version: 66.11
glider: 129
mission: 4
dive: 345
start: 1 26 113 3 29 35
data:
$ID,129
$MISSION,4
$DIVE,345
$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,-3179.8489
$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,100
$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
$GPS1,260113,032023,1849.203,12419.549,38,1.3,38,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-59.2
$GPS2,260113,032907,1848.986,12419.773,13,1.3,13,-2.2
$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,190.2,112493,-15.3,-9.429,-18.41
$D_GRID,5147
$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,19,-0.58,-184.9,0.0,0.0,0,92,0.00,0.00,-70.45,0.000,2,0.000,0.000,54,1935,1908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.58,-184.9,3.3,-4.7,12,145,8.10,2.12,-31.38,0.000,4,0.245,0.042,1966,528,3164,0,0,0,0,0,0,24.87,26.12,26.55
$GC,214,-0.51,-184.9,27.2,-28.1,32,223,0.15,1.98,0.00,0.000,6,0.164,0.021,1997,1907,3165,0,0,0,0,0,0,25.78,26.25,28.83
$GC,521,-0.47,-184.9,100.9,-22.2,52,527,0.00,2.08,0.00,0.000,4,0.000,0.033,1988,3317,3165,0,0,0,0,0,0,28.83,26.17,28.83
$GC,626,-0.44,-184.9,120.2,-17.6,57,633,0.00,1.98,0.00,0.000,6,0.000,0.020,1988,1914,3165,0,0,0,0,0,0,28.83,26.36,28.83
$GC,951,-0.41,-184.9,177.1,-15.4,73,957,0.12,1.95,0.00,0.000,4,0.151,0.026,2029,548,3165,0,0,0,0,0,0,26.15,26.25,28.83
$GC,1186,-0.41,-184.9,204.9,-11.4,84,1191,0.00,1.98,0.00,0.000,6,0.000,0.020,2019,1946,3165,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1498,-0.41,-184.9,238.1,-10.0,100,1504,0.00,2.05,0.00,0.000,4,0.000,0.028,2019,537,3165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1561,-0.41,-184.9,244.8,-10.6,103,1566,0.00,1.98,0.00,0.000,6,0.000,0.020,2010,1935,3165,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1886,-0.41,-184.9,286.8,-14.0,119,1891,0.00,2.00,0.00,0.000,4,0.000,0.028,2009,548,3164,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1930,-0.41,-184.9,292.8,-13.7,121,1935,0.00,1.95,0.00,0.000,6,0.000,0.021,2001,1925,3164,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2254,-0.41,-184.9,332.6,-10.8,137,2260,0.00,2.03,0.00,0.000,4,0.000,0.033,1990,3309,3163,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2297,-0.41,-184.9,336.9,-10.1,139,2304,0.12,1.92,0.00,0.000,6,0.129,0.020,2029,1905,3163,0,0,0,0,0,0,26.09,26.38,28.83
$GC,2624,-0.43,-184.9,359.2,-6.4,155,2629,0.00,1.95,0.00,0.000,4,0.000,0.028,2029,553,3161,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2708,-0.44,-184.9,365.1,-7.1,159,2713,0.00,1.92,0.00,0.000,6,0.000,0.020,2021,1929,3162,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3032,-0.46,-184.9,387.2,-7.6,175,3037,0.00,2.00,0.00,0.000,4,0.000,0.028,2021,553,3161,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3064,-0.47,-184.9,389.4,-7.9,176,3070,0.00,1.95,0.00,0.000,6,0.000,0.021,2013,1926,3161,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3379,-0.47,-184.9,419.6,-9.4,192,3384,0.00,2.05,0.00,0.000,4,0.000,0.034,2002,3310,3159,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3411,-0.47,-184.9,421.7,-9.3,193,3417,0.00,1.95,0.00,0.000,6,0.000,0.021,2003,1943,3160,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3725,-0.47,-184.9,450.3,-8.8,209,3731,0.00,2.03,0.00,0.000,4,0.000,0.029,2002,546,3157,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3793,-0.47,-184.9,456.5,-9.5,212,3799,0.00,1.98,0.00,0.000,6,0.000,0.021,1994,1919,3157,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4111,-0.47,-184.9,487.9,-9.9,228,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1921,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4413,-0.47,-184.9,517.1,-9.9,243,4418,0.00,2.03,0.00,0.000,4,0.000,0.029,1993,550,3153,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4491,-0.47,-184.9,523.9,-10.4,246,4498,0.00,1.95,0.00,0.000,6,0.000,0.021,1985,1932,3153,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4797,-0.47,-184.9,556.7,-10.0,262,4802,0.00,2.03,0.00,0.000,4,0.000,0.030,1985,547,3151,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4844,-0.47,-184.9,561.2,-10.1,264,4850,0.12,1.98,0.00,0.000,6,0.145,0.021,2010,1926,3150,0,0,0,0,0,0,26.00,26.32,28.83
$GC,5163,-0.48,-184.9,583.2,-6.2,280,5169,0.00,2.05,0.00,0.000,4,0.000,0.034,2002,3311,3148,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5213,-0.50,-184.9,586.2,-6.4,282,5218,0.00,1.98,0.00,0.000,6,0.000,0.021,2002,1922,3148,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5533,-0.52,-184.9,609.1,-7.2,296,5539,0.00,2.03,0.00,0.000,4,0.000,0.029,2002,531,3146,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5688,-0.52,-184.9,621.5,-8.0,301,5693,0.00,2.03,0.00,0.000,6,0.000,0.021,1993,1935,3145,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6025,-0.52,-184.9,647.5,-7.8,312,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1936,3143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6323,-0.53,-184.9,669.0,-6.9,322,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1936,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6622,-0.54,-184.9,692.1,-8.2,332,6627,0.00,2.05,0.00,0.000,4,0.000,0.036,1984,3310,3140,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6657,-0.55,-184.9,695.0,-8.4,333,6662,0.00,1.98,0.00,0.000,6,0.000,0.021,1984,1918,3139,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6992,-0.55,-184.9,726.8,-9.4,344,6997,0.00,2.03,0.00,0.000,4,0.000,0.031,1983,536,3138,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7136,-0.55,-184.9,739.4,-10.0,348,7141,0.00,1.98,0.00,0.000,6,0.000,0.022,1975,1924,3137,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7450,-0.55,-184.9,771.5,-9.3,359,7456,0.00,2.05,0.00,0.000,4,0.000,0.036,1964,3306,3135,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7484,-0.55,-184.9,774.5,-9.2,360,7490,0.00,1.98,0.00,0.000,6,0.000,0.021,1964,1915,3135,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7820,-0.55,-184.9,804.0,-8.5,371,7825,0.00,2.03,0.00,0.000,4,0.000,0.031,1964,537,3134,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7914,-0.55,-184.9,812.9,-9.1,374,7919,0.00,2.03,0.00,0.000,6,0.000,0.023,1954,1931,3134,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8250,-0.55,-184.9,844.0,-9.2,385,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,1931,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8548,-0.55,-184.9,869.8,-8.3,395,8554,0.00,2.08,0.00,0.000,4,0.000,0.031,1955,541,3131,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8636,-0.55,-184.9,875.6,-8.7,397,8644,0.15,2.00,0.00,0.000,6,0.144,0.023,1987,1936,3131,0,0,0,0,0,0,25.84,26.25,28.83
$GC,8945,-0.57,-184.9,897.0,-6.0,408,8946,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1936,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9243,-0.58,-184.9,915.4,-6.2,418,9248,0.00,2.08,0.00,0.000,4,0.000,0.031,1987,549,3128,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9276,-0.59,-184.9,917.7,-6.4,419,9282,0.00,2.00,0.00,0.000,6,0.000,0.022,1981,1929,3128,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9613,-0.60,-184.9,943.2,-8.2,430,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1930,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9911,-0.62,-184.9,969.8,-8.9,440,9916,0.00,2.05,0.00,0.000,4,0.000,0.031,1981,549,3126,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9955,-0.63,-184.9,972.9,-9.0,441,9960,0.00,1.98,0.00,0.000,6,0.000,0.023,1972,1929,3126,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,10156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10156,begin apogee
$GC,10162,-0.17,0.0,991.6,-8.6,448,10324,0.38,0.00,155.30,1.412,6,0.117,0.000,2099,1929,2409,0,0,0,0,0,0,25.60,28.83,22.20
$STATE,10326,end apogee,CONTROL_FINISHED_OK
$STATE,10326,begin climb
$GC,10328,0.58,184.9,998.1,0.0,453,10509,0.73,2.42,172.25,1.361,4,0.086,0.033,2348,528,1656,0,0,0,0,0,0,24.22,23.61,21.77
$GC,10561,0.61,255.5,987.6,7.0,461,10632,0.00,2.08,65.07,1.330,6,0.000,0.020,2348,1896,1367,0,0,0,0,0,0,28.83,24.85,22.19
$GC,10945,0.63,255.5,950.2,10.0,474,10950,0.00,2.10,0.00,0.000,4,0.000,0.034,2348,3294,1358,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11033,0.64,255.5,943.1,10.5,476,11040,0.00,2.00,0.00,0.000,6,0.000,0.024,2348,1907,1357,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11342,0.66,261.1,910.9,9.2,487,11348,0.00,0.00,4.75,0.946,6,0.000,0.000,2348,1908,1344,0,0,0,0,0,0,28.83,28.83,23.87
$GC,11639,0.68,261.1,882.5,9.7,497,11644,0.00,2.05,0.00,0.000,4,0.000,0.034,2348,3284,1342,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11687,0.70,261.1,878.9,10.0,498,11694,0.12,2.00,0.00,0.000,6,0.109,0.024,2395,1887,1342,0,0,0,0,0,0,26.10,26.28,28.83
$GC,12009,0.70,261.1,837.5,12.5,509,12014,0.00,2.10,0.00,0.000,4,0.000,0.034,2395,3290,1342,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12031,0.70,261.1,837.5,12.5,509,12036,0.00,2.00,0.00,0.000,6,0.000,0.024,2402,1893,1341,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12345,0.70,261.1,796.4,11.7,520,12346,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1891,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12644,0.70,261.1,764.1,10.6,530,12649,0.00,2.08,0.00,0.000,4,0.000,0.034,2402,3284,1341,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12712,0.70,261.1,757.2,10.6,532,12718,0.00,2.00,0.00,0.000,6,0.000,0.024,2409,1894,1341,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13042,0.70,261.1,721.9,10.7,543,13047,0.00,2.08,0.00,0.000,4,0.000,0.034,2409,3288,1340,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13077,0.70,261.1,717.7,11.1,544,13082,0.00,2.03,0.00,0.000,6,0.000,0.024,2415,1892,1340,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13412,0.70,261.1,676.0,12.8,555,13417,0.00,2.10,0.00,0.000,4,0.000,0.034,2415,3288,1340,0,0,0,0,0,0,28.83,26.09,28.83
$GC,13454,0.70,261.1,671.3,12.9,556,13460,0.15,2.00,0.00,0.000,6,0.166,0.024,2381,1902,1340,0,0,0,0,0,0,25.77,26.27,28.83
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$STATE,19859,end climb,SURFACE_DEPTH_REACHED
$STATE,19859,begin surface coast
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$10V_AH,9.7,47.797
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$FG_AHR_10Vo,0.000
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$MEM,329024
$DATA_FILE_SIZE,33327,899
$CAP_FILE_SIZE,220863,0
$CFSIZE,260034560,216788992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.218,133.9,1
$GPS,260113,090329,1844.394,12421.546,41,1.5,41,-2.2