version: 66.11
glider: 170
mission: 10
dive: 372
start: 1 15 113 12 36 59
data:
$ID,170
$MISSION,10
$DIVE,372
$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,330
$T_MISSION,350
$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,225
$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,-143563.89
$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,69
$R_STBD_OVSHOOT,36
$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
$GPS1,150113,122706,2203.773,12004.845,37,1.0,37,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-74.6
$GPS2,150113,123629,2203.910,12004.846,18,1.0,18,-3.1
$SPEED_LIMITS,0.173,0.329
$TGT_NAME,W2
$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,178.0,35999,-14.8,-10.000,-16.90
$D_GRID,1246
$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,-0.52,-219.0,0.0,0.0,0,91,0.00,0.00,-67.60,0.000,2,0.000,0.000,142,2469,1973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.52,-219.0,3.2,-1.5,12,179,11.62,2.10,-64.75,0.000,4,0.243,0.082,2870,3685,3747,0,0,0,0,0,0,25.03,25.87,26.60
$GC,265,-0.52,-219.0,21.8,-13.4,42,272,0.00,1.80,0.00,0.000,6,0.000,0.031,2870,2501,3747,0,0,0,0,0,0,28.83,26.23,28.83
$GC,460,-0.52,-219.0,49.2,-13.1,63,466,0.00,2.15,0.00,0.000,4,0.000,0.034,2870,1052,3747,0,0,0,0,0,0,28.83,26.29,28.83
$GC,533,-0.52,-219.0,56.8,-11.9,67,538,0.00,2.20,0.00,0.000,6,0.000,0.042,2870,2469,3747,0,0,0,0,0,0,28.83,26.17,28.83
$GC,728,-0.52,-219.0,81.5,-13.1,77,733,0.00,1.95,0.00,0.000,4,0.000,0.054,2870,3706,3747,0,0,0,0,0,0,28.83,26.18,28.83
$GC,754,-0.52,-219.0,84.8,-13.3,78,759,0.00,1.83,0.00,0.000,6,0.000,0.023,2870,2437,3747,0,0,0,0,0,0,28.83,26.45,28.83
$GC,953,-0.52,-219.0,108.4,-10.3,88,958,0.00,1.98,0.00,0.000,4,0.000,0.031,2870,1073,3747,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1000,-0.53,-219.0,112.8,-10.1,90,1006,0.00,2.15,0.00,0.000,6,0.000,0.040,2870,2486,3747,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1202,-0.60,-219.0,130.5,-8.6,100,1207,0.00,2.10,0.00,0.000,4,0.000,0.031,2870,1071,3747,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1436,-0.70,-219.0,152.2,-9.6,111,1442,0.15,2.17,0.00,0.000,6,0.096,0.041,2812,2483,3748,0,0,0,0,0,0,26.20,26.25,28.83
$GC,1633,-0.74,-219.0,172.0,-10.3,121,1639,0.00,2.10,0.00,0.000,4,0.000,0.035,2812,1078,3748,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1702,-0.78,-219.0,179.0,-10.3,124,1707,0.00,2.15,0.00,0.000,6,0.000,0.041,2811,2476,3748,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1904,-0.81,-219.0,197.4,-8.7,134,1910,0.00,1.92,0.00,0.000,4,0.000,0.053,2812,3704,3748,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1993,-0.84,-219.0,205.2,-9.0,138,1998,0.00,1.77,0.00,0.000,6,0.000,0.022,2812,2465,3748,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2194,-0.88,-219.0,223.9,-9.5,148,2200,0.12,1.95,0.00,0.000,4,0.093,0.047,2738,3695,3747,0,0,0,0,0,0,26.53,26.25,28.83
$GC,2284,-0.86,-219.0,235.6,-13.4,152,2290,0.12,1.77,0.00,0.000,6,0.152,0.023,2773,2468,3747,0,0,0,0,0,0,26.16,26.48,28.83
$GC,2487,-0.85,-219.0,261.8,-11.9,162,2492,0.00,2.03,0.00,0.000,4,0.000,0.030,2773,1079,3748,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2594,-0.85,-219.0,273.8,-11.1,167,2600,0.00,2.15,0.00,0.000,6,0.000,0.041,2773,2476,3746,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2913,-0.85,-219.0,307.6,-10.9,183,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2476,3744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3217,-0.84,-219.0,341.6,-11.2,198,3222,0.00,2.08,0.00,0.000,4,0.000,0.032,2774,1071,3742,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3244,-0.83,-219.0,344.7,-11.5,199,3249,0.00,2.17,0.00,0.000,6,0.000,0.042,2773,2476,3742,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3563,-0.82,-219.0,381.4,-11.6,215,3569,0.00,1.92,0.00,0.000,4,0.000,0.052,2773,3702,3740,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3617,-0.81,-219.0,386.7,-11.7,217,3622,0.00,1.80,0.00,0.000,6,0.000,0.024,2773,2436,3740,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3931,-0.80,-219.0,421.3,-10.1,233,3937,0.00,1.95,0.00,0.000,4,0.000,0.031,2773,1109,3737,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4005,-0.80,-219.0,427.8,-9.9,236,4010,0.00,2.12,0.00,0.000,6,0.000,0.041,2773,2482,3737,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4319,-0.80,-219.0,460.5,-9.7,252,4324,0.00,1.90,0.00,0.000,4,0.000,0.053,2773,3692,3735,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4342,-0.80,-219.0,462.9,-9.9,253,4348,0.00,1.75,0.00,0.000,6,0.000,0.025,2775,2519,3734,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4667,-0.80,-219.0,494.2,-10.5,269,4672,0.00,2.10,0.00,0.000,4,0.000,0.029,2774,1077,3732,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4764,-0.80,-219.0,503.5,-11.0,273,4772,0.00,2.17,0.00,0.000,6,0.000,0.041,2773,2483,3731,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5071,-0.80,-219.0,539.1,-10.4,289,5077,0.00,1.92,0.00,0.000,4,0.000,0.052,2773,3700,3731,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5109,-0.80,-219.0,541.7,-10.6,290,5116,0.00,1.80,0.00,0.000,6,0.000,0.026,2773,2462,3729,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5416,-0.80,-219.0,572.5,-9.2,306,5421,0.00,2.00,0.00,0.000,4,0.000,0.029,2774,1085,3728,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5483,-0.80,-219.0,578.3,-9.0,309,5489,0.00,2.15,0.00,0.000,6,0.000,0.041,2772,2475,3727,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5803,-0.80,-219.0,608.0,-10.2,324,5809,0.00,1.92,0.00,0.000,4,0.000,0.053,2773,3691,3725,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5881,-0.80,-219.0,615.1,-10.8,326,5887,0.00,1.77,0.00,0.000,6,0.000,0.026,2774,2455,3724,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6203,-0.80,-219.0,649.5,-10.0,337,6208,0.00,2.00,0.00,0.000,4,0.000,0.029,2774,1095,3722,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6277,-0.80,-219.0,655.5,-9.5,339,6282,0.00,2.15,0.00,0.000,6,0.000,0.041,2773,2482,3722,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6603,-0.80,-219.0,685.3,-8.9,350,6608,0.00,1.92,0.00,0.000,4,0.000,0.053,2773,3698,3720,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6661,-0.80,-219.0,688.5,-8.8,351,6669,0.00,1.80,0.00,0.000,6,0.000,0.027,2773,2469,3720,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6966,-0.80,-219.0,721.1,-10.8,362,6971,0.00,2.00,0.00,0.000,4,0.000,0.028,2773,1098,3718,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7034,-0.80,-219.0,728.2,-11.3,364,7040,0.00,2.12,0.00,0.000,6,0.000,0.041,2773,2479,3718,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7366,-0.80,-219.0,760.7,-9.9,375,7371,0.00,1.92,0.00,0.000,4,0.000,0.054,2773,3692,3716,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7408,-0.80,-219.0,764.4,-10.2,376,7413,0.00,1.75,0.00,0.000,6,0.000,0.028,2773,2482,3716,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7735,-0.80,-219.0,796.0,-9.7,387,7740,0.00,1.95,0.00,0.000,4,0.000,0.054,2773,3690,3714,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7753,-0.80,-219.0,796.0,-9.7,387,7759,0.00,1.80,0.00,0.000,6,0.000,0.028,2773,2466,3714,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8075,-0.80,-219.0,829.4,-9.4,398,8080,0.00,1.98,0.00,0.000,4,0.000,0.054,2773,3701,3713,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8098,-0.80,-219.0,829.4,-9.4,398,8104,0.00,1.80,0.00,0.000,6,0.000,0.028,2773,2470,3713,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8414,-0.80,-219.0,859.0,-8.3,409,8420,0.00,1.98,0.00,0.000,4,0.000,0.054,2773,3689,3711,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8458,-0.80,-219.0,862.1,-8.4,410,8464,0.00,1.77,0.00,0.000,6,0.000,0.028,2776,2465,3711,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8784,-0.80,-219.0,888.0,-7.5,421,8789,0.00,2.00,0.00,0.000,4,0.000,0.054,2774,3692,3710,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8833,-0.80,-219.0,890.7,-7.5,422,8838,0.00,1.80,0.00,0.000,6,0.000,0.028,2773,2469,3710,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9154,-0.80,-219.0,918.1,-8.2,433,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2465,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9453,-0.80,-219.0,943.4,-8.4,443,9458,0.00,1.98,0.00,0.000,4,0.000,0.054,2773,3698,3708,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9490,-0.80,-219.0,946.5,-8.4,444,9495,0.00,1.80,0.00,0.000,6,0.000,0.028,2773,2471,3708,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9821,-0.80,-219.0,977.2,-9.5,455,9826,0.00,1.98,0.00,0.000,4,0.000,0.056,2773,3693,3707,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9849,-0.80,-219.0,977.2,-9.5,455,9856,0.00,1.77,0.00,0.000,6,0.000,0.029,2774,2479,3707,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,9972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9972,begin apogee
$GC,9978,-0.15,0.0,993.1,-10.3,460,10173,0.65,0.00,189.38,1.486,6,0.118,0.000,2993,2103,2853,0,0,0,0,0,0,25.69,28.83,22.37
$STATE,10175,end apogee,CONTROL_FINISHED_OK
$STATE,10175,begin climb
$GC,10178,0.52,219.0,1005.9,0.0,466,10397,0.62,2.60,208.98,1.444,4,0.058,0.050,3217,3515,1958,0,0,0,0,0,0,24.23,23.70,22.08
$GC,10611,0.47,219.0,976.1,12.0,481,10617,0.00,2.10,0.00,0.000,6,0.000,0.028,3226,2142,1950,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10943,0.44,219.0,937.4,12.1,492,10948,0.12,2.17,0.00,0.000,4,0.163,0.034,3188,712,1947,0,0,0,0,0,0,26.11,26.22,28.83
$GC,10982,0.41,219.0,933.5,11.8,493,10988,0.00,2.15,0.00,0.000,6,0.000,0.036,3187,2121,1946,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11313,0.41,219.0,898.9,10.8,504,11318,0.00,2.25,0.00,0.000,4,0.000,0.051,3187,3532,1946,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11408,0.40,219.0,886.7,12.5,507,11414,0.00,2.12,0.00,0.000,6,0.000,0.027,3194,2111,1945,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11745,0.38,219.0,848.5,11.1,518,11750,0.00,2.28,0.00,0.000,4,0.000,0.049,3194,3539,1945,0,0,0,0,0,0,28.83,26.17,28.83
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$STATE,18089,end climb,SURFACE_DEPTH_REACHED
$STATE,18089,begin surface coast
$FINISH,1.6,1.022566
$STATE,18110,end surface coast,CONTROL_FINISHED_OK
$STATE,18110,begin surface
$SM_CCo,18191,0.00,0.000,0,0,456,587.98
$SM_GC,2.54,8.65,0.52,0.00,0.050,0.041,0.000,136,2490,456,-9.06,-1.10,587.98,0,0,0,0,0,0,25.86,26.38,28.83
$IRIDIUM_FIX,2155.06,12005.17,150113,070744
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.43
$INTERNAL_PRESSURE,9.41015
$TCM_TEMP,23.40
$XPDR_PINGS,1
$SC_FREEKB,3877344
$24V_AH,22.1,75.982
$10V_AH,9.8,37.803
$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,23.450,202.375,738.775,0.000,0.000,0.000,0.000,331.175,0.250,0.000,19.445,2909.219,11744.054,870.102,2701.836,517.888,0.000,2553.390,0.000,2241.065,0.000,0.543,0.000
$DEVICE_MAMPS,243.270,81.855,1485.630,0.000,0.000,0.000,0.000,133.110,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18160.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.735,0.000,0.000,0.000
$MEM,324316
$DATA_FILE_SIZE,33421,831
$CAP_FILE_SIZE,227516,0
$CFSIZE,260034560,212824064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.186,295.2,1
$GPS,150113,174128,2203.456,12003.445,39,0.9,39,-3.1