version: 66.14
glider: 45
mission: 3
dive: 93
start: 9 20 119 12 15 11
data:
$ID,45
$MISSION,3
$DIVE,93
$N_DIVES,0
$STOP_T,9201918
$D_SURF,3
$D_FLARE,3
$D_TGT,1440
$D_ABORT,6050
$D_NO_BLEED,50
$D_BOOST,0
$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,480
$T_MISSION,540
$T_ABORT,700
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,360
$T_LOITER,0
$T_SLOITER,60
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-10
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80120.602
$MASS_COMP,10859
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,100
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3140
$TGT_DEFAULT_LON,-6410
$TGT_AUTO_DEFAULT,0
$SM_CC,467.70499
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,1
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3820
$C_PITCH,2985
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12.71
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3860
$ROLL_DEG,40
$C_ROLL_DIVE,2020
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,340
$VBD_MAX,3960
$C_VBD,1950
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.000267
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-13.855844
$PRESSURE_SLOPE,0
$AD7714Ch0Gain,32
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,4000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044369884
$SEABIRD_T_H,0.00066042581
$SEABIRD_T_I,2.7363718e-05
$SEABIRD_T_J,3.4006232e-06
$SEABIRD_C_G,-10.01541
$SEABIRD_C_H,1.1730425
$SEABIRD_C_I,-0.0023542538
$SEABIRD_C_J,0.00025774896
$SEABIRD_C_Z,2927.8301
$GPS1,200919,120042,3312.0698,-6946.7778,50,2.0,91,-13.3,0.7,217.3,5,16.6
$_CALLS,6
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-40.3
$GPS2,200919,121436,3311.9912,-6946.7456,16,1.7,57,-13.3,0.0,220.8,7,16.9
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,HEADING
$TGT_LATLONG,3300.740,-6830.649
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,113.3,120000,-14.6,-10.000,-17.72,4418
$D_GRID,1440
$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,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,71,-1.23,-293.3,176,2028,328,353,0.7,0.3,6,202,0.00,0.00,-128.30,0.146,16386,0.000,0.000,177,2029,2609,2601,2618,0,0,0,0,0,0,26.77,28.83,26.78,8.56,26.68
$GC,204,-1.23,-293.3,176,2029,2601,2619,4.0,-5.5,19,232,9.23,0.00,-10.55,0.181,18438,0.253,0.000,2585,2026,2962,2927,2997,0,0,0,0,0,0,25.47,25.84,25.74,8.78,25.78
$GC,532,-1.23,-293.3,2585,2026,2928,2998,47.0,-13.0,52,541,0.00,3.75,0.00,0.000,516,0.000,0.094,2585,609,2962,2927,2997,0,0,0,0,0,0,26.77,25.89,26.78,8.83,25.62
$GC,565,-1.23,-293.3,2585,609,2928,2997,52.5,-16.6,55,574,0.00,3.55,0.00,0.000,1030,0.000,0.067,2570,2038,2962,2928,2997,0,0,0,0,0,0,26.41,26.36,26.44,8.83,25.94
$GC,873,-1.23,-293.3,2570,2038,2927,2997,81.5,-6.3,86,883,0.00,3.55,0.00,0.000,260,0.000,0.082,2554,3406,2962,2928,2997,0,0,0,0,0,0,26.87,26.09,26.89,8.82,25.94
$GC,1055,-1.23,-293.3,2554,3406,2928,2997,98.9,-11.2,104,1067,0.10,3.53,0.00,0.000,3078,0.176,0.067,2594,2004,2962,2927,2998,0,0,0,0,0,0,26.09,26.33,26.15,8.81,26.05
$GC,1367,-1.23,-293.3,2593,2004,2928,2997,124.5,-6.9,135,1376,0.00,3.65,0.00,0.000,516,0.000,0.097,2594,613,2962,2928,2997,0,0,0,0,0,0,26.94,26.00,26.95,8.80,25.31
$GC,1451,-1.23,-293.3,2594,613,2927,2997,131.9,-9.2,143,1459,0.00,3.47,0.00,0.000,1030,0.000,0.067,2579,2024,2962,2928,2997,0,0,0,0,0,0,26.56,26.50,26.58,8.79,25.58
$GC,1759,-1.23,-293.3,2578,2024,2928,2998,159.7,-9.2,169,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2024,2963,2928,2998,0,0,0,0,0,0,26.96,26.98,26.98,8.78,26.33
$GC,2058,-1.23,-293.3,2578,2024,2928,2997,188.8,-9.9,184,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2024,2963,2928,2998,0,0,0,0,0,0,26.98,26.99,26.98,8.76,26.29
$GC,2360,-1.23,-293.3,2578,2024,2927,2997,221.8,-11.2,199,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2024,2962,2928,2997,0,0,0,0,0,0,26.98,27.00,26.99,8.76,26.68
$GC,2658,-1.23,-293.3,2578,2025,2927,2998,255.1,-11.1,214,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2024,2962,2927,2997,0,0,0,0,0,0,26.98,27.00,27.00,8.75,26.84
$GC,2958,-1.23,-293.3,2578,2024,2926,2997,288.1,-10.9,229,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2024,2961,2926,2997,0,0,0,0,0,0,26.99,27.01,27.00,8.73,27.47
$GC,3258,-1.23,-293.3,2578,2024,2926,2996,321.1,-10.9,241,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2024,2961,2926,2996,0,0,0,0,0,0,26.99,27.01,27.00,8.74,28.61
$GC,3558,-1.23,-293.3,2579,2024,2926,2994,354.8,-11.0,251,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2024,2960,2926,2994,0,0,0,0,0,0,26.99,27.01,27.00,8.73,28.81
$GC,3858,-1.23,-293.3,2578,2024,2925,2994,387.5,-10.8,261,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2024,2959,2925,2994,0,0,0,0,0,0,26.99,27.01,27.01,8.73,28.38
$GC,4158,-1.23,-293.3,2578,2024,2924,2993,421.1,-11.3,271,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2024,2958,2925,2992,0,0,0,0,0,0,27.00,27.01,27.01,8.73,28.77
$GC,4458,-1.23,-293.3,2578,2024,2923,2992,454.2,-10.9,281,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2024,2958,2924,2992,0,0,0,0,0,0,26.99,27.01,27.00,8.72,28.93
$GC,4758,-1.23,-293.3,2578,2024,2923,2992,487.0,-11.2,291,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2024,2957,2923,2992,0,0,0,0,0,0,26.99,27.01,27.01,8.72,29.40
$GC,5058,-1.23,-293.3,2578,2024,2922,2991,521.1,-11.6,301,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2024,2957,2923,2991,0,0,0,0,0,0,26.99,27.01,27.01,8.71,29.44
$GC,5358,-1.23,-293.3,2578,2024,2922,2990,555.9,-11.5,311,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2024,2956,2922,2991,0,0,0,0,0,0,26.99,27.01,27.01,8.71,29.48
$GC,5658,-1.23,-293.3,2578,2024,2922,2989,590.3,-11.4,321,5665,0.00,3.75,0.00,0.000,516,0.000,0.094,2579,622,2955,2922,2989,0,0,0,0,0,0,26.99,26.00,27.01,8.70,29.76
$GC,5701,-1.23,-293.3,2578,622,2921,2989,593.8,-11.4,322,5707,0.00,3.45,0.00,0.000,1030,0.000,0.067,2563,2018,2955,2922,2989,0,0,0,0,0,0,26.58,26.52,26.60,8.70,29.60
$GC,6014,-1.23,-293.3,2562,2018,2921,2988,634.3,-12.5,333,6021,0.00,3.60,0.00,0.000,260,0.000,0.079,2546,3406,2955,2922,2988,0,0,0,0,0,0,26.99,26.15,27.01,8.69,29.36
$GC,6061,-1.23,-293.3,2545,3406,2921,2988,638.4,-12.9,334,6068,0.12,3.50,0.00,0.000,3078,0.169,0.067,2590,2022,2955,2922,2988,0,0,0,0,0,0,26.10,26.37,26.22,8.68,29.28
$GC,6369,-1.23,-293.3,2589,2022,2921,2987,677.5,-11.9,344,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2022,2954,2921,2987,0,0,0,0,0,0,26.99,27.01,27.00,8.67,30.35
$GC,6669,-1.23,-293.3,2589,2022,2921,2986,713.0,-11.8,354,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2022,2953,2921,2986,0,0,0,0,0,0,26.99,27.01,27.01,8.66,29.76
$GC,6969,-1.23,-293.3,2590,2022,2920,2986,748.5,-12.1,364,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2022,2952,2920,2985,0,0,0,0,0,0,26.99,27.01,27.01,8.64,30.39
$GC,7269,-1.23,-293.3,2590,2022,2919,2985,785.9,-12.5,374,7276,0.00,3.62,0.00,0.000,260,0.000,0.082,2577,3407,2951,2918,2985,0,0,0,0,0,0,26.99,26.13,27.00,8.63,31.25
$GC,7311,-1.23,-293.3,2576,3407,2919,2984,789.9,-12.7,375,7317,0.00,3.53,0.00,0.000,1030,0.000,0.067,2576,2020,2951,2918,2984,0,0,0,0,0,0,26.44,26.34,26.48,8.63,30.58
$GC,7624,-1.23,-293.3,2576,2020,2918,2983,832.6,-12.9,386,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2020,2950,2917,2984,0,0,0,0,0,0,26.99,27.01,27.00,8.61,31.05
$GC,7925,-1.23,-293.3,2576,2020,2917,2982,872.1,-13.4,396,7927,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2021,2949,2917,2982,0,0,0,0,0,0,26.99,27.01,27.00,8.59,31.13
$GC,8224,-1.23,-293.3,2576,2020,2916,2981,914.5,-14.4,406,8225,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2020,2948,2916,2981,0,0,0,0,0,0,26.99,27.01,27.00,8.57,31.96
$GC,8524,-1.23,-293.3,2575,2021,2915,2980,957.8,-14.6,416,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2021,2947,2914,2980,0,0,0,0,0,0,26.98,27.01,27.00,8.56,32.24
$GC,8824,-1.23,-293.3,2576,2020,2913,2978,1000.3,-14.0,426,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2020,2945,2913,2978,0,0,0,0,0,0,26.98,27.01,27.00,8.55,32.12
$GC,9124,-1.23,-293.3,2576,2020,2912,2978,1041.2,-13.6,431,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2021,2944,2911,2978,0,0,0,0,0,0,26.98,27.01,27.00,8.53,33.30
$GC,9424,-1.23,-293.3,2576,2020,2910,2975,1083.5,-14.1,436,9425,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2020,2943,2910,2976,0,0,0,0,0,0,26.98,27.01,27.00,8.52,33.26
$GC,9724,-1.23,-293.3,2576,2020,2909,2974,1126.3,-14.4,441,9725,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2021,2941,2909,2974,0,0,0,0,0,0,26.98,27.00,27.00,8.51,34.28
$GC,10024,-1.23,-293.3,2576,2021,2908,2973,1170.9,-14.9,446,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2020,2940,2908,2972,0,0,0,0,0,0,26.98,27.01,27.00,8.49,34.48
$GC,10324,-1.23,-293.3,2576,2020,2906,2971,1216.5,-15.3,451,10325,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2020,2938,2906,2971,0,0,0,0,0,0,26.98,27.00,26.99,8.48,35.23
$GC,10624,-1.23,-293.3,2576,2020,2905,2969,1262.2,-15.2,456,10625,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2021,2937,2905,2969,0,0,0,0,0,0,26.98,27.01,27.00,8.47,34.72
$GC,10924,-1.23,-293.3,2576,2020,2903,2968,1306.2,-14.6,461,10925,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2020,2936,2904,2968,0,0,0,0,0,0,26.98,27.00,27.00,8.46,35.27
$GC,11224,-1.23,-293.3,2576,2020,2901,2966,1349.2,-14.2,466,11225,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2020,2934,2902,2966,0,0,0,0,0,0,26.98,27.00,27.00,8.45,35.15
$GC,11524,-1.23,-293.3,2576,2020,2901,2964,1392.7,-14.5,471,11525,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2020,2932,2900,2964,0,0,0,0,0,0,26.98,27.00,26.99,8.44,35.74
$GC,11824,-1.23,-293.3,2576,2021,2899,2963,1436.3,-14.5,476,11825,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2020,2931,2899,2963,0,0,0,0,0,0,26.98,27.00,26.99,8.44,35.90
$STATE,11884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11884,begin apogee
$GC,11888,-0.79,0.0,2576,1951,2899,2963,1445.3,-14.5,477,12125,0.45,0.00,232.27,1.669,10246,0.146,0.000,2730,1951,1950,1919,1981,0,0,0,0,0,0,25.72,24.25,23.22,8.44,36.06
$STATE,12126,end apogee,CONTROL_FINISHED_OK
$STATE,12126,begin climb
$GC,12128,1.23,293.3,2730,1951,1919,1981,1467.8,0.0,481,12382,1.92,4.28,243.62,1.639,10756,0.129,0.112,3374,548,939,921,958,0,0,0,0,0,0,24.48,22.87,23.01,8.34,34.95
$GC,12433,1.34,713.6,3374,548,920,960,1467.9,0.3,486,12594,0.08,3.75,150.80,1.624,11270,0.139,0.072,3426,1945,339,334,344,0,0,0,0,0,0,25.18,25.25,23.04,8.25,33.50
$GC,12906,1.34,713.6,3425,1945,329,344,1425.1,9.7,494,12913,0.00,3.75,0.00,0.000,260,0.000,0.084,3426,3341,336,329,344,0,0,0,0,0,0,26.51,26.06,26.52,8.19,33.10
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$STATE,25318,end climb,SURFACE_DEPTH_REACHED
$STATE,25319,begin surface coast
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$STATE,25339,end surface coast,CONTROL_FINISHED_OK
$STATE,25340,begin surface
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$10V_AH,10.37,24.393
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$FG_AHR_10Vo,0.000
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$MEM,319444
$DATA_FILE_SIZE,65973,921
$CAP_FILE_SIZE,164606,0
$CFSIZE,2046525440,2019000320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
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