version: 66.11
glider: 170
mission: 10
dive: 115
start: 11 25 112 0 2 51
data:
$ID,170
$MISSION,10
$DIVE,115
$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,-143231.84
$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,56
$R_STBD_OVSHOOT,42
$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
$GPS1,241112,235435,2017.284,11955.450,32,0.8,32,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-70.5
$GPS2,251112,000223,2017.347,11955.276,15,1.2,15,-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,140.5,143485,-14.9,-8.684,-17.18
$D_GRID,3377
$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,-0.51,-170.3,0.0,0.0,0,75,0.00,0.00,-53.40,0.000,2,0.000,0.000,132,2628,1863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.51,-170.3,3.1,-1.9,9,151,11.12,2.15,-54.70,0.000,4,0.243,0.041,2883,1181,3464,0,0,0,0,0,0,25.72,26.12,26.40
$GC,260,-0.43,-170.3,38.6,-24.8,37,265,0.00,2.22,0.00,0.000,6,0.000,0.049,2883,2585,3464,0,0,0,0,0,0,28.83,26.15,28.83
$GC,465,-0.35,-170.3,82.5,-22.1,50,471,0.15,1.77,0.00,0.000,4,0.167,0.064,2930,3698,3464,0,0,0,0,0,0,26.15,26.23,28.83
$GC,529,-0.32,-170.3,91.9,-15.9,53,534,0.00,1.62,0.00,0.000,6,0.000,0.024,2931,2569,3465,0,0,0,0,0,0,28.83,26.41,28.83
$GC,732,-0.32,-170.3,112.4,-11.1,63,737,0.00,2.00,0.00,0.000,4,0.000,0.037,2931,1229,3465,0,0,0,0,0,0,28.83,26.40,28.83
$GC,869,-0.34,-170.3,125.2,-10.3,69,875,0.00,2.15,0.00,0.000,6,0.000,0.048,2931,2602,3465,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1055,-0.36,-170.3,143.2,-8.7,79,1061,0.00,1.70,0.00,0.000,4,0.000,0.054,2931,3709,3465,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1094,-0.38,-170.3,144.9,-8.3,80,1101,0.00,1.60,0.00,0.000,6,0.000,0.024,2931,2553,3465,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1279,-0.40,-170.3,158.6,-6.4,90,1285,0.00,1.88,0.00,0.000,4,0.000,0.031,2931,1250,3466,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1352,-0.43,-170.3,162.5,-6.0,93,1357,0.00,2.12,0.00,0.000,6,0.000,0.053,2931,2597,3466,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1548,-0.47,-170.3,173.8,-6.1,103,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2597,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1725,-0.50,-170.3,185.7,-6.8,112,1731,0.12,1.73,0.00,0.000,4,0.086,0.053,2850,3708,3465,0,0,0,0,0,0,26.63,26.52,28.83
$GC,1764,-0.52,-170.3,187.7,-7.2,113,1771,0.12,1.52,0.00,0.000,6,0.145,0.023,2889,2648,3465,0,0,0,0,0,0,26.45,26.65,28.83
$GC,1949,-0.52,-170.3,208.3,-9.0,123,1954,0.00,2.08,0.00,0.000,4,0.000,0.029,2889,1213,3464,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2048,-0.53,-170.3,215.3,-8.3,127,2054,0.00,2.17,0.00,0.000,6,0.000,0.047,2889,2620,3464,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2234,-0.54,-170.3,233.1,-7.9,137,2240,0.00,1.62,0.00,0.000,4,0.000,0.054,2889,3691,3463,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2292,-0.56,-170.3,236.3,-7.3,139,2299,0.00,1.60,0.00,0.000,6,0.000,0.025,2889,2557,3463,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2480,-0.57,-170.3,251.6,-7.9,149,2485,0.00,1.88,0.00,0.000,4,0.000,0.028,2889,1249,3463,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2585,-0.59,-170.3,260.2,-8.3,154,2590,0.00,2.10,0.00,0.000,6,0.000,0.044,2889,2607,3461,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2908,-0.61,-170.3,288.5,-8.7,170,2914,0.12,1.67,0.00,0.000,4,0.085,0.052,2808,3700,3459,0,0,0,0,0,0,26.68,26.57,28.83
$GC,2941,-0.62,-170.3,291.2,-9.3,171,2947,0.15,1.52,0.00,0.000,6,0.141,0.026,2854,2599,3459,0,0,0,0,0,0,26.48,26.71,28.83
$GC,3254,-0.62,-170.3,323.2,-8.0,187,3260,0.00,1.95,0.00,0.000,4,0.000,0.028,2854,1250,3459,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3437,-0.62,-170.3,338.1,-8.3,196,3442,0.00,2.10,0.00,0.000,6,0.000,0.044,2854,2610,3457,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3760,-0.62,-170.3,365.6,-8.0,212,3765,0.00,1.67,0.00,0.000,4,0.000,0.054,2854,3700,3454,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3798,-0.62,-170.3,367.6,-8.1,213,3804,0.00,1.55,0.00,0.000,6,0.000,0.028,2854,2599,3453,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4103,-0.62,-170.3,392.8,-8.3,229,4108,0.00,1.98,0.00,0.000,4,0.000,0.028,2854,1240,3451,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4197,-0.63,-170.3,399.8,-8.3,233,4202,0.00,2.10,0.00,0.000,6,0.000,0.044,2854,2602,3450,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4510,-0.63,-170.3,426.8,-8.3,249,4516,0.00,2.00,0.00,0.000,4,0.000,0.028,2854,1233,3448,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4574,-0.64,-170.3,432.4,-8.6,252,4580,0.00,2.10,0.00,0.000,6,0.000,0.043,2854,2598,3448,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4898,-0.64,-170.3,460.8,-8.8,268,4903,0.00,1.70,0.00,0.000,4,0.000,0.055,2854,3700,3446,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4950,-0.65,-170.3,464.4,-8.8,270,4956,0.00,1.55,0.00,0.000,6,0.000,0.029,2854,2624,3445,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5264,-0.66,-170.3,492.4,-8.8,286,5269,0.00,2.05,0.00,0.000,4,0.000,0.027,2854,1216,3444,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5330,-0.67,-170.3,497.9,-8.7,289,5336,0.00,2.15,0.00,0.000,6,0.000,0.042,2854,2614,3443,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5649,-0.68,-170.3,526.1,-9.0,305,5654,0.00,2.08,0.00,0.000,4,0.000,0.028,2854,1214,3440,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5676,-0.69,-170.3,528.4,-9.1,306,5681,0.00,2.12,0.00,0.000,6,0.000,0.043,2854,2601,3440,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5995,-0.70,-170.3,557.5,-8.9,322,6000,0.00,1.70,0.00,0.000,4,0.000,0.055,2854,3690,3439,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6027,-0.71,-170.3,559.5,-8.7,323,6033,0.00,1.60,0.00,0.000,6,0.000,0.030,2854,2585,3439,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6341,-0.72,-170.3,586.3,-7.8,339,6343,0.12,0.00,0.00,0.000,6,0.097,0.000,2794,2583,3437,0,0,0,0,0,0,26.68,28.83,28.83
$GC,6642,-0.69,-170.3,622.8,-12.3,351,6647,0.12,2.00,0.00,0.000,4,0.164,0.026,2835,1218,3434,0,0,0,0,0,0,26.49,26.66,28.83
$GC,6664,-0.66,-170.3,622.8,-12.3,351,6670,0.00,2.15,0.00,0.000,6,0.000,0.043,2835,2611,3434,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6977,-0.66,-170.3,653.2,-8.9,362,6982,0.00,1.67,0.00,0.000,4,0.000,0.056,2835,3694,3433,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7040,-0.66,-170.3,659.0,-9.1,364,7045,0.00,1.60,0.00,0.000,6,0.000,0.030,2835,2600,3433,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7374,-0.66,-170.3,687.4,-8.2,375,7379,0.00,2.00,0.00,0.000,4,0.000,0.028,2835,1217,3432,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7456,-0.66,-170.3,692.7,-8.2,377,7461,0.00,2.15,0.00,0.000,6,0.000,0.043,2835,2605,3432,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7769,-0.66,-170.3,720.3,-8.2,388,7775,0.00,2.05,0.00,0.000,4,0.000,0.028,2835,1210,3430,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7848,-0.66,-170.3,725.6,-8.3,390,7853,0.00,2.15,0.00,0.000,6,0.000,0.043,2835,2600,3430,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8167,-0.66,-170.3,751.9,-7.8,401,8172,0.00,1.70,0.00,0.000,4,0.000,0.056,2835,3697,3429,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8201,-0.66,-170.3,754.5,-7.8,402,8206,0.00,1.62,0.00,0.000,6,0.000,0.031,2835,2589,3429,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8535,-0.66,-170.3,780.1,-7.7,413,8540,0.00,2.00,0.00,0.000,4,0.000,0.028,2835,1209,3428,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8592,-0.66,-170.3,783.0,-7.8,414,8600,0.00,2.17,0.00,0.000,6,0.000,0.044,2835,2611,3427,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8898,-0.66,-170.3,809.8,-8.1,425,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2611,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9199,-0.66,-170.3,834.3,-8.3,435,9200,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2611,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9498,-0.66,-170.3,857.8,-7.9,445,9499,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2611,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9799,-0.66,-170.3,881.1,-7.6,455,9804,0.00,2.10,0.00,0.000,4,0.000,0.029,2835,1207,3423,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9841,-0.66,-170.3,883.6,-7.6,456,9847,0.00,2.17,0.00,0.000,6,0.000,0.044,2835,2605,3423,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10166,-0.66,-170.3,908.3,-7.5,467,10171,0.00,2.08,0.00,0.000,4,0.000,0.028,2835,1213,3422,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10203,-0.67,-170.3,910.9,-7.6,468,10208,0.00,2.17,0.00,0.000,6,0.000,0.044,2835,2611,3421,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10533,-0.68,-170.3,935.0,-7.0,479,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2611,3420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10832,-0.69,-170.3,956.5,-7.3,489,10833,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2611,3420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11132,-0.70,-170.3,977.4,-6.8,499,11137,0.00,2.10,0.00,0.000,4,0.000,0.029,2835,1208,3420,0,0,0,0,0,0,28.83,26.63,28.83
$GC,11180,-0.71,-170.3,979.7,-6.8,500,11185,0.00,2.17,0.00,0.000,6,0.000,0.044,2835,2604,3419,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,11345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11346,begin apogee
$GC,11351,-0.15,0.0,991.7,-6.5,506,11499,0.47,0.00,137.68,1.493,6,0.109,0.000,3002,2128,2767,0,0,0,0,0,0,26.39,28.83,23.86
$STATE,11501,end apogee,CONTROL_FINISHED_OK
$STATE,11501,begin climb
$GC,11503,0.51,170.3,995.4,0.0,511,11668,0.55,2.40,152.52,1.452,4,0.048,0.036,3227,745,2072,0,0,0,0,0,0,24.94,23.89,23.04
$GC,11701,0.44,170.3,981.7,10.5,517,11707,0.12,2.33,0.00,0.000,6,0.148,0.038,3195,2127,2066,0,0,0,0,0,0,24.36,24.45,28.83
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$STATE,21545,end climb,SURFACE_DEPTH_REACHED
$STATE,21545,begin surface coast
$FINISH,1.5,1.021094
$STATE,21573,end surface coast,CONTROL_FINISHED_OK
$STATE,21573,begin surface
$SM_CCo,21651,0.00,0.000,0,0,471,563.70
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$IRIDIUM_FIX,2011.07,11952.39,241112,181837
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.01
$INTERNAL_PRESSURE,9.47851
$TCM_TEMP,24.60
$XPDR_PINGS,1
$SC_FREEKB,3975968
$24V_AH,23.0,25.095
$10V_AH,9.9,10.411
$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
$DEVICE_SECS,23.125,226.375,622.775,0.000,0.000,0.000,0.000,280.650,0.250,0.000,16.590,3443.580,14528.714,816.891,2972.018,347.415,0.000,2574.575,0.000,2546.564,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.235,0.000,0.000,0.000
$MEM,323776
$DATA_FILE_SIZE,36666,984
$CAP_FILE_SIZE,264694,0
$CFSIZE,260034560,240136192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143,260.8,1
$GPS,251112,060458,2015.148,11955.691,39,0.8,40,-2.7