version: 66.13
glider: 128
mission: 4
dive: 34
start: 1 21 118 16 18 14
data:
$ID,128
$MISSION,4
$DIVE,34
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,360
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51713
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026803601
$HD_B,0.0139002
$HD_C,9.1750398e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3235
$TGT_DEFAULT_LON,-11731
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3750
$C_PITCH,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,3346
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00121
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-157.40906
$PRESSURE_SLOPE,0.00014074198
$AD7714Ch0Gain,32
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043553207
$SEABIRD_T_H,0.00062594062
$SEABIRD_T_I,2.3765557e-05
$SEABIRD_T_J,2.606791e-06
$SEABIRD_C_G,-9.8755465
$SEABIRD_C_H,1.1390997
$SEABIRD_C_I,-0.0019936475
$SEABIRD_C_J,0.00023608611
$GPS1,210118,161237,-308.5125,5544.4028,34,1.0,36,-4.6,0.6,111.3,7,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-73.7
$GPS2,210118,161738,-308.5262,5544.4902,20,1.0,22,-4.6,0.9,86.1,7,9.9
$SPEED_LIMITS,0.159,0.245
$TGT_NAME,N
$TGT_LATLONG,-300.000,5535.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,312.1,23610,-14.5,-9.167,-20.51,3205
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.60,-194.6,246,2254,1515,1507,0.0,0.0,0,85,0.00,0.00,-75.75,0.003,16386,0.000,0.000,245,2259,3799,3782,3817,0,0,0,0,0,0,14.88,28.83,14.90
$GC,87,-0.60,-194.6,245,2259,3783,3818,4.4,-12.6,13,109,11.75,2.33,-1.52,0.057,18692,0.443,0.083,2548,3658,3903,3894,3913,0,0,0,0,0,0,14.45,14.05,14.71
$GC,266,-0.60,-194.6,2547,3658,3900,3913,60.7,-17.5,47,271,0.00,2.22,0.00,0.000,1030,0.000,0.044,2547,2265,3907,3901,3913,0,0,0,0,0,0,14.80,14.74,14.82
$GC,578,-0.60,-194.6,2547,2261,3907,3913,114.4,-16.1,79,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2261,3910,3907,3913,0,0,0,0,0,0,15.02,15.04,15.04
$GC,879,-0.60,-194.6,2547,2261,3909,3914,161.8,-14.7,109,883,0.00,2.25,0.00,0.000,516,0.000,0.055,2547,850,3912,3910,3914,0,0,0,0,0,0,15.07,14.84,15.09
$GC,899,-0.60,-194.6,2546,850,3910,3915,164.9,-14.5,113,903,0.00,2.25,0.00,0.000,1030,0.000,0.057,2547,2240,3912,3910,3915,0,0,0,0,0,0,14.92,14.84,14.94
$GC,1210,-0.60,-194.6,2547,2240,3909,3915,206.8,-13.0,145,1214,0.00,2.35,0.00,0.000,260,0.000,0.085,2547,3659,3912,3910,3915,0,0,0,0,0,0,15.09,14.85,15.11
$GC,1347,-0.60,-194.6,2547,3659,3909,3915,225.5,-14.1,172,1352,0.00,2.22,0.00,0.000,1030,0.000,0.044,2547,2245,3912,3910,3915,0,0,0,0,0,0,14.97,14.91,14.97
$GC,1679,-0.60,-194.6,2547,2241,3910,3915,270.3,-13.1,196,1683,0.00,2.20,0.00,0.000,516,0.000,0.054,2547,854,3912,3910,3915,0,0,0,0,0,0,15.13,14.91,15.14
$GC,1710,-0.60,-194.6,2547,854,3910,3915,274.5,-12.6,202,1714,0.00,2.28,0.00,0.000,1030,0.000,0.058,2548,2259,3912,3910,3915,0,0,0,0,0,0,14.98,14.90,15.00
$GC,2041,-0.60,-194.6,2547,2259,3909,3914,314.3,-12.1,218,2045,0.00,2.33,0.00,0.000,260,0.000,0.087,2547,3663,3911,3908,3915,0,0,0,0,0,0,15.15,14.90,15.17
$GC,2105,-0.60,-194.6,2547,3663,3907,3915,322.1,-11.6,231,2110,0.00,2.25,0.00,0.000,1030,0.000,0.044,2548,2239,3910,3907,3914,0,0,0,0,0,0,15.02,14.96,15.02
$GC,2432,-0.60,-194.6,2547,2234,3907,3914,360.8,-11.4,246,2436,0.00,2.40,0.00,0.000,260,0.000,0.086,2547,3660,3910,3907,3914,0,0,0,0,0,0,15.16,14.92,15.19
$GC,2493,-0.60,-194.6,2547,3660,3906,3914,367.7,-11.3,258,2497,0.00,2.22,0.00,0.000,1030,0.000,0.046,2547,2247,3909,3906,3913,0,0,0,0,0,0,15.03,14.97,15.04
$GC,2824,-0.60,-194.6,2547,2243,3906,3910,405.3,-11.6,274,2827,0.00,2.40,0.00,0.000,260,0.000,0.087,2547,3667,3908,3905,3911,0,0,0,0,0,0,15.18,14.93,15.20
$GC,2873,-0.60,-194.6,2547,3667,3904,3910,411.4,-12.0,284,2877,0.00,2.25,0.00,0.000,1030,0.000,0.044,2547,2240,3907,3904,3910,0,0,0,0,0,0,15.04,14.99,15.05
$GC,3185,-0.60,-194.6,2547,2235,3904,3908,449.4,-12.5,296,3189,0.00,2.40,0.00,0.000,260,0.000,0.086,2547,3658,3906,3903,3909,0,0,0,0,0,0,15.19,14.94,15.21
$GC,3234,-0.60,-194.6,2547,3658,3902,3908,456.0,-12.8,306,3238,0.00,2.25,0.00,0.000,1030,0.000,0.047,2547,2243,3904,3901,3907,0,0,0,0,0,0,15.05,14.99,15.06
$GC,3546,-0.60,-194.6,2546,2238,3902,3906,496.7,-13.4,318,3550,0.00,2.40,0.00,0.000,260,0.000,0.088,2547,3658,3904,3902,3906,0,0,0,0,0,0,15.19,14.93,15.21
$GC,3579,-0.60,-194.6,2547,3658,3901,3906,501.6,-14.4,325,3584,0.00,2.30,0.00,0.000,1030,0.000,0.048,2547,2243,3903,3901,3905,0,0,0,0,0,0,15.02,14.98,15.03
$GC,3907,-0.60,-194.6,2547,2238,3900,3903,544.6,-13.0,340,3911,0.00,2.42,0.00,0.000,260,0.000,0.088,2547,3672,3901,3900,3903,0,0,0,0,0,0,15.19,14.95,15.21
$GC,3961,-0.60,-194.6,2547,3672,3899,3902,551.8,-13.0,351,3969,0.00,2.25,0.00,0.000,1030,0.000,0.046,2547,2244,3900,3899,3902,0,0,0,0,0,0,15.05,15.00,15.07
$GC,4268,-0.60,-194.6,2547,2243,3900,3901,589.1,-11.9,362,4272,0.00,2.42,0.00,0.000,260,0.000,0.089,2547,3667,3900,3899,3901,0,0,0,0,0,0,15.20,14.95,15.22
$GC,4307,-0.60,-194.6,2547,3667,3898,3901,594.0,-12.1,370,4312,0.00,2.25,0.00,0.000,1030,0.000,0.047,2547,2248,3899,3898,3901,0,0,0,0,0,0,15.06,15.00,15.07
$GC,4624,-0.60,-194.6,2547,2243,3898,3899,631.3,-11.5,383,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2243,3898,3898,3898,0,0,0,0,0,0,15.20,15.23,15.22
$GC,4924,-0.60,-194.6,2547,2243,3898,3897,664.9,-11.1,393,4928,0.00,2.42,0.00,0.000,260,0.000,0.090,2547,3664,3897,3898,3897,0,0,0,0,0,0,15.21,14.95,15.22
$GC,4973,-0.60,-194.6,2546,3664,3897,3897,670.5,-10.7,403,4982,0.00,2.25,0.00,0.000,1030,0.000,0.047,2547,2247,3897,3897,3897,0,0,0,0,0,0,15.07,15.00,15.07
$GC,5280,-0.60,-194.6,2547,2246,3897,3896,703.8,-11.2,414,5284,0.00,2.40,0.00,0.000,260,0.000,0.090,2547,3657,3896,3897,3896,0,0,0,0,0,0,15.21,14.95,15.22
$GC,5366,-0.60,-194.6,2546,3657,3896,3895,713.7,-11.2,431,5371,0.00,2.25,0.00,0.000,1030,0.000,0.050,2547,2247,3896,3897,3895,0,0,0,0,0,0,15.06,15.00,15.07
$GC,5698,-0.60,-194.6,2547,2242,3896,3893,750.5,-10.9,447,5703,0.00,2.40,0.00,0.000,260,0.000,0.091,2547,3657,3894,3896,3893,0,0,0,0,0,0,15.20,14.95,15.22
$GC,5753,-0.60,-194.6,2547,3657,3896,3893,756.9,-11.3,458,5760,0.00,2.25,0.00,0.000,1030,0.000,0.050,2547,2244,3894,3896,3892,0,0,0,0,0,0,15.06,15.00,15.07
$GC,6060,-0.60,-194.6,2547,2244,3895,3890,790.0,-10.7,469,6064,0.00,2.42,0.00,0.000,260,0.000,0.092,2547,3667,3892,3895,3890,0,0,0,0,0,0,15.20,14.95,15.22
$GC,6086,-0.60,-194.6,2547,3668,3895,3890,792.8,-11.0,474,6090,0.00,2.25,0.00,0.000,1030,0.000,0.049,2547,2253,3892,3895,3890,0,0,0,0,0,0,15.06,15.00,15.07
$GC,6417,-0.60,-194.6,2547,2247,3894,3888,827.5,-10.2,490,6421,0.00,2.42,0.00,0.000,260,0.000,0.091,2547,3662,3891,3894,3888,0,0,0,0,0,0,15.21,14.95,15.22
$GC,6506,-0.60,-194.6,2547,3663,3893,3887,837.3,-10.7,508,6510,0.00,2.25,0.00,0.000,1030,0.000,0.049,2547,2251,3890,3893,3887,0,0,0,0,0,0,15.06,15.00,15.07
$GC,6833,-0.60,-194.6,2547,2247,3892,3886,872.0,-10.8,523,6837,0.00,2.42,0.00,0.000,260,0.000,0.093,2547,3668,3889,3892,3886,0,0,0,0,0,0,15.20,14.95,15.23
$GC,6927,-0.60,-194.6,2547,3668,3892,3885,883.1,-11.9,542,6932,0.00,2.30,0.00,0.000,1030,0.000,0.047,2547,2251,3888,3892,3885,0,0,0,0,0,0,15.02,14.99,15.04
$GC,7254,-0.60,-194.6,2547,2246,3892,3883,921.2,-11.6,557,7261,0.00,2.42,0.00,0.000,260,0.000,0.093,2547,3665,3887,3891,3883,0,0,0,0,0,0,15.20,14.94,15.22
$GC,7304,-0.60,-194.6,2547,3665,3890,3882,927.2,-11.8,567,7309,0.00,2.25,0.00,0.000,1030,0.000,0.049,2547,2250,3887,3891,3883,0,0,0,0,0,0,15.06,15.00,15.07
$GC,7616,-0.60,-194.6,2547,2246,3891,3881,961.3,-10.6,579,7620,0.00,2.42,0.00,0.000,260,0.000,0.093,2547,3665,3885,3890,3881,0,0,0,0,0,0,15.20,14.94,15.22
$GC,7655,-0.60,-194.6,2546,3665,3889,3881,965.7,-10.7,587,7661,0.00,2.25,0.00,0.000,1030,0.000,0.049,2547,2250,3885,3890,3881,0,0,0,0,0,0,15.05,15.00,15.07
$STATE,7917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7917,begin apogee
$GC,7921,-0.12,0.0,2547,2367,3889,3880,991.5,-9.7,599,8069,0.60,0.00,141.68,1.863,10246,0.240,0.000,2715,2367,3339,3360,3318,0,0,0,0,0,0,14.87,14.12,13.42
$STATE,8070,end apogee,CONTROL_FINISHED_OK
$STATE,8070,begin climb
$GC,8072,0.60,194.6,2715,2367,3358,3317,995.9,0.0,604,8280,0.77,2.38,198.80,1.872,11012,0.146,0.089,2948,3677,2544,2592,2496,0,0,0,0,0,0,14.12,13.85,13.29
$GC,8331,0.60,194.6,2947,3677,2581,2492,978.4,11.0,636,8335,0.00,2.25,0.00,0.000,1030,0.000,0.051,2948,2361,2536,2581,2492,0,0,0,0,0,0,14.31,14.25,14.33
$GC,8643,0.60,194.6,2948,2361,2573,2487,945.3,10.6,648,8644,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2361,2529,2573,2486,0,0,0,0,0,0,14.82,14.84,14.84
$GC,8942,0.60,194.6,2948,2361,2570,2485,914.1,10.4,658,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2361,2528,2570,2486,0,0,0,0,0,0,14.94,14.97,14.96
$GC,9243,0.60,194.6,2948,2361,2568,2486,883.6,10.1,668,9247,0.00,2.30,0.00,0.000,260,0.000,0.087,2948,3687,2527,2568,2486,0,0,0,0,0,0,15.01,14.76,15.03
$GC,9273,0.60,194.6,2948,3687,2567,2485,880.1,11.1,674,9278,0.00,2.20,0.00,0.000,1030,0.000,0.053,2948,2347,2526,2567,2485,0,0,0,0,0,0,14.88,14.81,14.89
$GC,9604,0.60,194.6,2948,2346,2565,2485,846.5,10.0,690,9608,0.00,2.30,0.00,0.000,260,0.000,0.088,2948,3684,2526,2566,2486,0,0,0,0,0,0,15.06,14.81,15.08
$GC,9658,0.60,194.6,2948,3684,2565,2485,840.5,10.9,701,9666,0.00,2.20,0.00,0.000,1030,0.000,0.054,2948,2343,2524,2564,2485,0,0,0,0,0,0,14.92,14.85,14.94
$GC,9966,0.60,194.6,2948,2342,2563,2485,812.0,9.2,712,9970,0.00,2.30,0.00,0.000,260,0.000,0.089,2948,3684,2524,2563,2485,0,0,0,0,0,0,15.09,14.84,15.11
$GC,10015,0.60,194.6,2948,3684,2562,2485,806.9,10.1,722,10019,0.00,2.17,0.00,0.000,1030,0.000,0.054,2948,2350,2524,2563,2485,0,0,0,0,0,0,14.95,14.88,14.97
$GC,10327,0.62,194.6,2948,2348,2562,2485,780.4,8.2,734,10328,0.00,0.00,0.00,0.000,70,0.000,0.000,2948,2348,2523,2562,2484,0,0,0,0,0,0,15.11,15.14,15.13
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$STATE,17381,end climb,SURFACE_DEPTH_REACHED
$STATE,17381,begin surface coast
$FINISH,-0.1,1.022922
$STATE,17402,end surface coast,CONTROL_FINISHED_OK
$STATE,17403,begin surface
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$TT8_MAMPS,0.019474,0.156541
$HUMID,59.92
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$TCM_TEMP,23.10
$XPDR_PINGS,0
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$10V_AH,13.61,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,304640
$DATA_FILE_SIZE,60047,1386
$CAP_FILE_SIZE,160352,0
$CFSIZE,260034560,255856640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.217,110.36,1
$GPS,210118,211039,-307.773,5544.852,31,1.3,35,-4.6,0.6,161.4,6,9.6