version: 66.11
glider: 129
mission: 4
dive: 427
start: 2 12 113 3 36 23
data:
$ID,129
$MISSION,4
$DIVE,427
$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,-13
$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,-3316.6963
$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,66
$R_STBD_OVSHOOT,90
$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
$GPS1,120213,032523,1851.421,12223.074,39,1.3,39,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-60.4
$GPS2,120213,033555,1851.740,12222.977,14,1.3,14,-2.1
$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,99.9,255188,-15.3,-9.429,-18.41
$D_GRID,1637
$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,-184.9,0.0,0.0,0,88,0.00,0.00,-64.97,0.000,2,0.000,0.000,60,1909,1781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.1,-4.0,11,141,8.07,0.00,-35.67,0.000,6,0.242,0.000,1963,1908,3164,0,0,0,0,0,0,24.81,28.83,26.53
$GC,458,-0.50,-184.9,106.9,-31.0,47,460,0.12,0.00,0.00,0.000,6,0.178,0.000,1995,1908,3164,0,0,0,0,0,0,26.01,28.83,28.83
$GC,758,-0.48,-184.9,151.0,-12.8,62,764,0.00,2.03,0.00,0.000,4,0.000,0.029,1995,528,3164,0,0,0,0,0,0,28.83,26.12,28.83
$GC,802,-0.46,-184.9,157.5,-13.3,64,808,0.00,1.98,0.00,0.000,6,0.000,0.021,1987,1917,3165,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1127,-0.43,-184.9,204.6,-15.0,80,1134,0.12,2.05,0.00,0.000,4,0.148,0.031,2019,3307,3163,0,0,0,0,0,0,26.10,26.07,28.83
$GC,1191,-0.43,-184.9,212.6,-12.9,83,1198,0.00,1.98,0.00,0.000,6,0.000,0.021,2019,1900,3164,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1516,-0.43,-184.9,248.6,-9.8,99,1522,0.00,1.98,0.00,0.000,4,0.000,0.030,2019,540,3164,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1554,-0.43,-184.9,251.3,-10.1,100,1560,0.00,1.98,0.00,0.000,6,0.000,0.019,2009,1940,3164,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1861,-0.43,-184.9,282.4,-8.5,116,1866,0.00,2.05,0.00,0.000,4,0.000,0.028,2009,544,3164,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1919,-0.43,-184.9,286.7,-9.0,118,1926,0.00,1.98,0.00,0.000,6,0.000,0.020,2000,1921,3163,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2225,-0.43,-184.9,316.6,-9.3,134,2230,0.00,2.03,0.00,0.000,4,0.000,0.032,1989,3309,3162,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2334,-0.43,-184.9,325.6,-8.4,139,2340,0.00,1.95,0.00,0.000,6,0.000,0.020,1990,1922,3161,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2654,-0.43,-184.9,358.4,-9.9,155,2661,0.10,1.98,0.00,0.000,4,0.149,0.028,2017,554,3161,0,0,0,0,0,0,26.25,26.12,28.83
$GC,2840,-0.45,-184.9,374.7,-8.4,164,2846,0.00,1.95,0.00,0.000,6,0.000,0.020,2009,1935,3160,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3164,-0.45,-184.9,399.8,-7.2,180,3169,0.00,2.03,0.00,0.000,4,0.000,0.033,1999,3300,3156,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3209,-0.46,-184.9,402.9,-7.0,182,3214,0.00,1.95,0.00,0.000,6,0.000,0.021,1999,1924,3157,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3533,-0.46,-184.9,430.8,-9.4,198,3538,0.00,2.03,0.00,0.000,4,0.000,0.030,1999,537,3155,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3653,-0.46,-184.9,441.6,-10.4,203,3660,0.00,1.98,0.00,0.000,6,0.000,0.020,1990,1925,3154,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3957,-0.46,-184.9,473.4,-9.9,219,3963,0.00,2.08,-0.08,0.000,4,0.000,0.041,1991,540,3183,0,0,0,0,0,0,28.83,26.08,25.21
$GC,4042,-0.46,-184.9,482.3,-10.4,223,4047,0.00,2.00,0.00,0.000,6,0.000,0.021,1981,1927,3180,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4366,-0.46,-184.9,512.2,-8.5,239,4371,0.00,2.05,0.00,0.000,4,0.000,0.029,1981,535,3181,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4411,-0.46,-184.9,516.1,-8.7,241,4417,0.12,2.03,0.00,0.000,6,0.145,0.021,2008,1935,3180,0,0,0,0,0,0,25.89,26.24,28.83
$GC,4737,-0.48,-184.9,537.2,-6.9,257,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1936,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5039,-0.49,-184.9,558.2,-7.1,272,5044,0.00,2.05,0.00,0.000,4,0.000,0.034,1999,3306,3177,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5083,-0.51,-184.9,561.3,-7.0,274,5088,0.00,1.98,0.00,0.000,6,0.000,0.021,1999,1930,3176,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5408,-0.53,-184.9,584.8,-7.5,290,5413,0.00,2.05,0.00,0.000,4,0.000,0.031,1999,539,3175,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5496,-0.54,-184.9,592.1,-8.5,294,5502,0.00,2.00,0.00,0.000,6,0.000,0.021,1990,1947,3174,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5809,-0.54,-184.9,619.6,-8.6,306,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1947,3173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6106,-0.54,-184.9,646.3,-9.1,316,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1948,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6406,-0.55,-184.9,674.5,-9.4,326,6412,0.00,2.08,0.00,0.000,4,0.000,0.030,1990,539,3169,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6444,-0.55,-184.9,677.9,-9.4,327,6449,0.00,2.00,0.00,0.000,6,0.000,0.021,1981,1931,3169,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6775,-0.55,-184.9,711.2,-10.5,338,6780,0.00,2.03,0.00,0.000,4,0.000,0.035,1970,3300,3168,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6802,-0.55,-184.9,711.2,-10.5,338,6809,0.00,2.00,0.00,0.000,6,0.000,0.022,1970,1918,3167,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7110,-0.55,-184.9,747.2,-10.2,349,7115,0.00,2.05,0.00,0.000,4,0.000,0.031,1970,528,3166,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7192,-0.55,-184.9,753.9,-10.2,351,7197,0.00,2.00,0.00,0.000,6,0.000,0.022,1961,1927,3165,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7507,-0.55,-184.9,790.8,-10.8,362,7512,0.00,2.08,0.00,0.000,4,0.000,0.031,1960,523,3164,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7540,-0.55,-184.9,794.8,-10.8,363,7547,0.12,2.03,0.00,0.000,6,0.151,0.022,1985,1932,3163,0,0,0,0,0,0,25.79,26.16,28.83
$GC,7876,-0.56,-184.9,823.4,-8.4,374,7877,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1932,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8177,-0.57,-184.9,846.0,-6.9,384,8178,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1932,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8476,-0.58,-184.9,864.4,-6.0,394,8482,0.00,2.08,0.00,0.000,4,0.000,0.031,1985,536,3161,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8551,-0.59,-184.9,868.8,-6.4,396,8556,0.00,2.03,0.00,0.000,6,0.000,0.022,1977,1934,3160,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8876,-0.59,-184.9,894.0,-8.1,407,8882,0.00,2.08,0.00,0.000,4,0.000,0.037,1967,3314,3159,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8915,-0.59,-184.9,897.0,-8.1,408,8920,0.00,2.03,0.00,0.000,6,0.000,0.023,1967,1923,3158,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9246,-0.59,-184.9,924.9,-8.1,419,9251,0.00,2.05,0.00,0.000,4,0.000,0.032,1967,535,3158,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9310,-0.59,-184.9,930.6,-8.4,421,9316,0.00,2.00,0.00,0.000,6,0.000,0.023,1957,1925,3157,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9646,-0.59,-184.9,958.8,-8.3,432,9651,0.00,2.08,0.00,0.000,4,0.000,0.037,1947,3310,3156,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9684,-0.59,-184.9,961.9,-8.5,433,9689,0.00,2.03,0.00,0.000,6,0.000,0.024,1947,1913,3156,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,9980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9980,begin apogee
$GC,9989,-0.17,0.0,990.8,-9.5,443,10159,0.47,0.00,160.70,1.418,6,0.125,0.000,2101,1902,2409,0,0,0,0,0,0,25.18,28.83,22.27
$STATE,10160,end apogee,CONTROL_FINISHED_OK
$STATE,10161,begin climb
$GC,10163,0.58,184.9,997.4,0.0,448,10347,0.73,2.40,171.93,1.360,4,0.093,0.034,2342,3281,1654,0,0,0,0,0,0,24.26,23.46,21.55
$GC,10440,0.60,226.9,984.8,8.0,458,10485,0.00,2.08,38.10,1.323,6,0.000,0.025,2350,1913,1482,0,0,0,0,0,0,28.83,25.53,23.06
$GC,10799,0.62,246.4,953.6,8.8,470,10822,0.00,2.15,17.40,1.278,4,0.000,0.035,2361,502,1403,0,0,0,0,0,0,28.83,25.65,23.61
$GC,10840,0.64,261.4,950.7,8.9,471,10860,0.00,2.05,14.90,1.245,6,0.000,0.022,2361,1896,1343,0,0,0,0,0,0,28.83,25.90,23.51
$GC,11163,0.66,261.4,916.2,10.7,482,11169,0.00,2.08,0.00,0.000,4,0.000,0.035,2361,3284,1338,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11273,0.67,261.4,904.4,11.8,485,11278,0.00,2.03,0.00,0.000,6,0.000,0.026,2369,1893,1336,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11594,0.68,261.4,866.4,11.2,496,11600,0.00,2.10,0.00,0.000,4,0.000,0.034,2370,3282,1335,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11662,0.69,261.4,858.9,11.1,498,11668,0.00,2.03,0.00,0.000,6,0.000,0.026,2377,1891,1335,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11994,0.70,280.0,826.9,8.8,509,12013,0.00,0.00,17.00,1.261,6,0.000,0.000,2378,1891,1268,0,0,0,0,0,0,28.83,28.83,23.65
$GC,12294,0.72,298.2,800.1,8.8,519,12314,0.00,0.00,18.17,1.248,6,0.000,0.000,2377,1891,1193,0,0,0,0,0,0,28.83,28.83,23.65
$GC,12595,0.74,316.8,774.4,8.8,529,12620,0.00,0.00,17.85,1.232,6,0.000,0.000,2377,1891,1117,0,0,0,0,0,0,28.83,28.83,23.69
$GC,12924,0.76,316.8,742.7,10.6,540,12929,0.00,2.12,0.00,0.000,4,0.000,0.034,2378,3284,1115,0,0,0,0,0,0,28.83,25.99,28.83
$GC,12988,0.77,316.8,734.9,11.4,542,12994,0.00,2.05,0.00,0.000,6,0.000,0.026,2387,1900,1112,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13325,0.79,316.8,696.0,11.9,553,13331,0.00,2.10,0.00,0.000,4,0.000,0.034,2386,3282,1111,0,0,0,0,0,0,28.83,25.98,28.83
$GC,13369,0.80,316.8,691.5,11.9,554,13375,0.00,2.05,0.00,0.000,6,0.000,0.026,2389,1893,1111,0,0,0,0,0,0,28.83,26.12,28.83
$GC,13695,0.82,316.8,657.2,9.5,565,13701,0.10,2.12,0.00,0.000,4,0.119,0.032,2433,3289,1111,0,0,0,0,0,0,26.30,25.95,28.83
$GC,13729,0.82,316.8,653.0,10.0,566,13734,0.00,2.05,0.00,0.000,6,0.000,0.026,2443,1893,1110,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,19818,end climb,SURFACE_DEPTH_REACHED
$STATE,19818,begin surface coast
$FINISH,1.1,1.010194
$STATE,19834,end surface coast,CONTROL_FINISHED_OK
$STATE,19834,begin surface
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$TT8_MAMPS,0.024717,0.024717
$HUMID,50.63
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3856480
$24V_AH,21.5,87.565
$10V_AH,9.4,57.517
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.175,159.425,645.675,0.000,0.000,0.000,0.000,369.350,0.000,0.000,15.708,2977.152,13520.013,759.289,2669.314,587.168,0.000,2411.997,0.000,2229.342,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.231,0.000,0.000,0.000
$MEM,308584
$DATA_FILE_SIZE,33390,902
$CAP_FILE_SIZE,222290,0
$CFSIZE,260034560,208908288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,303.7,1
$GPS,120213,090936,1852.567,12224.892,40,1.3,40,-2.1