version: 66.11
glider: 170
mission: 10
dive: 321
start: 1 4 113 14 36 29
data:
$ID,170
$MISSION,10
$DIVE,321
$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,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,185
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51760
$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,-143499
$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,67
$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,2853
$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
$GPS1,040113,142634,2137.511,11951.878,32,0.8,32,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-71.9
$GPS2,040113,143559,2137.412,11951.660,20,0.8,20,-3.0
$SPEED_LIMITS,0.150,0.288
$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,66.2,20082,-14.5,-8.684,-16.79
$D_GRID,2957
$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,-0.50,-180.0,0.0,0.0,0,90,0.00,0.00,-67.47,0.000,2,0.000,0.000,121,2631,2133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.50,-180.0,3.1,-1.5,12,160,11.55,2.20,-48.47,0.000,4,0.243,0.045,2877,1202,3588,0,0,0,0,0,0,25.27,26.17,26.59
$GC,201,-0.47,-180.0,13.8,-16.7,30,207,0.00,2.17,0.00,0.000,6,0.000,0.048,2877,2586,3588,0,0,0,0,0,0,28.83,26.08,28.83
$GC,396,-0.45,-180.0,45.5,-16.6,56,402,0.00,2.08,0.00,0.000,4,0.000,0.040,2877,1225,3588,0,0,0,0,0,0,28.83,26.21,28.83
$GC,434,-0.42,-180.0,50.7,-15.1,59,443,0.12,2.15,0.00,0.000,6,0.158,0.047,2913,2604,3588,0,0,0,0,0,0,26.01,26.22,28.83
$GC,620,-0.42,-180.0,74.8,-12.8,69,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2604,3588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,800,-0.42,-180.0,96.7,-11.2,78,805,0.00,2.10,0.00,0.000,4,0.000,0.031,2915,1197,3588,0,0,0,0,0,0,28.83,26.38,28.83
$GC,832,-0.42,-180.0,99.2,-11.0,79,838,0.00,2.17,0.00,0.000,6,0.000,0.046,2913,2611,3588,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1029,-0.44,-180.0,115.4,-7.6,89,1035,0.00,1.67,0.00,0.000,4,0.000,0.050,2913,3693,3588,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1098,-0.46,-180.0,120.8,-7.9,92,1103,0.00,1.58,0.00,0.000,6,0.000,0.024,2913,2541,3588,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1299,-0.51,-180.0,138.0,-8.0,102,1305,0.00,1.83,0.00,0.000,4,0.000,0.049,2913,3700,3589,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1333,-0.57,-180.0,140.1,-8.0,103,1338,0.15,1.60,0.00,0.000,6,0.083,0.024,2844,2553,3589,0,0,0,0,0,0,26.40,26.55,28.83
$GC,1530,-0.59,-180.0,156.8,-8.2,113,1535,0.00,1.80,0.00,0.000,4,0.000,0.048,2844,3695,3589,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1597,-0.61,-180.0,162.7,-8.7,116,1602,0.00,1.55,0.00,0.000,6,0.000,0.024,2844,2584,3589,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1796,-0.61,-180.0,182.9,-9.9,126,1801,0.00,1.90,0.00,0.000,4,0.000,0.029,2844,1263,3589,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1889,-0.61,-180.0,190.6,-9.1,130,1894,0.00,2.08,0.00,0.000,6,0.000,0.047,2844,2601,3589,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2083,-0.61,-180.0,209.4,-9.3,140,2089,0.00,1.67,0.00,0.000,4,0.000,0.051,2844,3697,3589,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2101,-0.61,-180.0,209.4,-9.3,140,2108,0.00,1.52,0.00,0.000,6,0.000,0.024,2844,2620,3589,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2288,-0.62,-180.0,229.1,-9.6,150,2293,0.00,2.03,0.00,0.000,4,0.000,0.036,2844,1241,3588,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2341,-0.63,-180.0,233.4,-9.7,152,2347,0.00,2.10,0.00,0.000,6,0.000,0.045,2844,2598,3588,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2537,-0.63,-180.0,250.1,-8.0,162,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2598,3588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2838,-0.64,-180.0,275.0,-8.7,177,2843,0.00,2.03,0.00,0.000,4,0.000,0.031,2844,1234,3586,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2910,-0.65,-180.0,280.8,-8.8,180,2916,0.00,2.10,0.00,0.000,6,0.000,0.041,2844,2603,3586,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3224,-0.68,-180.0,307.9,-8.6,196,3231,0.00,1.70,0.00,0.000,4,0.000,0.052,2844,3685,3585,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3318,-0.71,-180.0,315.6,-9.1,200,3323,0.00,1.52,0.00,0.000,6,0.000,0.026,2844,2588,3585,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3632,-0.74,-180.0,344.7,-8.7,216,3637,0.00,1.95,0.00,0.000,4,0.000,0.029,2844,1250,3582,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3706,-0.77,-180.0,350.1,-8.5,219,3712,0.12,2.10,0.00,0.000,6,0.083,0.043,2769,2610,3582,0,0,0,0,0,0,26.34,26.32,28.83
$GC,4020,-0.74,-180.0,387.7,-11.7,235,4026,0.12,1.67,0.00,0.000,4,0.150,0.051,2810,3693,3580,0,0,0,0,0,0,26.31,26.28,28.83
$GC,4060,-0.72,-180.0,390.1,-11.3,236,4066,0.00,1.52,0.00,0.000,6,0.000,0.025,2810,2605,3579,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4365,-0.72,-180.0,420.3,-9.8,252,4370,0.00,2.00,0.00,0.000,4,0.000,0.028,2810,1240,3577,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4463,-0.72,-180.0,428.7,-10.0,256,4470,0.00,2.10,0.00,0.000,6,0.000,0.042,2810,2598,3576,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4768,-0.72,-180.0,460.5,-9.8,272,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2598,3575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5071,-0.72,-180.0,490.6,-10.1,287,5076,0.00,2.00,0.00,0.000,4,0.000,0.027,2810,1232,3573,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5134,-0.72,-180.0,497.0,-9.8,290,5139,0.00,2.12,0.00,0.000,6,0.000,0.042,2810,2602,3572,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5457,-0.72,-180.0,526.5,-9.3,306,5462,0.00,2.00,0.00,0.000,4,0.000,0.027,2810,1238,3570,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5514,-0.72,-180.0,530.3,-9.1,308,5521,0.00,2.12,0.00,0.000,6,0.000,0.043,2810,2607,3570,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5821,-0.72,-180.0,557.0,-8.0,324,5826,0.00,2.00,0.00,0.000,4,0.000,0.026,2810,1240,3568,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5853,-0.72,-180.0,559.0,-8.2,325,5859,0.00,2.10,0.00,0.000,6,0.000,0.042,2810,2601,3568,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6168,-0.72,-180.0,584.7,-8.0,341,6173,0.00,2.03,0.00,0.000,4,0.000,0.027,2810,1233,3565,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6216,-0.72,-180.0,588.5,-8.1,343,6221,0.00,2.12,0.00,0.000,6,0.000,0.042,2810,2601,3565,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6536,-0.72,-180.0,617.2,-9.1,356,6542,0.00,2.00,0.00,0.000,4,0.000,0.027,2810,1242,3564,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6615,-0.72,-180.0,623.2,-9.1,358,6620,0.00,2.12,0.00,0.000,6,0.000,0.042,2810,2609,3563,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6933,-0.72,-180.0,654.5,-9.6,369,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2609,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7234,-0.72,-180.0,682.4,-9.2,379,7239,0.00,2.03,0.00,0.000,4,0.000,0.027,2810,1230,3560,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7267,-0.72,-180.0,685.5,-9.2,380,7273,0.00,2.15,0.00,0.000,6,0.000,0.042,2810,2602,3560,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7603,-0.72,-180.0,715.6,-8.9,391,7609,0.00,2.03,0.00,0.000,4,0.000,0.028,2810,1241,3559,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7671,-0.72,-180.0,721.4,-8.7,393,7676,0.00,2.10,0.00,0.000,6,0.000,0.042,2810,2604,3558,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8001,-0.72,-180.0,746.7,-7.3,404,8007,0.00,2.00,0.00,0.000,4,0.000,0.027,2810,1242,3557,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8036,-0.73,-180.0,749.4,-7.3,405,8042,0.00,2.12,0.00,0.000,6,0.000,0.042,2810,2598,3557,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8372,-0.73,-180.0,774.9,-7.7,416,8377,0.00,2.00,0.00,0.000,4,0.000,0.027,2810,1242,3555,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8411,-0.73,-180.0,777.6,-7.7,417,8416,0.00,2.10,0.00,0.000,6,0.000,0.042,2808,2604,3555,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8741,-0.73,-180.0,803.0,-7.6,428,8747,0.00,2.00,0.00,0.000,4,0.000,0.026,2810,1239,3554,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8806,-0.74,-180.0,808.5,-8.0,430,8812,0.00,2.12,0.00,0.000,6,0.000,0.041,2810,2611,3554,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9143,-0.75,-180.0,836.6,-8.7,441,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2611,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9441,-0.75,-180.0,864.8,-9.6,451,9447,0.00,2.05,0.00,0.000,4,0.000,0.027,2810,1230,3551,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9509,-0.76,-180.0,871.1,-9.6,453,9514,0.00,2.15,0.00,0.000,6,0.000,0.042,2810,2606,3551,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9840,-0.77,-180.0,902.4,-9.4,464,9845,0.00,2.03,0.00,0.000,4,0.000,0.026,2810,1242,3550,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9898,-0.78,-180.0,905.6,-9.2,465,9905,0.00,2.12,0.00,0.000,6,0.000,0.043,2810,2607,3549,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10206,-0.78,-180.0,934.3,-8.5,476,10212,0.00,2.03,0.00,0.000,4,0.000,0.027,2810,1237,3549,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10251,-0.79,-180.0,937.4,-8.4,477,10257,0.00,2.12,0.00,0.000,6,0.000,0.043,2810,2601,3548,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10577,-0.80,-180.0,965.7,-8.7,488,10582,0.00,2.03,0.00,0.000,4,0.000,0.027,2810,1240,3547,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10625,-0.81,-180.0,968.8,-8.8,489,10630,0.00,2.12,0.00,0.000,6,0.000,0.043,2810,2600,3547,0,0,0,0,0,0,28.83,26.16,28.83
$STATE,10881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10881,begin apogee
$GC,10887,-0.15,0.0,992.6,-8.8,498,11049,0.55,0.00,152.12,1.495,6,0.103,0.000,3001,2126,2851,0,0,0,0,0,0,25.82,28.83,22.82
$STATE,11051,end apogee,CONTROL_FINISHED_OK
$STATE,11051,begin climb
$GC,11053,0.50,180.0,1000.2,0.0,503,11233,0.57,2.50,170.85,1.444,4,0.047,0.049,3228,3527,2118,0,0,0,0,0,0,24.58,23.68,22.21
$GC,11346,0.45,180.0,980.8,13.0,513,11351,0.15,2.15,0.00,0.000,6,0.161,0.028,3197,2172,2110,0,0,0,0,0,0,24.94,25.22,28.83
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$STATE,21312,end climb,SURFACE_DEPTH_REACHED
$STATE,21312,begin surface coast
$FINISH,1.7,1.022671
$STATE,21328,end surface coast,CONTROL_FINISHED_OK
$STATE,21328,begin surface
$SM_CCo,21409,0.00,0.000,0,0,553,564.44
$SM_GC,2.44,8.70,0.73,0.00,0.052,0.042,0.000,133,2623,553,-9.08,-1.07,564.44,0,0,0,0,0,0,25.92,26.27,28.83
$IRIDIUM_FIX,2127.21,11953.03,040113,080800
$TT8_MAMPS,0.025466,0.025466
$HUMID,54.17
$INTERNAL_PRESSURE,9.41992
$TCM_TEMP,22.90
$XPDR_PINGS,3
$SC_FREEKB,3896928
$24V_AH,22.2,63.780
$10V_AH,9.9,31.912
$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,23.425,224.300,679.175,0.000,0.000,0.000,0.000,328.525,0.750,0.000,21.296,3308.605,14325.691,867.344,2939.091,518.709,0.000,2655.128,0.000,2476.289,0.000,0.543,0.000
$DEVICE_MAMPS,243.270,52.020,1494.810,0.000,0.000,0.000,0.000,134.640,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21381.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.037,0.000,0.000,0.000
$MEM,324340
$DATA_FILE_SIZE,36718,964
$CAP_FILE_SIZE,259025,0
$CFSIZE,260034560,218587136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.149,265.3,1
$GPS,040113,203434,2139.172,11952.336,38,0.7,38,-3.0