version: 66.11
glider: 170
mission: 10
dive: 218
start: 12 19 112 9 44 31
data:
$ID,170
$MISSION,10
$DIVE,218
$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,410
$T_MISSION,430
$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,3
$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,-143368.81
$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,63
$R_STBD_OVSHOOT,34
$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
$GPS1,191212,093504,1944.560,11956.455,35,0.9,35,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-70.4
$GPS2,191212,094405,1944.640,11956.414,31,0.8,32,-2.6
$SPEED_LIMITS,0.139,0.274
$TGT_NAME,W2A
$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,355.0,222992,-14.0,-8.049,-16.39
$D_GRID,3734
$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,-0.48,-170.3,0.0,0.0,0,80,0.00,0.00,-57.55,0.000,2,0.000,0.000,133,2607,1935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-170.3,3.0,-0.6,10,150,11.23,1.80,-46.88,0.000,4,0.236,0.071,2887,3693,3465,0,0,0,0,0,0,25.36,26.00,26.50
$GC,249,-0.42,-170.3,36.1,-24.9,36,254,0.00,1.62,0.00,0.000,6,0.000,0.023,2887,2555,3465,0,0,0,0,0,0,28.83,26.34,28.83
$GC,444,-0.38,-170.3,73.5,-16.2,48,450,0.12,1.88,0.00,0.000,4,0.171,0.022,2928,1246,3465,0,0,0,0,0,0,26.13,26.32,28.83
$GC,542,-0.38,-170.3,83.1,-11.1,52,548,0.00,2.08,0.00,0.000,6,0.000,0.040,2928,2610,3465,0,0,0,0,0,0,28.83,26.23,28.83
$GC,729,-0.39,-170.3,101.7,-9.5,62,735,0.00,1.70,0.00,0.000,4,0.000,0.053,2928,3691,3465,0,0,0,0,0,0,28.83,26.21,28.83
$GC,753,-0.40,-170.3,104.0,-9.7,63,759,0.00,1.55,0.00,0.000,6,0.000,0.023,2928,2589,3465,0,0,0,0,0,0,28.83,26.51,28.83
$GC,960,-0.41,-170.3,121.0,-7.1,73,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2587,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1137,-0.43,-170.3,132.6,-6.8,82,1142,0.00,1.92,0.00,0.000,4,0.000,0.024,2928,1248,3465,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1195,-0.45,-170.3,135.6,-6.8,84,1202,0.00,2.05,0.00,0.000,6,0.000,0.037,2929,2609,3465,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1382,-0.47,-170.3,147.4,-5.6,94,1387,0.00,1.70,0.00,0.000,4,0.000,0.054,2929,3694,3465,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1425,-0.50,-170.3,149.9,-5.5,96,1431,0.12,1.50,0.00,0.000,6,0.083,0.024,2850,2591,3465,0,0,0,0,0,0,26.44,26.57,28.83
$GC,1631,-0.48,-170.3,174.8,-13.6,106,1637,0.12,1.92,0.00,0.000,4,0.144,0.021,2893,1240,3465,0,0,0,0,0,0,26.35,26.49,28.83
$GC,1704,-0.48,-170.3,181.5,-10.8,109,1709,0.00,2.08,0.00,0.000,6,0.000,0.037,2894,2600,3465,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1899,-0.49,-170.3,197.8,-7.6,119,1904,0.00,1.98,0.00,0.000,4,0.000,0.024,2893,1234,3465,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2012,-0.50,-170.3,205.4,-7.2,124,2018,0.00,2.08,0.00,0.000,6,0.000,0.037,2893,2607,3464,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2206,-0.51,-170.3,221.2,-8.2,134,2211,0.00,1.98,0.00,0.000,4,0.000,0.037,2893,1241,3463,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2233,-0.53,-170.3,223.2,-8.3,135,2238,0.00,2.05,0.00,0.000,6,0.000,0.037,2893,2602,3464,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2433,-0.54,-170.3,238.8,-7.4,145,2439,0.00,1.98,0.00,0.000,4,0.000,0.024,2893,1243,3463,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2457,-0.55,-170.3,240.6,-7.2,146,2462,0.00,2.08,0.00,0.000,6,0.000,0.038,2893,2601,3463,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2662,-0.57,-170.3,254.8,-7.1,156,2668,0.00,1.98,0.00,0.000,4,0.000,0.024,2893,1242,3462,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2711,-0.58,-170.3,258.2,-7.2,158,2716,0.00,2.05,0.00,0.000,6,0.000,0.037,2896,2598,3461,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3030,-0.60,-170.3,282.9,-7.6,174,3036,0.12,1.98,0.00,0.000,4,0.092,0.022,2818,1231,3459,0,0,0,0,0,0,26.58,26.51,28.83
$GC,3135,-0.58,-170.3,295.2,-12.5,179,3141,0.15,2.10,0.00,0.000,6,0.151,0.039,2862,2612,3459,0,0,0,0,0,0,26.09,26.34,28.83
$GC,3458,-0.58,-170.3,325.7,-8.8,195,3464,0.00,1.98,0.00,0.000,4,0.000,0.024,2862,1242,3457,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3485,-0.58,-170.3,327.8,-8.9,196,3491,0.00,2.08,0.00,0.000,6,0.000,0.039,2862,2603,3457,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3804,-0.58,-170.3,358.1,-10.0,212,3809,0.00,2.00,0.00,0.000,4,0.000,0.028,2862,1241,3455,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3847,-0.58,-170.3,362.6,-10.1,214,3852,0.00,2.10,0.00,0.000,6,0.000,0.038,2862,2600,3454,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4170,-0.58,-170.3,390.9,-7.8,230,4176,0.00,2.00,0.00,0.000,4,0.000,0.024,2864,1235,3453,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4214,-0.58,-170.3,394.3,-7.8,232,4220,0.00,2.10,0.00,0.000,6,0.000,0.039,2862,2612,3453,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4538,-0.58,-170.3,419.7,-7.9,248,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2613,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4840,-0.59,-170.3,443.2,-8.1,263,4845,0.00,2.03,0.00,0.000,4,0.000,0.028,2862,1239,3450,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4912,-0.59,-170.3,448.3,-8.1,266,4918,0.00,2.08,0.00,0.000,6,0.000,0.038,2862,2603,3449,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5227,-0.60,-170.3,475.3,-8.5,282,5232,0.00,1.98,0.00,0.000,4,0.000,0.024,2862,1240,3447,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5265,-0.61,-170.3,477.3,-8.4,283,5272,0.00,2.08,0.00,0.000,6,0.000,0.039,2862,2599,3447,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5570,-0.61,-170.3,504.4,-8.6,299,5576,0.00,2.00,0.00,0.000,4,0.000,0.024,2862,1239,3445,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5629,-0.62,-170.3,508.3,-8.7,301,5636,0.00,2.10,0.00,0.000,6,0.000,0.039,2862,2607,3445,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5935,-0.63,-170.3,535.3,-8.0,317,5940,0.00,2.00,0.00,0.000,4,0.000,0.025,2862,1244,3444,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5979,-0.64,-170.3,538.8,-7.9,319,5984,0.00,2.08,0.00,0.000,6,0.000,0.039,2862,2603,3445,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6302,-0.65,-170.3,562.5,-6.9,335,6308,0.00,2.00,0.00,0.000,4,0.000,0.024,2862,1241,3443,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6346,-0.66,-170.3,565.8,-7.4,337,6352,0.00,2.10,0.00,0.000,6,0.000,0.039,2862,2601,3442,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6671,-0.67,-170.3,589.7,-7.8,353,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2601,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6992,-0.68,-170.3,614.8,-7.7,366,6997,0.00,2.00,0.00,0.000,4,0.000,0.025,2862,1245,3439,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7040,-0.69,-170.3,617.6,-7.6,367,7045,0.00,2.10,0.00,0.000,6,0.000,0.040,2861,2609,3439,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7361,-0.70,-170.3,642.5,-7.5,378,7367,0.12,2.03,0.00,0.000,4,0.089,0.023,2789,1239,3437,0,0,0,0,0,0,26.59,26.47,28.83
$GC,7410,-0.70,-170.3,646.4,-8.3,379,7416,0.12,2.12,0.00,0.000,6,0.169,0.041,2821,2607,3437,0,0,0,0,0,0,26.01,26.27,28.83
$GC,7731,-0.69,-170.3,681.2,-10.4,390,7732,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2609,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8029,-0.68,-170.3,709.7,-9.0,400,8035,0.00,2.03,0.00,0.000,4,0.000,0.025,2822,1239,3436,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8102,-0.67,-170.3,715.5,-9.0,402,8108,0.00,2.10,0.00,0.000,6,0.000,0.041,2823,2604,3435,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8427,-0.66,-170.3,745.8,-9.4,413,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2604,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8726,-0.66,-170.3,775.7,-10.2,423,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2604,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9027,-0.65,-170.3,806.7,-10.3,433,9033,0.00,2.03,0.00,0.000,4,0.000,0.025,2822,1234,3433,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9065,-0.64,-170.3,810.3,-10.1,434,9070,0.00,2.12,0.00,0.000,6,0.000,0.041,2822,2599,3433,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9395,-0.64,-170.3,841.2,-8.9,445,9396,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2599,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9693,-0.63,-170.3,864.5,-7.5,455,9695,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2599,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9994,-0.63,-170.3,888.4,-8.4,465,9995,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2599,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10293,-0.63,-170.3,914.7,-8.7,475,10299,0.00,1.75,0.00,0.000,4,0.000,0.056,2822,3696,3427,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10321,-0.63,-170.3,914.7,-8.7,475,10328,0.00,1.58,0.00,0.000,6,0.000,0.031,2822,2655,3427,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10627,-0.63,-170.3,941.9,-7.9,486,10634,0.00,2.05,0.00,0.000,4,0.000,0.027,2822,1247,3427,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10747,-0.63,-170.3,949.6,-8.0,489,10754,0.00,2.12,0.00,0.000,6,0.000,0.041,2822,2607,3426,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11054,-0.63,-170.3,973.7,-7.1,500,11059,0.00,2.03,0.00,0.000,4,0.000,0.026,2822,1245,3426,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11127,-0.63,-170.3,978.3,-7.1,502,11133,0.00,2.10,0.00,0.000,6,0.000,0.041,2822,2603,3426,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,11299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11299,begin apogee
$GC,11305,-0.15,0.0,991.2,-7.0,508,11456,0.50,0.00,143.45,1.489,6,0.109,0.000,2997,2165,2769,0,0,0,0,0,0,25.79,28.83,23.27
$STATE,11458,end apogee,CONTROL_FINISHED_OK
$STATE,11458,begin climb
$GC,11461,0.48,170.3,994.8,0.0,513,11634,0.57,2.33,160.60,1.439,4,0.049,0.031,3227,782,2071,0,0,0,0,0,0,24.61,23.67,22.48
$GC,11652,0.43,170.3,982.6,9.8,519,11658,0.15,2.25,0.00,0.000,6,0.141,0.034,3188,2128,2069,0,0,0,0,0,0,24.01,24.15,28.83
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$STATE,21486,end climb,SURFACE_DEPTH_REACHED
$STATE,21486,begin surface coast
$FINISH,1.5,0.998143
$STATE,21507,end surface coast,CONTROL_FINISHED_OK
$STATE,21507,begin surface
$SM_CCo,21586,0.00,0.000,0,0,760,492.81
$SM_GC,2.41,8.48,0.73,0.00,0.047,0.051,0.000,133,2604,760,-9.07,-1.05,492.81,0,0,0,0,0,0,26.01,26.30,28.83
$IRIDIUM_FIX,1932.09,11957.75,191212,030315
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.30
$INTERNAL_PRESSURE,9.45898
$TCM_TEMP,23.20
$XPDR_PINGS,4
$SC_FREEKB,3936384
$24V_AH,22.5,48.101
$10V_AH,9.9,22.568
$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,22.750,212.000,576.950,0.000,0.000,0.000,0.000,320.450,1.000,0.000,32.775,3303.450,14749.857,779.684,2868.663,411.678,0.000,2492.538,0.000,2397.810,0.000,0.542,0.000
$DEVICE_MAMPS,236.385,71.145,1488.690,0.000,0.000,0.000,0.000,134.640,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21544.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.409,0.000,0.000,0.000
$MEM,323760
$DATA_FILE_SIZE,36738,986
$CAP_FILE_SIZE,256880,0
$CFSIZE,260034560,228040704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.064,155.1,1
$GPS,191212,154604,1947.360,11955.337,70,0.8,70,-2.6