08,54.67,1.329,6,0.000,0.023,2350,1903,1406,0,0,0,0,0,0,28.83,25.21,22.85
$GC,10458,0.63,266.5,949.4,8.7,461,10479,0.00,0.00,18.80,1.281,6,0.000,0.000,2349,1903,1322,0,0,0,0,0,0,28.83,28.83,23.68
$GC,10759,0.66,300.0,924.5,8.3,471,10796,0.00,2.15,30.85,1.322,4,0.000,0.033,2360,507,1187,0,0,0,0,0,0,28.83,25.48,23.59
$GC,10820,0.70,337.2,919.4,8.2,473,10862,0.00,2.08,35.03,1.308,6,0.000,0.021,2359,1911,1035,0,0,0,0,0,0,28.83,25.84,23.43
$GC,11181,0.73,354.1,887.8,8.9,485,11204,0.10,2.10,15.98,1.255,4,0.122,0.035,2399,3282,965,0,0,0,0,0,0,26.27,25.77,23.75
$GC,11284,0.74,354.1,877.3,10.9,488,11290,0.00,2.03,0.00,0.000,6,0.000,0.024,2402,1902,962,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11609,0.74,354.1,837.8,12.0,499,11614,0.00,2.05,0.00,0.000,4,0.000,0.035,2401,509,961,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11627,0.74,354.1,837.8,12.0,499,11633,0.00,2.03,0.00,0.000,6,0.000,0.021,2401,1918,961,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11948,0.74,354.1,798.0,11.9,510,11953,0.00,2.00,0.00,0.000,4,0.000,0.035,2401,3278,959,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12062,0.74,354.1,785.9,12.5,513,12067,0.00,2.00,0.00,0.000,6,0.000,0.024,2401,1898,959,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12377,0.75,354.1,747.4,11.3,524,12382,0.00,2.05,0.00,0.000,4,0.000,0.034,2401,507,958,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12396,0.76,354.1,747.4,11.3,524,12402,0.00,2.03,0.00,0.000,6,0.000,0.021,2401,1926,958,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12717,0.78,354.1,709.8,11.0,535,12723,0.00,2.00,0.00,0.000,4,0.000,0.034,2401,3278,957,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12765,0.79,354.1,705.8,11.0,536,12771,0.00,1.98,0.00,0.000,6,0.000,0.024,2399,1899,957,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13086,0.80,354.1,670.1,10.8,547,13092,0.00,2.05,0.00,0.000,4,0.000,0.034,2401,513,957,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,18934,end climb,SURFACE_DEPTH_REACHED
$STATE,18935,begin surface coast
$FINISH,1.4,1.008618
$STATE,18946,end surface coast,CONTROL_FINISHED_OK
$STATE,18946,begin surface
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$TT8_MAMPS,0.024717,0.024717
$HUMID,49.52
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.30
$XPDR_PINGS,0
$SC_FREEKB,3874784
$24V_AH,22.0,77.698
$10V_AH,9.6,52.096
$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,0.000,0.000,0.000,0.000,0.000,0.000,10.917,0.000,0.000,0.000
$MEM,329620
$DATA_FILE_SIZE,33329,855
$CAP_FILE_SIZE,220573,0
$CFSIZE,260034560,213323776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,7,0,0,0,0
$CURRENT,0.114, 93.4,1
$GPS,030213,031206,1756.188,12351.456,34,1.2,34,-2.0