version: 66.11
glider: 170
mission: 10
dive: 345
start: 1 10 113 15 24 41
data:
$ID,170
$MISSION,10
$DIVE,345
$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,-143529.48
$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,72
$R_STBD_OVSHOOT,57
$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
$GPS1,100113,151204,2201.431,12014.880,31,0.9,31,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-75.3
$GPS2,100113,152411,2201.578,12014.964,21,0.8,21,-3.1
$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,110.4,36115,-14.9,-8.684,-17.18
$D_GRID,852
$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,18,begin dive
$GC,21,-0.51,-170.3,0.0,0.0,0,102,0.00,0.00,-78.80,0.000,2,0.000,0.000,134,2506,2192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.51,-170.3,3.2,-0.8,14,167,11.60,2.20,-43.10,0.000,4,0.243,0.047,2880,1091,3548,0,0,0,0,0,0,25.14,26.14,26.60
$GC,218,-0.50,-170.3,15.2,-12.1,33,226,0.00,2.10,0.00,0.000,6,0.000,0.041,2879,2455,3549,0,0,0,0,0,0,28.83,26.15,28.83
$GC,415,-0.47,-170.3,40.8,-11.8,59,420,0.00,1.92,0.00,0.000,4,0.000,0.047,2880,3692,3549,0,0,0,0,0,0,28.83,26.18,28.83
$GC,462,-0.45,-170.3,46.8,-13.5,63,469,0.00,1.80,0.00,0.000,6,0.000,0.024,2880,2421,3548,0,0,0,0,0,0,28.83,26.48,28.83
$GC,648,-0.43,-170.3,74.3,-15.3,74,650,0.10,0.00,0.00,0.000,6,0.166,0.000,2907,2417,3547,0,0,0,0,0,0,26.36,28.83,28.83
$GC,829,-0.43,-170.3,96.2,-11.8,83,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2416,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1009,-0.45,-170.3,114.6,-9.7,92,1015,0.00,1.95,0.00,0.000,4,0.000,0.026,2907,1072,3548,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1034,-0.48,-170.3,117.0,-9.6,93,1040,0.00,2.15,0.00,0.000,6,0.000,0.037,2908,2481,3549,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1242,-0.53,-170.3,135.5,-8.5,103,1247,0.00,2.05,0.00,0.000,4,0.000,0.027,2908,1067,3548,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1301,-0.58,-170.3,138.7,-7.8,105,1309,0.15,2.12,0.00,0.000,6,0.083,0.037,2833,2476,3549,0,0,0,0,0,0,26.32,26.33,28.83
$GC,1487,-0.56,-170.3,160.8,-11.9,115,1493,0.12,1.88,0.00,0.000,4,0.150,0.046,2877,3689,3549,0,0,0,0,0,0,26.32,26.28,28.83
$GC,1511,-0.55,-170.3,163.2,-11.1,116,1517,0.00,1.77,0.00,0.000,6,0.000,0.024,2878,2417,3548,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1716,-0.57,-170.3,179.7,-9.0,126,1721,0.00,1.90,0.00,0.000,4,0.000,0.027,2878,1081,3549,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1773,-0.59,-170.3,183.5,-8.9,128,1780,0.00,2.12,0.00,0.000,6,0.000,0.037,2878,2485,3549,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1961,-0.64,-170.3,196.3,-5.4,138,1967,0.00,2.05,0.00,0.000,4,0.000,0.027,2878,1078,3549,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2067,-0.68,-170.3,202.9,-6.3,143,2074,0.15,2.12,0.00,0.000,6,0.077,0.037,2796,2485,3549,0,0,0,0,0,0,26.35,26.34,28.83
$GC,2276,-0.66,-170.3,224.0,-10.6,153,2282,0.12,1.88,0.00,0.000,4,0.154,0.045,2837,3698,3548,0,0,0,0,0,0,26.29,26.29,28.83
$GC,2314,-0.64,-170.3,226.8,-10.4,154,2322,0.00,1.77,0.00,0.000,6,0.000,0.023,2837,2425,3548,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2500,-0.64,-170.3,244.5,-8.7,164,2505,0.00,1.88,0.00,0.000,4,0.000,0.027,2837,1124,3548,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2568,-0.64,-170.3,250.2,-8.9,167,2573,0.00,2.05,0.00,0.000,6,0.000,0.037,2837,2474,3548,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2887,-0.64,-170.3,274.8,-7.9,183,2892,0.00,1.98,0.00,0.000,4,0.000,0.025,2837,1118,3547,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2920,-0.64,-170.3,277.0,-8.4,184,2925,0.00,2.08,0.00,0.000,6,0.000,0.037,2837,2483,3547,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3234,-0.65,-170.3,307.2,-9.4,200,3240,0.00,1.88,0.00,0.000,4,0.000,0.048,2837,3696,3545,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3288,-0.66,-170.3,311.4,-9.4,202,3293,0.00,1.70,0.00,0.000,6,0.000,0.024,2837,2469,3545,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3602,-0.67,-170.3,335.8,-6.3,218,3607,0.00,1.92,0.00,0.000,4,0.000,0.026,2837,1120,3543,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3675,-0.69,-170.3,339.9,-6.3,221,3680,0.00,2.08,0.00,0.000,6,0.000,0.037,2837,2488,3543,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3989,-0.73,-170.3,359.6,-6.8,237,3994,0.00,1.88,0.00,0.000,4,0.000,0.049,2837,3696,3541,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4053,-0.76,-170.3,364.5,-7.5,240,4058,0.00,1.73,0.00,0.000,6,0.000,0.025,2837,2473,3540,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4377,-0.80,-170.3,394.4,-9.6,256,4383,0.12,1.95,0.00,0.000,4,0.095,0.024,2767,1108,3538,0,0,0,0,0,0,26.54,26.45,28.83
$GC,4455,-0.80,-170.3,402.3,-11.7,259,4463,0.00,2.10,0.00,0.000,6,0.000,0.038,2766,2483,3538,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4761,-0.77,-170.3,445.5,-13.2,275,4763,0.12,0.00,0.00,0.000,6,0.165,0.000,2803,2483,3535,0,0,0,0,0,0,26.32,28.83,28.83
$GC,5064,-0.77,-170.3,475.0,-9.4,290,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2483,3534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5363,-0.77,-170.3,503.2,-10.1,305,5368,0.00,2.00,0.00,0.000,4,0.000,0.025,2803,1114,3532,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5435,-0.77,-170.3,510.2,-10.8,308,5441,0.00,2.10,0.00,0.000,6,0.000,0.038,2803,2486,3532,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5750,-0.77,-170.3,552.1,-14.0,324,5755,0.00,2.00,0.00,0.000,4,0.000,0.025,2803,1114,3531,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5797,-0.77,-170.3,558.4,-14.1,326,5802,0.00,2.10,0.00,0.000,6,0.000,0.038,2803,2485,3531,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6115,-0.77,-170.3,600.3,-11.6,342,6121,0.00,2.03,0.00,0.000,4,0.000,0.025,2803,1111,3528,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6158,-0.77,-170.3,604.1,-11.4,343,6164,0.00,2.10,0.00,0.000,6,0.000,0.038,2803,2477,3528,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6483,-0.77,-170.3,640.5,-10.5,354,6488,0.00,2.00,0.00,0.000,4,0.000,0.026,2803,1112,3526,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6516,-0.77,-170.3,644.2,-10.5,355,6522,0.00,2.12,0.00,0.000,6,0.000,0.038,2803,2487,3526,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6853,-0.77,-170.3,681.3,-11.3,366,6859,0.00,1.90,0.00,0.000,4,0.000,0.051,2803,3693,3524,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6881,-0.77,-170.3,681.3,-11.3,366,6888,0.00,1.75,0.00,0.000,6,0.000,0.028,2803,2488,3524,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7187,-0.77,-170.3,718.1,-10.8,377,7193,0.00,2.03,0.00,0.000,4,0.000,0.026,2803,1085,3522,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7281,-0.77,-170.3,727.7,-10.4,380,7287,0.00,2.15,0.00,0.000,6,0.000,0.039,2803,2476,3521,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7616,-0.77,-170.3,758.8,-9.1,391,7622,0.00,1.92,0.00,0.000,4,0.000,0.052,2803,3698,3520,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7655,-0.77,-170.3,762.0,-9.1,392,7660,0.00,1.77,0.00,0.000,6,0.000,0.028,2803,2478,3520,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7985,-0.77,-170.3,789.7,-7.6,403,7992,0.00,2.03,0.00,0.000,4,0.000,0.027,2803,1088,3518,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8015,-0.77,-170.3,789.7,-7.6,403,8021,0.00,2.15,0.00,0.000,6,0.000,0.040,2803,2481,3518,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8321,-0.77,-170.3,821.9,-9.3,414,8327,0.00,1.90,0.00,0.000,4,0.000,0.053,2803,3696,3517,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8339,-0.77,-170.3,821.9,-9.3,414,8344,0.00,1.80,0.00,0.000,6,0.000,0.028,2803,2468,3517,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,8654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8654,begin apogee
$GC,8663,-0.15,0.0,853.3,-10.2,425,8812,0.57,0.00,141.82,1.379,6,0.108,0.000,3001,2117,2853,0,0,0,0,0,0,25.91,28.83,23.29
$STATE,8814,end apogee,CONTROL_FINISHED_OK
$STATE,8814,begin climb
$GC,8817,0.51,170.3,855.0,0.0,430,8983,0.60,2.25,156.48,1.336,4,0.078,0.031,3214,762,2156,0,0,0,0,0,0,24.94,24.08,22.58
$GC,9078,0.50,209.6,845.4,7.3,438,9121,0.00,2.17,34.70,1.288,6,0.000,0.036,3214,2129,1996,0,0,0,0,0,0,28.83,25.43,23.55
$GC,9444,0.48,209.6,803.4,10.5,451,9450,0.00,2.22,0.00,0.000,4,0.000,0.049,3214,3534,1988,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9543,0.45,209.6,791.7,12.1,454,9549,0.00,2.10,0.00,0.000,6,0.000,0.026,3221,2125,1987,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9875,0.42,209.6,752.0,11.8,465,9880,0.12,2.05,0.00,0.000,4,0.158,0.031,3187,741,1986,0,0,0,0,0,0,26.24,26.34,28.83
$GC,9940,0.40,209.6,745.8,10.5,467,9945,0.00,2.12,0.00,0.000,6,0.000,0.035,3187,2126,1984,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10275,0.40,209.6,714.0,9.0,478,10280,0.00,2.22,0.00,0.000,4,0.000,0.048,3187,3538,1984,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10349,0.39,209.6,707.9,9.0,480,10354,0.00,2.10,0.00,0.000,6,0.000,0.027,3189,2125,1984,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10675,0.41,261.3,685.5,6.9,491,10726,0.00,2.15,45.10,1.269,4,0.000,0.032,3190,728,1785,0,0,0,0,0,0,28.83,25.56,23.96
$GC,10749,0.43,298.5,680.7,7.4,493,10788,0.00,2.17,33.58,1.232,6,0.000,0.034,3190,2133,1636,0,0,0,0,0,0,28.83,25.76,23.87
$GC,11097,0.45,311.3,650.8,8.2,505,11115,0.00,2.20,12.45,1.139,4,0.000,0.047,3190,3525,1583,0,0,0,0,0,0,28.83,25.96,24.34
$GC,11201,0.46,311.3,641.0,10.0,508,11206,0.00,2.15,0.00,0.000,6,0.000,0.025,3190,2095,1580,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11526,0.48,311.3,608.7,9.9,519,11528,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2095,1578,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17363,end climb,SURFACE_DEPTH_REACHED
$STATE,17363,begin surface coast
$FINISH,1.6,1.010348
$STATE,17382,end surface coast,CONTROL_FINISHED_OK
$STATE,17382,begin surface
$SM_CCo,17464,0.00,0.000,0,0,840,493.79
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$IRIDIUM_FIX,2152.74,12014.38,100113,151550
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.55
$INTERNAL_PRESSURE,9.44921
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,3887712
$24V_AH,22.6,69.601
$10V_AH,9.9,34.984
$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,23.350,189.950,583.950,0.000,0.000,0.000,0.000,435.525,0.000,0.000,22.159,2746.333,11606.296,781.709,2568.648,477.236,0.000,2424.365,0.000,2032.836,0.000,0.543,0.000
$DEVICE_MAMPS,242.505,52.785,1379.295,0.000,0.000,0.000,0.000,133.110,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17421.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.134,0.000,0.000,0.000
$MEM,324312
$DATA_FILE_SIZE,33362,834
$CAP_FILE_SIZE,219975,0
$CFSIZE,260034560,215670784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.163,334.9,1
$GPS,100113,201705,2202.470,12016.646,40,0.8,40,-3.1