version: 66.11
glider: 129
mission: 4
dive: 339
start: 1 24 113 17 54 42
data:
$ID,129
$MISSION,4
$DIVE,339
$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,-3171.7209
$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,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
$GPS1,240113,174529,1918.602,12406.293,39,1.1,39,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-63.0
$GPS2,240113,175413,1918.363,12406.396,11,1.5,11,-2.3
$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,155.0,171242,-15.3,-9.429,-18.41
$D_GRID,5473
$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,-184.9,0.0,0.0,0,87,0.00,0.00,-65.35,0.000,2,0.000,0.000,51,1928,1901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.3,-4.7,11,140,7.95,2.10,-31.55,0.000,4,0.239,0.041,1968,528,3164,0,0,0,0,0,0,24.94,26.13,26.55
$GC,210,-0.52,-184.9,28.6,-27.5,31,215,0.12,1.95,0.00,0.000,6,0.171,0.021,1991,1913,3165,0,0,0,0,0,0,25.85,26.25,28.83
$GC,534,-0.47,-184.9,109.6,-21.8,51,540,0.00,2.03,0.00,0.000,4,0.000,0.031,1982,3311,3165,0,0,0,0,0,0,28.83,26.19,28.83
$GC,578,-0.42,-184.9,119.5,-22.4,53,585,0.15,1.95,0.00,0.000,6,0.142,0.020,2024,1910,3165,0,0,0,0,0,0,25.95,26.36,28.83
$GC,903,-0.40,-184.9,174.8,-16.2,69,908,0.00,1.98,0.00,0.000,4,0.000,0.028,2025,554,3165,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1091,-0.40,-184.9,198.3,-11.8,78,1097,0.00,1.92,0.00,0.000,6,0.000,0.021,2016,1929,3165,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1410,-0.40,-184.9,233.4,-10.7,94,1415,0.00,2.03,0.00,0.000,4,0.000,0.033,2006,3306,3165,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1488,-0.40,-184.9,239.9,-10.5,97,1495,0.00,1.92,0.00,0.000,6,0.000,0.020,2005,1919,3165,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1794,-0.40,-184.9,276.9,-11.1,113,1799,0.00,1.95,0.00,0.000,4,0.000,0.028,2006,560,3164,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1888,-0.40,-184.9,286.8,-11.8,117,1894,0.12,1.95,0.00,0.000,6,0.143,0.020,2032,1936,3164,0,0,0,0,0,0,26.04,26.36,28.83
$GC,2202,-0.42,-184.9,317.0,-9.4,133,2208,0.00,2.03,0.00,0.000,4,0.000,0.033,2023,3314,3164,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2236,-0.43,-184.9,319.3,-9.5,134,2241,0.00,1.92,0.00,0.000,6,0.000,0.019,2023,1936,3164,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2550,-0.44,-184.9,349.8,-9.0,150,2555,0.00,2.03,0.00,0.000,4,0.000,0.028,2023,547,3163,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2740,-0.45,-184.9,366.1,-8.5,159,2746,0.00,1.92,0.00,0.000,6,0.000,0.020,2014,1932,3162,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3059,-0.45,-184.9,394.1,-9.4,175,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1932,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3361,-0.46,-184.9,418.4,-7.5,190,3366,0.00,2.00,0.00,0.000,4,0.000,0.033,2004,3302,3161,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3426,-0.48,-184.9,423.0,-6.9,193,3431,0.00,1.95,0.00,0.000,6,0.000,0.019,2004,1923,3160,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3750,-0.48,-184.9,448.8,-8.5,209,3756,0.00,2.00,0.00,0.000,4,0.000,0.028,2004,542,3158,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3909,-0.48,-184.9,463.3,-10.1,216,3915,0.00,1.98,0.00,0.000,6,0.000,0.021,1996,1932,3157,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4215,-0.48,-184.9,495.5,-10.1,232,4220,0.00,2.05,0.00,0.000,4,0.000,0.028,1996,542,3156,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4271,-0.48,-184.9,500.0,-10.4,234,4279,0.00,2.00,0.00,0.000,6,0.000,0.021,1988,1928,3155,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4577,-0.48,-184.9,531.9,-10.0,250,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1928,3153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4880,-0.48,-184.9,561.5,-9.2,265,4885,0.00,2.05,0.00,0.000,4,0.000,0.029,1988,543,3151,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4964,-0.48,-184.9,569.8,-9.6,269,4970,0.00,1.95,0.00,0.000,6,0.000,0.021,1979,1925,3151,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5287,-0.48,-184.9,601.6,-10.4,285,5293,0.00,2.05,0.00,0.000,4,0.000,0.034,1969,3309,3149,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5341,-0.48,-184.9,605.1,-10.4,286,5347,0.12,1.95,0.00,0.000,6,0.137,0.021,2003,1925,3148,0,0,0,0,0,0,26.05,26.36,28.83
$GC,5657,-0.50,-184.9,633.0,-7.9,297,5662,0.00,1.98,0.00,0.000,4,0.000,0.030,2006,553,3146,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5783,-0.51,-184.9,643.4,-8.3,301,5788,0.00,2.00,0.00,0.000,6,0.000,0.021,1999,1928,3145,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6119,-0.53,-184.9,667.9,-7.3,312,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1928,3143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6418,-0.54,-184.9,690.8,-7.7,322,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1928,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6717,-0.56,-184.9,712.5,-6.8,332,6722,0.00,2.05,0.00,0.000,4,0.000,0.031,1999,551,3140,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6776,-0.57,-184.9,714.9,-6.9,333,6782,0.00,1.95,0.00,0.000,6,0.000,0.022,1990,1924,3140,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7082,-0.58,-184.9,739.1,-7.3,344,7088,0.00,2.05,0.00,0.000,4,0.000,0.031,1990,546,3138,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7132,-0.59,-184.9,742.0,-7.5,345,7137,0.00,2.00,0.00,0.000,6,0.000,0.022,1982,1933,3138,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7452,-0.59,-184.9,769.3,-8.2,356,7457,0.00,2.05,0.00,0.000,4,0.000,0.031,1982,555,3136,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7540,-0.59,-184.9,775.0,-8.4,358,7547,0.00,1.98,0.00,0.000,6,0.000,0.023,1973,1940,3136,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7846,-0.59,-184.9,802.8,-8.1,369,7851,0.00,2.08,0.00,0.000,4,0.000,0.031,1974,545,3134,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7924,-0.59,-184.9,808.2,-8.3,371,7930,0.00,2.03,0.00,0.000,6,0.000,0.023,1965,1954,3134,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8245,-0.59,-184.9,835.7,-8.2,382,8250,0.00,2.08,0.00,0.000,4,0.000,0.031,1965,556,3132,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8299,-0.59,-184.9,838.8,-8.5,383,8305,0.00,1.95,0.00,0.000,6,0.000,0.023,1957,1925,3132,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8613,-0.59,-184.9,870.5,-9.8,394,8619,0.00,2.03,0.00,0.000,4,0.000,0.031,1956,548,3131,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8691,-0.59,-184.9,877.2,-10.1,396,8696,0.00,1.98,0.00,0.000,6,0.000,0.023,1947,1931,3130,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9010,-0.59,-184.9,909.4,-9.8,407,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,1932,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9309,-0.59,-184.9,938.5,-9.6,417,9315,0.00,2.05,0.00,0.000,4,0.000,0.031,1947,556,3128,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9376,-0.59,-184.9,945.0,-9.9,419,9381,0.00,1.98,0.00,0.000,6,0.000,0.024,1938,1931,3128,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9706,-0.59,-184.9,977.0,-9.5,430,9711,0.00,2.05,0.00,0.000,4,0.000,0.032,1938,556,3126,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9753,-0.59,-184.9,980.5,-9.7,431,9759,0.15,2.00,0.00,0.000,6,0.152,0.024,1972,1936,3126,0,0,0,0,0,0,25.78,26.23,28.83
$STATE,9860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9860,begin apogee
$GC,9866,-0.17,0.0,990.2,-7.8,435,10028,0.38,0.00,154.55,1.416,6,0.118,0.000,2100,1937,2409,0,0,0,0,0,0,25.61,28.83,22.25
$STATE,10029,end apogee,CONTROL_FINISHED_OK
$STATE,10029,begin climb
$GC,10033,0.58,184.9,995.2,0.0,440,10212,0.73,2.42,171.38,1.362,4,0.086,0.033,2344,533,1655,0,0,0,0,0,0,24.22,23.63,21.83
$GC,10240,0.61,258.4,985.8,6.9,447,10317,0.00,2.15,68.57,1.328,6,0.000,0.020,2344,1908,1354,0,0,0,0,0,0,28.83,24.44,21.97
$GC,10616,0.64,262.4,950.1,9.3,460,10627,0.00,2.10,3.35,0.722,4,0.000,0.036,2344,3286,1340,0,0,0,0,0,0,28.83,25.99,23.75
$GC,10726,0.65,262.4,940.5,10.1,463,10732,0.00,1.98,0.00,0.000,6,0.000,0.024,2348,1917,1339,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11048,0.67,264.9,908.9,9.3,474,11053,0.00,0.00,4.00,0.857,6,0.000,0.000,2348,1917,1329,0,0,0,0,0,0,28.83,28.83,23.90
$GC,11348,0.70,276.5,881.3,9.0,484,11367,0.12,2.10,12.25,1.233,4,0.109,0.034,2402,3290,1282,0,0,0,0,0,0,26.28,25.92,23.81
$GC,11405,0.71,276.5,877.4,9.5,485,11411,0.00,2.05,0.00,0.000,6,0.000,0.024,2410,1891,1280,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11711,0.71,276.5,836.1,12.5,496,11716,0.00,2.12,0.00,0.000,4,0.000,0.034,2410,3292,1278,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11739,0.71,276.5,836.1,12.5,496,11745,0.00,2.00,0.00,0.000,6,0.000,0.024,2418,1897,1278,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12046,0.71,276.5,792.2,13.0,507,12051,0.00,2.10,0.00,0.000,4,0.000,0.034,2418,3295,1278,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12083,0.71,276.5,787.6,13.1,508,12090,0.15,2.03,0.00,0.000,6,0.165,0.024,2386,1900,1277,0,0,0,0,0,0,25.83,26.29,28.83
$GC,12412,0.71,276.5,753.7,9.7,519,12418,0.00,2.08,0.00,0.000,4,0.000,0.034,2386,3293,1277,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12435,0.71,276.5,753.7,9.7,519,12440,0.00,2.00,0.00,0.000,6,0.000,0.024,2387,1899,1277,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12748,0.72,299.6,723.8,8.6,530,12778,0.00,0.00,22.00,1.238,6,0.000,0.000,2387,1899,1187,0,0,0,0,0,0,28.83,28.83,23.71
$GC,13081,0.73,299.6,693.0,9.6,541,13082,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1899,1184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13379,0.75,299.6,662.9,10.4,551,13385,0.00,2.12,0.00,0.000,4,0.000,0.034,2387,3296,1182,0,0,0,0,0,0,28.83,26.12,28.83
$GC,13423,0.76,299.6,659.0,10.6,552,13430,0.00,2.03,0.00,0.000,6,0.000,0.024,2387,1892,1182,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,19906,end climb,SURFACE_DEPTH_REACHED
$STATE,19907,begin surface coast
$FINISH,1.1,1.011509
$STATE,19928,end surface coast,CONTROL_FINISHED_OK
$STATE,19928,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,49.76
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3890176
$24V_AH,21.8,68.795
$10V_AH,9.7,47.011
$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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$MEM,329024
$DATA_FILE_SIZE,33347,919
$CAP_FILE_SIZE,226003,0
$CFSIZE,260034560,217395200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176,189.6,1
$GPS,240113,232929,1913.902,12407.850,36,1.1,42,-2.3