version: 66.11
glider: 129
mission: 4
dive: 491
start: 2 26 113 21 54 35
data:
$ID,129
$MISSION,4
$DIVE,491
$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,-3399.8608
$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,58
$R_STBD_OVSHOOT,72
$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,20
$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
$GPS1,260213,214430,2014.499,12415.456,42,0.8,42,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-63.7
$GPS2,260213,215406,2014.538,12415.484,11,1.0,16,-2.5
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,92.5,7893,-15.3,-9.429,-18.41
$D_GRID,5595
$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,18,begin dive
$GC,21,-0.58,-184.9,0.0,0.0,0,82,0.00,0.00,-58.55,0.000,2,0.000,0.000,61,1936,1901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.58,-184.9,3.3,-3.4,10,136,7.85,2.10,-33.42,0.000,4,0.236,0.045,1951,3311,3163,0,0,0,0,0,0,24.87,25.75,26.46
$GC,173,-0.54,-184.9,15.5,-20.1,24,180,0.12,2.03,0.00,0.000,6,0.161,0.024,1986,1912,3163,0,0,0,0,0,0,25.51,25.94,28.83
$GC,489,-0.50,-184.9,85.9,-21.1,51,494,0.00,2.03,0.00,0.000,4,0.000,0.032,1986,535,3163,0,0,0,0,0,0,28.83,25.67,28.83
$GC,625,-0.47,-184.9,111.8,-20.6,57,632,0.12,2.03,0.00,0.000,6,0.151,0.022,2010,1918,3165,0,0,0,0,0,0,25.53,25.93,28.83
$GC,942,-0.45,-184.9,162.9,-13.3,73,947,0.00,2.08,0.00,0.000,4,0.000,0.034,2001,3312,3163,0,0,0,0,0,0,28.83,25.63,28.83
$GC,979,-0.45,-184.9,166.2,-13.5,74,986,0.00,2.00,0.00,0.000,6,0.000,0.024,2001,1922,3166,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1285,-0.44,-184.9,207.2,-12.9,90,1292,0.00,2.05,0.00,0.000,4,0.000,0.033,2001,529,3164,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1456,-0.44,-184.9,228.1,-12.4,98,1461,0.00,2.03,0.00,0.000,6,0.000,0.021,1991,1935,3164,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1775,-0.43,-184.9,274.3,-14.8,114,1780,0.12,2.10,0.00,0.000,4,0.147,0.029,2032,526,3164,0,0,0,0,0,0,25.94,25.67,28.83
$GC,1819,-0.43,-184.9,279.9,-13.7,116,1825,0.00,2.03,0.00,0.000,6,0.000,0.021,2024,1934,3164,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2143,-0.43,-184.9,314.3,-10.2,132,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1934,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2447,-0.44,-184.9,341.6,-8.7,147,2452,0.00,2.10,0.00,0.000,4,0.000,0.031,2025,524,3163,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2492,-0.45,-184.9,346.1,-9.2,149,2497,0.00,2.05,0.00,0.000,6,0.000,0.021,2015,1937,3163,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2815,-0.45,-184.9,375.6,-9.6,165,2821,0.00,2.12,0.00,0.000,4,0.000,0.031,2015,525,3163,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2864,-0.45,-184.9,380.2,-10.0,167,2869,0.00,2.00,0.00,0.000,6,0.000,0.021,2006,1924,3163,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3183,-0.45,-184.9,412.3,-9.3,183,3188,0.00,2.05,0.00,0.000,4,0.000,0.034,1995,3299,3162,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3216,-0.45,-184.9,414.4,-9.1,184,3222,0.00,2.00,0.00,0.000,6,0.000,0.024,1995,1915,3162,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3530,-0.45,-184.9,443.9,-8.9,200,3535,0.00,2.05,0.00,0.000,4,0.000,0.033,1995,540,3161,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3645,-0.45,-184.9,453.3,-9.0,205,3651,0.00,2.00,0.00,0.000,6,0.000,0.021,1985,1925,3161,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3961,-0.45,-184.9,482.6,-9.5,221,3966,0.00,2.05,0.00,0.000,4,0.000,0.033,1975,3306,3159,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3999,-0.45,-184.9,485.2,-9.7,222,4007,0.15,2.00,0.00,0.000,6,0.125,0.024,2021,1919,3159,0,0,0,0,0,0,25.53,25.91,28.83
$GC,4305,-0.47,-184.9,512.2,-8.7,238,4311,0.00,2.05,0.00,0.000,4,0.000,0.033,2021,535,3158,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4394,-0.49,-184.9,520.0,-9.3,242,4400,0.00,2.03,0.00,0.000,6,0.000,0.021,2013,1941,3157,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4713,-0.50,-184.9,548.7,-8.4,258,4719,0.00,2.12,0.00,0.000,4,0.000,0.033,2013,540,3156,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4758,-0.52,-184.9,552.7,-8.7,260,4764,0.00,2.00,0.00,0.000,6,0.000,0.022,2004,1917,3155,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5083,-0.53,-184.9,578.2,-7.4,276,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1921,3153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5386,-0.54,-184.9,600.2,-7.3,291,5391,0.00,2.08,0.00,0.000,4,0.000,0.034,1994,3304,3154,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5424,-0.55,-184.9,602.8,-7.1,292,5430,0.00,2.03,0.00,0.000,6,0.000,0.024,1993,1936,3151,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5757,-0.55,-184.9,629.1,-8.2,303,5762,0.00,2.12,0.00,0.000,4,0.000,0.034,1994,520,3149,0,0,0,0,0,0,28.83,25.59,28.83
$GC,5867,-0.55,-184.9,637.9,-8.7,306,5872,0.00,2.05,0.00,0.000,6,0.000,0.021,1984,1927,3149,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6188,-0.55,-184.9,668.0,-8.9,317,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1927,3147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6486,-0.55,-184.9,693.9,-8.3,327,6491,0.00,2.15,0.00,0.000,4,0.000,0.034,1984,521,3146,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6574,-0.55,-184.9,699.6,-8.7,329,6581,0.00,2.05,0.00,0.000,6,0.000,0.023,1975,1923,3145,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6880,-0.55,-184.9,731.4,-10.3,340,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1924,3143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7180,-0.55,-184.9,764.8,-11.3,350,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1924,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7480,-0.55,-184.9,797.5,-10.6,360,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1924,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7780,-0.55,-184.9,826.7,-9.3,370,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1923,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8081,-0.55,-184.9,850.3,-7.4,380,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1924,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8380,-0.55,-184.9,870.6,-6.6,390,8385,0.00,2.15,0.00,0.000,4,0.000,0.035,1975,531,3137,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8433,-0.55,-184.9,873.0,-6.7,391,8438,0.00,2.05,0.00,0.000,6,0.000,0.024,1966,1921,3137,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8750,-0.55,-184.9,898.3,-8.0,402,8755,0.00,2.08,0.00,0.000,4,0.000,0.035,1955,3307,3135,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8784,-0.55,-184.9,901.6,-8.2,403,8790,0.00,2.08,0.00,0.000,6,0.000,0.026,1955,1915,3135,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9122,-0.55,-184.9,935.0,-10.3,414,9127,0.00,2.08,0.00,0.000,4,0.000,0.035,1955,536,3133,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9270,-0.55,-184.9,948.7,-10.7,418,9277,0.12,2.05,0.00,0.000,6,0.150,0.024,1979,1929,3133,0,0,0,0,0,0,25.41,25.80,28.83
$GC,9580,-0.56,-184.9,978.5,-8.8,429,9585,0.00,2.15,0.00,0.000,4,0.000,0.035,1980,534,3132,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9624,-0.57,-184.9,982.0,-9.0,430,9629,0.00,2.05,0.00,0.000,6,0.000,0.024,1971,1927,3132,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,9704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9704,begin apogee
$GC,9712,-0.17,0.0,990.6,-9.3,433,9877,0.40,0.00,154.30,1.414,6,0.115,0.000,2104,1926,2409,0,0,0,0,0,0,25.02,28.83,22.38
$STATE,9879,end apogee,CONTROL_FINISHED_OK
$STATE,9879,begin climb
$GC,9882,0.58,184.9,997.7,0.0,438,10068,0.73,2.53,174.55,1.362,4,0.084,0.038,2351,525,1654,0,0,0,0,0,0,23.85,22.84,21.45
$GC,10147,0.63,267.9,987.7,6.6,447,10232,0.00,2.12,78.00,1.334,6,0.000,0.023,2351,1888,1316,0,0,0,0,0,0,28.83,24.45,21.86
$GC,10556,0.65,268.0,950.4,9.4,461,10562,0.00,2.10,0.00,0.000,4,0.000,0.035,2351,3295,1308,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10622,0.67,268.0,943.7,9.9,463,10627,0.00,2.08,0.00,0.000,6,0.000,0.028,2361,1906,1306,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10959,0.69,272.5,911.1,9.3,474,10964,0.00,2.12,0.00,0.000,4,0.000,0.038,2371,499,1306,0,0,0,0,0,0,28.83,25.69,28.83
$GC,10994,0.71,278.2,907.7,9.2,475,11009,0.00,2.10,9.00,1.164,6,0.000,0.024,2371,1916,1274,0,0,0,0,0,0,28.83,25.96,24.06
$GC,11328,0.72,279.4,875.6,9.4,486,11333,0.00,2.05,0.00,0.000,4,0.000,0.034,2371,3289,1272,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11445,0.73,279.4,866.1,9.9,489,11450,0.00,2.05,0.00,0.000,6,0.000,0.028,2380,1902,1271,0,0,0,0,0,0,28.83,25.80,28.83
$GC,11762,0.74,279.4,833.7,9.5,500,11767,0.00,2.12,0.00,0.000,4,0.000,0.039,2388,501,1270,0,0,0,0,0,0,28.83,25.49,28.83
$GC,11786,0.75,279.4,833.7,9.5,500,11791,0.00,2.05,0.00,0.000,6,0.000,0.024,2388,1903,1270,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12101,0.76,296.4,802.0,8.8,511,12123,0.00,2.20,17.80,1.251,4,0.000,0.034,2389,3296,1199,0,0,0,0,0,0,28.83,25.53,23.94
$GC,12224,0.76,304.3,790.8,9.2,515,12238,0.00,2.10,8.15,1.112,6,0.000,0.028,2396,1888,1171,0,0,0,0,0,0,28.83,25.90,24.06
$GC,12557,0.76,304.3,758.5,10.2,526,12558,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1886,1165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12857,0.76,304.3,725.8,11.2,536,12858,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1888,1165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13158,0.78,304.3,691.9,11.2,546,13163,0.00,2.12,0.00,0.000,4,0.000,0.039,2406,497,1164,0,0,0,0,0,0,28.83,25.40,28.83
$GC,13185,0.79,304.3,691.9,11.2,546,13193,0.00,2.08,0.00,0.000,6,0.000,0.024,2406,1911,1164,0,0,0,0,0,0,28.83,25.79,28.83
$GC,13492,0.79,304.3,650.1,12.7,557,13498,0.00,2.08,0.00,0.000,4,0.000,0.034,2406,3282,1163,0,0,0,0,0,0,28.83,25.46,28.83
$GC,13540,0.79,304.3,645.5,12.9,558,13545,0.00,2.05,0.00,0.000,6,0.000,0.028,2413,1902,1163,0,0,0,0,0,0,28.83,25.65,28.83
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$STATE,19586,end climb,SURFACE_DEPTH_REACHED
$STATE,19586,begin surface coast
$FINISH,1.3,1.018327
$STATE,19597,end surface coast,CONTROL_FINISHED_OK
$STATE,19598,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,52.48
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$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,3831904
$24V_AH,21.5,101.893
$10V_AH,9.5,65.740
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
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$MEM,329000
$DATA_FILE_SIZE,33348,891
$CAP_FILE_SIZE,215304,0
$CFSIZE,260034560,202371072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,293.7,1
$GPS,270213,032353,2015.339,12417.753,40,1.0,40,-2.5