version: 66.11
glider: 170
mission: 10
dive: 58
start: 11 12 112 13 16 50
data:
$ID,170
$MISSION,10
$DIVE,58
$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,320
$T_MISSION,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$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,-143160.59
$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,3040
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2769
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$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
$GPS1,121112,130905,2136.205,12029.734,38,1.1,38,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-75.5
$GPS2,121112,131623,2136.133,12029.742,22,0.9,22,-3.0
$SPEED_LIMITS,0.179,0.348
$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,335.8,53732,-14.3,-10.312,-16.49
$D_GRID,1315
$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,-0.42,-243.3,0.0,0.0,0,102,0.00,0.00,-80.28,0.000,2,0.000,0.000,135,2643,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.42,-243.3,3.1,-2.4,14,160,10.85,0.00,-39.75,0.000,6,0.241,0.000,2897,2643,3763,0,0,0,0,0,0,26.03,28.83,26.56
$GC,343,-0.42,-243.3,69.4,-32.1,43,348,0.00,1.65,0.00,0.000,4,0.000,0.062,2897,3665,3762,0,0,0,0,0,0,28.83,26.36,28.83
$GC,539,-0.42,-243.3,113.5,-20.1,52,545,0.00,1.55,0.00,0.000,6,0.000,0.024,2897,2585,3762,0,0,0,0,0,0,28.83,26.53,28.83
$GC,725,-0.42,-243.3,144.6,-15.2,62,731,0.00,1.98,0.00,0.000,4,0.000,0.031,2897,1220,3762,0,0,0,0,0,0,28.83,26.54,28.83
$GC,749,-0.42,-243.3,148.2,-15.5,63,755,0.00,2.08,0.00,0.000,6,0.000,0.046,2897,2571,3762,0,0,0,0,0,0,28.83,26.51,28.83
$GC,953,-0.42,-243.3,168.0,-9.0,73,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2571,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1132,-0.42,-243.3,186.9,-10.8,82,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2571,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1312,-0.42,-243.3,206.7,-10.8,91,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2571,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1493,-0.42,-243.3,223.7,-9.0,100,1499,0.00,2.00,0.00,0.000,4,0.000,0.031,2897,1219,3762,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1525,-0.42,-243.3,225.7,-8.8,101,1531,0.00,2.12,0.00,0.000,6,0.000,0.046,2897,2613,3762,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1719,-0.42,-243.3,240.5,-6.9,111,1724,0.00,1.67,0.00,0.000,4,0.000,0.054,2896,3701,3761,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1765,-0.42,-243.3,242.6,-5.4,113,1770,0.00,1.58,0.00,0.000,6,0.000,0.026,2897,2565,3762,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1963,-0.42,-243.3,253.0,-5.4,123,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2562,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2264,-0.42,-243.3,269.5,-5.4,138,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2562,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2564,-0.42,-243.3,286.9,-5.8,153,2570,0.00,1.80,0.00,0.000,4,0.000,0.061,2897,3707,3757,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2592,-0.42,-243.3,288.3,-5.9,154,2597,0.00,1.55,0.00,0.000,6,0.000,0.027,2897,2603,3757,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2910,-0.42,-243.3,310.8,-7.0,170,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2597,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3212,-0.42,-243.3,333.6,-8.0,185,3217,0.00,1.75,0.00,0.000,4,0.000,0.064,2897,3705,3752,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3358,-0.42,-243.3,347.2,-9.8,192,3364,0.00,1.55,0.00,0.000,6,0.000,0.025,2897,2625,3752,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3676,-0.42,-243.3,379.9,-11.0,208,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2624,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3977,-0.42,-243.3,416.4,-11.9,223,3983,0.00,2.05,0.00,0.000,4,0.000,0.028,2898,1203,3747,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4024,-0.42,-243.3,421.7,-11.8,225,4030,0.00,2.15,0.00,0.000,6,0.000,0.043,2897,2610,3747,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4343,-0.42,-243.3,455.3,-9.9,241,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2610,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4644,-0.42,-243.3,482.2,-8.4,256,4650,0.00,2.08,0.00,0.000,4,0.000,0.032,2898,1202,3743,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4708,-0.42,-243.3,487.8,-8.6,259,4713,0.00,2.15,0.00,0.000,6,0.000,0.043,2897,2602,3744,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5031,-0.42,-243.3,517.6,-10.2,275,5036,0.00,2.05,0.00,0.000,4,0.000,0.028,2897,1203,3742,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5083,-0.42,-243.3,522.3,-10.9,277,5088,0.00,2.12,0.00,0.000,6,0.000,0.042,2898,2608,3741,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5395,-0.42,-243.3,559.3,-11.4,293,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2608,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5697,-0.42,-243.3,591.4,-10.3,308,5702,0.00,2.08,0.00,0.000,4,0.000,0.029,2898,1195,3738,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5748,-0.42,-243.3,596.0,-10.4,310,5754,0.00,2.15,0.00,0.000,6,0.000,0.041,2897,2605,3738,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6083,-0.42,-243.3,626.6,-8.3,322,6088,0.00,2.08,0.00,0.000,4,0.000,0.028,2897,1192,3736,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6190,-0.42,-243.3,634.1,-8.1,325,6196,0.00,2.12,0.00,0.000,6,0.000,0.041,2897,2598,3735,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6509,-0.42,-243.3,661.3,-8.6,336,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2599,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6809,-0.42,-243.3,688.1,-8.8,346,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2598,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7108,-0.42,-243.3,713.6,-8.2,356,7113,0.00,2.05,0.00,0.000,4,0.000,0.029,2897,1203,3729,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7150,-0.42,-243.3,716.1,-7.7,357,7156,0.00,2.15,0.00,0.000,6,0.000,0.043,2897,2605,3729,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7475,-0.42,-243.3,735.6,-4.5,368,7480,0.00,2.08,0.00,0.000,4,0.000,0.029,2897,1195,3728,0,0,0,0,0,0,28.83,26.78,28.83
$GC,7647,-0.42,-243.3,743.2,-5.3,373,7652,0.00,2.15,0.00,0.000,6,0.000,0.038,2898,2611,3726,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7961,-0.42,-243.3,761.9,-6.0,384,7966,0.00,2.05,0.00,0.000,4,0.000,0.028,2897,1201,3725,0,0,0,0,0,0,28.83,26.78,28.83
$GC,8038,-0.42,-243.3,766.8,-7.2,386,8043,0.00,2.12,0.00,0.000,6,0.000,0.042,2897,2600,3725,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8357,-0.42,-243.3,789.9,-7.4,397,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2600,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8656,-0.42,-243.3,813.1,-8.2,407,8661,0.00,2.05,0.00,0.000,4,0.000,0.029,2901,1201,3722,0,0,0,0,0,0,28.83,26.78,28.83
$GC,8698,-0.42,-243.3,816.1,-8.4,408,8704,0.00,2.12,0.00,0.000,6,0.000,0.041,2897,2601,3722,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9022,-0.42,-243.3,842.8,-7.4,419,9028,0.00,2.05,0.00,0.000,4,0.000,0.029,2897,1202,3721,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9151,-0.42,-243.3,852.7,-8.0,423,9156,0.00,2.12,0.00,0.000,6,0.000,0.042,2897,2602,3721,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9480,-0.42,-243.3,880.9,-8.8,434,9481,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2602,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9780,-0.42,-243.3,907.2,-8.5,444,9785,0.00,2.08,0.00,0.000,4,0.000,0.029,2898,1195,3719,0,0,0,0,0,0,28.83,26.78,28.83
$GC,9912,-0.42,-243.3,918.1,-8.9,448,9918,0.00,2.15,0.00,0.000,6,0.000,0.042,2897,2608,3718,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,10235,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10235,begin apogee
$GC,10241,-0.11,0.0,946.7,-8.4,459,10445,0.28,0.00,195.93,1.440,6,0.074,0.000,3017,1944,2767,0,0,0,0,0,0,26.74,28.83,23.83
$STATE,10447,end apogee,CONTROL_FINISHED_OK
$STATE,10447,begin climb
$GC,10449,0.42,243.3,953.3,0.0,466,10671,0.43,2.53,213.18,1.391,4,0.054,0.048,3187,3361,1776,0,0,0,0,0,0,24.87,24.30,23.49
$GC,10719,0.42,243.3,928.2,12.3,475,10724,0.00,2.22,0.00,0.000,6,0.000,0.028,3187,1980,1772,0,0,0,0,0,0,28.83,24.96,28.83
$GC,11053,0.42,243.3,888.7,12.2,486,11054,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1980,1768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11352,0.42,243.3,852.4,11.8,496,11358,0.00,2.22,0.00,0.000,4,0.000,0.048,3187,3360,1767,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11409,0.42,243.3,848.0,12.0,497,11416,0.00,2.15,0.00,0.000,6,0.000,0.029,3187,1950,1768,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11715,0.42,243.3,807.9,12.0,508,11720,0.00,2.22,0.00,0.000,4,0.000,0.050,3187,3360,1767,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11752,0.42,243.3,803.6,12.2,509,11757,0.00,2.12,0.00,0.000,6,0.000,0.030,3187,1947,1767,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12080,0.42,243.3,759.8,13.2,520,12087,0.00,2.25,0.00,0.000,4,0.000,0.049,3187,3368,1766,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12158,0.42,243.3,750.3,13.7,522,12163,0.00,2.12,0.00,0.000,6,0.000,0.030,3187,1948,1766,0,0,0,0,0,0,28.83,26.48,28.83
$GC,12477,0.44,291.5,716.2,8.9,533,12525,0.00,2.35,41.47,1.287,4,0.000,0.050,3188,3365,1580,0,0,0,0,0,0,28.83,25.46,24.65
$GC,12562,0.46,345.2,710.8,8.8,535,12616,0.00,2.17,47.97,1.257,6,0.000,0.029,3188,1951,1361,0,0,0,0,0,0,28.83,25.71,24.15
$GC,12929,0.46,345.2,670.6,10.3,548,12935,0.00,2.28,0.00,0.000,4,0.000,0.048,3187,3361,1355,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12962,0.46,345.2,666.8,10.6,549,12967,0.00,2.17,0.00,0.000,6,0.000,0.029,3187,1950,1355,0,0,0,0,0,0,28.83,26.08,28.83
$GC,13296,0.46,345.2,631.4,11.3,560,13301,0.00,2.25,0.00,0.000,4,0.000,0.049,3187,3366,1354,0,0,0,0,0,0,28.83,26.26,28.83
$GC,13363,0.46,345.2,623.4,12.0,562,13368,0.00,2.15,0.00,0.000,6,0.000,0.028,3187,1942,1354,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,18494,end climb,SURFACE_DEPTH_REACHED
$STATE,18494,begin surface coast
$FINISH,1.3,1.010103
$STATE,18520,end surface coast,CONTROL_FINISHED_OK
$STATE,18520,begin surface
$SM_CCo,18599,0.00,0.000,0,0,459,566.64
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$IRIDIUM_FIX,2127.21,12030.40,121112,080848
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.35
$INTERNAL_PRESSURE,9.42968
$TCM_TEMP,22.70
$XPDR_PINGS,1
$SC_FREEKB,3997856
$24V_AH,23.5,11.463
$10V_AH,9.7,4.501
$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,19.350,164.600,693.025,0.000,0.000,0.000,0.000,259.500,0.250,0.000,22.952,2872.009,12506.943,801.516,2581.116,268.475,0.000,2338.553,0.000,2188.450,0.000,0.543,0.000
$DEVICE_MAMPS,240.975,64.260,1439.730,0.000,0.000,0.000,0.000,133.875,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18543.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.942,0.000,0.000,0.000
$MEM,323196
$DATA_FILE_SIZE,33436,856
$CAP_FILE_SIZE,209819,0
$CFSIZE,260034560,246259712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.908,141.4,1
$GPS,121112,182804,2136.208,12031.598,38,0.9,38,-3.0