version: 67.00
glider: 135
mission: 3
dive: 67
start: 9 29 121 17 51 2
data:
$ID,135
$MISSION,3
$DIVE,67
$N_DIVES,0
$STOP_T,0
$D_SURF,4
$D_FLARE,3
$D_TGT,980
$D_ABORT,1010
$D_NO_BLEED,500
$D_BOOST,3
$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,290
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,56180
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$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,582.58746
$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
$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,150
$PITCH_MAX,3614
$C_PITCH,2390
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,36
$PITCH_TIMEOUT,15
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3915
$ROLL_DEG,40
$C_ROLL_DIVE,2075
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2875
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,44.324001
$FG_AHR_24V,1062.8132
$PHONE_SUPPLY,2
$PRESSURE_YINT,-180.72491
$PRESSURE_SLOPE,0.00022931841
$COMPASS_USE,16388
$ALTIM_PING_FIT,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,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0.75
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,6
$LOGGERDEVICE2,33
$LOGGERDEVICE3,19
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,34
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,41
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0044240318
$SEABIRD_T_H,0.00064698874
$SEABIRD_T_I,2.7191092e-05
$SEABIRD_T_J,3.4398734e-06
$SEABIRD_C_G,-9.9621954
$SEABIRD_C_H,1.1055299
$SEABIRD_C_I,-0.0031133897
$SEABIRD_C_J,0.00029840908
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,7.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,0.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,1.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$GPS1,290921,173611,7102.691,-543.324,18,1.6,19,-4.9
$_CALLS,2
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-50.3
$GPS2,290921,175033,7102.873,-543.531,26,0.8,27,-5.0
$SPEED_LIMITS,0.195,0.335
$TGT_NAME,AA_NWW
$TGT_LATLONG,7102.000,-544.000
$TGT_RADIUS,2500.000
$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,184.0,1641,-27.4,-11.264,-30.00
$D_GRID,980
$IRON,1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-19.000000,49.000000,24.000000
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,6208.40,1028,-162.33,-0.92,0.00,3527.3,3454.2,3600.4,2085.9,624.6,832.18,-13.06,558,6215.34,0.00,0.00,2.49,0.000,0.000,0.037,3526.44,3453.00,3599.88,2076.94,2111.00,0,0,0,30.00,30.00,15.80
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$GC,6890.68,516,-162.33,-0.92,-40.00,3526.8,3454.1,3599.4,2067.4,2110.4,923.26,-13.80,603,6900.67,0.00,0.00,2.55,0.000,0.000,0.045,3526.00,3452.06,3599.94,2067.06,629.19,0,0,0,30.00,30.00,15.79
$GC,6932.95,1028,-162.33,-0.92,0.00,3527.2,3453.9,3600.6,2068.9,626.9,929.90,-14.08,611,6939.77,0.00,0.00,2.49,0.000,0.000,0.040,3527.28,3453.75,3600.81,2058.75,2110.50,0,0,0,30.00,30.00,15.65
$GC,7250.21,2565,-162.33,-0.92,-40.00,3526.4,3453.1,3599.8,2059.0,2110.9,974.65,-14.40,629,7257.20,0.00,0.14,2.54,0.000,0.302,0.044,3525.69,3452.81,3598.56,2095.38,629.88,0,0,0,30.00,15.64,15.75
$GC,7284.77,1028,-162.33,-0.92,0.00,3526.8,3454.2,3599.3,2095.9,628.8,979.59,-13.47,636,7293.98,0.00,0.00,2.51,0.000,0.000,0.036,3527.88,3455.38,3600.38,2084.88,2112.06,0,0,0,30.00,30.00,15.78
$STATE,7297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7297,begin apogee
$GC,7297.36,10243,0.00,-0.14,0.00,3526.4,3453.2,3599.7,2084.2,2199.4,981.06,-12.87,638,7448.69,142.65,0.94,0.17,2.460,0.259,0.128,2874.47,2742.75,3006.19,2342.75,2072.44,0,0,0,12.13,15.65,14.67
$WARN,HTMICL TMICL logging already stopped
$STATE,7451,end apogee,CONTROL_FINISHED_OK
$STATE,7451,begin climb
$WARN,HPMAR logging already started
$GC,7450.98,10503,162.33,0.92,40.00,2872.5,2742.4,3002.6,2345.9,2073.4,984.39,0.00,646,7599.06,135.96,1.11,2.85,2.393,0.125,0.061,2212.50,2015.62,2409.38,2686.19,3580.31,0,0,0,11.94,14.37,14.19
$GC,7601.34,1028,162.33,0.92,0.00,2210.2,2014.9,2405.6,2686.0,3580.3,966.61,17.03,666,7609.65,0.00,0.00,2.68,0.000,0.000,0.028,2208.97,2014.31,2403.62,2694.94,2111.88,0,0,0,30.00,30.00,14.41
$GC,7930.20,0,162.33,0.92,0.00,2209.1,2015.9,2402.3,2694.4,2112.2,910.95,17.11,683,7939.81,0.00,0.00,0.00,0.000,0.000,0.000,2207.62,2014.31,2400.94,2693.25,2112.44,0,0,0,30.00,30.00,30.00
$GC,8246.82,260,162.33,0.92,40.00,2208.2,2015.6,2400.8,2695.0,2112.2,855.09,17.55,699,8253.55,0.00,0.00,2.62,0.000,0.000,0.059,2208.66,2015.88,2401.44,2688.06,3585.44,0,0,0,30.00,30.00,14.84
$GC,8261.53,1028,162.33,0.92,0.00,2208.3,2016.3,2400.4,2688.1,3585.1,852.32,17.58,702,8270.32,0.00,0.00,2.52,0.000,0.000,0.032,2209.69,2018.06,2401.31,2697.62,2111.75,0,0,0,30.00,30.00,15.42
$GC,8590.17,260,162.33,0.92,40.00,2207.9,2017.0,2398.9,2696.6,2112.2,793.48,18.14,719,8600.32,0.00,0.00,2.60,0.000,0.000,0.058,2206.31,2015.06,2397.56,2688.69,3584.62,0,0,0,30.00,30.00,15.55
$GC,8612.60,1028,162.33,0.92,0.00,2207.7,2017.4,2398.1,2688.4,3585.6,788.56,18.27,723,8621.74,0.00,0.00,2.49,0.000,0.000,0.031,2208.16,2018.06,2398.25,2696.19,2106.81,0,0,0,30.00,30.00,15.55
$GC,8929.36,0,162.33,0.92,0.00,2207.7,2018.2,2397.1,2697.6,2106.3,732.22,17.72,741,8933.45,0.00,0.00,0.00,0.000,0.000,0.000,2206.19,2016.75,2395.62,2698.12,2106.44,0,0,0,30.00,30.00,30.00
$GC,9250.58,260,162.33,0.92,40.00,2207.2,2017.6,2396.8,2697.2,2106.6,674.99,17.91,757,9260.16,0.00,0.00,2.59,0.000,0.000,0.060,2205.34,2016.19,2394.50,2689.94,3585.25,0,0,0,30.00,30.00,15.66
$GC,9277.44,1028,162.33,0.92,0.00,2206.8,2018.4,2395.1,2690.4,3585.6,669.63,18.82,762,9285.92,0.00,0.00,2.46,0.000,0.000,0.032,2207.41,2018.94,2395.88,2698.81,2109.25,0,0,0,30.00,30.00,15.68
$GC,9589.25,516,162.33,0.92,-40.00,2206.5,2017.9,2395.1,2699.9,2109.6,615.37,17.48,778,9596.22,0.00,0.00,2.35,0.000,0.000,0.047,2208.56,2021.56,2395.56,2709.44,710.94,0,0,0,30.00,30.00,15.72
$GC,9598.49,1028,162.33,0.92,0.00,2206.4,2017.8,2395.0,2710.8,711.2,612.67,17.42,780,9605.77,0.00,0.00,2.49,0.000,0.000,0.037,2206.81,2018.56,2395.06,2703.62,2182.75,0,0,0,30.00,30.00,15.72
$GC,9923.84,260,162.33,0.92,40.00,2206.4,2017.9,2394.9,2702.0,2182.8,555.19,17.64,797,9930.47,0.00,0.00,2.37,0.000,0.000,0.058,2207.12,2019.38,2394.88,2700.31,3586.94,0,0,0,30.00,30.00,15.73
$GC,9933.52,1028,162.33,0.92,0.00,2206.4,2018.3,2394.4,2701.9,3588.1,553.35,17.76,799,9941.61,0.00,0.00,2.46,0.000,0.000,0.032,2205.88,2017.94,2393.81,2710.81,2108.94,0,0,0,30.00,30.00,15.19
$GC,10248.71,516,162.33,0.92,-40.00,2206.0,2018.2,2393.9,2711.6,2107.6,496.62,18.08,816,10255.33,0.00,0.00,2.34,0.000,0.000,0.046,2205.22,2017.69,2392.75,2722.69,709.69,0,0,0,30.00,30.00,15.73
$GC,10262.90,5125,162.33,0.92,0.00,2205.8,2017.7,2393.8,2722.8,709.8,493.25,18.00,819,10271.12,0.00,0.15,2.48,0.000,0.297,0.037,2205.97,2018.25,2393.69,2677.38,2188.44,0,0,0,30.00,15.62,15.24
$GC,10583.72,260,162.33,0.92,40.00,2205.3,2017.4,2393.2,2678.6,2193.7,443.21,15.36,838,10590.22,0.00,0.00,2.35,0.000,0.000,0.055,2207.41,2019.56,2395.25,2678.69,3588.25,0,0,0,30.00,30.00,15.13
$GC,10593.42,1028,162.33,0.92,0.00,2205.5,2018.1,2392.9,2679.8,3587.8,441.63,15.43,840,10600.81,0.00,0.00,2.46,0.000,0.000,0.031,2206.25,2018.56,2393.94,2687.25,2102.31,0,0,0,30.00,30.00,15.74
$GC,10908.89,0,162.33,0.92,0.00,2205.4,2017.7,2393.1,2686.9,2099.1,391.62,16.16,857,10912.95,0.00,0.00,0.00,0.000,0.000,0.000,2204.50,2017.31,2391.69,2686.88,2099.38,0,0,0,30.00,30.00,30.00
$GC,11223.78,260,162.33,0.92,40.00,2205.1,2017.8,2392.4,2688.3,2099.6,340.92,15.58,873,11231.17,0.00,0.00,2.55,0.000,0.000,0.056,2206.31,2018.06,2394.56,2685.19,3589.69,0,0,0,30.00,30.00,15.77
$GC,11276.08,17414,162.33,0.92,0.00,2204.8,2018.1,2391.5,2684.9,3589.8,332.22,16.51,883,11282.89,0.00,0.00,2.45,0.000,0.000,0.031,2205.94,2019.44,2392.44,2695.75,2101.88,0,0,0,30.00,30.00,15.24
$GC,11590.55,260,162.33,0.92,40.00,2205.6,2018.6,2392.6,2695.3,2099.1,283.47,15.44,900,11601.12,0.00,0.00,2.57,0.000,0.000,0.057,2206.91,2020.94,2392.88,2687.56,3586.44,0,0,0,30.00,30.00,15.69
$GC,11603.40,17414,162.33,0.92,0.00,2204.6,2018.1,2391.2,2689.8,3586.2,280.78,15.43,902,11610.71,0.00,0.00,2.45,0.000,0.000,0.031,2206.34,2019.25,2393.44,2698.06,2104.25,0,0,0,30.00,30.00,15.77
$GC,11920.69,16902,162.33,0.92,-40.00,2204.9,2018.2,2391.5,2699.0,2103.4,230.81,15.86,924,11930.53,0.00,0.00,2.32,0.000,0.000,0.047,2205.62,2018.19,2393.06,2709.31,709.75,0,0,0,30.00,30.00,15.71
$GC,11938.09,17414,162.33,0.92,0.00,2204.8,2017.6,2391.9,2710.0,709.4,227.68,16.00,927,11944.75,0.00,0.00,2.47,0.000,0.000,0.036,2207.09,2019.81,2394.38,2706.31,2183.12,0,0,0,30.00,30.00,15.76
$GC,12130.18,16902,162.33,0.92,-40.00,2204.6,2017.9,2391.2,2707.1,2184.5,196.11,17.13,947,12139.88,0.00,0.00,2.52,0.000,0.000,0.045,2203.91,2016.56,2391.25,2715.56,710.88,0,0,0,30.00,30.00,15.78
$GC,12177.46,17414,162.33,0.92,0.00,2204.8,2017.8,2391.9,2716.8,709.4,187.49,17.55,956,12184.16,0.00,0.00,2.47,0.000,0.000,0.036,2205.62,2019.12,2392.12,2714.69,2183.75,0,0,0,30.00,30.00,15.73
$GC,12369.83,16386,162.33,0.92,0.00,2204.5,2018.0,2390.9,2715.2,2185.0,153.28,18.39,976,12380.72,0.00,0.00,0.00,0.000,0.000,0.000,2205.88,2017.75,2394.00,2714.81,2184.56,0,0,0,30.00,30.00,30.00
$GC,12567.52,16386,162.33,0.92,0.00,2205.1,2018.1,2392.1,2715.2,2185.1,117.11,17.88,996,12571.61,0.00,0.00,0.00,0.000,0.000,0.000,2203.75,2016.94,2390.56,2715.69,2184.75,0,0,0,30.00,30.00,30.00
$GC,12760.28,16646,162.33,0.92,40.00,2204.8,2018.3,2391.4,2714.5,2184.5,84.46,16.74,1015,12770.86,0.00,0.00,2.33,0.000,0.000,0.055,2204.41,2017.31,2391.50,2714.50,3585.62,0,0,0,30.00,30.00,15.75
$GC,12800.82,17414,162.33,0.92,0.00,2204.2,2018.4,2390.1,2714.9,3585.9,77.51,17.07,1022,12807.47,0.00,0.00,2.45,0.000,0.000,0.031,2205.38,2018.62,2392.12,2724.88,2101.94,0,0,0,30.00,30.00,15.19
$GC,12994.94,20483,162.33,0.92,0.00,2204.7,2018.4,2391.0,2725.1,2098.2,44.99,16.47,1042,13003.63,0.00,0.17,0.00,0.000,0.279,0.000,2204.69,2018.19,2391.19,2677.56,2098.38,0,0,0,30.00,15.64,30.00
$GC,13186.22,16902,162.33,0.92,-40.00,2204.6,2018.0,2391.1,2677.7,2098.0,19.61,13.58,1061,13196.56,0.00,0.00,2.33,0.000,0.000,0.046,2205.09,2018.88,2391.31,2683.12,710.00,0,0,0,30.00,30.00,15.17
$GC,13227.87,17414,162.33,0.92,0.00,2203.9,2017.7,2390.1,2684.0,709.7,14.42,13.48,1067,13240.05,0.00,0.00,2.50,0.000,0.000,0.036,2204.72,2018.50,2390.94,2680.62,2183.56,0,0,0,30.00,30.00,15.19
$STATE,13317,end climb,SURFACE_DEPTH_REACHED
$STATE,13317,begin surface coast
$FINISH,2.5,1.023506
$STATE,13349,end surface coast,CONTROL_FINISHED_OK
$STATE,13349,begin surface
$WARN,HPMAR logging already stopped
$WARN,HTMICL TMICL logging already stopped
$SM_CCo,13704.85,321.45,1.196,0,501.1,443.0,559.1,582.33
$SM_GC,3.14,321.45,7.24,0.28,1.196,0.078,0.059,501.1,443.0,559.1,138.2,2033.8,0,0,0,12.26,15.16,15.78
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7102.55,-531.44,290921,174032
$TCM_TEMP,4.40
$XPDR_PINGS,117,12.5,11.5
$SC_FREEKB,3835264
$PM_FREEKB_00,50544064
$PM_FREEKB_01,33734272
$PM_ACTIVECARD,1
$TM_FREEKB,4951424
$HUMID,52.72
$TEMP,4.11
$INTERNAL_PRESSURE,8.13101
$24V_AH,13.74,46.856
$10V_AH,14.34,0.000
$FG_AHR_24Vo,1063.142
$FG_AHR_10Vo,44.521
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,763.870,19.710,174.735,531.830,29.250,36.322,5443.269,8754.465,3067.855,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,2459.752,399.912,128.000,201.326,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13370.000,13394.000,13371.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.758,12.750,13.447,0.000
$MEM0,60820,1,0,0
$MEM1,65508,1,0,0
$MEM2,1030212,26,16596,62
$DATA_FILE_SIZE,32093,1079
$CAP_FILE_SIZE,325221,0
$SDSIZE,3918848,3875936
$SDFILEDIR,621,1
$ERRORS,0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016,268.6,1
$IMPLIED_C_PITCH,2389,26.38,727
$IMPLIED_C_VBD,2877,24.358355,727
$GPS,290921,214019,7101.276,-542.872,30,1.8,31,-4.9