version: 66.10
glider: 170
mission: 8
dive: 74
start: 5 2 112 3 11 25
data:
$ID,170
$MISSION,8
$DIVE,74
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$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,380
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$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,51734
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-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,652.74329
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-124260.34
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.012
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2690
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2.25
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3121
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,600
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,146
$AH0_10V,97.5
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.674221
$PRESSURE_SLOPE,0.0001164274
$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,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$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,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043607452
$SEABIRD_T_H,0.00062843185
$SEABIRD_T_I,2.3948436e-05
$SEABIRD_T_J,2.5418763e-06
$SEABIRD_C_G,-9.9654589
$SEABIRD_C_H,1.1018275
$SEABIRD_C_I,-0.0017437373
$SEABIRD_C_J,0.00021077196
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,020512,030035,2030.913,12002.560,28,0.9,28,-2.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-72.0
$GPS2,020512,031100,2030.860,12002.610,17,1.1,17,-2.8
$SPEED_LIMITS,0.150,0.298
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$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,182.8,168335,-13.9,-8.684
$D_GRID,3382
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.46,-194.6,0.0,0.0,0,112,0.00,0.00,-91.90,0.000,2,0.000,0.000,135,2710,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.46,-194.6,4.2,-4.3,9,147,10.25,1.62,-15.43,0.000,4,0.247,0.074,2641,3688,3920,0,0,0,0,0,0,25.75,26.19,26.59
$GC,224,-0.35,-194.6,36.5,-21.5,19,231,0.15,1.52,0.00,0.000,6,0.151,0.031,2685,2655,3924,0,0,0,0,0,0,26.06,26.36,28.83
$GC,540,-0.35,-194.6,80.0,-11.8,40,545,0.00,2.03,0.00,0.000,4,0.000,0.032,2685,1287,3925,0,0,0,0,0,0,28.83,26.38,28.83
$GC,727,-0.41,-194.6,96.8,-8.2,49,733,0.00,2.12,0.00,0.000,6,0.000,0.046,2685,2668,3926,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1045,-0.46,-194.6,124.9,-8.4,65,1050,0.00,2.05,0.00,0.000,4,0.000,0.031,2685,1293,3926,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1109,-0.52,-194.6,128.9,-6.8,68,1114,0.15,2.12,0.00,0.000,6,0.076,0.045,2600,2672,3926,0,0,0,0,0,0,26.45,26.41,28.83
$GC,1432,-0.47,-194.6,172.6,-13.5,84,1438,0.12,1.60,0.00,0.000,4,0.162,0.057,2641,3700,3926,0,0,0,0,0,0,26.36,26.42,28.83
$GC,1484,-0.47,-194.6,177.3,-12.0,86,1490,0.00,1.52,0.00,0.000,6,0.000,0.031,2642,2651,3926,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1797,-0.51,-194.6,204.3,-6.9,102,1803,0.00,1.95,0.00,0.000,4,0.000,0.031,2642,1302,3925,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1891,-0.57,-194.6,208.6,-5.2,106,1896,0.00,2.10,0.00,0.000,6,0.000,0.046,2642,2663,3925,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2204,-0.64,-194.6,230.6,-7.4,122,2210,0.12,2.03,0.00,0.000,4,0.089,0.029,2561,1297,3924,0,0,0,0,0,0,26.65,26.58,28.83
$GC,2280,-0.64,-194.6,237.3,-9.8,125,2287,0.12,2.08,0.00,0.000,6,0.161,0.047,2596,2651,3924,0,0,0,0,0,0,26.34,26.50,28.83
$GC,2587,-0.64,-194.6,268.5,-9.4,141,2592,0.00,1.98,0.00,0.000,4,0.000,0.030,2595,1298,3923,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2637,-0.64,-194.6,272.3,-9.1,143,2643,0.00,2.08,0.00,0.000,6,0.000,0.047,2596,2636,3922,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2951,-0.64,-194.6,299.4,-7.9,159,2956,0.00,1.98,0.00,0.000,4,0.000,0.031,2596,1291,3921,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2983,-0.65,-194.6,301.4,-8.1,160,2988,0.00,2.08,0.00,0.000,6,0.000,0.048,2596,2625,3921,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3295,-0.66,-194.6,330.6,-9.6,176,3301,0.00,1.98,0.00,0.000,4,0.000,0.032,2597,1296,3918,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3318,-0.68,-194.6,332.7,-9.5,177,3324,0.00,2.05,0.00,0.000,6,0.000,0.048,2596,2621,3918,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3642,-0.70,-194.6,361.3,-8.5,193,3647,0.00,1.95,0.00,0.000,4,0.000,0.032,2596,1296,3916,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3668,-0.73,-194.6,363.3,-8.6,194,3674,0.00,2.05,0.00,0.000,6,0.000,0.046,2596,2620,3916,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3987,-0.75,-194.6,389.5,-8.0,210,3989,0.12,0.00,0.00,0.000,6,0.096,0.000,2533,2621,3913,0,0,0,0,0,0,26.69,28.83,28.83
$GC,4288,-0.69,-194.6,429.3,-13.6,225,4290,0.15,0.00,0.00,0.000,6,0.150,0.000,2577,2621,3911,0,0,0,0,0,0,26.44,28.83,28.83
$GC,4587,-0.69,-194.6,458.0,-9.2,240,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2621,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4887,-0.69,-194.6,486.1,-9.6,255,4892,0.00,1.95,0.00,0.000,4,0.000,0.031,2577,1293,3907,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4938,-0.69,-194.6,490.2,-9.6,257,4944,0.00,2.03,0.00,0.000,6,0.000,0.045,2577,2613,3906,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5251,-0.69,-194.6,518.5,-8.1,273,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2613,3905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5552,-0.69,-194.6,541.1,-7.1,288,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2612,3902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5852,-0.70,-194.6,563.5,-7.8,303,5858,0.00,1.95,0.00,0.000,4,0.000,0.032,2577,1299,3900,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5910,-0.72,-194.6,567.0,-7.9,305,5916,0.00,2.03,0.00,0.000,6,0.000,0.046,2577,2602,3899,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6215,-0.73,-194.6,594.7,-9.2,321,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2603,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6516,-0.74,-194.6,624.2,-10.0,332,6521,0.00,1.70,0.00,0.000,4,0.000,0.059,2577,3694,3896,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6557,-0.76,-194.6,627.5,-10.1,333,6562,0.00,1.62,0.00,0.000,6,0.000,0.036,2577,2608,3895,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6880,-0.78,-194.6,661.3,-10.4,344,6886,0.00,1.90,0.00,0.000,4,0.000,0.032,2577,1303,3893,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6917,-0.80,-194.6,665.2,-10.6,345,6923,0.12,2.03,0.00,0.000,6,0.096,0.046,2511,2603,3893,0,0,0,0,0,0,26.51,26.51,28.83
$GC,7246,-0.74,-194.6,717.0,-15.8,356,7252,0.15,1.70,0.00,0.000,4,0.148,0.057,2559,3693,3892,0,0,0,0,0,0,26.39,26.46,28.83
$GC,7289,-0.69,-194.6,721.7,-15.4,357,7294,0.00,1.60,0.00,0.000,6,0.000,0.036,2560,2613,3892,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7611,-0.69,-194.6,757.0,-9.8,368,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2613,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7911,-0.69,-194.6,782.9,-8.1,378,7916,0.00,1.92,0.00,0.000,4,0.000,0.033,2560,1296,3888,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7957,-0.69,-194.6,785.5,-8.0,379,7962,0.00,2.03,0.00,0.000,6,0.000,0.047,2560,2606,3888,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8275,-0.69,-194.6,809.9,-7.1,390,8276,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2605,3887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8574,-0.69,-194.6,832.5,-7.7,400,8576,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2606,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8874,-0.69,-194.6,857.7,-8.7,410,8880,0.00,1.95,0.00,0.000,4,0.000,0.033,2563,1290,3885,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8901,-0.69,-194.6,857.7,-8.7,410,8908,0.00,2.05,0.00,0.000,6,0.000,0.047,2560,2599,3885,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9207,-0.69,-194.6,887.5,-9.1,421,9208,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2599,3883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9507,-0.69,-194.6,914.7,-9.0,431,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2599,3883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9807,-0.69,-194.6,942.2,-9.2,441,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2599,3882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10107,-0.69,-194.6,970.4,-9.3,451,10112,0.00,1.95,0.00,0.000,4,0.000,0.034,2560,1289,3881,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10133,-0.69,-194.6,970.4,-9.3,451,10140,0.00,2.05,0.00,0.000,6,0.000,0.047,2560,2597,3881,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,10348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10348,begin apogee
$GC,10353,-0.12,0.0,992.2,-8.8,459,10514,0.57,0.00,154.43,1.440,4,0.111,0.000,2758,1938,3121,0,0,0,0,0,0,26.17,28.83,23.61
$STATE,10515,end apogee,CONTROL_FINISHED_OK
$STATE,10515,begin climb
$GC,10517,0.46,194.6,999.9,0.0,464,10700,0.55,2.28,175.62,1.398,4,0.058,0.040,2964,552,2327,0,0,0,0,0,0,24.74,24.72,23.09
$GC,10762,0.41,194.6,988.5,9.1,472,10767,0.00,2.28,0.00,0.000,6,0.000,0.038,2964,1951,2321,0,0,0,0,0,0,28.83,24.84,28.83
$GC,11076,0.36,194.6,949.7,11.8,483,11082,0.15,2.22,0.00,0.000,4,0.150,0.040,2924,549,2316,0,0,0,0,0,0,25.65,25.77,28.83
$GC,11238,0.37,205.5,936.1,8.4,488,11253,0.00,2.15,9.52,1.196,6,0.000,0.038,2924,1942,2283,0,0,0,0,0,0,28.83,25.96,24.67
$GC,11561,0.39,232.7,908.9,7.9,499,11592,0.00,2.38,25.27,1.327,4,0.000,0.054,2925,3349,2171,0,0,0,0,0,0,28.83,25.41,24.45
$GC,11649,0.40,251.3,903.5,8.1,501,11675,0.00,2.17,17.80,1.282,6,0.000,0.033,2928,1952,2095,0,0,0,0,0,0,28.83,25.68,24.30
$GC,11988,0.43,299.0,875.5,7.3,513,12036,0.00,2.35,42.65,1.335,4,0.000,0.052,2928,3345,1900,0,0,0,0,0,0,28.83,25.00,24.07
$GC,12052,0.45,346.3,871.2,7.3,515,12103,0.00,2.22,42.58,1.315,6,0.000,0.034,2929,1948,1708,0,0,0,0,0,0,28.83,25.26,23.82
$GC,12411,0.53,403.5,845.9,7.0,527,12464,0.12,0.00,50.67,1.317,6,0.092,0.000,2996,1947,1476,0,0,0,0,0,0,25.94,28.83,23.92
$GC,12742,0.49,403.5,798.9,15.2,538,12744,0.15,0.00,0.00,0.000,6,0.148,0.000,2955,1946,1470,0,0,0,0,0,0,25.75,28.83,28.83
$GC,13042,0.52,403.5,768.5,9.5,548,13048,0.00,2.20,0.00,0.000,4,0.000,0.044,2955,534,1468,0,0,0,0,0,0,28.83,26.08,28.83
$GC,13064,0.55,403.5,768.5,9.5,548,13070,0.00,2.20,0.00,0.000,6,0.000,0.039,2955,1962,1469,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13378,0.59,406.2,738.9,8.6,559,13385,0.10,2.20,0.00,0.000,4,0.109,0.050,3012,3343,1468,0,0,0,0,0,0,26.32,26.19,28.83
$GC,13421,0.61,406.2,734.4,9.5,560,13427,0.00,2.15,0.00,0.000,6,0.000,0.034,3013,1950,1467,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13746,0.55,406.2,679.3,16.8,571,13752,0.12,2.17,0.00,0.000,4,0.168,0.042,2983,538,1468,0,0,0,0,0,0,26.18,26.29,28.83
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$STATE,19835,end climb,SURFACE_DEPTH_REACHED
$STATE,19835,begin surface coast
$FINISH,1.0,1.021148
$STATE,19856,end surface coast,CONTROL_FINISHED_OK
$STATE,19857,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,38.02
$INTERNAL_PRESSURE,7.2714
$TCM_TEMP,23.90
$XPDR_PINGS,0
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$10V_AH,10.0,6.316
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.775,167.775,622.800,55.325,0.000,0.000,0.000,200.800,0.000,0.000,19.381,2837.350,14322.168,819.351,2372.536,197.513,0.000,2212.923,0.000,2037.393,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.330,0.000,0.000,0.000
$MEM,324536
$DATA_FILE_SIZE,33406,888
$CAP_FILE_SIZE,220715,0
$CFSIZE,260165632,244269056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.120, 53.0,1
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