version: 66.10
glider: 165
mission: 5
dive: 18
start: 11 17 111 5 28 28
data:
$ID,165
$MISSION,5
$DIVE,18
$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,390
$T_MISSION,410
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51872
$NAV_MODE,2
$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,450
$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,-137256.56
$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,2940
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2020
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,39
$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,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$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
$GPS1,171111,052027,2104.401,11949.555,33,2.3,52,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-65.8
$GPS2,171111,052803,2104.326,11949.575,13,2.1,32,-2.4
$SPEED_LIMITS,0.147,0.293
$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,132.9,230974,-12.5,-8.462
$D_GRID,3307
$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,-0.69,-219.0,0.0,0.0,0,81,0.00,0.00,-62.90,0.000,2,0.000,0.000,137,1936,2178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.69,-219.0,3.2,-2.0,8,141,10.43,2.15,-35.38,0.000,4,0.251,0.061,2712,553,3679,0,0,0,0,0,0,25.67,26.02,26.34
$GC,227,-0.52,-219.0,47.7,-46.8,30,238,0.22,2.17,0.00,0.000,6,0.190,0.034,2766,1963,3679,0,0,0,0,0,0,25.87,26.13,28.83
$GC,567,-0.47,-219.0,115.9,-16.7,91,575,0.00,2.22,0.00,0.000,4,0.000,0.051,2766,564,3680,0,0,0,0,0,0,28.83,26.24,28.83
$GC,665,-0.43,-219.0,132.3,-15.4,108,673,0.08,2.15,0.00,0.000,6,0.145,0.039,2793,1952,3681,0,0,0,0,0,0,26.16,26.30,28.83
$GC,1006,-0.44,-219.0,163.1,-8.1,169,1013,0.00,2.20,0.00,0.000,4,0.000,0.050,2793,563,3681,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1035,-0.45,-219.0,165.9,-8.3,173,1042,0.00,2.15,0.00,0.000,6,0.000,0.038,2793,1957,3681,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1371,-0.47,-219.0,191.8,-8.0,234,1378,0.00,2.20,0.00,0.000,4,0.000,0.052,2793,3357,3681,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1443,-0.50,-219.0,197.1,-7.5,246,1451,0.00,2.12,0.00,0.000,6,0.000,0.034,2793,1951,3681,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1779,-0.52,-219.0,223.4,-8.1,307,1787,0.00,2.17,0.00,0.000,4,0.000,0.053,2793,563,3680,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1836,-0.55,-219.0,228.0,-8.2,316,1844,0.00,2.15,0.00,0.000,6,0.000,0.039,2793,1959,3680,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2165,-0.58,-219.0,249.3,-5.3,377,2174,0.12,2.20,0.00,0.000,4,0.090,0.050,2720,3363,3679,0,0,0,0,0,0,26.58,26.49,28.83
$GC,2245,-0.56,-219.0,256.4,-9.8,385,2256,0.10,2.10,0.00,0.000,6,0.135,0.035,2755,1950,3678,0,0,0,0,0,0,26.39,26.54,28.83
$GC,2553,-0.56,-219.0,284.0,-9.0,416,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1950,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2855,-0.56,-219.0,309.7,-8.8,446,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1950,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3157,-0.56,-219.0,336.1,-8.7,476,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1948,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3465,-0.56,-219.0,364.9,-8.9,507,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1947,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3767,-0.56,-219.0,387.7,-6.5,537,3775,0.00,2.20,0.00,0.000,4,0.000,0.055,2755,3359,3670,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3798,-0.57,-219.0,389.7,-6.0,540,3809,0.00,2.12,0.00,0.000,6,0.000,0.035,2755,1950,3670,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4108,-0.58,-219.0,407.7,-5.8,571,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1950,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4412,-0.59,-219.0,429.9,-8.2,601,4421,0.00,2.17,0.00,0.000,4,0.000,0.055,2755,3351,3665,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4474,-0.61,-219.0,435.4,-8.5,607,4483,0.00,2.10,0.00,0.000,6,0.000,0.036,2755,1953,3666,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4787,-0.62,-219.0,461.2,-7.8,638,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1953,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5097,-0.64,-219.0,484.6,-7.5,669,5106,0.00,2.17,0.00,0.000,4,0.000,0.056,2755,3352,3662,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5151,-0.66,-219.0,488.6,-7.1,674,5160,0.00,2.08,0.00,0.000,6,0.000,0.036,2755,1958,3663,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5461,-0.67,-219.0,514.0,-8.7,705,5471,0.00,2.20,0.00,0.000,4,0.000,0.056,2755,3357,3660,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5495,-0.69,-219.0,516.9,-8.3,708,5504,0.12,2.12,0.00,0.000,6,0.097,0.036,2691,1945,3660,0,0,0,0,0,0,26.58,26.62,28.83
$GC,5806,-0.65,-219.0,557.7,-12.9,739,5815,0.12,2.15,0.00,0.000,4,0.171,0.055,2729,563,3658,0,0,0,0,0,0,26.47,26.56,28.83
$GC,5838,-0.63,-219.0,561.5,-12.0,742,5849,0.00,2.12,0.00,0.000,6,0.000,0.041,2729,1965,3658,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6148,-0.62,-219.0,590.2,-9.3,773,6157,0.00,2.15,0.00,0.000,4,0.000,0.055,2726,3358,3656,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6220,-0.62,-219.0,596.7,-8.9,780,6229,0.00,2.12,0.00,0.000,6,0.000,0.036,2726,1946,3656,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6542,-0.62,-219.0,627.6,-9.8,798,6547,0.00,2.20,0.00,0.000,4,0.000,0.054,2727,3361,3655,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6569,-0.62,-219.0,629.5,-9.8,799,6573,0.00,2.12,0.00,0.000,6,0.000,0.036,2727,1953,3655,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6877,-0.62,-219.0,659.3,-9.2,814,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1953,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7177,-0.62,-219.0,684.8,-7.9,829,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1953,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7479,-0.62,-219.0,707.1,-7.7,844,7485,0.00,2.22,0.00,0.000,4,0.000,0.056,2727,3363,3651,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7508,-0.62,-219.0,708.8,-7.8,845,7517,0.00,2.10,0.00,0.000,6,0.000,0.037,2726,1963,3651,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7817,-0.62,-219.0,737.5,-9.4,861,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1963,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8119,-0.62,-219.0,766.5,-9.4,876,8122,0.00,2.20,0.00,0.000,4,0.000,0.057,2726,554,3649,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8144,-0.62,-219.0,768.7,-9.5,877,8148,0.00,2.15,0.00,0.000,6,0.000,0.041,2727,1953,3649,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8457,-0.62,-219.0,795.3,-7.8,893,8462,0.00,2.17,0.00,0.000,4,0.000,0.056,2726,3359,3648,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8489,-0.62,-219.0,796.7,-7.6,894,8495,0.00,2.12,0.00,0.000,6,0.000,0.036,2727,1950,3647,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8798,-0.62,-219.0,820.4,-7.9,910,8803,0.00,2.20,0.00,0.000,4,0.000,0.055,2726,3366,3646,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8849,-0.62,-219.0,823.5,-7.8,912,8856,0.00,2.15,0.00,0.000,6,0.000,0.037,2726,1944,3646,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9157,-0.62,-219.0,852.2,-9.6,928,9162,0.00,2.20,0.00,0.000,4,0.000,0.055,2726,3354,3645,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9184,-0.62,-219.0,854.2,-9.7,929,9188,0.00,2.12,0.00,0.000,6,0.000,0.037,2726,1950,3645,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9491,-0.62,-219.0,885.4,-9.8,944,9497,0.00,2.22,0.00,0.000,4,0.000,0.056,2726,3365,3644,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9536,-0.63,-219.0,889.1,-9.6,946,9540,0.00,2.15,0.00,0.000,6,0.000,0.037,2727,1947,3644,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9849,-0.63,-219.0,916.3,-8.2,962,9850,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1947,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10147,-0.63,-219.0,938.4,-7.0,977,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1947,3643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10448,-0.63,-219.0,958.4,-6.8,992,10454,0.00,2.25,0.00,0.000,4,0.000,0.058,2726,3365,3642,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10517,-0.64,-219.0,962.2,-6.5,995,10521,0.00,2.15,0.00,0.000,6,0.000,0.038,2727,1951,3642,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10825,-0.64,-219.0,981.5,-5.9,1010,10831,0.00,2.22,0.00,0.000,4,0.000,0.057,2727,3358,3641,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10873,-0.65,-219.0,984.0,-5.7,1012,10877,0.00,2.12,0.00,0.000,6,0.000,0.038,2726,1956,3641,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,10976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10977,begin apogee
$GC,10983,-0.17,0.0,990.4,-5.6,1017,11165,0.45,0.00,175.55,1.275,6,0.121,0.000,2879,2023,2786,0,0,0,0,0,0,26.43,28.83,23.78
$STATE,11166,end apogee,CONTROL_FINISHED_OK
$STATE,11166,begin climb
$GC,11169,0.69,219.0,993.3,0.0,1026,11374,0.77,2.47,192.38,1.235,4,0.057,0.059,3180,631,1891,0,0,0,0,0,0,24.82,24.39,23.55
$GC,11391,0.57,219.0,963.7,20.1,1037,11400,0.22,2.30,0.00,0.000,6,0.172,0.040,3125,2018,1888,0,0,0,0,0,0,24.65,24.78,28.83
$GC,11698,0.50,219.0,906.1,17.4,1053,11704,0.00,2.25,0.00,0.000,4,0.000,0.051,3125,3422,1885,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11781,0.43,219.0,891.6,18.2,1057,11786,0.20,2.20,0.00,0.000,6,0.165,0.039,3080,2027,1884,0,0,0,0,0,0,25.67,25.82,28.83
$GC,12097,0.39,219.0,852.6,11.3,1073,12098,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2026,1884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12394,0.35,219.0,818.1,11.5,1088,12395,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2026,1883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12694,0.31,219.0,783.5,11.8,1103,12696,0.12,0.00,0.00,0.000,6,0.173,0.000,3046,2026,1883,0,0,0,0,0,0,26.15,28.83,28.83
$GC,12997,0.32,237.3,757.9,8.0,1118,13018,0.00,2.28,15.95,1.073,4,0.000,0.054,3054,612,1817,0,0,0,0,0,0,28.83,25.95,25.05
$GC,13039,0.34,258.5,755.0,7.9,1120,13064,0.00,2.20,19.90,1.076,6,0.000,0.036,3054,2026,1732,0,0,0,0,0,0,28.83,26.02,24.69
$GC,13370,0.35,275.0,728.0,8.0,1136,13388,0.00,0.00,16.23,1.050,6,0.000,0.000,3054,2026,1664,0,0,0,0,0,0,28.83,28.83,24.78
$GC,13686,0.37,288.8,701.9,8.1,1152,13706,0.00,2.30,13.75,1.020,4,0.000,0.053,3064,608,1608,0,0,0,0,0,0,28.83,25.72,24.85
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$STATE,20433,end climb,SURFACE_DEPTH_REACHED
$STATE,20433,begin surface coast
$FINISH,1.5,1.008752
$STATE,20461,end surface coast,CONTROL_FINISHED_OK
$STATE,20461,begin surface
$SM_CCo,20540,0.00,0.000,0,0,458,571.06
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$IRIDIUM_FIX,2059.45,11949.28,161111,232320
$TT8_MAMPS,0.023968,0.023968
$HUMID,38.42
$INTERNAL_PRESSURE,9.38548
$TCM_TEMP,25.20
$XPDR_PINGS,3
$24V_AH,23.5,6.791
$10V_AH,10.3,6.788
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.600,179.950,679.375,0.000,0.000,28.881,44.838,215.186,0.750,0.000,36.862,5176.432,9916.722,845.527,4582.480,450.214,0.000,2667.884,0.000,4255.814,0.000,0.541,0.000
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$SENSOR_SECS,1332.460,1583.016,2149.418,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,325164
$DATA_FILE_SIZE,110162,1958
$CAP_FILE_SIZE,221768,0
$CFSIZE,260165632,199458816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.410,284.4,1
$GPS,171111,111201,2100.688,11950.233,34,1.9,34,-2.4