version: 66.11
glider: 170
mission: 10
dive: 80
start: 11 17 112 1 49 45
data:
$ID,170
$MISSION,10
$DIVE,80
$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,330
$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,-7
$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,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,-143188.09
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$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,53
$R_STBD_OVSHOOT,37
$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
$GPS1,171112,014234,2140.547,12009.712,34,0.9,34,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-71.7
$GPS2,171112,014917,2140.438,12009.864,19,0.9,19,-3.0
$SPEED_LIMITS,0.173,0.313
$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,292.9,18955,-15.6,-10.000,-17.73
$D_GRID,2505
$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,-0.43,-194.6,0.0,0.0,0,80,0.00,0.00,-58.35,0.000,2,0.000,0.000,144,2622,1956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.43,-194.6,3.0,-2.5,10,161,10.85,2.15,-58.30,0.000,4,0.243,0.049,2868,1195,3565,0,0,0,0,0,0,25.88,26.22,26.49
$GC,284,-0.32,-194.6,42.8,-28.3,40,293,0.12,2.22,0.00,0.000,6,0.190,0.051,2900,2596,3565,0,0,0,0,0,0,26.14,26.25,28.83
$GC,471,-0.19,-194.6,96.2,-28.0,51,477,0.12,1.73,0.00,0.000,4,0.190,0.054,2940,3711,3565,0,0,0,0,0,0,26.25,26.35,28.83
$GC,576,-0.17,-194.6,113.4,-14.5,56,581,0.00,1.65,0.00,0.000,6,0.000,0.024,2940,2579,3565,0,0,0,0,0,0,28.83,26.49,28.83
$GC,780,-0.20,-194.6,130.8,-8.4,66,786,0.00,1.80,0.00,0.000,4,0.000,0.057,2943,3701,3566,0,0,0,0,0,0,28.83,26.43,28.83
$GC,825,-0.24,-194.6,134.6,-8.7,68,831,0.00,1.60,0.00,0.000,6,0.000,0.024,2940,2569,3566,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1031,-0.30,-194.6,148.7,-7.4,78,1036,0.00,1.95,0.00,0.000,4,0.000,0.031,2940,1232,3566,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1083,-0.35,-194.6,152.5,-8.3,80,1089,0.15,2.15,0.00,0.000,6,0.076,0.047,2861,2618,3566,0,0,0,0,0,0,26.55,26.51,28.83
$GC,1278,-0.30,-194.6,182.3,-16.5,90,1284,0.15,1.67,0.00,0.000,4,0.155,0.056,2912,3701,3566,0,0,0,0,0,0,26.46,26.53,28.83
$GC,1457,-0.35,-194.6,196.2,-7.0,98,1463,0.00,1.55,0.00,0.000,6,0.000,0.024,2912,2582,3566,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1643,-0.39,-194.6,208.3,-6.4,108,1648,0.00,1.95,0.00,0.000,4,0.000,0.028,2912,1241,3566,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1690,-0.43,-194.6,211.1,-6.4,110,1697,0.12,2.12,0.00,0.000,6,0.087,0.048,2848,2608,3566,0,0,0,0,0,0,26.60,26.58,28.83
$GC,1891,-0.38,-194.6,236.7,-13.6,120,1893,0.12,0.00,0.00,0.000,6,0.155,0.000,2885,2609,3566,0,0,0,0,0,0,26.54,28.83,28.83
$GC,2071,-0.40,-194.6,253.0,-8.2,129,2076,0.00,1.70,0.00,0.000,4,0.000,0.055,2884,3705,3566,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2169,-0.43,-194.6,259.3,-7.5,133,2177,0.00,1.55,0.00,0.000,6,0.000,0.026,2884,2590,3565,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2474,-0.45,-194.6,289.0,-9.8,149,2480,0.00,1.95,0.00,0.000,4,0.000,0.031,2884,1256,3564,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2567,-0.49,-194.6,298.3,-10.9,153,2573,0.00,2.10,0.00,0.000,6,0.000,0.050,2884,2600,3564,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2881,-0.52,-194.6,331.5,-9.4,169,2886,0.12,2.00,0.00,0.000,4,0.093,0.029,2807,1244,3563,0,0,0,0,0,0,26.70,26.67,28.83
$GC,2933,-0.52,-194.6,336.8,-10.5,171,2939,0.12,2.15,0.00,0.000,6,0.170,0.053,2842,2611,3563,0,0,0,0,0,0,26.55,26.63,28.83
$GC,3247,-0.51,-194.6,366.6,-7.8,187,3253,0.00,1.70,0.00,0.000,4,0.000,0.057,2842,3701,3560,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3299,-0.51,-194.6,369.9,-7.6,189,3305,0.00,1.55,0.00,0.000,6,0.000,0.026,2842,2600,3561,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3614,-0.51,-194.6,393.9,-7.3,205,3619,0.00,1.75,0.00,0.000,4,0.000,0.055,2842,3700,3559,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3706,-0.51,-194.6,399.8,-7.0,209,3711,0.00,1.55,0.00,0.000,6,0.000,0.028,2842,2584,3558,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4018,-0.51,-194.6,430.0,-11.6,225,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2583,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4319,-0.51,-194.6,472.3,-14.9,240,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2583,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4621,-0.52,-194.6,514.7,-13.0,255,4626,0.00,1.77,0.00,0.000,4,0.000,0.056,2842,3698,3552,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4654,-0.53,-194.6,517.7,-12.6,256,4660,0.00,1.55,0.00,0.000,6,0.000,0.029,2842,2611,3552,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4968,-0.55,-194.6,556.0,-11.6,272,4973,0.00,2.03,0.00,0.000,4,0.000,0.031,2842,1213,3550,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5005,-0.56,-194.6,558.6,-11.5,273,5013,0.00,2.15,0.00,0.000,6,0.000,0.044,2842,2610,3550,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5311,-0.58,-194.6,593.1,-10.5,289,5317,0.00,1.70,0.00,0.000,4,0.000,0.057,2842,3698,3548,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5375,-0.60,-194.6,599.4,-10.0,292,5381,0.00,1.55,0.00,0.000,6,0.000,0.029,2842,2599,3547,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5701,-0.62,-194.6,628.5,-8.4,303,5706,0.00,2.00,0.00,0.000,4,0.000,0.028,2842,1218,3545,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5768,-0.64,-194.6,633.6,-8.1,305,5774,0.12,2.12,0.00,0.000,6,0.093,0.044,2780,2599,3545,0,0,0,0,0,0,26.69,26.68,28.83
$GC,6098,-0.59,-194.6,674.1,-12.8,316,6104,0.12,1.73,0.00,0.000,4,0.169,0.054,2820,3701,3543,0,0,0,0,0,0,26.58,26.66,28.83
$GC,6125,-0.55,-194.6,674.1,-12.8,316,6132,0.00,1.60,0.00,0.000,6,0.000,0.029,2820,2584,3543,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6432,-0.55,-194.6,706.8,-9.1,327,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2582,3541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6732,-0.55,-194.6,732.5,-8.3,337,6738,0.00,1.77,0.00,0.000,4,0.000,0.057,2820,3697,3539,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6796,-0.55,-194.6,737.5,-7.9,339,6802,0.00,1.60,0.00,0.000,6,0.000,0.030,2821,2602,3538,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7131,-0.55,-194.6,761.7,-7.2,350,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2601,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7430,-0.55,-194.6,784.3,-7.7,360,7435,0.00,2.00,0.00,0.000,4,0.000,0.028,2821,1209,3535,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7463,-0.55,-194.6,786.7,-7.6,361,7469,0.00,2.17,0.00,0.000,6,0.000,0.044,2820,2608,3535,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7798,-0.55,-194.6,809.9,-6.6,372,7804,0.00,1.70,0.00,0.000,4,0.000,0.058,2820,3693,3534,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7832,-0.55,-194.6,812.2,-6.5,373,7837,0.00,1.60,0.00,0.000,6,0.000,0.031,2820,2601,3533,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8166,-0.55,-194.6,834.7,-6.8,384,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2601,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8465,-0.55,-194.6,856.9,-7.4,394,8466,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2601,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8765,-0.55,-194.6,879.2,-7.3,404,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2601,3529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9065,-0.55,-194.6,900.6,-7.3,414,9071,0.00,2.03,0.00,0.000,4,0.000,0.028,2820,1199,3528,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9088,-0.55,-194.6,900.6,-7.3,414,9093,0.00,2.17,0.00,0.000,6,0.000,0.044,2820,2601,3527,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9401,-0.55,-194.6,926.5,-8.1,425,9407,0.00,1.73,0.00,0.000,4,0.000,0.057,2820,3701,3527,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9485,-0.56,-194.6,931.8,-8.2,427,9491,0.00,1.62,0.00,0.000,6,0.000,0.031,2820,2589,3527,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9798,-0.56,-194.6,961.5,-9.0,438,9799,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2588,3526,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10096,begin apogee
$GC,10102,-0.11,0.0,990.8,-10.4,448,10268,0.43,0.00,159.00,1.477,6,0.118,0.000,2970,1946,2768,0,0,0,0,0,0,26.57,28.83,23.89
$STATE,10270,end apogee,CONTROL_FINISHED_OK
$STATE,10270,begin climb
$GC,10272,0.43,194.6,999.4,0.0,453,10454,0.50,2.50,173.05,1.439,4,0.067,0.050,3154,3362,1975,0,0,0,0,0,0,24.87,24.15,23.36
$GC,10542,0.47,310.3,991.2,6.0,461,10651,0.00,2.22,103.40,1.413,6,0.000,0.028,3159,1973,1504,0,0,0,0,0,0,28.83,25.04,23.14
$GC,10966,0.55,394.2,958.7,7.1,476,11049,0.00,2.42,75.40,1.406,4,0.000,0.049,3158,3352,1161,0,0,0,0,0,0,28.83,24.46,23.69
$GC,11117,0.63,469.8,947.5,7.4,481,11196,0.17,2.25,70.80,1.388,6,0.075,0.028,3250,1949,852,0,0,0,0,0,0,25.15,25.15,23.51
$GC,11508,0.60,469.8,882.6,17.0,494,11515,0.12,2.17,0.00,0.000,4,0.153,0.037,3214,549,847,0,0,0,0,0,0,25.60,25.67,28.83
$GC,11527,0.58,469.8,882.6,17.0,494,11532,0.00,2.22,0.00,0.000,6,0.000,0.035,3214,1959,847,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11846,0.59,469.8,842.3,11.6,505,11852,0.00,2.25,0.00,0.000,4,0.000,0.050,3214,3360,845,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11940,0.61,469.8,830.7,12.3,508,11945,0.00,2.17,0.00,0.000,6,0.000,0.028,3214,1948,844,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12274,0.61,469.8,787.3,14.4,519,12279,0.00,2.28,0.00,0.000,4,0.000,0.049,3214,3362,844,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12307,0.62,469.8,782.3,14.4,520,12313,0.00,2.17,0.00,0.000,6,0.000,0.028,3214,1940,844,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12642,0.63,469.8,732.5,15.3,531,12649,0.00,2.25,0.00,0.000,4,0.000,0.049,3214,3358,843,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12700,0.64,469.8,727.0,15.3,532,12707,0.00,2.15,0.00,0.000,6,0.000,0.028,3214,1939,843,0,0,0,0,0,0,28.83,26.44,28.83
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$GC,15209,0.70,469.8,324.8,10.8,641,15215,0.00,2.25,0.00,0.000,4,0.000,0.048,3219,3368,843,0,0,0,0,0,0,28.83,26.57,28.83
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$STATE,17512,end climb,SURFACE_DEPTH_REACHED
$STATE,17513,begin surface coast
$FINISH,1.5,1.022136
$STATE,17529,end surface coast,CONTROL_FINISHED_OK
$STATE,17529,begin surface
$SM_CCo,17607,0.00,0.000,0,0,459,566.64
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$IRIDIUM_FIX,2134.17,12007.71,161112,202028
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.87
$INTERNAL_PRESSURE,9.42968
$TCM_TEMP,23.80
$XPDR_PINGS,2
$SC_FREEKB,3989408
$24V_AH,23.1,17.157
$10V_AH,10.1,6.635
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.300,158.125,667.500,0.000,0.000,0.000,0.000,240.625,0.500,0.000,20.822,2627.254,11995.515,798.706,2311.385,273.739,0.000,2210.703,0.000,1958.307,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.016,0.000,0.000,0.000
$MEM,324328
$DATA_FILE_SIZE,30103,786
$CAP_FILE_SIZE,208998,0
$CFSIZE,260034560,244031488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.145,181.6,1
$GPS,171112,064434,2139.859,12006.945,44,0.8,45,-3.0