version: 66.11
glider: 129
mission: 4
dive: 324
start: 1 21 113 5 44 53
data:
$ID,129
$MISSION,4
$DIVE,324
$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,-3124.5508
$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,78
$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,9.5
$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
$GPS1,210113,053605,1954.403,12342.426,36,1.0,36,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-56.3
$GPS2,210113,054425,1954.286,12342.474,16,1.0,16,-2.4
$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,16.9,75651,-15.3,-9.429,-18.41
$D_GRID,5146
$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,-184.9,0.0,0.0,0,86,0.00,0.00,-64.25,0.000,2,0.000,0.000,52,1899,1864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.58,-184.9,3.4,-5.4,11,139,7.85,2.12,-32.47,0.000,4,0.237,0.046,1954,3301,3165,0,0,0,0,0,0,24.87,26.10,26.56
$GC,182,-0.53,-184.9,19.6,-23.5,27,190,0.05,1.98,0.00,0.000,6,0.126,0.021,1986,1915,3165,0,0,0,0,0,0,25.86,26.27,28.83
$GC,499,-0.46,-184.9,109.5,-29.1,50,504,0.00,1.98,0.00,0.000,4,0.000,0.030,1986,541,3165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,657,-0.42,-184.9,138.4,-17.5,57,665,0.15,1.98,0.00,0.000,6,0.151,0.021,2020,1917,3165,0,0,0,0,0,0,25.97,26.36,28.83
$GC,962,-0.41,-184.9,182.2,-12.3,73,968,0.00,2.00,0.00,0.000,4,0.000,0.028,2020,538,3165,0,0,0,0,0,0,28.83,26.30,28.83
$GC,991,-0.40,-184.9,185.1,-11.9,74,996,0.00,1.95,0.00,0.000,6,0.000,0.020,2011,1941,3165,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1309,-0.40,-184.9,226.8,-12.8,90,1314,0.00,2.00,0.00,0.000,4,0.000,0.028,2011,545,3166,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1341,-0.40,-184.9,229.8,-12.9,91,1346,0.00,1.92,0.00,0.000,6,0.000,0.020,2009,1928,3166,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1654,-0.40,-184.9,271.1,-12.6,107,1659,0.00,2.03,0.00,0.000,4,0.000,0.028,2004,532,3165,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1717,-0.40,-184.9,279.0,-12.9,110,1723,0.12,1.95,0.00,0.000,6,0.145,0.021,2029,1919,3165,0,0,0,0,0,0,26.07,26.38,28.83
$GC,2042,-0.41,-184.9,310.5,-9.2,126,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1919,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2344,-0.43,-184.9,337.3,-8.3,141,2350,0.00,2.00,0.00,0.000,4,0.000,0.028,2029,536,3163,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2388,-0.44,-184.9,341.6,-8.7,143,2394,0.00,1.95,0.00,0.000,6,0.000,0.020,2023,1933,3163,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2713,-0.45,-184.9,372.5,-9.2,159,2718,0.00,2.03,0.00,0.000,4,0.000,0.034,2012,3311,3162,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2741,-0.46,-184.9,374.5,-8.9,160,2747,0.00,1.95,0.00,0.000,6,0.000,0.020,2012,1908,3162,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3060,-0.46,-184.9,403.9,-9.3,176,3066,0.00,1.92,0.00,0.000,4,0.000,0.028,2012,556,3161,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3107,-0.46,-184.9,408.4,-9.7,178,3112,0.00,1.92,0.00,0.000,6,0.000,0.020,2003,1932,3161,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3427,-0.46,-184.9,441.2,-9.6,194,3432,0.00,2.00,0.00,0.000,4,0.000,0.028,2003,550,3159,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3484,-0.46,-184.9,445.5,-9.7,196,3491,0.00,1.92,0.00,0.000,6,0.000,0.021,1994,1924,3159,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3791,-0.46,-184.9,474.9,-8.1,212,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1925,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4092,-0.46,-184.9,498.1,-7.6,227,4097,0.00,1.98,0.00,0.000,4,0.000,0.029,1995,561,3155,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4124,-0.46,-184.9,500.0,-7.7,228,4130,0.00,1.92,0.00,0.000,6,0.000,0.021,1987,1925,3155,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4437,-0.46,-184.9,527.7,-8.8,244,4443,0.00,2.03,0.00,0.000,4,0.000,0.034,1976,3302,3152,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4464,-0.46,-184.9,529.6,-8.8,245,4470,0.12,1.92,0.00,0.000,6,0.135,0.021,2013,1938,3152,0,0,0,0,0,0,26.10,26.40,28.83
$GC,4786,-0.48,-184.9,551.3,-6.5,261,4791,0.00,2.03,0.00,0.000,4,0.000,0.031,2011,549,3150,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4870,-0.50,-184.9,557.5,-7.2,265,4875,0.00,1.95,0.00,0.000,6,0.000,0.021,2007,1926,3149,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5193,-0.51,-184.9,581.2,-7.7,281,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1927,3147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5516,-0.53,-184.9,605.7,-7.6,296,5521,0.00,2.03,0.00,0.000,4,0.000,0.031,2007,542,3142,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5563,-0.55,-184.9,608.6,-7.7,297,5569,0.00,1.98,0.00,0.000,6,0.000,0.022,2000,1936,3145,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5885,-0.56,-184.9,631.8,-6.4,308,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1936,3143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6183,-0.57,-184.9,650.0,-6.0,318,6188,0.00,2.05,0.00,0.000,4,0.000,0.031,2000,550,3141,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6217,-0.59,-184.9,652.4,-6.3,319,6222,0.00,1.98,0.00,0.000,6,0.000,0.022,1992,1935,3141,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6553,-0.60,-184.9,676.4,-7.5,330,6558,0.00,2.05,0.00,0.000,4,0.000,0.031,1992,546,3139,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6580,-0.61,-184.9,676.4,-7.5,330,6587,0.00,1.98,0.00,0.000,6,0.000,0.022,1984,1932,3139,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6888,-0.61,-184.9,706.0,-9.1,341,6893,0.00,2.03,0.00,0.000,4,0.000,0.036,1974,3303,3137,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6911,-0.61,-184.9,706.0,-9.1,341,6916,0.00,1.95,0.00,0.000,6,0.000,0.021,1974,1931,3137,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7225,-0.61,-184.9,738.4,-9.7,352,7230,0.00,2.03,0.00,0.000,4,0.000,0.031,1973,544,3136,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7327,-0.61,-184.9,747.8,-10.0,355,7332,0.00,1.98,0.00,0.000,6,0.000,0.022,1966,1931,3135,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7653,-0.61,-184.9,778.5,-8.9,366,7658,0.00,2.05,0.00,0.000,4,0.000,0.036,1955,3307,3134,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7675,-0.61,-184.9,778.5,-8.9,366,7680,0.00,1.95,0.00,0.000,6,0.000,0.021,1955,1922,3134,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7989,-0.61,-184.9,808.6,-8.6,377,7994,0.00,2.03,0.00,0.000,4,0.000,0.031,1956,539,3132,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8083,-0.61,-184.9,817.3,-9.2,380,8089,0.00,2.03,0.00,0.000,6,0.000,0.023,1946,1922,3132,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8419,-0.61,-184.9,846.7,-9.0,391,8420,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,1923,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8717,-0.61,-184.9,875.3,-9.7,401,8722,0.00,2.05,0.00,0.000,4,0.000,0.031,1946,545,3130,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8784,-0.61,-184.9,881.8,-9.9,403,8790,0.00,1.98,0.00,0.000,6,0.000,0.024,1938,1925,3130,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9115,-0.61,-184.9,916.1,-10.4,414,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,1926,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9414,-0.61,-184.9,947.3,-10.4,424,9415,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,1926,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9713,-0.61,-184.9,978.0,-10.0,434,9718,0.00,2.05,0.00,0.000,4,0.000,0.032,1937,539,3126,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9786,-0.61,-184.9,984.6,-10.4,436,9792,0.12,2.00,0.00,0.000,6,0.161,0.024,1962,1925,3126,0,0,0,0,0,0,25.88,26.25,28.83
$STATE,9838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9838,begin apogee
$GC,9843,-0.17,0.0,990.7,-10.1,438,10007,0.43,0.00,153.57,1.407,6,0.118,0.000,2105,1925,2409,0,0,0,0,0,0,25.61,28.83,22.35
$STATE,10008,end apogee,CONTROL_FINISHED_OK
$STATE,10008,begin climb
$GC,10011,0.58,184.9,995.9,0.0,443,10190,0.70,2.35,169.60,1.355,4,0.086,0.032,2346,524,1656,0,0,0,0,0,0,24.30,23.68,21.93
$GC,10254,0.61,254.4,985.2,7.0,451,10323,0.00,2.08,62.85,1.327,6,0.000,0.021,2346,1902,1375,0,0,0,0,0,0,28.83,25.05,22.45
$GC,10625,0.64,288.4,952.3,8.3,464,10662,0.00,2.15,30.30,1.310,4,0.000,0.035,2347,3290,1233,0,0,0,0,0,0,28.83,25.42,23.67
$GC,10737,0.67,313.4,944.4,8.6,467,10766,0.00,2.00,22.75,1.284,6,0.000,0.024,2347,1912,1133,0,0,0,0,0,0,28.83,25.98,23.70
$GC,11080,0.71,356.9,915.2,7.9,479,11128,0.12,2.20,40.00,1.320,4,0.108,0.035,2412,517,954,0,0,0,0,0,0,26.22,25.37,23.63
$GC,11147,0.73,362.9,908.6,9.2,481,11161,0.00,2.03,6.90,1.058,6,0.000,0.021,2412,1914,929,0,0,0,0,0,0,28.83,25.68,23.66
$GC,11474,0.73,362.9,866.9,12.6,492,11479,0.00,2.00,0.00,0.000,4,0.000,0.035,2412,3271,925,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11587,0.73,362.9,854.3,13.3,495,11592,0.00,1.98,0.00,0.000,6,0.000,0.024,2413,1901,924,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11900,0.73,362.9,810.9,13.2,506,11901,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1900,923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12201,0.73,362.9,772.4,12.7,516,12202,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1901,923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12500,0.73,362.9,734.6,12.3,526,12506,0.00,2.05,0.00,0.000,4,0.000,0.034,2412,3277,922,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12553,0.73,362.9,730.3,12.5,527,12558,0.00,1.98,0.00,0.000,6,0.000,0.024,2413,1896,921,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12867,0.73,362.9,689.2,12.3,538,12868,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1896,921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13165,0.73,362.9,653.4,11.8,548,13167,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1895,921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13467,0.74,362.9,618.9,11.4,558,13472,0.00,2.10,0.00,0.000,4,0.000,0.034,2413,3275,920,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,18956,end climb,SURFACE_DEPTH_REACHED
$STATE,18956,begin surface coast
$FINISH,1.4,1.022491
$STATE,18972,end surface coast,CONTROL_FINISHED_OK
$STATE,18972,begin surface
$SM_CCo,19049,0.00,0.000,0,0,208,540.15
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$TT8_MAMPS,0.024717,0.024717
$HUMID,49.56
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3895936
$24V_AH,21.9,65.518
$10V_AH,9.7,45.040
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.475,144.875,631.450,0.000,0.000,0.000,0.000,301.650,0.000,0.000,17.239,2737.240,13239.083,709.427,2426.052,430.308,0.000,2206.583,0.000,2037.197,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,45.900,1406.835,0.000,0.000,0.000,0.000,130.815,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.839,0.000,0.000,0.000
$MEM,329012
$DATA_FILE_SIZE,30082,863
$CAP_FILE_SIZE,206825,0
$CFSIZE,260034560,218951680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.314,201.2,1
$GPS,210113,110336,1954.227,12341.532,34,1.2,34,-2.4