version: 66.11
glider: 129
mission: 4
dive: 342
start: 1 25 113 10 35 16
data:
$ID,129
$MISSION,4
$DIVE,342
$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,-3175.7786
$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,81
$R_STBD_OVSHOOT,88
$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
$GPS1,250113,102635,1904.290,12412.692,36,1.1,42,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-63.6
$GPS2,250113,103448,1904.054,12412.898,10,1.5,15,-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,168.5,142575,-15.3,-9.429,-18.41
$D_GRID,5538
$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,-184.9,0.0,0.0,0,82,0.00,0.00,-59.75,0.000,2,0.000,0.000,59,1915,1815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.58,-184.9,3.0,-3.7,10,135,7.93,2.10,-34.33,0.000,4,0.240,0.041,1964,525,3164,0,0,0,0,0,0,24.94,26.12,26.55
$GC,191,-0.51,-184.9,23.6,-29.3,28,198,0.15,1.98,0.00,0.000,6,0.158,0.021,1996,1917,3165,0,0,0,0,0,0,25.79,26.23,28.83
$GC,506,-0.46,-184.9,104.1,-23.1,49,513,0.00,2.05,0.00,0.000,4,0.000,0.031,1987,3325,3165,0,0,0,0,0,0,28.83,26.19,28.83
$GC,575,-0.42,-184.9,117.5,-21.4,52,581,0.12,1.98,0.00,0.000,6,0.142,0.020,2022,1911,3164,0,0,0,0,0,0,26.02,26.35,28.83
$GC,894,-0.41,-184.9,167.3,-13.9,68,899,0.00,1.98,0.00,0.000,4,0.000,0.028,2022,552,3165,0,0,0,0,0,0,28.83,26.26,28.83
$GC,977,-0.41,-184.9,177.8,-12.5,72,982,0.00,1.95,0.00,0.000,6,0.000,0.020,2013,1947,3165,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1301,-0.40,-184.9,218.6,-13.1,88,1306,0.00,2.03,0.00,0.000,4,0.000,0.027,2013,552,3166,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1394,-0.40,-184.9,228.7,-12.1,92,1400,0.00,1.92,0.00,0.000,6,0.000,0.020,2003,1932,3166,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1709,-0.38,-184.9,268.3,-12.0,108,1715,0.12,2.03,0.00,0.000,4,0.148,0.025,2045,545,3165,0,0,0,0,0,0,26.17,26.27,28.83
$GC,1746,-0.38,-184.9,271.1,-11.9,109,1754,0.00,1.92,0.00,0.000,6,0.000,0.020,2038,1929,3165,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2053,-0.40,-184.9,298.6,-9.1,125,2059,0.00,2.00,0.00,0.000,4,0.000,0.033,2029,3301,3164,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2102,-0.41,-184.9,302.5,-8.9,127,2108,0.00,1.95,0.00,0.000,6,0.000,0.020,2029,1924,3164,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2421,-0.43,-184.9,333.3,-9.0,143,2426,0.00,2.00,0.00,0.000,4,0.000,0.028,2029,535,3164,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2521,-0.44,-184.9,341.0,-9.1,147,2527,0.00,1.98,0.00,0.000,6,0.000,0.020,2021,1932,3163,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2824,-0.44,-184.9,369.2,-8.7,163,2830,0.00,2.05,0.00,0.000,4,0.000,0.028,2021,522,3163,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2858,-0.44,-184.9,371.3,-8.7,164,2864,0.00,1.98,0.00,0.000,6,0.000,0.020,2012,1930,3163,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3173,-0.44,-184.9,399.2,-9.2,180,3178,0.00,2.00,0.00,0.000,4,0.000,0.033,2002,3301,3162,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3217,-0.44,-184.9,403.3,-9.4,182,3223,0.00,1.92,0.00,0.000,6,0.000,0.021,2002,1917,3162,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3540,-0.44,-184.9,435.4,-9.5,198,3546,0.00,1.95,0.00,0.000,4,0.000,0.029,2002,553,3160,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3751,-0.44,-184.9,454.1,-8.7,208,3756,0.00,1.95,0.00,0.000,6,0.000,0.021,1994,1927,3160,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4070,-0.44,-184.9,480.3,-9.3,224,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1927,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4370,-0.44,-184.9,509.3,-8.9,239,4372,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1926,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4672,-0.44,-184.9,535.4,-8.9,254,4677,0.00,2.03,0.00,0.000,4,0.000,0.029,1994,553,3155,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4715,-0.44,-184.9,540.1,-9.6,256,4721,0.12,1.98,0.00,0.000,6,0.144,0.022,2023,1923,3154,0,0,0,0,0,0,26.01,26.33,28.83
$GC,5040,-0.46,-184.9,566.5,-8.1,272,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1924,3152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5341,-0.48,-184.9,588.7,-6.7,287,5346,0.00,2.03,0.00,0.000,4,0.000,0.031,2023,555,3150,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5406,-0.50,-184.9,593.2,-6.8,290,5411,0.00,1.95,0.00,0.000,6,0.000,0.022,2018,1929,3150,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5742,-0.52,-184.9,612.9,-5.7,303,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1931,3148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6041,-0.55,-184.9,630.6,-6.2,313,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1931,3146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6339,-0.57,-184.9,648.7,-6.0,323,6341,0.12,0.00,0.00,0.000,6,0.097,0.000,1958,1931,3143,0,0,0,0,0,0,26.41,28.83,28.83
$GC,6640,-0.57,-184.9,679.0,-10.8,333,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1931,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6939,-0.57,-184.9,711.8,-11.0,343,6944,0.00,2.05,0.00,0.000,4,0.000,0.031,1958,560,3141,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7069,-0.57,-184.9,725.8,-11.4,347,7075,0.00,1.95,0.00,0.000,6,0.000,0.022,1948,1922,3141,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7399,-0.57,-184.9,761.6,-10.3,358,7405,0.00,2.05,0.00,0.000,4,0.000,0.036,1938,3310,3139,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7453,-0.57,-184.9,765.1,-10.3,359,7459,0.15,1.95,0.00,0.000,6,0.140,0.022,1981,1925,3138,0,0,0,0,0,0,25.91,26.32,28.83
$GC,7770,-0.57,-184.9,792.5,-8.1,370,7775,0.00,2.03,0.00,0.000,4,0.000,0.031,1981,545,3136,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7848,-0.57,-184.9,798.3,-8.6,372,7854,0.00,1.98,0.00,0.000,6,0.000,0.022,1973,1932,3136,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8170,-0.57,-184.9,828.3,-9.0,383,8175,0.00,2.05,0.00,0.000,4,0.000,0.031,1973,552,3135,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8257,-0.57,-184.9,834.9,-9.5,385,8264,0.00,2.00,0.00,0.000,6,0.000,0.023,1965,1922,3134,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8564,-0.57,-184.9,867.9,-10.0,396,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1923,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8863,-0.57,-184.9,897.6,-9.9,406,8868,0.00,2.05,0.00,0.000,4,0.000,0.031,1965,554,3131,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8900,-0.57,-184.9,900.9,-9.9,407,8905,0.00,1.98,0.00,0.000,6,0.000,0.023,1955,1933,3131,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9230,-0.57,-184.9,933.5,-9.4,418,9235,0.00,2.08,0.00,0.000,4,0.000,0.032,1955,549,3130,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9304,-0.57,-184.9,939.9,-9.6,420,9309,0.00,1.98,0.00,0.000,6,0.000,0.023,1947,1927,3130,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9630,-0.57,-184.9,971.7,-9.4,431,9631,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,1928,3129,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9835,begin apogee
$GC,9841,-0.17,0.0,991.6,-9.6,438,10003,0.47,0.00,154.75,1.418,6,0.120,0.000,2104,1928,2409,0,0,0,0,0,0,25.47,28.83,22.27
$STATE,10004,end apogee,CONTROL_FINISHED_OK
$STATE,10004,begin climb
$GC,10007,0.58,184.9,997.6,0.0,443,10188,0.73,2.38,171.02,1.365,4,0.086,0.034,2347,535,1655,0,0,0,0,0,0,24.23,23.64,21.84
$GC,10225,0.62,281.0,989.9,6.1,450,10321,0.00,2.10,89.38,1.335,6,0.000,0.020,2347,1904,1263,0,0,0,0,0,0,28.83,24.68,21.99
$GC,10622,0.64,282.9,952.3,9.4,464,10627,0.00,2.08,0.00,0.000,4,0.000,0.034,2347,3292,1255,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10689,0.66,282.9,945.6,9.9,466,10694,0.00,2.00,0.00,0.000,6,0.000,0.024,2347,1908,1254,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11020,0.69,296.6,915.0,9.0,477,11040,0.10,2.17,13.90,1.254,4,0.122,0.036,2387,510,1200,0,0,0,0,0,0,26.33,25.86,23.74
$GC,11058,0.71,305.5,911.5,9.1,478,11073,0.00,2.03,9.65,1.172,6,0.000,0.021,2387,1914,1164,0,0,0,0,0,0,28.83,26.03,23.72
$GC,11385,0.71,305.5,874.2,11.2,489,11391,0.00,2.05,0.00,0.000,4,0.000,0.035,2387,3293,1159,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11448,0.71,305.5,866.6,11.8,491,11454,0.00,2.05,0.00,0.000,6,0.000,0.025,2387,1889,1158,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11784,0.71,305.5,830.3,10.6,502,11785,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1890,1157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12082,0.71,305.5,799.2,10.5,512,12083,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1890,1155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12383,0.72,305.5,766.5,11.1,522,12384,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1890,1157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12683,0.73,305.5,734.6,10.3,532,12688,0.00,2.10,0.00,0.000,4,0.000,0.034,2387,3279,1156,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12727,0.74,305.5,730.9,10.3,533,12732,0.00,2.00,0.00,0.000,6,0.000,0.024,2387,1892,1156,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13052,0.76,305.5,696.1,10.4,544,13053,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1892,1156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13351,0.77,305.5,665.3,9.8,554,13357,0.00,2.12,0.00,0.000,4,0.000,0.034,2387,3283,1155,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13385,0.78,305.5,661.6,9.9,555,13390,0.00,2.00,0.00,0.000,6,0.000,0.024,2387,1899,1155,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13721,0.79,305.5,629.9,9.4,566,13723,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1899,1155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14020,0.81,321.8,602.8,8.9,576,14043,0.10,2.17,14.62,1.128,4,0.124,0.034,2428,3282,1097,0,0,0,0,0,0,26.37,25.84,23.72
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$GC,19356,1.07,484.8,9.7,9.2,880,19364,0.00,2.08,3.22,0.076,4,0.000,0.031,2482,518,431,0,0,0,0,0,0,28.83,26.13,25.81
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$STATE,19440,end climb,SURFACE_DEPTH_REACHED
$STATE,19440,begin surface coast
$FINISH,1.1,1.000289
$STATE,19459,end surface coast,CONTROL_FINISHED_OK
$STATE,19459,begin surface
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$IRIDIUM_FIX,1900.10,12409.24,250113,040426
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.07
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,23.40
$XPDR_PINGS,1
$SC_FREEKB,3889024
$24V_AH,21.8,69.449
$10V_AH,9.8,47.397
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.000,145.625,615.950,0.000,0.000,0.000,0.000,285.150,0.250,0.000,15.892,2819.285,13622.839,703.290,2420.028,455.527,0.000,2181.419,0.000,2054.561,0.000,0.539,0.000
$DEVICE_MAMPS,240.210,41.310,1418.310,0.000,0.000,0.000,0.000,135.405,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.038,0.000,0.000,0.000
$MEM,329024
$DATA_FILE_SIZE,33317,897
$CAP_FILE_SIZE,211814,0
$CFSIZE,260034560,217104384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.235,143.6,1
$GPS,250113,160225,1859.057,12415.572,33,2.1,52,-2.2