version: 66.10
glider: 165
mission: 5
dive: 7
start: 11 14 111 13 44 15
data:
$ID,165
$MISSION,5
$DIVE,7
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,3
$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,350
$T_MISSION,390
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51872
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-137240.98
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2980
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,1955
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2786
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,140
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-57.316994
$PRESSURE_SLOPE,0.000116182
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.85000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043567759
$SEABIRD_T_H,0.00062679156
$SEABIRD_T_I,2.4204959e-05
$SEABIRD_T_J,2.6176024e-06
$SEABIRD_C_G,-10.134539
$SEABIRD_C_H,1.1435308
$SEABIRD_C_I,-0.0010041125
$SEABIRD_C_J,0.00016055659
$GPS1,141111,133122,2137.914,11958.210,8,99.0,27,-2.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-65.7
$GPS2,141111,134354,2137.954,11958.108,35,1.0,39,-2.6
$SPEED_LIMITS,0.163,0.274
$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,182.0,292549,-16.0,-9.429
$D_GRID,2920
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.67,-170.3,0.0,0.0,0,95,0.00,0.00,-77.15,0.000,2,0.000,0.000,144,1949,2380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.67,-170.3,3.3,-4.7,11,142,10.23,2.17,-26.35,0.000,4,0.239,0.061,2761,544,3480,0,0,0,0,0,0,25.77,26.11,26.46
$GC,288,-0.59,-170.3,50.7,-26.6,45,296,0.10,2.17,0.00,0.000,6,0.167,0.037,2782,1954,3480,0,0,0,0,0,0,26.03,26.22,28.83
$GC,603,-0.57,-170.3,121.3,-11.9,106,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1954,3481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,917,-0.55,-170.3,170.0,-15.1,167,925,0.00,2.20,0.00,0.000,4,0.000,0.055,2775,3355,3481,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1015,-0.56,-170.3,180.8,-9.8,185,1022,0.00,2.15,0.00,0.000,6,0.000,0.037,2775,1945,3482,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1329,-0.56,-170.3,214.7,-10.0,246,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1944,3481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1643,-0.58,-170.3,246.4,-9.8,307,1650,0.00,2.17,0.00,0.000,4,0.000,0.054,2775,555,3481,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1740,-0.60,-170.3,255.9,-10.3,320,1750,0.00,2.12,0.00,0.000,6,0.000,0.042,2769,1956,3481,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2051,-0.62,-170.3,285.8,-9.8,351,2059,0.00,2.17,0.00,0.000,4,0.000,0.058,2769,3360,3480,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2125,-0.66,-170.3,292.3,-8.8,358,2129,0.00,2.12,0.00,0.000,6,0.000,0.038,2769,1942,3480,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2437,-0.68,-170.3,313.0,-6.6,389,2446,0.00,2.25,0.00,0.000,4,0.000,0.058,2769,3364,3478,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2462,-0.71,-170.3,314.3,-6.1,391,2469,0.00,2.10,0.00,0.000,6,0.000,0.039,2769,1953,3477,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2769,-0.74,-170.3,336.8,-7.7,422,2778,0.00,2.17,0.00,0.000,4,0.000,0.055,2768,541,3475,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2814,-0.77,-170.3,340.1,-7.7,426,2821,0.12,2.17,0.00,0.000,6,0.096,0.044,2706,1957,3475,0,0,0,0,0,0,26.55,26.55,28.83
$GC,3120,-0.76,-170.3,377.5,-12.2,457,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1958,3472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3423,-0.75,-170.3,409.6,-10.0,487,3432,0.12,2.17,0.00,0.000,4,0.162,0.060,2742,3355,3469,0,0,0,0,0,0,26.46,26.51,28.83
$GC,3458,-0.76,-170.3,412.4,-8.5,490,3465,0.00,2.10,0.00,0.000,6,0.000,0.039,2742,1952,3469,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3765,-0.78,-170.3,441.9,-10.5,521,3774,0.00,2.25,0.00,0.000,4,0.000,0.061,2742,3363,3467,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3809,-0.80,-170.3,446.0,-10.1,525,3816,0.00,2.12,0.00,0.000,6,0.000,0.040,2742,1950,3467,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4117,-0.81,-170.3,476.1,-9.3,556,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1950,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4419,-0.83,-170.3,500.3,-8.0,586,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1950,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4730,-0.85,-170.3,524.4,-7.7,617,4739,0.12,2.22,0.00,0.000,4,0.098,0.059,2674,3353,3460,0,0,0,0,0,0,26.66,26.52,28.83
$GC,4836,-0.83,-170.3,535.3,-11.0,627,4845,0.10,2.10,0.00,0.000,6,0.151,0.041,2707,1957,3459,0,0,0,0,0,0,26.40,26.60,28.83
$GC,5143,-0.83,-170.3,566.9,-9.9,658,5152,0.00,2.15,0.00,0.000,4,0.000,0.057,2707,563,3458,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5188,-0.83,-170.3,571.2,-10.0,662,5195,0.00,2.15,0.00,0.000,6,0.000,0.044,2700,1955,3458,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5495,-0.83,-170.3,602.9,-10.5,692,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1956,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5795,-0.83,-170.3,636.9,-12.0,707,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1955,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6094,-0.83,-170.3,673.1,-11.7,722,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1956,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6394,-0.83,-170.3,707.9,-11.1,737,6400,0.00,2.25,0.00,0.000,4,0.000,0.064,2691,3371,3451,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6463,-0.83,-170.3,714.4,-10.8,740,6467,0.00,2.15,0.00,0.000,6,0.000,0.041,2690,1947,3450,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6770,-0.82,-170.3,747.6,-10.1,755,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1946,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7070,-0.81,-170.3,777.8,-10.4,770,7071,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1946,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7373,-0.81,-170.3,807.7,-9.6,785,7378,0.00,2.17,0.00,0.000,4,0.000,0.060,2691,555,3447,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7424,-0.80,-170.3,811.9,-9.8,787,7432,0.12,2.15,0.00,0.000,6,0.184,0.046,2718,1953,3446,0,0,0,0,0,0,26.35,26.55,28.83
$GC,7734,-0.81,-170.3,837.5,-7.8,803,7740,0.00,2.25,0.00,0.000,4,0.000,0.062,2713,3371,3444,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7774,-0.83,-170.3,841.0,-8.0,805,7779,0.00,2.12,0.00,0.000,6,0.000,0.040,2713,1955,3444,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8095,-0.84,-170.3,868.1,-8.7,821,8100,0.00,2.20,0.00,0.000,4,0.000,0.057,2713,550,3443,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8154,-0.85,-170.3,873.7,-9.2,824,8159,0.00,2.20,0.00,0.000,6,0.000,0.047,2714,1964,3443,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8474,-0.86,-170.3,901.7,-8.5,840,8479,0.00,2.22,0.00,0.000,4,0.000,0.063,2713,3365,3442,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8523,-0.87,-170.3,904.9,-8.0,842,8531,0.00,2.12,0.00,0.000,6,0.000,0.040,2713,1954,3441,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8834,-0.88,-170.3,925.3,-5.9,858,8840,0.00,2.22,0.00,0.000,4,0.000,0.061,2713,3362,3441,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8875,-0.90,-170.3,927.5,-5.6,860,8878,0.00,2.15,0.00,0.000,6,0.000,0.039,2713,1946,3440,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9197,-0.91,-170.3,946.6,-6.1,876,9198,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1946,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9497,-0.92,-170.3,966.1,-6.9,891,9502,0.00,2.25,0.00,0.000,4,0.000,0.061,2713,3357,3439,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9561,-0.94,-170.3,970.1,-6.8,894,9567,0.12,2.12,0.00,0.000,6,0.104,0.039,2661,1944,3438,0,0,0,0,0,0,26.52,26.58,28.83
$STATE,9754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9754,begin apogee
$GC,9760,-0.14,0.0,990.7,-10.7,904,9902,0.82,0.00,135.23,1.258,6,0.148,0.000,2923,2090,2786,0,0,0,0,0,0,26.20,28.83,23.80
$STATE,9903,end apogee,CONTROL_FINISHED_OK
$STATE,9903,begin climb
$GC,9905,0.67,170.3,994.5,0.0,911,10062,0.75,0.00,151.45,1.223,6,0.057,0.000,3203,2090,2091,0,0,0,0,0,0,24.93,28.83,23.70
$GC,10351,0.57,170.3,923.2,19.2,934,10358,0.12,2.25,0.00,0.000,4,0.193,0.057,3171,3472,2081,0,0,0,0,0,0,25.67,25.80,28.83
$GC,10473,0.49,170.3,900.0,18.9,940,10479,0.15,2.17,0.00,0.000,6,0.197,0.041,3138,2085,2081,0,0,0,0,0,0,25.78,25.98,28.83
$GC,10794,0.43,170.3,847.0,16.5,956,10800,0.00,2.20,0.00,0.000,4,0.000,0.055,3137,3465,2079,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10846,0.37,170.3,839.7,17.4,958,10853,0.17,2.17,0.00,0.000,6,0.178,0.039,3100,2069,2079,0,0,0,0,0,0,25.97,26.17,28.83
$GC,11153,0.33,170.3,796.2,12.2,974,11155,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2069,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11453,0.30,170.3,762.3,10.7,989,11458,0.00,2.22,0.00,0.000,4,0.000,0.056,3109,663,2078,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11506,0.26,170.3,757.7,11.0,991,11514,0.15,2.17,0.00,0.000,6,0.161,0.042,3070,2071,2077,0,0,0,0,0,0,26.14,26.32,28.83
$GC,11814,0.25,170.9,727.4,9.4,1007,11820,0.00,2.22,0.00,0.000,4,0.000,0.056,3070,3486,2077,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11852,0.23,170.9,723.1,10.1,1009,11858,0.00,2.17,0.00,0.000,6,0.000,0.039,3078,2060,2076,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12173,0.21,170.9,687.7,11.1,1025,12179,0.00,2.22,0.00,0.000,4,0.000,0.054,3078,3482,2076,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12226,0.19,170.9,682.9,11.4,1027,12233,0.17,2.17,0.00,0.000,6,0.164,0.038,3041,2077,2076,0,0,0,0,0,0,26.20,26.44,28.83
$GC,12535,0.25,209.2,656.3,8.0,1043,12573,0.00,2.35,32.38,1.040,4,0.000,0.055,3050,660,1931,0,0,0,0,0,0,28.83,25.75,24.84
$GC,12641,0.28,219.5,647.0,9.0,1048,12656,0.00,2.22,9.98,0.926,6,0.000,0.041,3050,2080,1890,0,0,0,0,0,0,28.83,25.92,24.78
$GC,12959,0.32,241.3,618.5,8.6,1064,12984,0.00,2.28,20.15,0.985,4,0.000,0.054,3049,3475,1801,0,0,0,0,0,0,28.83,25.64,24.78
$GC,13025,0.34,253.5,613.4,9.0,1067,13043,0.00,2.22,12.12,0.926,6,0.000,0.039,3059,2070,1751,0,0,0,0,0,0,28.83,25.79,24.67
$GC,13352,0.42,301.1,584.8,7.7,1093,13402,0.12,2.33,42.12,0.981,4,0.098,0.054,3130,668,1557,0,0,0,0,0,0,26.06,25.25,24.43
$GC,13458,0.40,301.1,571.4,14.4,1103,13466,0.00,2.22,0.00,0.000,6,0.000,0.040,3130,2081,1554,0,0,0,0,0,0,28.83,25.57,28.83
$GC,13765,0.37,301.1,523.5,16.4,1134,13774,0.00,2.25,0.00,0.000,4,0.000,0.053,3130,3486,1553,0,0,0,0,0,0,28.83,25.96,28.83
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$STATE,18586,end climb,SURFACE_DEPTH_REACHED
$STATE,18587,begin surface coast
$FINISH,0.7,1.021764
$STATE,18608,end surface coast,CONTROL_FINISHED_OK
$STATE,18608,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,37.71
$INTERNAL_PRESSURE,9.46361
$TCM_TEMP,27.20
$XPDR_PINGS,98
$24V_AH,23.7,4.746
$10V_AH,10.4,4.502
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,325132
$DATA_FILE_SIZE,99940,1833
$CAP_FILE_SIZE,210131,0
$CFSIZE,260165632,200642560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141111,185700,2134.733,11956.850,35,1.3,40,-2.6