version: 66.11
glider: 170
mission: 10
dive: 100
start: 11 21 112 7 52 45
data:
$ID,170
$MISSION,10
$DIVE,100
$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,400
$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,175
$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,-143213.09
$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,3040
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,83
$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
$GPS1,211112,074431,2050.546,12002.077,37,0.9,38,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-72.4
$GPS2,211112,075159,2050.417,12002.011,19,0.9,19,-2.8
$SPEED_LIMITS,0.150,0.281
$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,152.7,204522,-14.9,-8.684,-17.18
$D_GRID,3621
$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,-0.56,-170.3,0.0,0.0,0,91,0.00,0.00,-69.03,0.000,2,0.000,0.000,135,2572,2073,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.56,-170.3,3.0,-2.1,12,154,11.12,0.00,-45.03,0.000,6,0.249,0.000,2852,2571,3464,0,0,0,0,0,0,25.83,28.83,26.44
$GC,352,-0.44,-170.3,72.1,-34.4,44,358,0.12,1.80,0.00,0.000,4,0.189,0.058,2889,3694,3464,0,0,0,0,0,0,26.11,26.23,28.83
$GC,585,-0.39,-170.3,127.6,-18.7,55,591,0.00,1.58,0.00,0.000,6,0.000,0.024,2889,2597,3464,0,0,0,0,0,0,28.83,26.46,28.83
$GC,779,-0.35,-170.3,162.1,-16.2,65,785,0.12,2.00,0.00,0.000,4,0.164,0.024,2932,1206,3464,0,0,0,0,0,0,26.34,26.48,28.83
$GC,816,-0.32,-170.3,165.5,-15.6,66,823,0.00,2.15,0.00,0.000,6,0.000,0.041,2932,2604,3464,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1003,-0.34,-170.3,185.1,-9.9,76,1009,0.00,2.05,0.00,0.000,4,0.000,0.030,2932,1219,3464,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1051,-0.36,-170.3,188.7,-8.8,78,1056,0.00,2.12,0.00,0.000,6,0.000,0.044,2932,2598,3465,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1251,-0.40,-170.3,202.7,-6.8,88,1256,0.00,2.05,0.00,0.000,4,0.000,0.032,2932,1222,3464,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1295,-0.43,-170.3,205.5,-6.5,90,1301,0.10,2.12,0.00,0.000,6,0.103,0.045,2869,2598,3464,0,0,0,0,0,0,26.51,26.50,28.83
$GC,1500,-0.41,-170.3,230.8,-13.3,100,1506,0.12,2.03,0.00,0.000,4,0.154,0.029,2913,1224,3464,0,0,0,0,0,0,26.46,26.57,28.83
$GC,1613,-0.43,-170.3,240.5,-8.6,105,1619,0.00,2.15,0.00,0.000,6,0.000,0.046,2913,2611,3464,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1807,-0.45,-170.3,259.1,-8.9,115,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2611,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2108,-0.49,-170.3,278.2,-4.6,130,2113,0.00,2.08,0.00,0.000,4,0.000,0.031,2913,1219,3463,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2146,-0.52,-170.3,279.5,-4.7,131,2154,0.12,2.12,0.00,0.000,6,0.088,0.042,2846,2612,3463,0,0,0,0,0,0,26.60,26.60,28.83
$GC,2452,-0.50,-170.3,317.2,-12.8,147,2458,0.12,1.67,0.00,0.000,4,0.158,0.050,2889,3697,3460,0,0,0,0,0,0,26.51,26.59,28.83
$GC,2551,-0.51,-170.3,325.5,-9.8,151,2559,0.00,1.58,0.00,0.000,6,0.000,0.026,2890,2555,3461,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2856,-0.53,-170.3,348.9,-6.1,167,2862,0.00,1.77,0.00,0.000,4,0.000,0.051,2889,3688,3460,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2941,-0.56,-170.3,354.4,-6.5,171,2947,0.00,1.52,0.00,0.000,6,0.000,0.027,2889,2599,3459,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3264,-0.58,-170.3,383.1,-9.4,187,3270,0.12,1.95,0.00,0.000,4,0.085,0.023,2809,1224,3457,0,0,0,0,0,0,26.70,26.68,28.83
$GC,3373,-0.55,-170.3,396.4,-13.3,192,3380,0.17,2.08,0.00,0.000,6,0.148,0.041,2862,2598,3454,0,0,0,0,0,0,26.50,26.63,28.83
$GC,3693,-0.55,-170.3,423.1,-8.2,208,3698,0.00,2.00,0.00,0.000,4,0.000,0.025,2862,1228,3454,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3731,-0.55,-170.3,425.1,-8.4,209,3737,0.00,2.10,0.00,0.000,6,0.000,0.041,2862,2603,3454,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4037,-0.56,-170.3,453.6,-9.2,225,4042,0.00,1.98,0.00,0.000,4,0.000,0.025,2862,1228,3452,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4114,-0.57,-170.3,459.4,-9.1,228,4121,0.00,2.08,0.00,0.000,6,0.000,0.040,2862,2601,3452,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4420,-0.58,-170.3,482.4,-6.2,244,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2601,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4723,-0.59,-170.3,504.5,-8.2,259,4728,0.00,1.67,0.00,0.000,4,0.000,0.054,2862,3692,3448,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4786,-0.61,-170.3,509.8,-8.1,262,4791,0.00,1.55,0.00,0.000,6,0.000,0.028,2862,2623,3447,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5109,-0.62,-170.3,537.8,-9.0,278,5114,0.00,2.03,0.00,0.000,4,0.000,0.025,2862,1203,3445,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5207,-0.63,-170.3,545.4,-9.1,282,5213,0.00,2.12,0.00,0.000,6,0.000,0.040,2862,2608,3444,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5513,-0.64,-170.3,573.2,-8.4,298,5518,0.00,2.05,0.00,0.000,4,0.000,0.026,2862,1207,3443,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5570,-0.66,-170.3,577.1,-8.7,300,5579,0.10,2.12,0.00,0.000,6,0.108,0.041,2807,2598,3443,0,0,0,0,0,0,26.62,26.64,28.83
$GC,5876,-0.63,-170.3,614.3,-11.7,314,5881,0.00,1.67,0.00,0.000,4,0.000,0.054,2807,3690,3441,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5928,-0.60,-170.3,618.2,-11.7,315,5935,0.12,1.58,0.00,0.000,6,0.153,0.029,2844,2601,3441,0,0,0,0,0,0,26.53,26.74,28.83
$GC,6243,-0.60,-170.3,647.3,-8.7,326,6244,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2601,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6542,-0.60,-170.3,674.0,-8.8,336,6547,0.00,1.73,0.00,0.000,4,0.000,0.054,2844,3701,3437,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6605,-0.60,-170.3,679.7,-9.0,338,6610,0.00,1.62,0.00,0.000,6,0.000,0.028,2844,2583,3437,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6940,-0.60,-170.3,708.1,-8.4,349,6945,0.00,2.00,0.00,0.000,4,0.000,0.027,2844,1202,3435,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7007,-0.61,-170.3,713.6,-8.3,351,7012,0.00,2.15,0.00,0.000,6,0.000,0.041,2844,2599,3435,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7336,-0.61,-170.3,740.5,-7.7,362,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2600,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7635,-0.62,-170.3,762.5,-7.4,372,7641,0.00,2.03,0.00,0.000,4,0.000,0.027,2844,1215,3432,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7664,-0.63,-170.3,762.5,-7.4,372,7670,0.00,2.12,0.00,0.000,6,0.000,0.042,2844,2608,3432,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7971,-0.63,-170.3,786.8,-7.1,383,7977,0.00,2.05,0.00,0.000,4,0.000,0.027,2844,1217,3431,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8005,-0.65,-170.3,789.6,-7.3,384,8010,0.00,2.15,0.00,0.000,6,0.000,0.041,2844,2606,3431,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8340,-0.66,-170.3,813.3,-7.2,395,8345,0.00,1.67,0.00,0.000,4,0.000,0.056,2844,3693,3430,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8362,-0.67,-170.3,813.3,-7.2,395,8367,0.00,1.60,0.00,0.000,6,0.000,0.031,2845,2603,3429,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8677,-0.68,-170.3,839.2,-8.2,406,8682,0.00,2.05,0.00,0.000,4,0.000,0.027,2844,1195,3429,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8740,-0.69,-170.3,844.9,-8.5,408,8745,0.00,2.17,0.00,0.000,6,0.000,0.041,2844,2600,3428,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9075,-0.70,-170.3,871.5,-7.6,419,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2600,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9373,-0.72,-170.3,891.9,-6.6,429,9375,0.12,0.00,0.00,0.000,6,0.097,0.000,2788,2600,3426,0,0,0,0,0,0,26.70,28.83,28.83
$GC,9673,-0.69,-170.3,922.8,-10.9,439,9675,0.12,0.00,0.00,0.000,6,0.166,0.000,2821,2600,3424,0,0,0,0,0,0,26.51,28.83,28.83
$GC,9972,-0.69,-170.3,951.0,-9.5,449,9978,0.00,2.08,0.00,0.000,4,0.000,0.028,2822,1192,3423,0,0,0,0,0,0,28.83,26.69,28.83
$GC,10009,-0.69,-170.3,954.2,-9.6,450,10014,0.00,2.17,0.00,0.000,6,0.000,0.043,2822,2598,3423,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10338,-0.69,-170.3,984.2,-8.7,461,10343,0.00,1.70,0.00,0.000,4,0.000,0.057,2821,3693,3422,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10405,-0.69,-170.3,989.8,-8.7,463,10410,0.00,1.62,0.00,0.000,6,0.000,0.031,2821,2590,3422,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,10431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10431,begin apogee
$GC,10436,-0.17,0.0,992.3,-8.6,464,10584,0.45,0.00,138.07,1.485,6,0.115,0.000,2979,2118,2767,0,0,0,0,0,0,26.46,28.83,23.92
$STATE,10586,end apogee,CONTROL_FINISHED_OK
$STATE,10586,begin climb
$GC,10588,0.56,170.3,996.2,0.0,469,10749,0.68,2.38,151.90,1.443,4,0.069,0.035,3227,722,2072,0,0,0,0,0,0,24.94,24.18,23.35
$GC,10776,0.50,170.3,980.7,11.3,475,10781,0.00,2.33,0.00,0.000,6,0.000,0.037,3227,2123,2068,0,0,0,0,0,0,28.83,24.60,28.83
$GC,11101,0.45,170.3,931.0,15.0,486,11106,0.12,2.30,0.00,0.000,4,0.163,0.049,3188,3541,2062,0,0,0,0,0,0,25.63,25.72,28.83
$GC,11158,0.40,170.3,925.9,14.8,487,11166,0.00,2.20,0.00,0.000,6,0.000,0.027,3198,2115,2061,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11466,0.37,170.3,883.7,12.7,498,11472,0.12,2.12,0.00,0.000,4,0.167,0.034,3158,718,2060,0,0,0,0,0,0,26.00,26.13,28.83
$GC,11515,0.35,170.3,879.7,12.5,499,11521,0.00,2.20,0.00,0.000,6,0.000,0.037,3159,2134,2058,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11835,0.35,170.3,845.1,10.7,510,11840,0.00,2.22,0.00,0.000,4,0.000,0.051,3159,3529,2058,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11892,0.34,170.3,841.2,10.9,511,11900,0.00,2.15,0.00,0.000,6,0.000,0.028,3159,2101,2058,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12198,0.34,170.3,804.2,10.9,522,12203,0.00,2.05,0.00,0.000,4,0.000,0.035,3159,732,2057,0,0,0,0,0,0,28.83,26.39,28.83
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$STATE,19902,end climb,SURFACE_DEPTH_REACHED
$STATE,19903,begin surface coast
$FINISH,1.5,1.021985
$STATE,19915,end surface coast,CONTROL_FINISHED_OK
$STATE,19915,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,49.44
$INTERNAL_PRESSURE,9.47851
$TCM_TEMP,24.60
$XPDR_PINGS,1
$SC_FREEKB,3981728
$24V_AH,23.4,21.929
$10V_AH,10.1,8.589
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.450,193.475,618.900,0.000,0.000,0.000,0.000,264.700,0.250,0.000,20.318,3066.019,13620.386,799.020,2645.849,318.518,0.000,2382.049,0.000,2241.822,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.701,0.000,0.000,0.000
$MEM,324044
$DATA_FILE_SIZE,33344,893
$CAP_FILE_SIZE,239939,0
$CFSIZE,260034560,241938432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,265.2,1
$GPS,211112,132705,2047.714,12002.362,30,0.9,31,-2.8