version: 66.11
glider: 170
mission: 10
dive: 6
start: 11 6 112 6 56 29
data:
$ID,170
$MISSION,10
$DIVE,6
$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,-141890.97
$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,3110
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,3000
$C_ROLL_CLIMB,3000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2769
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$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,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
$GPS1,061112,065024,2151.978,12027.217,17,1.3,17,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-73.8
$GPS2,061112,065601,2151.782,12027.240,16,1.7,16,-3.1
$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,303.1,48512,-15.6,-10.000,-17.73
$D_GRID,790
$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,-0.51,-194.6,0.0,0.0,0,114,0.00,0.00,-92.22,0.000,2,0.000,0.000,133,3005,2546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.51,-194.6,3.5,-4.2,16,155,11.48,1.15,-19.55,0.000,4,0.257,0.097,2936,3695,3565,0,0,0,0,0,0,26.13,26.34,26.65
$GC,383,-0.22,-194.6,89.3,-35.7,41,391,0.30,1.05,0.00,0.000,6,0.173,0.037,3029,2992,3565,0,0,0,0,0,0,26.37,26.56,28.83
$GC,571,-0.43,-194.6,114.6,-6.5,51,576,0.15,2.05,0.00,0.000,4,0.083,0.026,2947,1567,3565,0,0,0,0,0,0,26.61,26.63,28.83
$GC,604,-0.62,-194.6,117.0,-8.0,52,611,0.12,2.35,0.00,0.000,6,0.094,0.054,2886,3058,3565,0,0,0,0,0,0,26.60,26.57,28.83
$GC,800,-0.46,-194.6,163.1,-21.3,62,805,0.22,1.00,0.00,0.000,4,0.174,0.062,2956,3691,3566,0,0,0,0,0,0,26.51,26.62,28.83
$GC,1033,-0.54,-194.6,180.7,-5.7,73,1038,0.00,0.88,0.00,0.000,6,0.000,0.036,2956,3091,3566,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1227,-0.69,-194.6,191.7,-6.4,83,1234,0.17,0.98,0.00,0.000,4,0.076,0.057,2863,3702,3566,0,0,0,0,0,0,26.74,26.70,28.83
$GC,1461,-0.56,-194.6,234.8,-18.8,94,1466,0.17,0.82,0.00,0.000,6,0.145,0.035,2924,3133,3567,0,0,0,0,0,0,26.63,26.78,28.83
$GC,1656,-0.68,-194.6,256.3,-9.5,104,1661,0.00,0.90,0.00,0.000,4,0.000,0.062,2922,3700,3567,0,0,0,0,0,0,28.83,26.73,28.83
$GC,1888,-0.81,-194.6,274.0,-7.1,115,1894,0.17,0.80,0.00,0.000,6,0.047,0.037,2823,3147,3566,0,0,0,0,0,0,26.79,26.82,28.83
$GC,2202,-0.69,-194.6,330.1,-17.6,131,2209,0.17,0.88,0.00,0.000,4,0.168,0.061,2879,3693,3565,0,0,0,0,0,0,26.67,26.77,28.83
$GC,2435,-0.69,-194.6,356.2,-11.9,142,2440,0.00,0.77,0.00,0.000,6,0.000,0.037,2879,3161,3564,0,0,0,0,0,0,28.83,26.84,28.83
$GC,2748,-0.73,-194.6,393.5,-9.9,158,2753,0.00,2.30,0.00,0.000,4,0.000,0.028,2879,1550,3562,0,0,0,0,0,0,28.83,26.84,28.83
$GC,2856,-0.87,-194.6,399.9,-5.9,163,2863,0.15,2.58,0.00,0.000,6,0.090,0.057,2806,3182,3561,0,0,0,0,0,0,26.81,26.79,28.83
$GC,3176,-0.73,-194.6,447.4,-15.2,179,3181,0.20,0.80,0.00,0.000,4,0.179,0.064,2868,3693,3559,0,0,0,0,0,0,26.69,26.79,28.83
$GC,3409,-0.73,-194.6,466.2,-7.2,190,3415,0.00,0.73,0.00,0.000,6,0.000,0.040,2868,3203,3557,0,0,0,0,0,0,28.83,26.86,28.83
$GC,3724,-0.77,-194.6,488.1,-7.1,206,3729,0.00,0.80,0.00,0.000,4,0.000,0.068,2868,3697,3555,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3957,-0.77,-194.6,504.4,-7.4,217,3962,0.00,0.68,0.00,0.000,6,0.000,0.041,2869,3241,3553,0,0,0,0,0,0,28.83,26.86,28.83
$GC,4269,-0.80,-194.6,535.4,-11.0,233,4276,0.00,0.73,0.00,0.000,4,0.000,0.070,2868,3690,3551,0,0,0,0,0,0,28.83,26.81,28.83
$GC,4503,-0.84,-194.6,561.0,-11.5,244,4508,0.00,0.62,0.00,0.000,6,0.000,0.043,2868,3269,3550,0,0,0,0,0,0,28.83,26.87,28.83
$GC,4816,-0.88,-194.6,597.2,-11.1,260,4821,0.12,0.70,0.00,0.000,4,0.100,0.066,2803,3701,3548,0,0,0,0,0,0,26.86,26.82,28.83
$GC,4833,-0.92,-194.6,597.2,-11.1,260,4839,0.00,0.62,0.00,0.000,6,0.000,0.043,2803,3278,3547,0,0,0,0,0,0,28.83,26.87,28.83
$GC,5140,-0.80,-194.6,648.9,-16.1,271,5145,0.15,2.50,0.00,0.000,4,0.183,0.030,2849,1566,3545,0,0,0,0,0,0,26.71,26.89,28.83
$GC,5258,-0.82,-194.6,658.6,-11.6,274,5266,0.00,2.70,0.00,0.000,6,0.000,0.063,2849,3262,3544,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5563,-0.82,-194.6,693.8,-10.0,285,5568,0.00,0.68,0.00,0.000,4,0.000,0.072,2849,3693,3543,0,0,0,0,0,0,28.83,26.81,28.83
$GC,5795,-0.82,-194.6,716.7,-11.7,292,5800,0.00,0.57,0.00,0.000,6,0.000,0.045,2849,3307,3542,0,0,0,0,0,0,28.83,26.87,28.83
$GC,6110,-0.87,-194.6,746.4,-9.0,303,6115,0.00,0.62,0.00,0.000,4,0.000,0.073,2848,3692,3540,0,0,0,0,0,0,28.83,26.81,28.83
$GC,6342,-1.04,-194.6,746.4,-0.0,310,6348,0.17,0.60,0.00,0.000,6,0.051,0.046,2749,3292,3538,0,0,0,0,0,0,26.86,26.87,28.83
$STATE,6353,end dive,NO_VERTICAL_VELOCITY
$STATE,6353,begin apogee
$GC,6358,-0.12,0.0,746.4,0.0,311,6520,0.88,0.00,153.18,1.274,4,0.099,0.000,3066,3006,2768,0,0,0,0,0,0,26.76,28.83,24.20
$STATE,6522,end apogee,CONTROL_FINISHED_OK
$STATE,6522,begin climb
$GC,6524,0.51,194.6,746.3,0.0,316,6701,0.57,2.25,165.23,1.232,4,0.056,0.033,3283,1568,1973,0,0,0,0,0,0,25.17,25.20,24.15
$GC,6733,0.23,194.6,732.9,10.4,323,6739,0.35,2.40,0.00,0.000,6,0.172,0.060,3187,2995,1970,0,0,0,0,0,0,25.29,25.39,28.83
$GC,7052,0.10,194.6,691.9,12.8,334,7058,0.12,1.15,0.00,0.000,4,0.186,0.063,3149,3701,1965,0,0,0,0,0,0,26.14,26.22,28.83
$GC,7150,-0.02,194.6,680.4,12.6,337,7156,0.15,1.08,0.00,0.000,6,0.148,0.039,3104,3008,1964,0,0,0,0,0,0,26.23,26.37,28.83
$GC,7481,0.10,279.3,657.4,7.1,348,7559,0.12,1.23,69.28,1.210,4,0.090,0.067,3177,3699,1629,0,0,0,0,0,0,26.55,25.15,24.45
$GC,7681,0.03,279.3,631.8,15.2,354,7687,0.17,1.08,0.00,0.000,6,0.134,0.038,3125,3018,1626,0,0,0,0,0,0,25.84,25.97,28.83
$GC,7997,0.15,332.8,603.0,8.2,365,8046,0.10,1.23,44.35,1.170,4,0.102,0.067,3180,3703,1412,0,0,0,0,0,0,26.39,25.39,24.70
$GC,8083,0.15,332.8,594.3,10.6,368,8089,0.00,1.08,0.00,0.000,6,0.000,0.038,3185,3029,1411,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8389,0.15,332.8,558.2,10.3,384,8394,0.00,2.17,0.00,0.000,4,0.000,0.033,3188,1575,1407,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8435,0.16,351.5,554.5,9.4,386,8457,0.00,2.35,16.15,1.092,6,0.000,0.060,3187,3025,1335,0,0,0,0,0,0,28.83,26.29,25.22
$GC,8775,0.16,351.5,510.2,14.1,403,8780,0.00,2.17,0.00,0.000,4,0.000,0.034,3188,1580,1332,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8838,0.23,351.5,503.1,12.0,406,8844,0.00,2.30,0.00,0.000,6,0.000,0.060,3188,2998,1331,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9162,0.23,351.5,462.7,12.0,422,9167,0.00,2.15,0.00,0.000,4,0.000,0.034,3188,1572,1331,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9198,0.23,351.5,460.1,11.9,423,9205,0.00,2.25,0.00,0.000,6,0.000,0.060,3188,2973,1330,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9504,0.23,351.5,418.9,13.8,439,9509,0.00,1.17,0.00,0.000,4,0.000,0.066,3188,3704,1330,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9526,0.23,351.5,415.6,13.9,440,9532,0.00,1.15,0.00,0.000,6,0.000,0.040,3190,2963,1330,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9849,0.23,351.5,368.7,14.6,456,9855,0.00,2.03,0.00,0.000,4,0.000,0.034,3198,1567,1330,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9933,0.31,351.5,358.9,11.7,460,9939,0.00,2.22,0.00,0.000,6,0.000,0.060,3202,2954,1330,0,0,0,0,0,0,28.83,26.64,28.83
$GC,10256,0.31,351.5,311.6,14.8,476,10262,0.00,1.17,0.00,0.000,4,0.000,0.064,3198,3692,1330,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10304,0.31,351.5,304.8,15.3,478,10309,0.00,1.12,0.00,0.000,6,0.000,0.037,3199,2948,1330,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10621,0.31,351.5,256.4,13.6,494,10626,0.00,2.00,0.00,0.000,4,0.000,0.033,3199,1569,1330,0,0,0,0,0,0,28.83,26.76,28.83
$GC,10715,0.44,376.5,248.7,9.1,498,10745,0.15,2.15,20.98,0.928,6,0.085,0.059,3276,2925,1233,0,0,0,0,0,0,26.73,26.70,25.65
$GC,10924,0.29,376.5,204.2,23.6,509,10926,0.25,0.00,0.00,0.000,6,0.152,0.000,3201,2925,1230,0,0,0,0,0,0,26.35,28.83,28.83
$GC,11105,0.39,410.5,183.5,8.8,518,11139,0.10,1.30,27.95,0.877,4,0.105,0.063,3266,3700,1094,0,0,0,0,0,0,26.58,26.01,25.41
$GC,11207,0.32,410.5,167.5,17.1,523,11213,0.15,1.17,0.00,0.000,6,0.124,0.033,3215,2935,1092,0,0,0,0,0,0,26.08,26.24,28.83
$GC,11412,0.43,437.5,147.2,9.1,533,11436,0.00,0.00,22.27,0.830,6,0.000,0.000,3215,2935,985,0,0,0,0,0,0,28.83,28.83,25.39
$GC,11612,0.68,558.0,132.5,5.9,543,11722,0.28,1.30,101.60,0.810,4,0.064,0.057,3345,3700,493,0,0,0,0,0,0,26.27,25.15,24.61
$GC,11804,0.62,558.0,102.2,17.2,552,11810,0.10,1.12,0.00,0.000,6,0.126,0.032,3312,2967,493,0,0,0,0,0,0,25.66,25.79,28.83
$GC,11999,0.62,558.0,68.9,17.4,562,12005,0.00,2.05,0.00,0.000,4,0.000,0.030,3315,1588,493,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12057,0.68,558.0,62.5,16.2,564,12063,0.00,2.20,0.00,0.000,6,0.000,0.054,3313,2959,493,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12245,0.72,558.0,37.6,14.2,578,12250,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2959,493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12433,0.72,558.0,14.1,13.1,606,12440,0.00,2.05,0.00,0.000,4,0.000,0.032,3313,1587,493,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12458,0.81,558.0,11.6,10.7,610,12466,0.17,2.12,0.00,0.000,6,0.079,0.054,3395,2933,493,0,0,0,0,0,0,26.46,26.42,28.83
$STATE,12511,end climb,SURFACE_DEPTH_REACHED
$STATE,12511,begin surface coast
$FINISH,1.9,1.022088
$STATE,12523,end surface coast,CONTROL_FINISHED_OK
$STATE,12523,begin surface
$SM_CCo,12600,0.00,0.000,0,0,492,558.55
$SM_GC,1.99,8.50,0.12,0.00,0.056,0.099,0.000,134,3029,492,-9.26,-0.45,558.55,0,0,0,0,0,0,26.41,26.48,28.83
$IRIDIUM_FIX,2145.77,12026.75,061112,040445
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.96
$INTERNAL_PRESSURE,9.49804
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,4017824
$24V_AH,24.2,1.610
$10V_AH,10.0,0.677
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.950,83.625,620.975,0.000,0.000,0.000,0.000,198.550,0.000,0.000,17.113,2399.021,7448.142,696.343,2204.546,195.934,0.000,1978.300,0.000,1905.636,0.000,0.544,0.000
$DEVICE_MAMPS,257.040,99.450,1273.725,0.000,0.000,0.000,0.000,130.050,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12539.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.082,0.000,0.000,0.000
$MEM,324396
$DATA_FILE_SIZE,23451,622
$CAP_FILE_SIZE,169496,0
$CFSIZE,260034560,250281984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.254,181.3,1
$GPS,061112,102735,2151.053,12026.917,30,1.3,30,-3.1