version: 66.11
glider: 170
mission: 10
dive: 65
start: 11 14 112 1 31 22
data:
$ID,170
$MISSION,10
$DIVE,65
$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,-143169.34
$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,3010
$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,55
$R_STBD_OVSHOOT,33
$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
$GPS1,141112,012404,2137.202,12029.640,27,0.8,27,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-72.6
$GPS2,141112,013054,2137.173,12029.527,17,1.0,17,-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,333.9,52819,-14.3,-10.312,-16.49
$D_GRID,1117
$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,-243.3,0.0,0.0,0,93,0.00,0.00,-71.03,0.000,2,0.000,0.000,143,2619,2017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.42,-243.3,3.0,-2.1,12,179,10.98,1.73,-63.78,0.000,4,0.248,0.080,2873,3687,3761,0,0,0,0,0,0,26.01,26.24,26.57
$GC,297,-0.42,-243.3,48.4,-36.3,42,304,0.00,1.62,0.00,0.000,6,0.000,0.024,2873,2540,3761,0,0,0,0,0,0,28.83,26.41,28.83
$GC,484,-0.42,-243.3,109.3,-31.2,52,489,0.00,1.88,0.00,0.000,4,0.000,0.063,2872,3693,3760,0,0,0,0,0,0,28.83,26.39,28.83
$GC,635,-0.42,-243.3,136.6,-15.6,59,641,0.00,1.62,0.00,0.000,6,0.000,0.024,2873,2564,3760,0,0,0,0,0,0,28.83,26.54,28.83
$GC,828,-0.42,-243.3,169.0,-16.2,69,833,0.00,1.98,0.00,0.000,4,0.000,0.036,2873,1219,3761,0,0,0,0,0,0,28.83,26.53,28.83
$GC,894,-0.42,-243.3,177.1,-12.9,72,899,0.00,2.12,0.00,0.000,6,0.000,0.050,2873,2595,3762,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1092,-0.42,-243.3,213.7,-20.8,82,1097,0.00,1.73,0.00,0.000,4,0.000,0.063,2873,3705,3761,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1198,-0.42,-243.3,228.4,-12.9,87,1204,0.00,1.60,0.00,0.000,6,0.000,0.025,2873,2594,3761,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1397,-0.42,-243.3,243.9,-6.1,97,1403,0.00,2.03,0.00,0.000,4,0.000,0.032,2873,1206,3761,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1445,-0.42,-243.3,245.8,-4.8,99,1450,0.00,2.15,0.00,0.000,6,0.000,0.050,2873,2600,3761,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1643,-0.42,-243.3,254.8,-5.7,109,1648,0.00,2.05,0.00,0.000,4,0.000,0.032,2873,1223,3761,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1695,-0.42,-243.3,258.0,-6.9,111,1701,0.00,2.15,0.00,0.000,6,0.000,0.052,2873,2608,3761,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2008,-0.42,-243.3,285.2,-9.7,127,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2608,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2310,-0.42,-243.3,317.6,-10.1,142,2315,0.00,2.08,0.00,0.000,4,0.000,0.034,2873,1228,3759,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2342,-0.42,-243.3,320.7,-10.6,143,2347,0.00,2.15,0.00,0.000,6,0.000,0.055,2873,2604,3759,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2654,-0.42,-243.3,364.4,-14.7,159,2659,0.00,1.73,0.00,0.000,4,0.000,0.057,2873,3700,3756,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2725,-0.42,-243.3,374.0,-15.3,162,2732,0.00,1.60,0.00,0.000,6,0.000,0.027,2873,2564,3756,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3040,-0.42,-243.3,410.4,-8.8,178,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2564,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3340,-0.42,-243.3,428.9,-5.0,193,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2564,3752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3640,-0.42,-243.3,435.6,-1.1,208,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2564,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3941,-0.42,-243.3,440.5,-2.3,223,3946,0.00,1.83,0.00,0.000,4,0.000,0.057,2873,3720,3748,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3978,-0.42,-243.3,441.5,-2.8,224,3985,0.00,1.60,0.00,0.000,6,0.000,0.029,2873,2598,3748,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4284,-0.42,-243.3,461.8,-8.2,240,4290,0.00,1.98,0.00,0.000,4,0.000,0.028,2873,1214,3745,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4322,-0.42,-243.3,464.1,-8.7,241,4329,0.00,2.12,0.00,0.000,6,0.000,0.044,2873,2608,3745,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4627,-0.42,-243.3,498.8,-10.6,257,4633,0.00,2.03,0.00,0.000,4,0.000,0.028,2873,1228,3744,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4654,-0.42,-243.3,501.4,-10.6,258,4660,0.00,2.10,0.00,0.000,6,0.000,0.044,2873,2611,3743,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4972,-0.42,-243.3,531.7,-8.3,274,4977,0.00,1.70,0.00,0.000,4,0.000,0.057,2873,3686,3742,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5005,-0.42,-243.3,533.3,-7.8,275,5010,0.00,1.55,0.00,0.000,6,0.000,0.031,2873,2625,3742,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5318,-0.42,-243.3,551.5,-4.7,291,5323,0.00,2.08,0.00,0.000,4,0.000,0.028,2873,1193,3740,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5361,-0.42,-243.3,553.4,-4.5,293,5366,0.00,2.15,0.00,0.000,6,0.000,0.043,2873,2602,3741,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5684,-0.42,-243.3,566.6,-4.5,309,5689,0.00,1.73,0.00,0.000,4,0.000,0.055,2873,3698,3738,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5756,-0.42,-243.3,570.0,-5.1,312,5761,0.00,1.60,0.00,0.000,6,0.000,0.029,2873,2579,3737,0,0,0,0,0,0,28.83,26.79,28.83
$GC,6069,-0.42,-243.3,592.9,-8.3,328,6075,0.00,1.98,0.00,0.000,4,0.000,0.030,2873,1225,3735,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6081,-0.42,-243.3,592.9,-8.3,328,6086,0.00,2.12,0.00,0.000,6,0.000,0.045,2873,2601,3735,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6394,-0.42,-243.3,626.3,-10.8,340,6399,0.00,2.03,0.00,0.000,4,0.000,0.028,2873,1224,3734,0,0,0,0,0,0,28.83,26.76,28.83
$GC,6446,-0.42,-243.3,630.1,-10.8,341,6451,0.00,2.12,0.00,0.000,6,0.000,0.043,2873,2606,3734,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6759,-0.42,-243.3,663.0,-9.0,352,6764,0.00,1.67,0.00,0.000,4,0.000,0.055,2873,3699,3731,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6825,-0.42,-243.3,668.8,-8.9,354,6831,0.00,1.58,0.00,0.000,6,0.000,0.031,2872,2613,3731,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7155,-0.42,-243.3,695.3,-7.4,365,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2613,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7453,-0.42,-243.3,712.8,-5.0,375,7458,0.00,2.05,0.00,0.000,4,0.000,0.029,2873,1205,3728,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7516,-0.42,-243.3,716.0,-5.4,377,7522,0.00,2.15,0.00,0.000,6,0.000,0.044,2873,2612,3728,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7851,-0.42,-243.3,739.7,-8.5,388,7856,0.00,2.08,0.00,0.000,4,0.000,0.030,2873,1206,3726,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7969,-0.42,-243.3,747.7,-8.7,391,7975,0.00,2.12,0.00,0.000,6,0.000,0.044,2873,2604,3726,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8274,-0.42,-243.3,778.9,-10.0,402,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2604,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8574,-0.42,-243.3,807.9,-9.6,412,8579,0.00,2.08,0.00,0.000,4,0.000,0.028,2873,1196,3723,0,0,0,0,0,0,28.83,26.76,28.83
$GC,8621,-0.42,-243.3,811.2,-9.7,413,8626,0.00,2.17,0.00,0.000,6,0.000,0.043,2873,2612,3724,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8939,-0.42,-243.3,846.9,-11.4,424,8944,0.00,2.08,0.00,0.000,4,0.000,0.030,2873,1210,3723,0,0,0,0,0,0,28.83,26.76,28.83
$GC,9046,-0.42,-243.3,857.8,-11.7,427,9051,0.00,2.12,0.00,0.000,6,0.000,0.043,2872,2605,3722,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9364,-0.42,-243.3,894.8,-10.8,438,9369,0.00,1.67,0.00,0.000,4,0.000,0.057,2873,3694,3722,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9436,-0.42,-243.3,901.1,-10.2,440,9441,0.00,1.60,0.00,0.000,6,0.000,0.031,2874,2603,3721,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9760,-0.42,-243.3,932.7,-9.7,451,9766,0.00,2.05,0.00,0.000,4,0.000,0.030,2873,1201,3721,0,0,0,0,0,0,28.83,26.76,28.83
$GC,9829,-0.42,-243.3,939.0,-9.9,453,9834,0.00,2.17,0.00,0.000,6,0.000,0.044,2873,2610,3720,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10158,-0.42,-243.3,975.6,-11.2,464,10163,0.00,2.08,0.00,0.000,4,0.000,0.029,2873,1201,3719,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,10219,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10219,begin apogee
$GC,10225,-0.11,0.0,983.0,-11.7,466,10430,0.25,0.00,196.85,1.473,6,0.073,0.000,2985,1960,2768,0,0,0,0,0,0,26.74,28.83,23.79
$STATE,10432,end apogee,CONTROL_FINISHED_OK
$STATE,10432,begin climb
$GC,10434,0.42,243.3,1002.7,0.0,473,10654,0.43,0.00,214.68,1.439,6,0.063,0.000,3148,1961,1777,0,0,0,0,0,0,24.84,28.83,23.24
$GC,10940,0.50,450.8,987.3,4.4,490,11135,0.00,2.45,185.93,1.423,4,0.000,0.050,3148,3352,931,0,0,0,0,0,0,28.83,23.96,23.15
$GC,11346,0.50,450.8,946.2,14.8,503,11352,0.00,2.17,0.00,0.000,6,0.000,0.028,3148,1957,926,0,0,0,0,0,0,28.83,25.36,28.83
$GC,11666,0.50,450.8,891.0,17.3,514,11672,0.00,2.25,0.00,0.000,4,0.000,0.047,3147,3359,925,0,0,0,0,0,0,28.83,25.87,28.83
$GC,11868,0.50,450.8,856.5,19.1,520,11874,0.00,2.15,0.00,0.000,6,0.000,0.028,3148,1941,925,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12181,0.50,450.8,793.1,18.9,531,12187,0.00,2.22,0.00,0.000,4,0.000,0.046,3147,3357,924,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12414,0.50,450.8,755.9,17.4,538,12419,0.00,2.12,0.00,0.000,6,0.000,0.028,3148,1941,925,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12727,0.50,450.8,702.1,15.6,549,12732,0.00,2.20,0.00,0.000,4,0.000,0.045,3148,3354,924,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12834,0.50,450.8,688.3,14.9,552,12840,0.00,2.10,0.00,0.000,6,0.000,0.028,3148,1947,925,0,0,0,0,0,0,28.83,26.51,28.83
$GC,13154,0.50,450.8,642.7,13.7,563,13159,0.00,2.20,0.00,0.000,4,0.000,0.048,3148,3355,924,0,0,0,0,0,0,28.83,26.47,28.83
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$GC,15823,0.51,481.2,290.2,9.5,688,15858,0.00,2.10,26.60,0.972,6,0.000,0.027,3148,1940,807,0,0,0,0,0,0,28.83,26.71,25.36
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$STATE,18370,end climb,SURFACE_DEPTH_REACHED
$STATE,18370,begin surface coast
$FINISH,1.5,1.002035
$STATE,18411,end surface coast,CONTROL_FINISHED_OK
$STATE,18411,begin surface
$SM_CCo,18489,0.00,0.000,0,0,459,566.64
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$IRIDIUM_FIX,2129.53,12036.75,131112,202058
$TT8_MAMPS,0.025466,0.025466
$HUMID,52.91
$INTERNAL_PRESSURE,9.44921
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3995168
$24V_AH,23.1,13.361
$10V_AH,9.8,5.254
$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,19.675,166.500,701.625,0.000,0.000,0.000,0.000,248.200,0.000,0.000,18.118,3141.192,11846.086,823.601,2816.026,267.635,0.000,2462.050,0.000,2450.468,0.000,0.543,0.000
$DEVICE_MAMPS,247.860,79.560,1472.625,0.000,0.000,0.000,0.000,129.285,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18420.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.945,0.000,0.000,0.000
$MEM,323260
$DATA_FILE_SIZE,33352,862
$CAP_FILE_SIZE,216186,0
$CFSIZE,260034560,245501952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.962,142.3,1
$GPS,141112,064051,2136.898,12029.070,28,1.2,43,-3.0