version: 66.11
glider: 170
mission: 10
dive: 16
start: 11 7 112 14 30 30
data:
$ID,170
$MISSION,10
$DIVE,16
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-06
$HEADING,10
$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,-141941.69
$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,3400
$C_ROLL_CLIMB,3000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,29
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,50
$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
$GPS1,071112,142337,2145.580,12026.223,39,2.0,39,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-75.1
$GPS2,071112,143004,2145.390,12026.239,38,1.0,38,-3.1
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,HEADING
$TGT_LATLONG,2156.025,12028.261
$TGT_RADIUS,1852.000
$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,13.1,20000,-15.6,-10.000,-17.73
$D_GRID,846
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.51,-194.6,0.0,0.0,0,99,0.00,0.00,-77.62,0.000,2,0.000,0.000,131,3408,2615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.51,-194.6,3.1,-1.8,14,139,11.32,2.15,-19.60,0.000,4,0.251,0.041,2940,1982,3565,0,0,0,0,0,0,26.10,26.39,26.60
$GC,167,-0.22,-194.6,25.2,-36.4,25,175,0.32,2.30,0.00,0.000,6,0.170,0.059,3034,3405,3565,0,0,0,0,0,0,26.22,26.32,28.83
$GC,353,-0.28,-194.6,55.9,-12.9,42,358,0.00,0.45,0.00,0.000,4,0.000,0.068,3034,3699,3566,0,0,0,0,0,0,28.83,26.44,28.83
$GC,545,-0.43,-194.6,73.1,-9.0,51,551,0.15,0.40,0.00,0.000,6,0.050,0.043,2943,3413,3566,0,0,0,0,0,0,26.55,26.58,28.83
$GC,740,-0.22,-194.6,121.6,-24.9,61,745,0.30,0.47,0.00,0.000,4,0.164,0.063,3036,3704,3566,0,0,0,0,0,0,26.48,26.58,28.83
$GC,824,-0.41,-194.6,128.7,-7.8,65,830,0.15,0.38,0.00,0.000,6,0.111,0.042,2981,3436,3567,0,0,0,0,0,0,26.55,26.66,28.83
$GC,1029,-0.76,-194.6,152.4,-11.6,75,1035,0.30,2.08,0.00,0.000,4,0.092,0.024,2863,1965,3567,0,0,0,0,0,0,26.61,26.70,28.83
$GC,1067,-1.08,-194.6,155.0,-10.7,76,1074,0.28,2.33,0.00,0.000,6,0.061,0.059,2739,3429,3567,0,0,0,0,0,0,26.67,26.62,28.83
$GC,1254,-0.60,-194.6,216.0,-34.5,86,1260,0.57,2.08,0.00,0.000,4,0.194,0.022,2909,1946,3568,0,0,0,0,0,0,26.53,26.72,28.83
$GC,1282,-0.22,-194.6,222.0,-32.4,87,1288,0.40,2.30,0.00,0.000,6,0.126,0.062,3040,3399,3570,0,0,0,0,0,0,26.59,26.64,28.83
$GC,1482,-0.64,-194.6,234.4,-7.0,97,1488,0.35,2.05,0.00,0.000,4,0.088,0.024,2905,1962,3568,0,0,0,0,0,0,26.67,26.76,28.83
$GC,1670,-0.99,-194.6,251.6,-10.0,106,1676,0.32,2.53,0.00,0.000,6,0.079,0.060,2778,3566,3568,0,0,0,0,0,0,26.69,26.69,28.83
$GC,1989,-0.69,-194.6,321.8,-23.7,122,1994,0.35,2.30,0.00,0.000,4,0.182,0.023,2885,1930,3568,0,0,0,0,0,0,26.61,26.79,28.83
$GC,2088,-0.71,-194.6,329.7,-9.0,126,2094,0.00,2.55,0.00,0.000,6,0.000,0.060,2885,3536,3567,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2393,-0.74,-194.6,352.5,-9.0,142,2398,0.00,2.28,0.00,0.000,4,0.000,0.027,2885,1935,3566,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2416,-0.79,-194.6,353.6,-7.2,143,2422,0.00,2.50,0.00,0.000,6,0.000,0.058,2885,3510,3566,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2739,-0.84,-194.6,383.9,-10.3,159,2745,0.12,2.22,0.00,0.000,4,0.093,0.024,2810,1940,3564,0,0,0,0,0,0,26.80,26.84,28.83
$GC,2764,-0.87,-194.6,385.9,-9.1,160,2769,0.00,2.47,0.00,0.000,6,0.000,0.058,2810,3495,3564,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3087,-0.69,-194.6,441.9,-18.2,176,3092,0.22,0.30,0.00,0.000,4,0.173,0.065,2880,3700,3561,0,0,0,0,0,0,26.67,26.77,28.83
$GC,3320,-0.74,-194.6,467.1,-11.0,187,3325,0.00,0.22,0.00,0.000,6,0.000,0.054,2880,3522,3560,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3634,-0.81,-194.6,498.2,-8.5,203,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,3521,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3934,-0.87,-194.6,520.0,-7.2,218,3940,0.12,2.22,0.00,0.000,4,0.097,0.026,2809,1939,3556,0,0,0,0,0,0,26.83,26.87,28.83
$GC,3979,-0.90,-194.6,524.4,-8.5,220,3984,0.00,2.50,0.00,0.000,6,0.000,0.059,2808,3517,3556,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4302,-0.76,-194.6,575.0,-17.3,236,4308,0.17,0.28,0.00,0.000,4,0.176,0.067,2863,3708,3554,0,0,0,0,0,0,26.70,26.79,28.83
$GC,4416,-0.76,-194.6,587.9,-11.3,241,4421,0.00,0.25,0.00,0.000,6,0.000,0.053,2864,3520,3552,0,0,0,0,0,0,28.83,26.85,28.83
$GC,4731,-0.80,-194.6,619.5,-9.7,254,4736,0.00,2.25,0.00,0.000,4,0.000,0.028,2864,1945,3551,0,0,0,0,0,0,28.83,26.88,28.83
$GC,4783,-0.86,-194.6,622.7,-9.7,255,4788,0.00,2.50,0.00,0.000,6,0.000,0.061,2863,3509,3551,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5098,-0.93,-194.6,654.5,-8.9,266,5100,0.15,0.00,0.00,0.000,6,0.083,0.000,2786,3509,3549,0,0,0,0,0,0,26.84,28.83,28.83
$GC,5396,-0.75,-194.6,703.3,-17.2,276,5401,0.25,0.28,0.00,0.000,4,0.174,0.067,2864,3701,3547,0,0,0,0,0,0,26.69,26.79,28.83
$GC,5429,-0.62,-194.6,708.2,-16.9,277,5435,0.10,0.28,0.00,0.000,6,0.133,0.050,2903,3510,3546,0,0,0,0,0,0,26.72,26.86,28.83
$STATE,5491,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5491,begin apogee
$GC,5496,-0.12,0.0,711.2,-10.4,279,5658,0.45,0.00,153.32,1.242,4,0.087,0.000,3073,3006,2768,0,0,0,0,0,0,26.77,28.83,24.14
$STATE,5659,end apogee,CONTROL_FINISHED_OK
$STATE,5659,begin climb
$GC,5661,0.51,194.6,711.9,0.0,284,5833,0.52,1.23,162.85,1.206,4,0.037,0.061,3311,3700,1975,0,0,0,0,0,0,25.10,25.05,24.08
$GC,6061,0.03,194.6,626.8,31.0,297,6068,0.60,1.08,0.00,0.000,6,0.177,0.033,3124,2996,1967,0,0,0,0,0,0,25.86,26.05,28.83
$GC,6368,0.05,232.0,588.2,8.7,310,6407,0.00,2.17,30.58,1.129,4,0.000,0.030,3132,1596,1821,0,0,0,0,0,0,28.83,25.70,24.96
$GC,6494,0.20,290.6,578.0,8.0,316,6551,0.12,2.30,49.47,1.130,6,0.091,0.058,3195,3012,1583,0,0,0,0,0,0,25.97,25.94,24.44
$GC,6850,0.10,290.6,509.4,18.0,334,6852,0.17,0.00,0.00,0.000,6,0.158,0.000,3145,3013,1577,0,0,0,0,0,0,26.06,28.83,28.83
$GC,7151,0.14,290.6,474.9,11.2,349,7156,0.00,1.12,0.00,0.000,4,0.000,0.062,3145,3704,1576,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7188,0.18,290.6,472.2,11.1,350,7194,0.00,1.05,0.00,0.000,6,0.000,0.034,3145,3012,1576,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7494,0.24,308.6,439.1,9.4,366,7515,0.12,1.17,14.82,1.017,4,0.094,0.063,3220,3702,1511,0,0,0,0,0,0,26.54,26.17,25.49
$GC,7574,0.17,308.6,428.8,14.9,369,7581,0.15,1.02,0.00,0.000,6,0.143,0.032,3173,3021,1509,0,0,0,0,0,0,26.17,26.32,28.83
$GC,7878,0.15,308.6,384.9,13.1,385,7883,0.00,2.12,0.00,0.000,4,0.000,0.030,3173,1580,1507,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7909,0.15,308.6,382.1,12.9,386,7914,0.00,2.30,0.00,0.000,6,0.000,0.060,3173,3021,1507,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8222,0.15,308.6,339.8,13.2,402,8227,0.00,1.08,0.00,0.000,4,0.000,0.063,3173,3695,1507,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8359,0.11,308.6,323.3,13.1,408,8366,0.00,0.98,0.00,0.000,6,0.000,0.032,3173,3032,1506,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8665,0.11,308.6,289.5,10.4,424,8670,0.00,2.10,0.00,0.000,4,0.000,0.029,3173,1585,1506,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8708,0.17,308.6,285.4,10.0,426,8713,0.00,2.28,0.00,0.000,6,0.000,0.055,3173,3029,1505,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9031,0.19,308.6,251.5,12.2,442,9037,0.00,2.12,0.00,0.000,4,0.000,0.028,3173,1582,1506,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9064,0.23,308.6,248.8,12.3,443,9069,0.00,2.28,0.00,0.000,6,0.000,0.058,3173,3021,1505,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9257,0.28,308.6,227.3,10.7,453,9262,0.00,1.08,0.00,0.000,4,0.000,0.062,3173,3698,1505,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9383,0.28,308.6,212.0,12.7,459,9388,0.00,0.95,0.00,0.000,6,0.000,0.031,3173,3043,1506,0,0,0,0,0,0,28.83,26.75,28.83
$GC,9582,0.38,349.4,192.9,8.6,469,9622,0.15,2.22,33.22,0.882,4,0.083,0.029,3268,1586,1343,0,0,0,0,0,0,26.74,26.14,25.49
$GC,9694,0.32,349.4,176.3,17.3,474,9700,0.17,2.33,0.00,0.000,6,0.143,0.055,3216,3040,1340,0,0,0,0,0,0,26.14,26.20,28.83
$GC,9887,0.32,349.4,151.0,12.3,484,9893,0.00,2.15,0.00,0.000,4,0.000,0.028,3215,1590,1339,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9951,0.42,370.2,145.6,9.3,487,9975,0.00,2.25,17.23,0.814,6,0.000,0.057,3215,2984,1259,0,0,0,0,0,0,28.83,26.39,25.53
$GC,10173,0.56,404.7,127.5,8.8,498,10207,0.17,1.12,28.30,0.810,4,0.078,0.058,3306,3702,1118,0,0,0,0,0,0,26.37,25.87,25.32
$GC,10324,0.42,404.7,102.6,18.7,505,10329,0.17,1.05,0.00,0.000,6,0.126,0.028,3248,2983,1115,0,0,0,0,0,0,26.05,26.21,28.83
$GC,10519,0.60,467.0,88.8,7.9,515,10577,0.15,0.00,50.05,0.776,6,0.083,0.000,3314,2980,865,0,0,0,0,0,0,26.34,28.83,25.08
$GC,10758,0.54,467.0,58.3,18.4,527,10763,0.00,2.03,0.00,0.000,4,0.000,0.027,3322,1600,862,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10791,0.51,467.0,54.1,18.8,528,10797,0.15,2.25,0.00,0.000,6,0.128,0.054,3275,3005,862,0,0,0,0,0,0,26.08,26.13,28.83
$GC,10985,0.63,547.6,30.9,7.2,546,11037,0.12,1.10,44.05,0.699,4,0.089,0.057,3353,3706,534,0,0,0,0,0,0,26.36,25.73,25.26
$GC,11075,0.45,547.6,8.7,30.1,559,11082,0.30,1.02,0.00,0.000,6,0.131,0.029,3255,3007,534,0,0,0,0,0,0,25.81,25.96,28.83
$STATE,11098,end climb,SURFACE_DEPTH_REACHED
$STATE,11098,begin surface coast
$FINISH,1.5,1.022128
$STATE,11109,end surface coast,CONTROL_FINISHED_OK
$STATE,11109,begin surface
$SM_CCo,11188,0.00,0.000,0,0,533,548.25
$SM_GC,2.09,8.18,0.68,0.00,0.047,0.063,0.000,132,3403,533,-9.26,-0.93,548.25,0,0,0,0,0,0,25.96,25.98,28.83
$IRIDIUM_FIX,2136.49,12019.23,071112,111107
$TT8_MAMPS,0.025466,0.025466
$HUMID,50.59
$INTERNAL_PRESSURE,9.51758
$TCM_TEMP,24.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,651.9,78.6
$SC_FREEKB,4013984
$24V_AH,24.1,3.522
$10V_AH,9.9,1.451
$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,27.700,92.275,583.900,0.000,0.000,0.000,0.000,217.400,1.250,0.000,39.483,1877.969,6989.799,649.362,1867.119,193.628,0.000,1779.602,0.000,1531.982,0.000,11.109,0.000
$DEVICE_MAMPS,250.920,68.085,1242.360,0.000,0.000,0.000,0.000,132.345,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11131.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.954,0.000,0.000,0.000
$MEM,324536
$DATA_FILE_SIZE,20110,565
$CAP_FILE_SIZE,157041,0
$CFSIZE,260034560,249450496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071112,173754,2145.966,12026.495,20,1.6,20,-3.1