version: 66.11
glider: 170
mission: 10
dive: 64
start: 11 13 112 20 30 27
data:
$ID,170
$MISSION,10
$DIVE,64
$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,320
$T_MISSION,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51479
$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,450
$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
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-143168.09
$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,3010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2769
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$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,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.120956
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043559377
$SEABIRD_T_H,0.00062550703
$SEABIRD_T_I,2.3551509e-05
$SEABIRD_T_J,2.509174e-06
$SEABIRD_C_G,-10.138787
$SEABIRD_C_H,1.1450038
$SEABIRD_C_I,-0.0015582878
$SEABIRD_C_J,0.00020114503
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,131112,202204,2137.005,12030.892,37,1.0,37,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-73.7
$GPS2,131112,202959,2136.863,12031.109,18,1.0,18,-3.0
$SPEED_LIMITS,0.179,0.348
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,333.7,55594,-14.3,-10.312,-16.49
$D_GRID,1390
$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,-0.42,-243.3,0.0,0.0,0,102,0.00,0.00,-80.10,0.000,2,0.000,0.000,137,2613,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.42,-243.3,3.1,-1.6,14,160,11.05,1.80,-38.05,0.000,4,0.249,0.078,2871,3693,3762,0,0,0,0,0,0,25.95,26.15,26.46
$GC,273,-0.42,-243.3,52.5,-35.4,38,278,0.00,1.62,0.00,0.000,6,0.000,0.024,2871,2578,3762,0,0,0,0,0,0,28.83,26.35,28.83
$GC,466,-0.42,-243.3,109.0,-24.9,48,472,0.00,2.00,0.00,0.000,4,0.000,0.029,2871,1215,3761,0,0,0,0,0,0,28.83,26.40,28.83
$GC,478,-0.42,-243.3,109.0,-24.9,48,483,0.00,2.17,0.00,0.000,6,0.000,0.051,2871,2597,3761,0,0,0,0,0,0,28.83,26.35,28.83
$GC,671,-0.42,-243.3,148.3,-16.7,58,676,0.00,1.70,0.00,0.000,4,0.000,0.057,2871,3700,3762,0,0,0,0,0,0,28.83,26.43,28.83
$GC,734,-0.42,-243.3,156.6,-13.5,61,740,0.00,1.60,0.00,0.000,6,0.000,0.025,2871,2569,3762,0,0,0,0,0,0,28.83,26.51,28.83
$GC,937,-0.42,-243.3,183.4,-13.0,71,942,0.00,1.95,0.00,0.000,4,0.000,0.043,2871,1241,3762,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1040,-0.42,-243.3,190.5,-7.0,76,1045,0.00,2.12,0.00,0.000,6,0.000,0.050,2871,2604,3762,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1243,-0.42,-243.3,209.1,-8.1,86,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2604,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1423,-0.42,-243.3,223.6,-8.1,95,1429,0.00,1.70,0.00,0.000,4,0.000,0.056,2871,3700,3761,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1467,-0.42,-243.3,227.1,-8.0,97,1473,0.00,1.55,0.00,0.000,6,0.000,0.026,2872,2589,3761,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1672,-0.42,-243.3,243.5,-8.2,107,1677,0.00,1.95,0.00,0.000,4,0.000,0.029,2872,1242,3760,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1704,-0.42,-243.3,245.4,-8.2,108,1709,0.00,2.10,0.00,0.000,6,0.000,0.047,2871,2615,3760,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1897,-0.42,-243.3,261.1,-8.2,118,1902,0.00,1.65,0.00,0.000,4,0.000,0.054,2871,3695,3759,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1980,-0.42,-243.3,268.4,-8.8,122,1985,0.00,1.55,0.00,0.000,6,0.000,0.027,2871,2600,3758,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2303,-0.42,-243.3,295.4,-8.1,138,2309,0.00,1.70,0.00,0.000,4,0.000,0.056,2871,3693,3756,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2340,-0.42,-243.3,297.3,-8.3,139,2348,0.00,1.55,0.00,0.000,6,0.000,0.028,2871,2597,3755,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2646,-0.42,-243.3,323.1,-8.6,155,2652,0.00,1.95,0.00,0.000,4,0.000,0.028,2871,1230,3754,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2674,-0.42,-243.3,324.9,-8.3,156,2679,0.00,2.12,0.00,0.000,6,0.000,0.044,2871,2610,3753,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2992,-0.42,-243.3,350.8,-7.5,172,2997,0.00,1.65,0.00,0.000,4,0.000,0.056,2871,3692,3751,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3045,-0.42,-243.3,354.3,-7.7,174,3050,0.00,1.55,0.00,0.000,6,0.000,0.028,2871,2596,3751,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3357,-0.42,-243.3,380.8,-8.0,190,3362,0.00,1.98,0.00,0.000,4,0.000,0.028,2871,1221,3748,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3395,-0.42,-243.3,382.7,-8.0,191,3401,0.00,2.12,0.00,0.000,6,0.000,0.044,2871,2605,3748,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3701,-0.42,-243.3,413.1,-10.2,207,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2606,3746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4001,-0.42,-243.3,441.3,-9.3,222,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2605,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4301,-0.42,-243.3,463.9,-6.1,237,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2605,3743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4601,-0.42,-243.3,478.8,-4.6,252,4607,0.00,1.73,0.00,0.000,4,0.000,0.057,2871,3694,3741,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4633,-0.42,-243.3,480.0,-4.6,253,4639,0.00,1.55,0.00,0.000,6,0.000,0.031,2871,2624,3740,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4947,-0.42,-243.3,499.3,-7.0,269,4953,0.00,2.05,0.00,0.000,4,0.000,0.028,2872,1202,3739,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4974,-0.42,-243.3,501.1,-7.2,270,4979,0.00,2.15,0.00,0.000,6,0.000,0.043,2871,2605,3739,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5292,-0.42,-243.3,529.4,-9.7,286,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2604,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5593,-0.42,-243.3,559.6,-9.8,301,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2605,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5893,-0.42,-243.3,583.7,-6.8,316,5898,0.00,1.67,0.00,0.000,4,0.000,0.057,2871,3693,3734,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5919,-0.42,-243.3,585.1,-6.4,317,5925,0.00,1.60,0.00,0.000,6,0.000,0.031,2871,2595,3734,0,0,0,0,0,0,28.83,26.78,28.83
$GC,6238,-0.42,-243.3,597.6,-2.8,333,6243,0.00,2.00,0.00,0.000,4,0.000,0.028,2871,1199,3732,0,0,0,0,0,0,28.83,26.76,28.83
$GC,6264,-0.42,-243.3,598.4,-2.8,334,6270,0.00,2.15,0.00,0.000,6,0.000,0.043,2871,2603,3732,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6594,-0.42,-243.3,607.7,-3.0,346,6600,0.00,1.70,0.00,0.000,4,0.000,0.057,2871,3693,3730,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6631,-0.42,-243.3,608.9,-3.1,347,6637,0.00,1.60,0.00,0.000,6,0.000,0.032,2872,2604,3730,0,0,0,0,0,0,28.83,26.79,28.83
$GC,6960,-0.42,-243.3,627.0,-7.4,358,6965,0.00,1.73,0.00,0.000,4,0.000,0.056,2872,3691,3729,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7057,-0.42,-243.3,635.0,-8.3,361,7062,0.00,1.60,0.00,0.000,6,0.000,0.030,2871,2590,3729,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7386,-0.42,-243.3,664.5,-8.8,372,7391,0.00,1.77,0.00,0.000,4,0.000,0.055,2872,3698,3727,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7468,-0.42,-243.3,670.6,-9.1,374,7473,0.00,1.60,0.00,0.000,6,0.000,0.030,2872,2585,3726,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7781,-0.42,-243.3,705.9,-10.6,385,7786,0.00,1.98,0.00,0.000,4,0.000,0.028,2872,1222,3725,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7853,-0.42,-243.3,712.7,-10.7,387,7858,0.00,2.12,0.00,0.000,6,0.000,0.043,2872,2602,3724,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8175,-0.42,-243.3,750.4,-11.8,398,8181,0.00,1.70,0.00,0.000,4,0.000,0.056,2872,3694,3724,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8232,-0.42,-243.3,754.3,-11.9,399,8239,0.00,1.60,0.00,0.000,6,0.000,0.031,2872,2614,3723,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8538,-0.42,-243.3,790.6,-10.8,410,8544,0.00,1.70,0.00,0.000,4,0.000,0.057,2871,3700,3722,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8621,-0.42,-243.3,797.0,-10.2,412,8626,0.00,1.62,0.00,0.000,6,0.000,0.031,2872,2590,3722,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8934,-0.42,-243.3,827.5,-8.9,423,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2590,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9233,-0.42,-243.3,855.2,-9.4,433,9238,0.00,2.03,0.00,0.000,4,0.000,0.029,2871,1201,3720,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9297,-0.42,-243.3,861.6,-9.5,435,9302,0.00,2.17,0.00,0.000,6,0.000,0.043,2872,2605,3719,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9631,-0.42,-243.3,897.2,-11.1,446,9636,0.00,1.70,0.00,0.000,4,0.000,0.056,2872,3694,3718,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9708,-0.42,-243.3,904.3,-11.2,448,9713,0.00,1.60,0.00,0.000,6,0.000,0.031,2872,2601,3718,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10025,-0.42,-243.3,939.3,-10.4,459,10031,0.00,2.03,0.00,0.000,4,0.000,0.030,2872,1200,3717,0,0,0,0,0,0,28.83,26.76,28.83
$GC,10173,-0.42,-243.3,952.0,-10.3,463,10180,0.00,2.15,0.00,0.000,6,0.000,0.043,2872,2610,3717,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,10207,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10207,begin apogee
$GC,10213,-0.11,0.0,958.5,-10.5,465,10419,0.25,0.00,196.80,1.449,6,0.067,0.000,2997,1958,2767,0,0,0,0,0,0,26.75,28.83,23.79
$STATE,10421,end apogee,CONTROL_FINISHED_OK
$STATE,10421,begin climb
$GC,10423,0.42,243.3,970.6,0.0,472,10648,0.40,2.50,215.30,1.406,4,0.059,0.050,3157,3354,1776,0,0,0,0,0,0,24.84,24.10,23.29
$GC,10686,0.47,365.6,958.8,6.8,480,10807,0.00,2.25,111.10,1.378,6,0.000,0.028,3158,1961,1277,0,0,0,0,0,0,28.83,24.70,22.99
$GC,11115,0.52,496.4,928.2,6.6,495,11246,0.00,2.47,120.97,1.379,4,0.000,0.047,3158,3349,745,0,0,0,0,0,0,28.83,24.18,23.38
$GC,11287,0.58,652.4,918.8,5.9,500,11373,0.12,2.28,73.68,1.326,6,0.090,0.028,3218,1940,460,0,0,0,0,1,0,24.76,24.79,23.24
$GC,11691,0.58,652.4,873.6,10.7,514,11697,0.00,2.35,0.00,0.000,4,0.000,0.048,3218,3363,457,0,0,0,0,0,0,28.83,25.52,28.83
$GC,11743,0.58,652.4,869.6,11.0,515,11749,0.00,2.17,0.00,0.000,6,0.000,0.028,3218,1952,457,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12057,0.60,698.8,836.8,9.0,526,12059,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1952,457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12357,0.62,752.0,810.0,8.8,536,12363,0.00,2.25,0.00,0.000,4,0.000,0.049,3219,3359,457,0,0,0,0,0,0,28.83,26.18,28.83
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$STATE,17453,end climb,SURFACE_DEPTH_REACHED
$STATE,17453,begin surface coast
$FINISH,1.5,1.010012
$STATE,17474,end surface coast,CONTROL_FINISHED_OK
$STATE,17474,begin surface
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$IRIDIUM_FIX,2129.53,12030.40,131112,151555
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.63
$INTERNAL_PRESSURE,9.44921
$TCM_TEMP,24.20
$XPDR_PINGS,1
$SC_FREEKB,3995552
$24V_AH,23.0,13.085
$10V_AH,9.7,5.150
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.375,171.800,717.850,0.000,0.000,0.000,0.000,292.900,0.250,0.000,19.324,2664.872,11789.044,842.684,2463.147,261.464,0.000,2365.838,0.000,2032.844,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.059,0.000,0.000,0.000
$MEM,323256
$DATA_FILE_SIZE,30042,796
$CAP_FILE_SIZE,204951,0
$CFSIZE,260034560,245612544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.441,166.8,1
$GPS,141112,012404,2137.202,12029.640,27,0.8,27,-3.0