version: 66.11
glider: 170
mission: 10
dive: 179
start: 12 10 112 16 44 47
data:
$ID,170
$MISSION,10
$DIVE,179
$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,1
$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,-143316.08
$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,0.0049999999
$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,65
$R_STBD_OVSHOOT,45
$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
$GPS1,101212,163558,1845.306,12022.398,69,1.0,69,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-71.5
$GPS2,101212,164418,1845.352,12022.359,26,0.9,26,-2.4
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$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,159.0,25994,-14.9,-8.684,-17.18
$D_GRID,3334
$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,-170.3,0.0,0.0,0,80,0.00,0.00,-58.03,0.000,2,0.000,0.000,131,2621,1804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.51,-170.3,3.0,-0.9,10,151,11.43,2.17,-50.85,0.000,4,0.246,0.044,2882,1196,3466,0,0,0,0,0,0,25.48,26.12,26.44
$GC,259,-0.46,-170.3,42.8,-27.3,36,265,0.00,2.20,0.00,0.000,6,0.000,0.052,2882,2585,3465,0,0,0,0,0,0,28.83,26.04,28.83
$GC,453,-0.42,-170.3,82.8,-17.8,47,459,0.12,1.77,0.00,0.000,4,0.168,0.058,2922,3700,3465,0,0,0,0,0,0,26.11,26.13,28.83
$GC,501,-0.40,-170.3,88.6,-14.9,49,506,0.00,1.62,0.00,0.000,6,0.000,0.024,2922,2555,3465,0,0,0,0,0,0,28.83,26.38,28.83
$GC,699,-0.40,-170.3,108.8,-9.8,59,704,0.00,1.95,0.00,0.000,4,0.000,0.031,2922,1235,3466,0,0,0,0,0,0,28.83,26.34,28.83
$GC,792,-0.41,-170.3,115.9,-8.5,63,798,0.00,2.15,0.00,0.000,6,0.000,0.042,2922,2621,3466,0,0,0,0,0,0,28.83,26.29,28.83
$GC,986,-0.42,-170.3,134.4,-10.0,73,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2622,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1166,-0.44,-170.3,153.0,-9.8,82,1171,0.00,2.05,0.00,0.000,4,0.000,0.029,2922,1232,3466,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1260,-0.46,-170.3,159.5,-7.8,86,1266,0.00,2.12,0.00,0.000,6,0.000,0.044,2922,2600,3466,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1454,-0.48,-170.3,173.2,-7.1,96,1459,0.00,1.75,0.00,0.000,4,0.000,0.060,2922,3697,3465,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1501,-0.51,-170.3,176.2,-7.0,98,1507,0.12,1.55,0.00,0.000,6,0.090,0.024,2847,2631,3465,0,0,0,0,0,0,26.44,26.58,28.83
$GC,1701,-0.49,-170.3,201.2,-12.8,108,1703,0.15,0.00,0.00,0.000,6,0.142,0.000,2893,2627,3464,0,0,0,0,0,0,26.34,28.83,28.83
$GC,1880,-0.50,-170.3,217.2,-8.3,117,1886,0.00,2.10,0.00,0.000,4,0.000,0.032,2893,1210,3463,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1914,-0.51,-170.3,219.3,-8.2,118,1919,0.00,2.17,0.00,0.000,6,0.000,0.046,2893,2604,3463,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2109,-0.52,-170.3,235.2,-7.7,128,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2604,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2288,-0.54,-170.3,248.4,-7.3,137,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2604,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2468,-0.55,-170.3,262.4,-8.2,146,2473,0.00,2.10,0.00,0.000,4,0.000,0.031,2893,1204,3461,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2507,-0.57,-170.3,264.4,-8.3,147,2514,0.00,2.17,0.00,0.000,6,0.000,0.048,2893,2600,3461,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2811,-0.59,-170.3,290.9,-8.2,163,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2600,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3115,-0.61,-170.3,314.0,-7.6,178,3117,0.12,0.00,0.00,0.000,6,0.093,0.000,2822,2600,3457,0,0,0,0,0,0,26.61,28.83,28.83
$GC,3412,-0.59,-170.3,352.6,-13.1,193,3419,0.12,1.70,0.00,0.000,4,0.147,0.053,2864,3700,3455,0,0,0,0,0,0,26.39,26.36,28.83
$GC,3462,-0.59,-170.3,357.3,-11.6,195,3467,0.00,1.62,0.00,0.000,6,0.000,0.025,2865,2563,3455,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3780,-0.60,-170.3,384.9,-7.9,211,3785,0.00,1.95,0.00,0.000,4,0.000,0.029,2864,1227,3452,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3818,-0.60,-170.3,386.7,-7.8,212,3825,0.00,2.15,0.00,0.000,6,0.000,0.047,2864,2608,3452,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4124,-0.61,-170.3,410.5,-7.7,228,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2608,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4427,-0.62,-170.3,433.4,-7.5,243,4432,0.00,2.08,0.00,0.000,4,0.000,0.031,2864,1215,3449,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4459,-0.63,-170.3,435.4,-7.4,244,4465,0.00,2.15,0.00,0.000,6,0.000,0.043,2864,2606,3449,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4773,-0.64,-170.3,458.3,-6.9,260,4779,0.00,2.05,0.00,0.000,4,0.000,0.027,2865,1222,3446,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4811,-0.65,-170.3,460.1,-6.9,261,4818,0.00,2.15,0.00,0.000,6,0.000,0.044,2864,2612,3446,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5117,-0.66,-170.3,483.0,-7.2,277,5122,0.00,1.70,0.00,0.000,4,0.000,0.054,2864,3690,3444,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5170,-0.68,-170.3,486.1,-7.3,279,5175,0.00,1.58,0.00,0.000,6,0.000,0.028,2865,2599,3443,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5483,-0.69,-170.3,509.4,-7.2,295,5485,0.12,0.00,0.00,0.000,6,0.093,0.000,2795,2597,3442,0,0,0,0,0,0,26.62,28.83,28.83
$GC,5785,-0.67,-170.3,545.5,-11.9,310,5787,0.15,0.00,0.00,0.000,6,0.152,0.000,2838,2598,3441,0,0,0,0,0,0,26.32,28.83,28.83
$GC,6084,-0.67,-170.3,575.4,-9.6,325,6090,0.00,2.03,0.00,0.000,4,0.000,0.027,2838,1216,3439,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6142,-0.67,-170.3,579.9,-9.7,327,6149,0.00,2.15,0.00,0.000,6,0.000,0.044,2838,2599,3439,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6468,-0.67,-170.3,612.8,-9.6,342,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2600,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6768,-0.67,-170.3,640.6,-9.1,352,6774,0.00,1.73,0.00,0.000,4,0.000,0.055,2838,3693,3436,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6790,-0.67,-170.3,640.6,-9.1,352,6796,0.00,1.60,0.00,0.000,6,0.000,0.030,2838,2593,3436,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7105,-0.67,-170.3,670.2,-8.4,363,7111,0.00,2.03,0.00,0.000,4,0.000,0.028,2838,1212,3435,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7139,-0.67,-170.3,673.1,-8.4,364,7145,0.00,2.15,0.00,0.000,6,0.000,0.044,2838,2600,3435,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7474,-0.67,-170.3,700.2,-8.0,375,7479,0.00,1.75,0.00,0.000,4,0.000,0.055,2838,3691,3433,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7492,-0.67,-170.3,700.2,-8.0,375,7497,0.00,1.60,0.00,0.000,6,0.000,0.030,2838,2600,3433,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7811,-0.67,-170.3,726.3,-7.3,386,7816,0.00,2.05,0.00,0.000,4,0.000,0.028,2838,1202,3432,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7858,-0.67,-170.3,728.7,-7.3,387,7863,0.00,2.17,0.00,0.000,6,0.000,0.043,2838,2601,3431,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8178,-0.67,-170.3,752.0,-7.2,398,8184,0.00,2.08,0.00,0.000,4,0.000,0.027,2838,1207,3430,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8231,-0.67,-170.3,754.6,-7.3,399,8236,0.00,2.15,0.00,0.000,6,0.000,0.044,2838,2600,3430,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8546,-0.68,-170.3,780.3,-7.9,410,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2600,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8844,-0.68,-170.3,805.8,-8.7,420,8850,0.00,1.70,0.00,0.000,4,0.000,0.055,2837,3690,3429,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8898,-0.69,-170.3,808.6,-8.6,421,8903,0.00,1.60,0.00,0.000,6,0.000,0.031,2838,2601,3428,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9212,-0.70,-170.3,837.3,-8.5,432,9217,0.00,2.05,0.00,0.000,4,0.000,0.028,2838,1204,3426,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9240,-0.70,-170.3,837.3,-8.5,432,9246,0.00,2.17,0.00,0.000,6,0.000,0.044,2838,2610,3426,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9547,-0.71,-170.3,864.0,-7.8,443,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2610,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9846,-0.72,-170.3,887.0,-7.5,453,9852,0.00,2.10,0.00,0.000,4,0.000,0.028,2838,1202,3424,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9884,-0.72,-170.3,889.8,-7.6,454,9889,0.00,2.17,0.00,0.000,6,0.000,0.044,2838,2605,3424,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10214,-0.73,-170.3,915.5,-8.0,465,10219,0.00,2.08,0.00,0.000,4,0.000,0.028,2838,1214,3423,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10257,-0.74,-170.3,918.2,-8.1,466,10262,0.00,2.15,0.00,0.000,6,0.000,0.044,2838,2603,3423,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10581,-0.75,-170.3,943.8,-7.5,477,10582,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2603,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10881,-0.76,-170.3,963.6,-6.2,487,10882,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2603,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11180,-0.77,-170.3,981.5,-5.9,497,11187,0.12,2.10,0.00,0.000,4,0.103,0.025,2777,1198,3421,0,0,0,0,0,0,26.55,26.44,28.83
$GC,11206,-0.78,-170.3,981.5,-5.9,497,11212,0.00,2.20,0.00,0.000,6,0.000,0.044,2776,2600,3421,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,11277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11277,begin apogee
$GC,11283,-0.15,0.0,990.8,-8.6,500,11431,0.68,0.00,139.57,1.493,6,0.131,0.000,2998,2111,2768,0,0,0,0,0,0,25.68,28.83,23.55
$STATE,11433,end apogee,CONTROL_FINISHED_OK
$STATE,11433,begin climb
$GC,11435,0.51,170.3,993.6,0.0,505,11604,0.57,2.38,156.62,1.447,4,0.050,0.035,3227,746,2071,0,0,0,0,0,0,24.76,23.70,22.69
$GC,11652,0.47,170.3,974.4,12.7,512,11658,0.00,2.30,0.00,0.000,6,0.000,0.039,3227,2118,2066,0,0,0,0,0,0,28.83,24.44,28.83
$GC,11977,0.43,170.3,927.4,14.0,523,11983,0.12,2.28,0.00,0.000,4,0.164,0.050,3187,3531,2062,0,0,0,0,0,0,25.61,25.67,28.83
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$STATE,21355,end climb,SURFACE_DEPTH_REACHED
$STATE,21355,begin surface coast
$FINISH,1.6,1.011284
$STATE,21377,end surface coast,CONTROL_FINISHED_OK
$STATE,21377,begin surface
$SM_CCo,21456,0.00,0.000,0,0,482,561.00
$SM_GC,2.43,8.48,1.40,0.00,0.046,0.022,0.000,133,2585,482,-9.07,2.32,561.00,0,0,0,0,0,0,25.87,26.15,28.83
$IRIDIUM_FIX,1839.59,12021.12,101212,101033
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.99
$INTERNAL_PRESSURE,9.41992
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3951392
$24V_AH,22.7,39.694
$10V_AH,10.0,18.173
$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,23.625,212.425,635.650,0.000,0.000,0.000,0.000,292.375,0.000,0.000,27.934,3226.167,14729.521,830.150,2774.022,385.312,0.000,2506.196,0.000,2338.294,0.000,0.543,0.000
$DEVICE_MAMPS,245.565,60.435,1493.280,0.000,0.000,0.000,0.000,136.935,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21406.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.383,0.000,0.000,0.000
$MEM,323796
$DATA_FILE_SIZE,36787,976
$CAP_FILE_SIZE,259178,0
$CFSIZE,260034560,232501248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.063,332.3,1
$GPS,101212,224352,1843.286,12023.869,52,1.0,52,-2.4