version: 66.11
glider: 170
mission: 10
dive: 113
start: 11 24 112 12 9 33
data:
$ID,170
$MISSION,10
$DIVE,113
$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,380
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,-143229.34
$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,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,47
$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
$GPS1,241112,120122,2019.909,11955.146,35,0.8,35,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-73.2
$GPS2,241112,120906,2019.941,11955.015,23,1.4,23,-2.7
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,134.3,148309,-14.9,-8.684,-17.18
$D_GRID,3328
$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,-0.51,-170.3,0.0,0.0,0,86,0.00,0.00,-63.85,0.000,2,0.000,0.000,133,2627,1913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.51,-170.3,3.1,-2.8,11,156,10.77,2.20,-48.67,0.000,4,0.233,0.044,2882,1189,3465,0,0,0,0,0,0,25.67,26.13,26.40
$GC,229,-0.43,-170.3,30.5,-27.4,34,234,0.00,2.17,0.00,0.000,6,0.000,0.047,2882,2581,3466,0,0,0,0,0,0,28.83,26.14,28.83
$GC,424,-0.34,-170.3,82.4,-24.3,47,430,0.17,1.77,0.00,0.000,4,0.164,0.060,2936,3693,3466,0,0,0,0,0,0,26.13,26.23,28.83
$GC,568,-0.32,-170.3,106.1,-15.4,54,573,0.00,1.60,0.00,0.000,6,0.000,0.024,2936,2574,3466,0,0,0,0,0,0,28.83,26.41,28.83
$GC,771,-0.33,-170.3,127.3,-9.5,64,776,0.00,1.98,0.00,0.000,4,0.000,0.034,2936,1220,3465,0,0,0,0,0,0,28.83,26.42,28.83
$GC,949,-0.36,-170.3,141.9,-9.4,72,956,0.00,2.12,0.00,0.000,6,0.000,0.046,2936,2602,3466,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1134,-0.38,-170.3,161.3,-9.2,82,1139,0.00,1.70,0.00,0.000,4,0.000,0.063,2936,3691,3466,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1187,-0.41,-170.3,164.7,-8.4,84,1192,0.00,1.55,0.00,0.000,6,0.000,0.024,2936,2597,3466,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1382,-0.45,-170.3,177.3,-5.7,94,1387,0.00,2.03,0.00,0.000,4,0.000,0.034,2936,1220,3466,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1470,-0.49,-170.3,182.9,-6.5,98,1476,0.15,2.15,0.00,0.000,6,0.080,0.047,2857,2601,3466,0,0,0,0,0,0,26.53,26.49,28.83
$GC,1670,-0.47,-170.3,207.9,-13.2,108,1676,0.12,1.67,0.00,0.000,4,0.154,0.052,2901,3700,3465,0,0,0,0,0,0,26.45,26.52,28.83
$GC,1742,-0.47,-170.3,214.4,-10.6,111,1747,0.00,1.58,0.00,0.000,6,0.000,0.024,2902,2555,3465,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1937,-0.49,-170.3,229.9,-7.5,121,1942,0.00,1.90,0.00,0.000,4,0.000,0.030,2902,1251,3465,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2015,-0.52,-170.3,234.9,-7.6,124,2022,0.00,2.12,0.00,0.000,6,0.000,0.050,2902,2609,3464,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2202,-0.55,-170.3,250.5,-7.8,134,2207,0.00,1.70,0.00,0.000,4,0.000,0.054,2902,3709,3465,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2245,-0.58,-170.3,253.8,-7.8,136,2251,0.12,1.55,0.00,0.000,6,0.088,0.024,2823,2589,3463,0,0,0,0,0,0,26.60,26.68,28.83
$GC,2568,-0.55,-170.3,293.7,-12.0,152,2574,0.12,1.92,0.00,0.000,4,0.151,0.028,2867,1247,3461,0,0,0,0,0,0,26.50,26.63,28.83
$GC,2626,-0.54,-170.3,297.8,-10.7,154,2633,0.00,2.10,0.00,0.000,6,0.000,0.046,2866,2612,3461,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2933,-0.54,-170.3,323.1,-7.8,170,2938,0.00,2.00,0.00,0.000,4,0.000,0.029,2867,1263,3459,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2965,-0.55,-170.3,324.9,-7.8,171,2971,0.00,2.05,0.00,0.000,6,0.000,0.044,2866,2608,3459,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3279,-0.56,-170.3,349.9,-8.0,187,3285,0.00,1.67,0.00,0.000,4,0.000,0.054,2866,3688,3457,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3312,-0.57,-170.3,351.7,-8.0,188,3317,0.00,1.50,0.00,0.000,6,0.000,0.028,2866,2616,3457,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3625,-0.59,-170.3,375.5,-7.5,204,3630,0.00,2.00,0.00,0.000,4,0.000,0.028,2868,1227,3453,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3682,-0.60,-170.3,378.9,-7.7,206,3688,0.00,2.12,0.00,0.000,6,0.000,0.043,2866,2608,3453,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3988,-0.61,-170.3,405.2,-8.5,222,3994,0.00,2.05,0.00,0.000,4,0.000,0.028,2867,1221,3451,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4066,-0.63,-170.3,410.7,-8.8,225,4073,0.00,2.12,0.00,0.000,6,0.000,0.043,2866,2604,3450,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4372,-0.64,-170.3,437.3,-8.3,241,4378,0.00,2.03,0.00,0.000,4,0.000,0.028,2866,1223,3448,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4399,-0.65,-170.3,439.5,-8.8,242,4404,0.00,2.12,0.00,0.000,6,0.000,0.043,2866,2603,3448,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4717,-0.67,-170.3,463.7,-7.6,258,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2603,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5019,-0.68,-170.3,487.9,-7.3,273,5021,0.10,0.00,0.00,0.000,6,0.112,0.000,2810,2603,3444,0,0,0,0,0,0,26.70,28.83,28.83
$GC,5318,-0.65,-170.3,519.0,-10.8,288,5324,0.12,2.05,0.00,0.000,4,0.155,0.024,2852,1216,3442,0,0,0,0,0,0,26.51,26.67,28.83
$GC,5377,-0.64,-170.3,522.5,-9.3,290,5383,0.00,2.12,0.00,0.000,6,0.000,0.044,2852,2603,3441,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5682,-0.65,-170.3,545.3,-7.8,306,5688,0.00,2.05,0.00,0.000,4,0.000,0.028,2852,1218,3440,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5740,-0.66,-170.3,548.8,-8.0,308,5748,0.00,2.12,0.00,0.000,6,0.000,0.042,2852,2600,3439,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6046,-0.67,-170.3,575.8,-8.4,324,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2600,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6347,-0.68,-170.3,600.3,-7.8,339,6352,0.00,2.00,0.00,0.000,4,0.000,0.028,2852,1231,3436,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6425,-0.69,-170.3,604.8,-7.0,341,6430,0.00,2.12,0.00,0.000,6,0.000,0.043,2852,2603,3435,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6745,-0.70,-170.3,630.7,-8.2,352,6750,0.00,2.05,0.00,0.000,4,0.000,0.027,2852,1220,3433,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6772,-0.72,-170.3,630.7,-8.2,352,6780,0.00,2.12,0.00,0.000,6,0.000,0.043,2852,2608,3434,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7079,-0.73,-170.3,656.6,-7.8,363,7085,0.12,2.05,0.00,0.000,4,0.094,0.026,2781,1214,3433,0,0,0,0,0,0,26.70,26.66,28.83
$GC,7114,-0.73,-170.3,660.4,-8.3,364,7120,0.12,2.17,0.00,0.000,6,0.171,0.044,2815,2612,3432,0,0,0,0,0,0,26.42,26.59,28.83
$GC,7450,-0.71,-170.3,695.5,-10.5,375,7455,0.00,1.70,0.00,0.000,4,0.000,0.057,2815,3695,3431,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7477,-0.70,-170.3,695.5,-10.5,375,7483,0.00,1.58,0.00,0.000,6,0.000,0.031,2816,2616,3431,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7785,-0.68,-170.3,729.7,-10.0,386,7790,0.00,2.08,0.00,0.000,4,0.000,0.028,2816,1200,3430,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7818,-0.67,-170.3,733.1,-10.0,387,7823,0.00,2.20,0.00,0.000,6,0.000,0.044,2815,2612,3429,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8152,-0.66,-170.3,766.5,-10.3,398,8157,0.00,2.08,0.00,0.000,4,0.000,0.028,2816,1203,3428,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8209,-0.65,-170.3,770.1,-10.4,399,8216,0.00,2.17,0.00,0.000,6,0.000,0.044,2816,2604,3428,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8515,-0.64,-170.3,803.2,-9.8,410,8521,0.00,2.08,0.00,0.000,4,0.000,0.028,2816,1205,3427,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8549,-0.63,-170.3,806.4,-9.8,411,8555,0.10,2.17,0.00,0.000,6,0.179,0.044,2844,2607,3427,0,0,0,0,0,0,26.43,26.58,28.83
$GC,8884,-0.64,-170.3,830.3,-6.7,422,8889,0.00,2.08,0.00,0.000,4,0.000,0.028,2844,1199,3425,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8952,-0.65,-170.3,834.8,-6.9,424,8959,0.00,2.17,0.00,0.000,6,0.000,0.044,2844,2602,3425,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9283,-0.67,-170.3,857.8,-7.1,435,9288,0.00,2.08,0.00,0.000,4,0.000,0.028,2844,1206,3424,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9340,-0.68,-170.3,860.4,-7.3,436,9347,0.00,2.15,0.00,0.000,6,0.000,0.044,2844,2603,3424,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9648,-0.69,-170.3,882.6,-6.5,447,9649,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2603,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9947,-0.70,-170.3,902.9,-7.0,457,9948,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2603,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10247,-0.72,-170.3,925.4,-7.9,467,10252,0.00,2.08,0.00,0.000,4,0.000,0.028,2844,1206,3421,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10274,-0.73,-170.3,925.4,-7.9,467,10281,0.00,2.15,0.00,0.000,6,0.000,0.044,2844,2602,3421,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10582,-0.75,-170.3,950.9,-7.5,478,10588,0.10,2.08,0.00,0.000,4,0.108,0.027,2793,1199,3420,0,0,0,0,0,0,26.70,26.65,28.83
$GC,10632,-0.75,-170.3,954.3,-7.9,479,10637,0.00,2.17,0.00,0.000,6,0.000,0.044,2793,2599,3419,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,10948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10949,begin apogee
$GC,10955,-0.15,0.0,990.8,-11.1,490,11101,0.60,0.00,137.43,1.496,6,0.125,0.000,2996,2096,2768,0,0,0,0,0,0,26.34,28.83,23.87
$STATE,11103,end apogee,CONTROL_FINISHED_OK
$STATE,11103,begin climb
$GC,11105,0.51,170.3,996.4,0.0,495,11269,0.57,2.33,152.60,1.454,4,0.053,0.035,3226,749,2072,0,0,0,0,0,0,24.92,23.94,23.10
$GC,11283,0.44,170.3,985.1,9.0,501,11289,0.12,2.33,0.00,0.000,6,0.146,0.038,3195,2117,2069,0,0,0,0,0,0,24.20,24.29,28.83
$GC,11618,0.41,170.3,947.1,11.6,512,11623,0.00,2.33,0.00,0.000,4,0.000,0.051,3195,3535,2063,0,0,0,0,0,0,28.83,25.63,28.83
$GC,11721,0.38,170.3,934.7,13.0,515,11727,0.00,2.12,0.00,0.000,6,0.000,0.028,3201,2149,2062,0,0,0,0,0,0,28.83,25.88,28.83
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$STATE,20954,end climb,SURFACE_DEPTH_REACHED
$STATE,20955,begin surface coast
$FINISH,1.4,1.007353
$STATE,20976,end surface coast,CONTROL_FINISHED_OK
$STATE,20976,begin surface
$SM_CCo,21054,0.00,0.000,0,0,459,566.64
$SM_GC,2.44,8.50,0.80,0.00,0.044,0.033,0.000,133,2626,459,-9.07,-1.19,566.64,0,0,0,0,0,0,25.85,25.98,28.83
$IRIDIUM_FIX,2015.67,11955.53,241112,060608
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.09
$INTERNAL_PRESSURE,9.46875
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,3976736
$24V_AH,23.1,24.672
$10V_AH,10.0,10.159
$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,22.900,225.600,583.800,0.000,0.000,0.000,0.000,271.650,0.000,0.000,24.434,3319.171,14182.481,803.291,2859.585,342.692,0.000,2501.995,0.000,2437.621,0.000,0.545,0.000
$DEVICE_MAMPS,233.325,62.730,1496.340,0.000,0.000,0.000,0.000,136.935,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21002.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.267,0.000,0.000,0.000
$MEM,323740
$DATA_FILE_SIZE,36630,964
$CAP_FILE_SIZE,260157,0
$CFSIZE,260034560,240381952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.199,293.0,1
$GPS,241112,180135,2019.070,11955.225,31,0.9,32,-2.7