version: 66.11
glider: 170
mission: 10
dive: 385
start: 1 18 113 18 14 27
data:
$ID,170
$MISSION,10
$DIVE,385
$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,390
$T_MISSION,420
$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,180
$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,-143616.17
$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,3035
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,25
$C_ROLL_DIVE,2475
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,54
$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
$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
$GPS1,180113,180204,2150.309,12000.429,39,0.9,39,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-72.6
$GPS2,180113,181359,2150.207,12000.421,20,1.0,20,-3.0
$SPEED_LIMITS,0.147,0.282
$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,165.5,9671,-14.4,-8.462,-16.72
$D_GRID,1724
$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,-0.55,-175.2,0.0,0.0,0,70,0.00,0.00,-46.35,0.000,2,0.000,0.000,133,2508,1968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.55,-175.2,3.0,-0.7,8,152,11.18,1.38,-60.80,0.000,4,0.232,0.047,2851,1587,3569,0,0,0,0,0,0,25.13,26.23,26.60
$GC,295,-0.49,-175.2,29.4,-17.4,46,300,0.00,1.35,0.00,0.000,6,0.000,0.040,2851,2457,3570,0,0,0,0,0,0,28.83,26.18,28.83
$GC,499,-0.46,-175.2,57.2,-11.9,63,501,0.12,0.00,0.00,0.000,6,0.147,0.000,2889,2457,3570,0,0,0,0,0,0,26.28,28.83,28.83
$GC,680,-0.46,-175.2,75.6,-10.3,72,685,0.00,1.27,0.00,0.000,4,0.000,0.030,2889,1587,3570,0,0,0,0,0,0,28.83,26.37,28.83
$GC,744,-0.46,-175.2,82.2,-10.3,75,749,0.00,1.38,0.00,0.000,6,0.000,0.039,2890,2480,3570,0,0,0,0,0,0,28.83,26.27,28.83
$GC,948,-0.55,-175.2,102.9,-10.3,85,953,0.00,1.30,0.00,0.000,4,0.000,0.028,2890,1585,3570,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1063,-0.61,-175.2,112.4,-9.0,90,1069,0.10,1.38,0.00,0.000,6,0.054,0.038,2815,2482,3570,0,0,0,0,0,0,26.24,26.29,28.83
$GC,1258,-0.61,-175.2,133.4,-9.9,100,1263,0.00,1.30,0.00,0.000,4,0.000,0.027,2816,1582,3570,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1342,-0.61,-175.2,141.9,-10.1,104,1347,0.00,1.38,0.00,0.000,6,0.000,0.037,2815,2482,3571,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1546,-0.63,-175.2,162.1,-9.6,114,1552,0.00,1.30,0.00,0.000,4,0.000,0.024,2815,1581,3571,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1610,-0.63,-175.2,168.4,-9.6,117,1616,0.00,1.38,0.00,0.000,6,0.000,0.037,2816,2483,3571,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1818,-0.66,-175.2,186.3,-8.3,127,1823,0.00,1.30,0.00,0.000,4,0.000,0.024,2815,1579,3571,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1906,-0.68,-175.2,193.7,-8.4,131,1911,0.00,1.38,0.00,0.000,6,0.000,0.037,2815,2476,3571,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2107,-0.71,-175.2,209.9,-8.0,141,2112,0.00,1.27,0.00,0.000,4,0.000,0.024,2815,1588,3571,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2146,-0.74,-175.2,212.1,-8.1,142,2152,0.00,1.35,0.00,0.000,6,0.000,0.038,2815,2470,3571,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2331,-0.78,-175.2,228.3,-7.9,152,2337,0.00,1.27,0.00,0.000,4,0.000,0.024,2815,1584,3571,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2376,-0.81,-175.2,231.9,-8.0,154,2382,0.10,1.38,0.00,0.000,6,0.058,0.038,2755,2483,3570,0,0,0,0,0,0,26.25,26.32,28.83
$GC,2584,-0.75,-175.2,253.6,-11.7,164,2586,0.12,0.00,0.00,0.000,6,0.160,0.000,2791,2483,3570,0,0,0,0,0,0,26.29,28.83,28.83
$GC,2884,-0.73,-175.2,280.0,-7.9,179,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2482,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3184,-0.70,-175.2,302.4,-7.4,194,3189,0.00,1.30,0.00,0.000,4,0.000,0.024,2791,1584,3567,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3243,-0.68,-175.2,306.6,-8.3,196,3249,0.00,1.38,0.00,0.000,6,0.000,0.039,2791,2475,3567,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3549,-0.66,-175.2,337.8,-10.0,212,3555,0.12,1.38,0.00,0.000,4,0.157,0.046,2835,3369,3565,0,0,0,0,0,0,26.28,26.24,28.83
$GC,3597,-0.66,-175.2,342.0,-9.6,214,3602,0.00,1.33,0.00,0.000,6,0.000,0.027,2835,2434,3565,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3916,-0.73,-175.2,370.8,-8.7,230,3923,0.10,1.15,0.00,0.000,4,0.103,0.021,2780,1613,3563,0,0,0,0,0,0,26.55,26.48,28.83
$GC,4006,-0.73,-175.2,379.2,-9.7,234,4011,0.00,1.33,0.00,0.000,6,0.000,0.038,2780,2477,3562,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4324,-0.70,-175.2,415.2,-11.9,250,4329,0.00,1.23,0.00,0.000,4,0.000,0.024,2780,1614,3560,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4469,-0.67,-175.2,430.8,-10.5,257,4475,0.10,1.33,0.00,0.000,6,0.125,0.039,2819,2474,3559,0,0,0,0,0,0,26.03,26.32,28.83
$GC,4793,-0.72,-175.2,461.5,-9.6,273,4798,0.00,1.23,0.00,0.000,4,0.000,0.024,2819,1612,3558,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4832,-0.77,-175.2,464.0,-9.8,274,4838,0.00,1.33,0.00,0.000,6,0.000,0.039,2819,2475,3558,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5138,-0.83,-175.2,492.9,-8.7,290,5143,0.12,1.35,0.00,0.000,4,0.090,0.047,2749,3363,3556,0,0,0,0,0,0,26.52,26.22,28.83
$GC,5185,-0.86,-175.2,497.5,-9.6,292,5190,0.00,1.27,0.00,0.000,6,0.000,0.027,2749,2479,3556,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5504,-0.81,-175.2,534.9,-11.5,308,5510,0.00,1.40,0.00,0.000,4,0.000,0.050,2748,3351,3554,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5533,-0.77,-175.2,537.6,-11.5,309,5539,0.10,1.27,0.00,0.000,6,0.135,0.027,2784,2466,3553,0,0,0,0,0,0,26.10,26.51,28.83
$GC,5852,-0.77,-175.2,569.4,-9.9,325,5857,0.00,1.20,0.00,0.000,4,0.000,0.024,2784,1603,3552,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5899,-0.77,-175.2,573.6,-9.6,327,5905,0.00,1.35,0.00,0.000,6,0.000,0.039,2784,2474,3552,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6229,-0.77,-175.2,603.0,-8.5,343,6234,0.00,1.25,0.00,0.000,4,0.000,0.024,2783,1605,3550,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6281,-0.77,-175.2,605.7,-8.3,344,6287,0.00,1.35,0.00,0.000,6,0.000,0.040,2784,2473,3549,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6598,-0.77,-175.2,631.1,-8.0,355,6604,0.00,1.38,0.00,0.000,4,0.000,0.050,2783,3349,3548,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6641,-0.77,-175.2,634.5,-8.5,356,6647,0.00,1.27,0.00,0.000,6,0.000,0.028,2784,2476,3547,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6968,-0.77,-175.2,670.6,-11.1,367,6973,0.00,1.40,0.00,0.000,4,0.000,0.050,2783,3345,3546,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6996,-0.77,-175.2,670.6,-11.1,367,7002,0.00,1.27,0.00,0.000,6,0.000,0.028,2784,2468,3546,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7302,-0.77,-175.2,712.7,-13.0,378,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2467,3545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7603,-0.77,-175.2,742.3,-7.9,388,7609,0.00,1.23,0.00,0.000,4,0.000,0.025,2784,1602,3543,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7656,-0.77,-175.2,744.8,-7.6,389,7661,0.00,1.35,0.00,0.000,6,0.000,0.040,2783,2472,3543,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7971,-0.77,-175.2,769.7,-7.6,400,7976,0.00,1.40,0.00,0.000,4,0.000,0.051,2783,3353,3542,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8004,-0.77,-175.2,772.2,-7.5,401,8010,0.00,1.30,0.00,0.000,6,0.000,0.028,2784,2474,3542,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8342,-0.77,-175.2,801.1,-9.0,412,8348,0.00,1.25,0.00,0.000,4,0.000,0.025,2784,1599,3540,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8386,-0.77,-175.2,804.5,-9.2,413,8391,0.00,1.38,0.00,0.000,6,0.000,0.041,2784,2475,3539,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8711,-0.77,-175.2,838.5,-10.5,424,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2476,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9010,-0.77,-175.2,870.2,-10.3,434,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2476,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9310,-0.77,-175.2,899.4,-9.0,444,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2476,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9611,-0.77,-175.2,924.6,-7.9,454,9612,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2476,3535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9910,-0.77,-175.2,945.8,-7.0,464,9911,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2476,3535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10210,-0.77,-175.2,970.9,-9.0,474,10216,0.00,1.27,0.00,0.000,4,0.000,0.026,2784,1599,3532,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10279,-0.77,-175.2,976.7,-9.1,476,10284,0.00,1.38,0.00,0.000,6,0.000,0.041,2784,2473,3532,0,0,0,0,0,0,28.83,26.19,28.83
$STATE,10425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10425,begin apogee
$GC,10432,-0.17,0.0,992.2,-10.1,481,10594,0.57,0.00,152.07,1.488,6,0.115,0.000,2978,2107,2852,0,0,0,0,0,0,25.70,28.83,22.66
$STATE,10595,end apogee,CONTROL_FINISHED_OK
$STATE,10595,begin climb
$GC,10598,0.55,175.2,1001.9,0.0,486,10776,0.65,1.40,168.45,1.444,4,0.052,0.031,3227,1282,2137,0,0,0,0,0,0,24.70,23.82,22.11
$GC,10941,0.49,175.2,980.5,10.0,498,10947,0.08,1.35,0.00,0.000,6,0.130,0.037,3199,2132,2127,0,0,0,0,0,0,25.59,25.80,28.83
$GC,11276,0.45,175.2,950.3,9.0,509,11281,0.00,1.35,0.00,0.000,4,0.000,0.046,3198,2994,2125,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11470,0.39,175.2,930.9,10.9,515,11475,0.10,1.27,0.00,0.000,6,0.135,0.027,3167,2130,2125,0,0,0,0,0,0,26.04,26.41,28.83
$GC,11796,0.39,175.2,901.4,8.7,526,11801,0.00,1.40,0.00,0.000,4,0.000,0.046,3168,3002,2123,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11929,0.37,175.2,890.0,9.1,530,11934,0.00,1.30,0.00,0.000,6,0.000,0.028,3172,2124,2123,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12255,0.40,236.4,866.3,6.5,541,12317,0.00,1.45,54.30,1.403,4,0.000,0.043,3172,2993,1888,0,0,0,0,0,0,28.83,25.30,23.54
$GC,12385,0.42,280.7,857.6,7.0,545,12436,0.00,1.33,41.25,1.366,6,0.000,0.026,3172,2117,1707,0,0,0,0,0,0,28.83,25.97,23.56
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$STATE,21234,end climb,SURFACE_DEPTH_REACHED
$STATE,21235,begin surface coast
$FINISH,1.7,1.010226
$STATE,21257,end surface coast,CONTROL_FINISHED_OK
$STATE,21257,begin surface
$SM_CCo,21337,0.00,0.000,0,0,640,542.85
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$IRIDIUM_FIX,2141.13,12001.68,180113,181859
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.48
$INTERNAL_PRESSURE,9.43945
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3872480
$24V_AH,22.1,79.180
$10V_AH,9.4,39.494
$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,23.400,131.125,642.850,0.000,0.000,0.000,0.000,402.675,0.000,0.000,21.221,3368.107,14262.910,798.597,3038.043,565.503,0.000,2638.280,0.000,2525.091,0.000,0.543,0.000
$DEVICE_MAMPS,231.795,51.255,1487.925,0.000,0.000,0.000,0.000,136.170,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21313.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.459,0.000,0.000,0.000
$MEM,324292
$DATA_FILE_SIZE,36683,979
$CAP_FILE_SIZE,253182,0
$CFSIZE,260034560,211202048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.140,281.3,1
$GPS,190113,001123,2148.679,11959.755,39,0.8,39,-3.0