version: 66.10
glider: 170
mission: 8
dive: 72
start: 5 1 112 16 0 13
data:
$ID,170
$MISSION,8
$DIVE,72
$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,420
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51734
$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,652.74329
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,-124257.2
$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,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.012
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2690
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2.25
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3121
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,600
$PITCH_VBD_SHIFT,0.00060000003
$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,146
$AH0_10V,97.5
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.674221
$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,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043607452
$SEABIRD_T_H,0.00062843185
$SEABIRD_T_I,2.3948436e-05
$SEABIRD_T_J,2.5418763e-06
$SEABIRD_C_G,-9.9654589
$SEABIRD_C_H,1.1018275
$SEABIRD_C_I,-0.0017437373
$SEABIRD_C_J,0.00021077196
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,010512,155135,2034.815,12003.590,40,0.9,40,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-71.9
$GPS2,010512,155949,2034.930,12003.681,15,0.9,15,-2.8
$SPEED_LIMITS,0.150,0.298
$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,197.7,175929,-13.9,-8.684
$D_GRID,3534
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.46,-194.6,0.0,0.0,0,101,0.00,0.00,-81.47,0.000,2,0.000,0.000,130,2701,2674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.46,-194.6,3.0,-2.5,8,146,10.43,1.60,-25.67,0.000,4,0.245,0.075,2641,3689,3917,0,0,0,0,0,0,25.53,25.92,26.33
$GC,167,-0.22,-194.6,17.2,-23.1,14,175,0.28,1.50,0.00,0.000,6,0.141,0.031,2724,2665,3921,0,0,0,0,0,0,25.75,26.09,28.83
$GC,474,-0.29,-194.6,54.3,-7.2,42,481,0.00,2.03,0.00,0.000,4,0.000,0.030,2725,1291,3922,0,0,0,0,0,0,28.83,26.24,28.83
$GC,528,-0.38,-194.6,56.5,-5.6,44,534,0.15,2.15,0.00,0.000,6,0.081,0.043,2645,2674,3922,0,0,0,0,0,0,26.19,26.17,28.83
$GC,842,-0.36,-194.6,94.8,-12.7,60,848,0.12,1.62,0.00,0.000,4,0.145,0.054,2687,3704,3923,0,0,0,0,0,0,26.23,26.25,28.83
$GC,894,-0.37,-194.6,98.7,-10.7,62,900,0.00,1.50,0.00,0.000,6,0.000,0.033,2687,2678,3923,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1207,-0.58,-194.6,124.3,-10.3,78,1213,0.20,2.03,0.00,0.000,4,0.093,0.028,2606,1283,3924,0,0,0,0,0,0,26.36,26.44,28.83
$GC,1312,-0.66,-194.6,132.6,-7.5,83,1317,0.00,2.15,0.00,0.000,6,0.000,0.043,2606,2669,3924,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1634,-0.63,-194.6,165.7,-10.9,99,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2669,3924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1934,-0.63,-194.6,193.9,-9.7,114,1939,0.00,1.62,0.00,0.000,4,0.000,0.057,2606,3696,3923,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1956,-0.63,-194.6,196.2,-9.9,115,1961,0.00,1.52,0.00,0.000,6,0.000,0.033,2606,2651,3923,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2278,-0.63,-194.6,230.7,-11.0,131,2283,0.00,2.00,0.00,0.000,4,0.000,0.031,2606,1279,3922,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2381,-0.65,-194.6,241.1,-10.2,136,2387,0.00,2.15,0.00,0.000,6,0.000,0.044,2606,2665,3922,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2704,-0.68,-194.6,273.5,-10.0,152,2710,0.00,2.03,0.00,0.000,4,0.000,0.030,2604,1276,3921,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2728,-0.70,-194.6,275.9,-10.1,153,2733,0.00,2.12,0.00,0.000,6,0.000,0.044,2606,2648,3920,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3051,-0.74,-194.6,304.9,-8.5,169,3057,0.12,2.03,0.00,0.000,4,0.096,0.028,2530,1271,3918,0,0,0,0,0,0,26.65,26.60,28.83
$GC,3125,-0.72,-194.6,312.4,-10.8,172,3131,0.12,2.10,0.00,0.000,6,0.161,0.044,2561,2631,3918,0,0,0,0,0,0,26.33,26.51,28.83
$GC,3439,-0.70,-194.6,347.1,-10.1,188,3444,0.00,2.00,0.00,0.000,4,0.000,0.031,2564,1280,3916,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3476,-0.68,-194.6,349.4,-10.1,189,3482,0.00,2.05,0.00,0.000,6,0.000,0.047,2564,2612,3916,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3781,-0.65,-194.6,380.5,-9.6,205,3787,0.00,1.73,0.00,0.000,4,0.000,0.058,2564,3693,3913,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3833,-0.64,-194.6,384.6,-9.7,207,3839,0.00,1.58,0.00,0.000,6,0.000,0.034,2564,2616,3913,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4146,-0.64,-194.6,414.1,-9.1,223,4152,0.10,1.92,0.00,0.000,4,0.161,0.029,2592,1285,3910,0,0,0,0,0,0,26.56,26.60,28.83
$GC,4183,-0.64,-194.6,416.1,-9.0,224,4191,0.00,2.05,0.00,0.000,6,0.000,0.045,2593,2611,3910,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4490,-0.67,-194.6,440.4,-7.4,240,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2611,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4791,-0.69,-194.6,463.8,-7.9,255,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2611,3905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5091,-0.72,-194.6,488.9,-8.6,270,5096,0.00,1.95,0.00,0.000,4,0.000,0.032,2592,1287,3903,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5137,-0.75,-194.6,492.8,-8.8,272,5142,0.12,2.05,0.00,0.000,6,0.098,0.045,2525,2608,3903,0,0,0,0,0,0,26.52,26.52,28.83
$GC,5456,-0.70,-194.6,537.0,-14.1,288,5461,0.15,1.73,0.00,0.000,4,0.145,0.057,2574,3695,3900,0,0,0,0,0,0,26.41,26.47,28.83
$GC,5542,-0.70,-194.6,546.5,-11.2,292,5547,0.00,1.65,0.00,0.000,6,0.000,0.034,2575,2606,3900,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5859,-0.70,-194.6,577.9,-9.3,308,5865,0.00,1.92,0.00,0.000,4,0.000,0.032,2574,1287,3898,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5902,-0.71,-194.6,581.9,-9.2,310,5908,0.00,2.08,0.00,0.000,6,0.000,0.046,2573,2611,3897,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6217,-0.73,-194.6,608.3,-8.0,324,6222,0.00,1.98,0.00,0.000,4,0.000,0.032,2575,1285,3895,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6250,-0.74,-194.6,611.1,-8.0,325,6255,0.00,2.05,0.00,0.000,6,0.000,0.046,2578,2597,3896,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6584,-0.76,-194.6,636.4,-7.4,336,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2599,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6883,-0.77,-194.6,660.5,-8.4,346,6888,0.00,1.95,0.00,0.000,4,0.000,0.033,2575,1290,3893,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6935,-0.79,-194.6,663.5,-8.6,347,6940,0.00,2.00,0.00,0.000,6,0.000,0.046,2575,2590,3893,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7248,-0.81,-194.6,692.5,-9.0,358,7253,0.10,1.75,0.00,0.000,4,0.108,0.058,2521,3693,3890,0,0,0,0,0,0,26.72,26.44,28.83
$GC,7275,-0.82,-194.6,692.5,-9.0,358,7282,0.00,1.62,0.00,0.000,6,0.000,0.036,2521,2597,3889,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7582,-0.77,-194.6,734.4,-12.8,369,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2597,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7881,-0.72,-194.6,771.8,-12.5,379,7887,0.12,1.77,0.00,0.000,4,0.159,0.060,2562,3692,3888,0,0,0,0,0,0,26.45,26.41,28.83
$GC,7945,-0.70,-194.6,778.0,-11.1,381,7951,0.00,1.67,0.00,0.000,6,0.000,0.036,2563,2605,3887,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8278,-0.70,-194.6,807.7,-8.9,392,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2605,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8578,-0.70,-194.6,833.9,-8.8,402,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2605,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8879,-0.72,-194.6,861.7,-9.3,412,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2605,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9178,-0.73,-194.6,890.2,-9.4,422,9179,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2605,3882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9479,-0.74,-194.6,917.5,-9.1,432,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2604,3881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9778,-0.76,-194.6,945.5,-9.5,442,9783,0.00,1.95,0.00,0.000,4,0.000,0.034,2563,1292,3880,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9804,-0.78,-194.6,945.5,-9.5,442,9812,0.00,2.05,0.00,0.000,6,0.000,0.048,2563,2598,3881,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10111,-0.79,-194.6,977.1,-9.6,453,10116,0.00,1.95,0.00,0.000,4,0.000,0.034,2562,1290,3879,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10132,-0.81,-194.6,977.1,-9.6,453,10138,0.00,2.05,0.00,0.000,6,0.000,0.049,2563,2596,3879,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,10264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10264,begin apogee
$GC,10269,-0.12,0.0,991.2,-8.9,458,10429,0.55,0.00,155.15,1.429,4,0.107,0.000,2755,1938,3121,0,0,0,0,0,0,26.17,28.83,23.60
$STATE,10430,end apogee,CONTROL_FINISHED_OK
$STATE,10431,begin climb
$GC,10432,0.46,194.6,999.0,0.0,463,10619,0.55,2.30,175.77,1.394,4,0.059,0.040,2959,545,2326,0,0,0,0,0,0,24.71,24.70,23.08
$GC,10777,0.44,194.6,976.2,10.0,475,10782,0.00,2.25,0.00,0.000,6,0.000,0.040,2958,1946,2319,0,0,0,0,0,0,28.83,25.30,28.83
$GC,11111,0.40,194.6,940.1,10.9,486,11117,0.00,2.20,0.00,0.000,4,0.000,0.043,2966,540,2316,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11324,0.37,194.6,917.6,10.2,493,11331,0.17,2.20,0.00,0.000,6,0.136,0.040,2915,1957,2315,0,0,0,0,0,0,25.87,26.06,28.83
$GC,11658,0.40,252.1,893.0,7.0,504,11718,0.00,2.38,49.75,1.351,4,0.000,0.054,2915,3341,2092,0,0,0,0,0,0,28.83,25.04,24.10
$GC,11766,0.44,313.3,886.8,6.9,507,11830,0.00,2.20,55.17,1.333,6,0.000,0.033,2915,1953,1842,0,0,0,0,0,0,28.83,25.48,23.83
$GC,12143,0.56,423.7,864.6,5.4,520,12247,0.15,2.35,96.75,1.330,4,0.080,0.044,2999,540,1392,0,0,0,0,0,0,25.93,24.64,23.72
$GC,12279,0.54,423.7,850.0,12.0,524,12285,0.00,2.28,0.00,0.000,6,0.000,0.039,2999,1950,1390,0,0,0,0,0,0,28.83,25.09,28.83
$GC,12600,0.51,423.7,804.6,13.8,535,12606,0.12,2.25,0.00,0.000,4,0.155,0.042,2968,535,1386,0,0,0,0,0,0,25.78,25.86,28.83
$GC,12627,0.48,423.7,804.6,13.8,535,12634,0.00,2.22,0.00,0.000,6,0.000,0.039,2968,1954,1386,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12935,0.50,423.7,770.0,10.4,546,12940,0.00,2.22,0.00,0.000,4,0.000,0.052,2968,3342,1385,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12951,0.53,423.7,770.0,10.4,546,12957,0.00,2.17,0.00,0.000,6,0.000,0.034,2967,1935,1385,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13271,0.55,423.7,734.2,10.3,557,13276,0.00,2.17,0.00,0.000,4,0.000,0.045,2967,538,1384,0,0,0,0,0,0,28.83,26.21,28.83
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$STATE,19430,end climb,SURFACE_DEPTH_REACHED
$STATE,19430,begin surface coast
$FINISH,1.0,1.006724
$STATE,19463,end surface coast,CONTROL_FINISHED_OK
$STATE,19463,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,39.32
$INTERNAL_PRESSURE,7.26163
$TCM_TEMP,24.10
$XPDR_PINGS,3
$24V_AH,23.1,15.047
$10V_AH,10.0,6.080
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.446,0.000,0.000,0.000
$MEM,324372
$DATA_FILE_SIZE,33368,877
$CAP_FILE_SIZE,219784,0
$CFSIZE,260165632,244547584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.122, 48.0,1
$GPS,010512,212605,2032.659,12003.914,32,0.8,32,-2.8