version: 66.11
glider: 170
mission: 10
dive: 76
start: 11 16 112 6 2 2
data:
$ID,170
$MISSION,10
$DIVE,76
$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,-143183.09
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$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,53
$R_STBD_OVSHOOT,39
$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
$GPS1,161112,055502,2138.027,12016.518,42,1.2,42,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-70.8
$GPS2,161112,060135,2138.021,12016.435,20,1.0,20,-3.0
$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,313.9,31085,-15.6,-10.000,-17.73
$D_GRID,2199
$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,20,-0.43,-194.6,0.0,0.0,0,97,0.00,0.00,-74.57,0.000,2,0.000,0.000,136,2618,2107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.43,-194.6,3.2,-2.0,13,160,10.88,1.70,-41.75,0.000,4,0.244,0.069,2866,3687,3563,0,0,0,0,0,0,26.02,26.25,26.56
$GC,389,-0.28,-194.6,85.2,-37.8,47,395,0.17,1.60,0.00,0.000,6,0.162,0.024,2916,2575,3563,0,0,0,0,0,0,26.27,26.48,28.83
$GC,594,-0.20,-194.6,136.5,-22.3,57,599,0.00,1.77,0.00,0.000,4,0.000,0.058,2916,3695,3563,0,0,0,0,0,0,28.83,26.44,28.83
$GC,767,-0.20,-194.6,158.4,-11.1,65,773,0.00,1.58,0.00,0.000,6,0.000,0.024,2916,2558,3563,0,0,0,0,0,0,28.83,26.60,28.83
$GC,961,-0.23,-194.6,176.6,-9.8,75,966,0.00,1.88,0.00,0.000,4,0.000,0.036,2916,1249,3564,0,0,0,0,0,0,28.83,26.58,28.83
$GC,978,-0.25,-194.6,176.6,-9.8,75,985,0.00,2.08,0.00,0.000,6,0.000,0.043,2916,2605,3563,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1164,-0.29,-194.6,194.5,-7.9,85,1170,0.00,1.67,0.00,0.000,4,0.000,0.053,2916,3690,3564,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1193,-0.34,-194.6,196.3,-7.6,86,1198,0.00,1.52,0.00,0.000,6,0.000,0.024,2916,2625,3563,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1393,-0.39,-194.6,209.0,-6.0,96,1398,0.00,2.05,0.00,0.000,4,0.000,0.037,2916,1195,3564,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1465,-0.44,-194.6,213.2,-6.2,99,1471,0.15,2.15,0.00,0.000,6,0.079,0.040,2834,2610,3564,0,0,0,0,0,0,26.63,26.60,28.83
$GC,1660,-0.39,-194.6,242.9,-16.4,109,1662,0.15,0.00,0.00,0.000,6,0.149,0.000,2879,2611,3563,0,0,0,0,0,0,26.53,28.83,28.83
$GC,1839,-0.41,-194.6,267.8,-13.6,118,1844,0.00,2.05,0.00,0.000,4,0.000,0.024,2878,1197,3563,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1902,-0.43,-194.6,276.2,-13.6,121,1907,0.00,2.12,0.00,0.000,6,0.000,0.039,2879,2600,3563,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2225,-0.46,-194.6,305.6,-6.3,137,2231,0.00,1.70,0.00,0.000,4,0.000,0.054,2879,3686,3562,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2284,-0.49,-194.6,307.7,-5.4,139,2290,0.00,1.58,0.00,0.000,6,0.000,0.024,2879,2547,3561,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2589,-0.53,-194.6,326.9,-6.9,155,2595,0.12,1.80,0.00,0.000,4,0.095,0.052,2808,3687,3560,0,0,0,0,0,0,26.72,26.65,28.83
$GC,2628,-0.55,-194.6,329.3,-7.7,156,2635,0.00,1.58,0.00,0.000,6,0.000,0.024,2808,2551,3560,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2933,-0.49,-194.6,378.9,-17.4,172,2935,0.15,0.00,0.00,0.000,6,0.160,0.000,2851,2548,3558,0,0,0,0,0,0,26.58,28.83,28.83
$GC,3234,-0.49,-194.6,419.3,-12.7,187,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2549,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3534,-0.51,-194.6,453.8,-11.0,202,3539,0.00,1.88,0.00,0.000,4,0.000,0.025,2851,1238,3554,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3577,-0.52,-194.6,458.5,-10.7,204,3582,0.00,2.08,0.00,0.000,6,0.000,0.040,2851,2600,3554,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3901,-0.53,-194.6,491.7,-10.3,220,3906,0.00,1.70,0.00,0.000,4,0.000,0.055,2851,3695,3552,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3932,-0.55,-194.6,494.4,-10.6,221,3938,0.00,1.52,0.00,0.000,6,0.000,0.029,2851,2632,3552,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4246,-0.57,-194.6,527.2,-9.5,237,4252,0.00,2.05,0.00,0.000,4,0.000,0.026,2851,1210,3549,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4279,-0.59,-194.6,529.6,-9.4,238,4284,0.00,2.12,0.00,0.000,6,0.000,0.041,2851,2601,3549,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4593,-0.61,-194.6,554.6,-6.6,254,4599,0.12,1.67,0.00,0.000,4,0.094,0.054,2781,3694,3547,0,0,0,0,0,0,26.74,26.67,28.83
$GC,4636,-0.61,-194.6,558.9,-8.2,256,4642,0.12,1.58,0.00,0.000,6,0.156,0.028,2818,2587,3546,0,0,0,0,0,0,26.60,26.78,28.83
$GC,4961,-0.59,-194.6,586.4,-8.3,272,4966,0.00,1.98,0.00,0.000,4,0.000,0.026,2818,1210,3544,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4988,-0.58,-194.6,588.5,-8.5,273,4993,0.00,2.12,0.00,0.000,6,0.000,0.041,2818,2600,3544,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5308,-0.56,-194.6,616.7,-9.2,286,5313,0.00,1.73,0.00,0.000,4,0.000,0.057,2818,3690,3543,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5371,-0.56,-194.6,622.8,-9.5,288,5376,0.00,1.55,0.00,0.000,6,0.000,0.030,2818,2617,3542,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5704,-0.56,-194.6,655.2,-10.2,299,5709,0.00,2.05,0.00,0.000,4,0.000,0.026,2818,1201,3540,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5801,-0.56,-194.6,664.7,-10.2,302,5806,0.00,2.15,0.00,0.000,6,0.000,0.041,2818,2601,3539,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6129,-0.56,-194.6,701.3,-11.5,313,6136,0.00,1.73,0.00,0.000,4,0.000,0.056,2818,3691,3538,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6187,-0.56,-194.6,705.2,-11.6,314,6194,0.00,1.60,0.00,0.000,6,0.000,0.031,2818,2597,3537,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6493,-0.56,-194.6,742.2,-11.0,325,6499,0.00,1.75,0.00,0.000,4,0.000,0.056,2818,3700,3536,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6532,-0.56,-194.6,745.8,-10.9,326,6537,0.00,1.62,0.00,0.000,6,0.000,0.030,2818,2578,3536,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6861,-0.56,-194.6,781.0,-10.5,337,6862,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2576,3534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7160,-0.56,-194.6,813.4,-11.2,347,7165,0.00,1.75,0.00,0.000,4,0.000,0.057,2818,3691,3532,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7231,-0.56,-194.6,820.5,-11.3,349,7237,0.00,1.60,0.00,0.000,6,0.000,0.031,2818,2597,3532,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7556,-0.56,-194.6,856.9,-10.6,360,7561,0.00,2.03,0.00,0.000,4,0.000,0.027,2818,1191,3530,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7608,-0.56,-194.6,860.3,-10.4,361,7614,0.00,2.17,0.00,0.000,6,0.000,0.042,2818,2603,3530,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7922,-0.56,-194.6,889.6,-8.5,372,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2603,3530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8222,-0.56,-194.6,916.0,-8.9,382,8227,0.00,1.70,0.00,0.000,4,0.000,0.057,2818,3691,3528,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8249,-0.56,-194.6,916.0,-8.9,382,8255,0.00,1.60,0.00,0.000,6,0.000,0.031,2818,2602,3528,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8555,-0.56,-194.6,942.4,-7.7,393,8560,0.00,2.05,0.00,0.000,4,0.000,0.028,2818,1195,3526,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8692,-0.57,-194.6,952.3,-8.0,397,8698,0.00,2.17,0.00,0.000,6,0.000,0.042,2818,2607,3526,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9012,-0.57,-194.6,982.9,-9.7,408,9017,0.00,1.70,0.00,0.000,4,0.000,0.058,2818,3691,3525,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9033,-0.57,-194.6,982.9,-9.7,408,9039,0.00,1.62,0.00,0.000,6,0.000,0.031,2818,2605,3525,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,9104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9104,begin apogee
$GC,9110,-0.11,0.0,992.4,-9.9,411,9277,0.45,0.00,157.85,1.469,6,0.120,0.000,2974,1923,2768,0,0,0,0,0,0,26.58,28.83,23.94
$STATE,9278,end apogee,CONTROL_FINISHED_OK
$STATE,9278,begin climb
$GC,9280,0.43,194.6,999.7,0.0,416,9463,0.47,2.50,172.60,1.431,4,0.066,0.048,3150,3357,1973,0,0,0,0,0,0,24.92,24.29,23.49
$GC,9579,0.44,233.0,984.7,8.7,426,9621,0.00,2.20,34.12,1.372,6,0.000,0.028,3157,1958,1818,0,0,0,0,0,0,28.83,25.29,23.83
$GC,9921,0.48,276.3,953.5,8.5,438,9965,0.00,2.38,38.65,1.384,4,0.000,0.047,3157,3361,1641,0,0,0,0,0,0,28.83,24.94,24.15
$GC,10028,0.51,299.8,944.8,9.2,441,10058,0.00,2.20,22.20,1.336,6,0.000,0.028,3159,1958,1545,0,0,0,0,0,0,28.83,25.46,24.18
$GC,10375,0.55,299.8,910.0,10.3,453,10381,0.00,2.28,0.00,0.000,4,0.000,0.049,3158,3369,1540,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10403,0.59,299.8,910.0,10.3,453,10410,0.12,2.20,0.00,0.000,6,0.093,0.028,3229,1944,1540,0,0,0,0,0,0,25.98,26.02,28.83
$GC,10710,0.56,299.8,850.1,19.5,464,10716,0.12,2.28,0.00,0.000,4,0.148,0.047,3187,3361,1538,0,0,0,0,0,0,26.14,26.19,28.83
$GC,10763,0.53,299.8,843.5,19.6,465,10769,0.00,2.15,0.00,0.000,6,0.000,0.028,3188,1944,1538,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11076,0.53,299.8,791.3,15.2,476,11082,0.00,2.28,0.00,0.000,4,0.000,0.050,3187,3359,1537,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11124,0.53,299.8,786.1,15.1,477,11129,0.00,2.15,0.00,0.000,6,0.000,0.028,3188,1939,1538,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11443,0.55,299.8,745.8,10.8,488,11449,0.00,2.25,0.00,0.000,4,0.000,0.049,3188,3364,1536,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11510,0.55,299.8,738.5,11.1,490,11515,0.00,2.12,0.00,0.000,6,0.000,0.028,3188,1950,1537,0,0,0,0,0,0,28.83,26.49,28.83
$GC,11839,0.56,304.9,705.3,9.8,501,11849,0.00,2.22,4.55,0.904,4,0.000,0.047,3188,3361,1525,0,0,0,0,0,0,28.83,26.39,25.40
$GC,11897,0.58,305.8,701.7,10.0,502,11904,0.00,2.12,0.00,0.000,6,0.000,0.028,3187,1946,1526,0,0,0,0,0,0,28.83,26.47,28.83
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$GC,14771,0.61,359.9,310.9,14.1,627,14777,0.00,2.17,0.00,0.000,4,0.000,0.049,3228,3355,1298,0,0,0,0,0,0,28.83,26.53,28.83
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$STATE,17109,end climb,SURFACE_DEPTH_REACHED
$STATE,17110,begin surface coast
$FINISH,1.7,1.022017
$STATE,17122,end surface coast,CONTROL_FINISHED_OK
$STATE,17122,begin surface
$SM_CCo,17200,0.00,0.000,0,0,457,567.13
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$IRIDIUM_FIX,2129.53,12018.06,161112,010131
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.85
$INTERNAL_PRESSURE,9.42968
$TCM_TEMP,24.00
$XPDR_PINGS,2
$SC_FREEKB,3990944
$24V_AH,23.5,16.166
$10V_AH,9.7,6.259
$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,22.575,174.025,657.600,0.000,0.000,0.000,0.000,233.450,0.500,0.000,21.739,2663.811,11516.495,798.982,2340.656,269.593,0.000,2227.443,0.000,1993.523,0.000,0.543,0.000
$DEVICE_MAMPS,244.035,68.850,1468.800,0.000,0.000,0.000,0.000,130.050,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17144.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.882,0.000,0.000,0.000
$MEM,324312
$DATA_FILE_SIZE,30036,770
$CAP_FILE_SIZE,208778,0
$CFSIZE,260034560,244441088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.015,135.8,1
$GPS,161112,104958,2139.517,12014.006,39,0.9,39,-3.0