version: 66.11
glider: 170
mission: 10
dive: 334
start: 1 7 113 22 35 17
data:
$ID,170
$MISSION,10
$DIVE,334
$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,175
$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,-143515.73
$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,2475
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$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
$GPS1,070113,222504,2149.177,12003.389,29,0.9,29,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-72.2
$GPS2,070113,223447,2148.989,12003.283,18,0.9,18,-3.0
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$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,60.1,64180,-14.9,-8.684,-17.18
$D_GRID,1608
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.51,-170.3,0.0,0.0,0,86,0.00,0.00,-63.22,0.000,2,0.000,0.000,135,2492,1917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.51,-170.3,3.1,-1.6,11,174,11.25,0.00,-67.75,0.000,6,0.236,0.000,2879,2493,3549,0,0,0,0,0,0,25.25,28.83,26.60
$GC,366,-0.47,-170.3,38.7,-18.2,55,372,0.00,2.12,0.00,0.000,4,0.000,0.032,2879,1057,3549,0,0,0,0,0,0,28.83,26.30,28.83
$GC,394,-0.44,-170.3,43.4,-18.8,57,401,0.00,2.20,0.00,0.000,6,0.000,0.044,2878,2470,3549,0,0,0,0,0,0,28.83,26.18,28.83
$GC,583,-0.42,-170.3,68.6,-12.4,69,589,0.12,2.12,0.00,0.000,4,0.149,0.041,2922,1087,3548,0,0,0,0,0,0,26.26,26.22,28.83
$GC,608,-0.41,-170.3,72.0,-12.3,70,614,0.00,2.17,0.00,0.000,6,0.000,0.045,2921,2487,3548,0,0,0,0,0,0,28.83,26.28,28.83
$GC,814,-0.43,-170.3,89.3,-7.3,80,819,0.00,1.88,0.00,0.000,4,0.000,0.050,2922,3689,3549,0,0,0,0,0,0,28.83,26.25,28.83
$GC,859,-0.46,-170.3,92.5,-6.9,82,864,0.00,1.80,0.00,0.000,6,0.000,0.022,2922,2404,3549,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1064,-0.54,-170.3,108.5,-7.2,92,1070,0.12,2.05,0.00,0.000,4,0.093,0.048,2846,3696,3549,0,0,0,0,0,0,26.52,26.26,28.83
$GC,1119,-0.60,-170.3,112.4,-7.7,94,1125,0.00,1.83,0.00,0.000,6,0.000,0.023,2846,2430,3549,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1313,-0.60,-170.3,132.5,-10.1,104,1319,0.00,1.95,0.00,0.000,4,0.000,0.028,2846,1077,3549,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1412,-0.60,-170.3,141.2,-10.3,108,1418,0.00,2.12,0.00,0.000,6,0.000,0.037,2846,2478,3549,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1597,-0.60,-170.3,161.2,-9.3,118,1603,0.00,1.90,0.00,0.000,4,0.000,0.051,2846,3702,3549,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1630,-0.60,-170.3,163.4,-9.4,119,1635,0.00,1.75,0.00,0.000,6,0.000,0.021,2846,2486,3549,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1824,-0.60,-170.3,182.1,-9.5,129,1829,0.00,2.03,0.00,0.000,4,0.000,0.028,2846,1068,3549,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1896,-0.61,-170.3,188.5,-9.9,132,1902,0.00,2.12,0.00,0.000,6,0.000,0.037,2846,2486,3549,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2092,-0.61,-170.3,208.4,-9.6,142,2097,0.00,2.08,0.00,0.000,4,0.000,0.031,2846,1067,3549,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2130,-0.62,-170.3,210.7,-9.5,143,2136,0.00,2.15,0.00,0.000,6,0.000,0.035,2846,2493,3549,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2315,-0.62,-170.3,229.1,-9.2,153,2321,0.00,1.83,0.00,0.000,4,0.000,0.047,2846,3691,3549,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2333,-0.62,-170.3,229.1,-9.2,153,2340,0.00,1.77,0.00,0.000,6,0.000,0.024,2846,2420,3549,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2520,-0.63,-170.3,247.9,-9.1,163,2525,0.00,1.92,0.00,0.000,4,0.000,0.024,2846,1064,3548,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2573,-0.65,-170.3,252.0,-9.2,165,2578,0.00,2.12,0.00,0.000,6,0.000,0.036,2846,2475,3548,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2887,-0.66,-170.3,280.4,-8.5,181,2893,0.00,2.08,0.00,0.000,4,0.000,0.025,2846,1063,3546,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2916,-0.67,-170.3,282.2,-8.1,182,2921,0.00,2.15,0.00,0.000,6,0.000,0.037,2846,2482,3546,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3235,-0.69,-170.3,306.6,-7.6,198,3241,0.00,1.85,0.00,0.000,4,0.000,0.048,2846,3689,3545,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3253,-0.70,-170.3,306.6,-7.6,198,3260,0.00,1.77,0.00,0.000,6,0.000,0.024,2846,2429,3545,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3559,-0.72,-170.3,330.1,-7.1,214,3564,0.00,1.90,0.00,0.000,4,0.000,0.025,2846,1108,3542,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3587,-0.73,-170.3,332.0,-7.4,215,3592,0.00,2.08,0.00,0.000,6,0.000,0.037,2846,2485,3542,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3906,-0.75,-170.3,357.1,-7.6,231,3912,0.12,2.00,0.00,0.000,4,0.089,0.024,2769,1109,3540,0,0,0,0,0,0,26.56,26.45,28.83
$GC,3997,-0.73,-170.3,367.0,-11.7,235,4003,0.15,2.08,0.00,0.000,6,0.148,0.038,2812,2484,3539,0,0,0,0,0,0,26.08,26.35,28.83
$GC,4316,-0.73,-170.3,398.3,-9.9,251,4321,0.00,2.03,0.00,0.000,4,0.000,0.025,2812,1108,3537,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4350,-0.73,-170.3,400.7,-10.0,252,4355,0.00,2.08,0.00,0.000,6,0.000,0.037,2810,2484,3537,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4663,-0.73,-170.3,434.1,-10.3,268,4668,0.00,2.00,0.00,0.000,4,0.000,0.025,2812,1109,3535,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4710,-0.73,-170.3,438.5,-10.4,270,4716,0.00,2.08,0.00,0.000,6,0.000,0.037,2812,2483,3535,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5029,-0.73,-170.3,470.9,-9.7,286,5034,0.00,2.00,0.00,0.000,4,0.000,0.025,2812,1110,3533,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5101,-0.73,-170.3,476.9,-9.6,289,5107,0.00,2.08,0.00,0.000,6,0.000,0.037,2812,2482,3532,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5416,-0.73,-170.3,505.8,-8.9,305,5421,0.00,2.00,0.00,0.000,4,0.000,0.025,2812,1111,3531,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5468,-0.73,-170.3,509.8,-8.9,307,5474,0.00,2.08,0.00,0.000,6,0.000,0.037,2812,2482,3530,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5781,-0.73,-170.3,540.4,-9.9,323,5788,0.00,2.00,0.00,0.000,4,0.000,0.026,2812,1112,3529,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5832,-0.73,-170.3,544.9,-9.9,325,5837,0.00,2.08,0.00,0.000,6,0.000,0.038,2812,2480,3529,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6150,-0.73,-170.3,578.2,-10.0,341,6155,0.00,1.88,0.00,0.000,4,0.000,0.051,2812,3690,3526,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6187,-0.73,-170.3,580.5,-10.0,342,6194,0.00,1.75,0.00,0.000,6,0.000,0.028,2812,2493,3526,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6516,-0.73,-170.3,611.4,-8.7,357,6521,0.00,2.03,0.00,0.000,4,0.000,0.026,2812,1091,3524,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6580,-0.73,-170.3,617.1,-8.7,359,6585,0.00,2.12,0.00,0.000,6,0.000,0.038,2812,2483,3523,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6916,-0.73,-170.3,646.2,-8.7,370,6921,0.00,2.05,0.00,0.000,4,0.000,0.026,2812,1099,3523,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6953,-0.73,-170.3,649.4,-8.7,371,6959,0.00,2.12,0.00,0.000,6,0.000,0.039,2812,2481,3522,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7285,-0.74,-170.3,678.3,-8.7,382,7290,0.00,2.05,0.00,0.000,4,0.000,0.026,2812,1098,3520,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7322,-0.75,-170.3,681.5,-8.7,383,7327,0.00,2.10,0.00,0.000,6,0.000,0.039,2812,2475,3520,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7653,-0.76,-170.3,708.3,-7.7,394,7659,0.00,1.90,0.00,0.000,4,0.000,0.052,2812,3693,3518,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7698,-0.77,-170.3,711.1,-7.8,395,7703,0.00,1.80,0.00,0.000,6,0.000,0.028,2812,2484,3518,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8024,-0.77,-170.3,737.6,-7.9,406,8029,0.00,2.05,0.00,0.000,4,0.000,0.026,2812,1084,3517,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8078,-0.78,-170.3,740.6,-8.0,407,8083,0.00,2.15,0.00,0.000,6,0.000,0.039,2812,2477,3517,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8394,-0.79,-170.3,767.8,-8.1,418,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2477,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8692,-0.80,-170.3,790.8,-7.5,428,8693,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2477,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8993,-0.81,-170.3,811.9,-7.0,438,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2478,3513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9293,-0.82,-170.3,833.1,-7.2,448,9294,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2478,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9593,-0.83,-170.3,857.0,-8.3,458,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2478,3511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9893,-0.84,-170.3,882.4,-8.6,468,9894,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2478,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10193,-0.85,-170.3,908.2,-8.4,478,10199,0.12,1.92,0.00,0.000,4,0.109,0.053,2754,3694,3508,0,0,0,0,0,0,26.48,26.10,28.83
$GC,10257,-0.85,-170.3,915.7,-10.0,480,10263,0.00,1.83,0.00,0.000,6,0.000,0.028,2754,2456,3508,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10594,-0.83,-170.3,956.9,-12.0,491,10599,0.00,1.98,0.00,0.000,4,0.000,0.054,2753,3687,3507,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10637,-0.80,-170.3,961.4,-12.0,492,10643,0.15,1.80,0.00,0.000,6,0.155,0.028,2795,2471,3507,0,0,0,0,0,0,26.00,26.47,28.83
$STATE,10961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10962,begin apogee
$GC,10968,-0.15,0.0,992.1,-9.3,503,11123,0.60,0.00,144.50,1.489,6,0.108,0.000,3001,2122,2852,0,0,0,0,0,0,25.78,28.83,22.87
$STATE,11124,end apogee,CONTROL_FINISHED_OK
$STATE,11125,begin climb
$GC,11127,0.51,170.3,1000.0,0.0,508,11296,0.57,0.00,163.00,1.447,6,0.048,0.000,3226,2122,2158,0,0,0,0,0,0,24.67,28.83,22.18
$GC,11592,0.46,170.3,964.5,10.7,524,11598,0.00,2.30,0.00,0.000,4,0.000,0.050,3226,3531,2146,0,0,0,0,0,0,28.83,25.90,28.83
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$STATE,20603,end climb,SURFACE_DEPTH_REACHED
$STATE,20603,begin surface coast
$FINISH,1.5,1.009733
$STATE,20637,end surface coast,CONTROL_FINISHED_OK
$STATE,20637,begin surface
$SM_CCo,20717,0.00,0.000,0,0,758,513.90
$SM_GC,2.65,8.30,0.57,0.00,0.039,0.043,0.000,131,2489,758,-9.08,-1.27,513.90,0,0,0,0,0,0,25.96,26.30,28.83
$IRIDIUM_FIX,2141.13,12001.68,070113,161638
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.13
$INTERNAL_PRESSURE,9.44921
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3891936
$24V_AH,22.2,66.968
$10V_AH,9.8,33.617
$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,22.750,220.475,613.825,0.000,0.000,0.000,0.000,345.875,0.000,0.000,19.047,3112.158,14075.526,827.911,2751.145,515.974,0.000,2529.844,0.000,2280.377,0.000,0.543,0.000
$DEVICE_MAMPS,235.620,54.315,1489.455,0.000,0.000,0.000,0.000,134.640,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20686.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.465,0.000,0.000,0.000
$MEM,324292
$DATA_FILE_SIZE,36714,948
$CAP_FILE_SIZE,247900,0
$CFSIZE,260034560,216961024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.112,234.4,1
$GPS,080113,042152,2150.120,12004.697,40,0.7,40,-3.1