version: 66.11
glider: 170
mission: 10
dive: 132
start: 11 29 112 4 4 33
data:
$ID,170
$MISSION,10
$DIVE,132
$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,-143254.11
$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,96
$R_STBD_OVSHOOT,55
$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
$GPS1,291112,035634,1943.795,11959.869,30,0.9,30,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-77.2
$GPS2,291112,040405,1943.845,11959.904,14,1.7,14,-2.6
$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,208.3,81201,-14.9,-8.684,-17.18
$D_GRID,3923
$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,-170.3,0.0,0.0,0,79,0.00,0.00,-57.45,0.000,2,0.000,0.000,136,2619,1758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.51,-170.3,3.0,-1.9,10,167,11.02,2.10,-64.40,0.000,4,0.240,0.041,2879,1229,3466,0,0,0,0,0,0,25.67,26.11,26.41
$GC,236,-0.42,-170.3,31.3,-32.0,36,242,0.12,2.15,0.00,0.000,6,0.184,0.051,2913,2574,3466,0,0,0,0,0,0,25.92,26.09,28.83
$GC,441,-0.39,-170.3,77.1,-17.7,49,446,0.00,1.77,0.00,0.000,4,0.000,0.054,2907,3705,3466,0,0,0,0,0,0,28.83,26.22,28.83
$GC,518,-0.38,-170.3,86.2,-14.5,52,525,0.00,1.58,0.00,0.000,6,0.000,0.024,2907,2582,3466,0,0,0,0,0,0,28.83,26.41,28.83
$GC,704,-0.38,-170.3,106.3,-9.9,62,710,0.00,1.95,0.00,0.000,4,0.000,0.031,2908,1241,3467,0,0,0,0,0,0,28.83,26.38,28.83
$GC,716,-0.38,-170.3,106.3,-9.9,62,721,0.00,2.17,0.00,0.000,6,0.000,0.051,2908,2608,3467,0,0,0,0,0,0,28.83,26.29,28.83
$GC,909,-0.38,-170.3,126.1,-9.6,72,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2608,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1089,-0.38,-170.3,144.0,-10.0,81,1094,0.00,1.70,0.00,0.000,4,0.000,0.055,2907,3701,3467,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1126,-0.39,-170.3,146.3,-9.9,82,1133,0.00,1.55,0.00,0.000,6,0.000,0.024,2907,2580,3467,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1311,-0.41,-170.3,167.5,-11.8,92,1317,0.00,1.92,0.00,0.000,4,0.000,0.030,2907,1256,3467,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1379,-0.44,-170.3,175.6,-12.8,95,1385,0.00,2.12,0.00,0.000,6,0.000,0.047,2907,2622,3467,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1578,-0.46,-170.3,200.0,-11.0,105,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2622,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1759,-0.49,-170.3,214.9,-7.0,114,1764,0.00,2.00,0.00,0.000,4,0.000,0.031,2907,1259,3465,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1792,-0.52,-170.3,216.5,-6.8,115,1797,0.00,2.08,0.00,0.000,6,0.000,0.042,2907,2611,3466,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1986,-0.55,-170.3,226.4,-4.8,125,1988,0.10,0.00,0.00,0.000,6,0.106,0.000,2849,2611,3465,0,0,0,0,0,0,26.62,28.83,28.83
$GC,2165,-0.53,-170.3,245.4,-12.3,134,2170,0.00,1.98,0.00,0.000,4,0.000,0.026,2849,1253,3464,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2222,-0.52,-170.3,250.7,-12.5,136,2229,0.12,2.08,0.00,0.000,6,0.150,0.044,2888,2599,3463,0,0,0,0,0,0,26.40,26.53,28.83
$GC,2527,-0.54,-170.3,281.7,-8.9,152,2533,0.00,1.70,0.00,0.000,4,0.000,0.053,2888,3698,3462,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2586,-0.57,-170.3,285.2,-8.5,154,2592,0.00,1.50,0.00,0.000,6,0.000,0.028,2888,2623,3461,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2891,-0.59,-170.3,305.5,-5.3,170,2897,0.00,2.00,0.00,0.000,4,0.000,0.027,2888,1232,3459,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2939,-0.62,-170.3,307.8,-5.3,172,2945,0.12,2.10,0.00,0.000,6,0.085,0.042,2813,2600,3459,0,0,0,0,0,0,26.55,26.55,28.83
$GC,3258,-0.59,-170.3,343.4,-11.8,188,3264,0.12,1.70,0.00,0.000,4,0.157,0.051,2853,3700,3457,0,0,0,0,0,0,26.46,26.53,28.83
$GC,3307,-0.57,-170.3,347.8,-10.8,190,3312,0.00,1.58,0.00,0.000,6,0.000,0.027,2853,2577,3458,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3624,-0.57,-170.3,380.6,-11.0,206,3629,0.00,1.95,0.00,0.000,4,0.000,0.027,2853,1235,3455,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3661,-0.57,-170.3,383.3,-11.2,207,3668,0.00,2.10,0.00,0.000,6,0.000,0.043,2853,2597,3454,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3967,-0.57,-170.3,419.7,-11.5,223,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2598,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4269,-0.57,-170.3,451.5,-9.8,238,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2598,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4568,-0.57,-170.3,477.4,-7.8,253,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2598,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4869,-0.57,-170.3,498.8,-6.8,268,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2598,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5169,-0.58,-170.3,518.3,-6.3,283,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2598,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5469,-0.59,-170.3,537.7,-6.7,298,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2598,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5769,-0.60,-170.3,558.0,-6.6,313,5775,0.00,2.00,0.00,0.000,4,0.000,0.027,2853,1247,3442,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5807,-0.61,-170.3,559.8,-6.7,314,5814,0.00,2.10,0.00,0.000,6,0.000,0.043,2853,2603,3442,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6113,-0.62,-170.3,580.5,-6.8,330,6118,0.00,1.70,0.00,0.000,4,0.000,0.054,2853,3690,3440,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6146,-0.63,-170.3,582.1,-6.8,331,6151,0.00,1.58,0.00,0.000,6,0.000,0.030,2853,2626,3440,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6480,-0.64,-170.3,605.2,-6.6,347,6485,0.00,2.08,0.00,0.000,4,0.000,0.028,2853,1206,3439,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6533,-0.65,-170.3,607.4,-6.6,348,6538,0.00,2.17,0.00,0.000,6,0.000,0.043,2853,2612,3438,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6848,-0.67,-170.3,627.8,-5.9,359,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2612,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7147,-0.68,-170.3,644.9,-5.5,369,7152,0.00,2.08,0.00,0.000,4,0.000,0.028,2853,1200,3436,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7204,-0.70,-170.3,646.9,-5.6,370,7211,0.00,2.17,0.00,0.000,6,0.000,0.043,2853,2612,3436,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7511,-0.71,-170.3,668.1,-6.9,381,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2612,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7810,-0.73,-170.3,692.5,-8.6,391,7816,0.12,2.08,0.00,0.000,4,0.096,0.026,2781,1203,3433,0,0,0,0,0,0,26.66,26.62,28.83
$GC,7833,-0.74,-170.3,692.5,-8.6,391,7838,0.00,2.17,0.00,0.000,6,0.000,0.044,2781,2602,3433,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8146,-0.70,-170.3,740.8,-15.0,402,8152,0.12,2.05,0.00,0.000,4,0.167,0.024,2822,1205,3432,0,0,0,0,0,0,26.42,26.62,28.83
$GC,8205,-0.68,-170.3,745.4,-14.8,403,8211,0.00,2.17,0.00,0.000,6,0.000,0.044,2822,2604,3432,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8510,-0.68,-170.3,786.5,-12.6,414,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2604,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8810,-0.68,-170.3,822.7,-11.9,424,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2604,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9110,-0.68,-170.3,856.3,-10.7,434,9115,0.00,1.70,0.00,0.000,4,0.000,0.055,2822,3689,3429,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9152,-0.68,-170.3,859.9,-10.6,435,9158,0.00,1.58,0.00,0.000,6,0.000,0.031,2822,2598,3429,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9475,-0.68,-170.3,890.4,-8.8,446,9480,0.00,2.03,0.00,0.000,4,0.000,0.028,2822,1203,3428,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9527,-0.68,-170.3,893.1,-8.6,447,9533,0.00,2.17,0.00,0.000,6,0.000,0.044,2822,2602,3428,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9841,-0.68,-170.3,918.1,-7.2,458,9847,0.00,2.08,0.00,0.000,4,0.000,0.028,2822,1206,3427,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9879,-0.68,-170.3,920.5,-7.1,459,9884,0.00,2.17,0.00,0.000,6,0.000,0.044,2822,2603,3427,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10208,-0.68,-170.3,942.8,-6.5,470,10213,0.00,1.73,0.00,0.000,4,0.000,0.055,2822,3701,3425,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10260,-0.68,-170.3,944.9,-6.4,471,10266,0.00,1.60,0.00,0.000,6,0.000,0.031,2822,2587,3426,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10575,-0.68,-170.3,967.7,-6.9,482,10581,0.00,2.03,0.00,0.000,4,0.000,0.029,2822,1210,3425,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10618,-0.68,-170.3,970.3,-7.0,483,10624,0.00,2.17,0.00,0.000,6,0.000,0.044,2822,2606,3424,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,10910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10910,begin apogee
$GC,10917,-0.15,0.0,991.5,-7.2,493,11064,0.50,0.00,140.43,1.490,6,0.114,0.000,2996,2103,2769,0,0,0,0,0,0,26.27,28.83,23.79
$STATE,11066,end apogee,CONTROL_FINISHED_OK
$STATE,11066,begin climb
$GC,11068,0.51,170.3,995.1,0.0,498,11233,0.60,2.28,156.62,1.443,4,0.050,0.036,3227,759,2072,0,0,0,0,0,0,24.82,23.72,22.85
$GC,11265,0.44,170.3,980.8,10.8,504,11271,0.12,2.28,0.00,0.000,6,0.150,0.037,3197,2123,2067,0,0,0,0,0,0,24.23,24.32,28.83
$GC,11581,0.41,170.3,937.9,12.8,515,11586,0.00,2.33,0.00,0.000,4,0.000,0.051,3196,3540,2062,0,0,0,0,0,0,28.83,25.56,28.83
$GC,11624,0.37,170.3,933.2,12.8,516,11630,0.12,2.17,0.00,0.000,6,0.168,0.028,3170,2133,2061,0,0,0,0,0,0,25.52,25.75,28.83
$GC,11949,0.36,170.3,895.7,11.0,527,11954,0.00,2.15,0.00,0.000,4,0.000,0.036,3173,730,2059,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11976,0.34,170.3,895.7,11.0,527,11984,0.00,2.17,0.00,0.000,6,0.000,0.038,3173,2125,2058,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,20183,end climb,SURFACE_DEPTH_REACHED
$STATE,20183,begin surface coast
$FINISH,1.5,1.009531
$STATE,20205,end surface coast,CONTROL_FINISHED_OK
$STATE,20205,begin surface
$SM_CCo,20285,0.00,0.000,0,0,458,566.89
$SM_GC,2.32,8.60,1.42,0.00,0.047,0.026,0.000,132,2567,458,-9.08,1.87,566.89,0,0,0,0,0,0,26.01,26.20,28.83
$IRIDIUM_FIX,1936.66,12000.88,281112,222259
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.17
$INTERNAL_PRESSURE,9.38085
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,3969440
$24V_AH,22.9,28.927
$10V_AH,9.9,12.455
$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,23.025,189.350,634.700,0.000,0.000,0.000,0.000,267.100,0.000,0.000,15.256,2960.583,14097.733,826.508,2528.345,313.726,0.000,2355.516,0.000,2129.126,0.000,0.541,0.000
$DEVICE_MAMPS,240.210,107.100,1490.220,0.000,0.000,0.000,0.000,138.465,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20234.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.828,0.000,0.000,0.000
$MEM,323744
$DATA_FILE_SIZE,33417,921
$CAP_FILE_SIZE,234389,0
$CFSIZE,260034560,238133248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.021, 42.3,1
$GPS,291112,094352,1941.304,11958.672,38,0.8,38,-2.6