version: 66.11
glider: 170
mission: 10
dive: 386
start: 1 19 113 0 21 11
data:
$ID,170
$MISSION,10
$DIVE,386
$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,-143617.42
$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,54
$R_STBD_OVSHOOT,53
$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
$GPS1,190113,001123,2148.679,11959.755,39,0.8,39,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-74.2
$GPS2,190113,002041,2148.767,11959.730,18,0.9,18,-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,150.5,6992,-14.4,-8.462,-16.72
$D_GRID,1893
$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,-175.2,0.0,0.0,0,88,0.00,0.00,-64.03,0.000,2,0.000,0.000,133,2490,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.55,-175.2,3.1,-1.1,11,165,11.57,1.38,-55.08,0.000,4,0.245,0.052,2847,1577,3569,0,0,0,0,0,0,25.12,26.23,26.60
$GC,348,-0.51,-175.2,31.2,-10.6,53,353,0.00,1.38,0.00,0.000,6,0.000,0.041,2847,2462,3569,0,0,0,0,0,0,28.83,26.22,28.83
$GC,552,-0.48,-175.2,61.6,-13.5,69,557,0.12,1.27,0.00,0.000,4,0.154,0.024,2891,1586,3569,0,0,0,0,0,0,26.24,26.41,28.83
$GC,577,-0.45,-175.2,64.1,-12.3,70,582,0.00,1.38,0.00,0.000,6,0.000,0.040,2890,2472,3569,0,0,0,0,0,0,28.83,26.27,28.83
$GC,780,-0.45,-175.2,83.9,-10.0,80,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2471,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,961,-0.45,-175.2,101.6,-9.3,89,967,0.00,1.30,0.00,0.000,4,0.000,0.024,2891,1573,3569,0,0,0,0,0,0,28.83,26.44,28.83
$GC,990,-0.45,-175.2,103.8,-8.9,90,995,0.00,1.38,0.00,0.000,6,0.000,0.037,2891,2472,3569,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1191,-0.51,-175.2,120.3,-8.0,100,1196,0.00,1.30,0.00,0.000,4,0.000,0.025,2891,1576,3570,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1321,-0.60,-175.2,131.2,-8.7,106,1327,0.10,1.38,0.00,0.000,6,0.050,0.038,2807,2473,3570,0,0,0,0,0,0,26.29,26.32,28.83
$GC,1522,-0.60,-175.2,153.9,-10.8,116,1528,0.12,1.30,0.00,0.000,4,0.142,0.022,2852,1576,3570,0,0,0,0,0,0,26.32,26.45,28.83
$GC,1602,-0.64,-175.2,159.7,-9.1,119,1609,0.00,1.38,0.00,0.000,6,0.000,0.038,2852,2476,3571,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1789,-0.71,-175.2,175.9,-8.1,129,1794,0.12,1.30,0.00,0.000,4,0.089,0.022,2779,1579,3572,0,0,0,0,0,0,26.53,26.45,28.83
$GC,1890,-0.69,-175.2,184.5,-9.9,133,1897,0.08,1.38,0.00,0.000,6,0.144,0.039,2806,2470,3571,0,0,0,0,0,0,26.06,26.32,28.83
$GC,2075,-0.69,-175.2,201.6,-8.1,143,2081,0.00,1.38,0.00,0.000,4,0.000,0.048,2806,3359,3571,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2100,-0.69,-175.2,203.8,-8.1,144,2106,0.00,1.33,0.00,0.000,6,0.000,0.024,2806,2400,3571,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2305,-0.69,-175.2,223.2,-10.4,154,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2400,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2485,-0.69,-175.2,241.2,-9.4,163,2490,0.00,1.52,0.00,0.000,4,0.000,0.046,2806,3380,3570,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2518,-0.69,-175.2,243.4,-9.2,164,2523,0.00,1.35,0.00,0.000,6,0.000,0.024,2807,2403,3570,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2712,-0.69,-175.2,260.9,-8.3,174,2717,0.00,1.15,0.00,0.000,4,0.000,0.025,2806,1582,3569,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2765,-0.69,-175.2,264.8,-9.0,176,2771,0.00,1.38,0.00,0.000,6,0.000,0.039,2807,2473,3569,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3079,-0.69,-175.2,295.4,-10.6,192,3084,0.00,1.38,0.00,0.000,4,0.000,0.048,2807,3357,3568,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3103,-0.69,-175.2,298.1,-10.5,193,3108,0.00,1.33,0.00,0.000,6,0.000,0.025,2807,2414,3567,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3427,-0.69,-175.2,328.4,-8.1,209,3433,0.00,1.17,0.00,0.000,4,0.000,0.025,2807,1581,3566,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3460,-0.69,-175.2,330.4,-8.1,210,3465,0.00,1.38,0.00,0.000,6,0.000,0.039,2806,2472,3566,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3774,-0.73,-175.2,357.1,-8.8,226,3780,0.00,1.30,0.00,0.000,4,0.000,0.024,2805,1575,3564,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3868,-0.76,-175.2,364.2,-8.5,230,3873,0.00,1.40,0.00,0.000,6,0.000,0.039,2807,2479,3563,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4182,-0.80,-175.2,391.2,-8.3,246,4187,0.00,1.38,0.00,0.000,4,0.000,0.049,2807,3357,3562,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4289,-0.84,-175.2,399.6,-8.0,251,4295,0.10,1.33,0.00,0.000,6,0.054,0.026,2737,2414,3561,0,0,0,0,0,0,26.35,26.52,28.83
$GC,4614,-0.78,-175.2,437.0,-12.7,267,4619,0.12,1.17,0.00,0.000,4,0.171,0.021,2778,1578,3559,0,0,0,0,0,0,26.21,26.48,28.83
$GC,4655,-0.72,-175.2,440.0,-12.7,268,4661,0.00,1.40,0.00,0.000,6,0.000,0.040,2778,2479,3559,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4958,-0.70,-175.2,476.9,-11.1,284,4964,0.12,1.33,0.00,0.000,4,0.161,0.021,2821,1571,3556,0,0,0,0,0,0,26.25,26.48,28.83
$GC,4997,-0.70,-175.2,479.4,-10.5,285,5005,0.00,1.40,0.00,0.000,6,0.000,0.039,2821,2472,3556,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5303,-0.76,-175.2,504.0,-7.1,301,5309,0.00,1.38,0.00,0.000,4,0.000,0.050,2821,3352,3555,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5338,-0.82,-175.2,505.4,-6.9,302,5344,0.10,1.33,0.00,0.000,6,0.056,0.027,2751,2426,3555,0,0,0,0,0,0,26.34,26.50,28.83
$GC,5653,-0.77,-175.2,537.3,-10.3,318,5658,0.12,1.15,0.00,0.000,4,0.166,0.021,2793,1603,3553,0,0,0,0,0,0,26.24,26.46,28.83
$GC,5792,-0.77,-175.2,548.4,-8.8,324,5799,0.00,1.35,0.00,0.000,6,0.000,0.038,2793,2480,3551,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6098,-0.81,-175.2,575.1,-8.5,340,6104,0.00,1.25,0.00,0.000,4,0.000,0.025,2792,1611,3550,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6122,-0.84,-175.2,577.2,-8.6,341,6127,0.00,1.35,0.00,0.000,6,0.000,0.040,2793,2476,3549,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6446,-0.87,-175.2,606.8,-9.2,356,6452,0.12,1.25,0.00,0.000,4,0.091,0.022,2725,1611,3548,0,0,0,0,0,0,26.51,26.45,28.83
$GC,6617,-0.80,-175.2,625.6,-12.6,361,6623,0.12,1.35,0.00,0.000,6,0.136,0.040,2768,2480,3547,0,0,0,0,0,0,25.94,26.28,28.83
$GC,6939,-0.78,-175.2,659.7,-9.9,372,6944,0.00,1.25,0.00,0.000,4,0.000,0.025,2768,1612,3545,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6973,-0.75,-175.2,663.7,-10.3,373,6978,0.00,1.35,0.00,0.000,6,0.000,0.041,2768,2473,3545,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7311,-0.73,-175.2,699.2,-10.5,384,7313,0.12,0.00,0.00,0.000,6,0.156,0.000,2805,2473,3543,0,0,0,0,0,0,26.30,28.83,28.83
$GC,7609,-0.77,-175.2,721.4,-6.6,394,7615,0.00,1.40,0.00,0.000,4,0.000,0.051,2806,3354,3542,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7684,-0.82,-175.2,725.4,-6.2,396,7690,0.08,1.27,0.00,0.000,6,0.067,0.029,2751,2492,3541,0,0,0,0,0,0,26.29,26.46,28.83
$GC,8011,-0.78,-175.2,752.2,-8.6,407,8016,0.12,1.27,0.00,0.000,4,0.166,0.022,2792,1594,3540,0,0,0,0,0,0,26.22,26.44,28.83
$GC,8060,-0.75,-175.2,755.1,-8.5,408,8065,0.00,1.38,0.00,0.000,6,0.000,0.041,2792,2472,3539,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8378,-0.75,-175.2,782.7,-8.5,419,8384,0.00,1.27,0.00,0.000,4,0.000,0.025,2792,1588,3538,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8427,-0.75,-175.2,786.2,-9.0,420,8433,0.00,1.40,0.00,0.000,6,0.000,0.041,2792,2479,3538,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8746,-0.75,-175.2,817.3,-9.1,431,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2479,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9046,-0.75,-175.2,843.1,-8.4,441,9052,0.00,1.40,0.00,0.000,4,0.000,0.053,2792,3355,3536,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9081,-0.75,-175.2,845.8,-8.3,442,9086,0.00,1.33,0.00,0.000,6,0.000,0.030,2792,2470,3535,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9417,-0.75,-175.2,872.7,-8.2,453,9422,0.00,1.25,0.00,0.000,4,0.000,0.026,2792,1598,3534,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9456,-0.75,-175.2,875.7,-8.4,454,9461,0.00,1.38,0.00,0.000,6,0.000,0.041,2794,2472,3534,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9786,-0.75,-175.2,903.1,-8.1,465,9793,0.00,1.40,0.00,0.000,4,0.000,0.053,2792,3351,3533,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9816,-0.75,-175.2,903.1,-8.1,465,9822,0.00,1.30,0.00,0.000,6,0.000,0.031,2792,2482,3533,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10122,-0.75,-175.2,929.8,-8.0,476,10128,0.00,1.27,0.00,0.000,4,0.000,0.026,2792,1594,3532,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10161,-0.75,-175.2,932.6,-8.1,477,10166,0.00,1.40,0.00,0.000,6,0.000,0.042,2792,2479,3531,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10492,-0.75,-175.2,958.7,-7.7,488,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2479,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10789,-0.75,-175.2,983.1,-8.4,498,10790,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2479,3531,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10876,begin apogee
$GC,10884,-0.17,0.0,990.7,-8.5,501,11044,0.55,0.00,151.98,1.491,6,0.112,0.000,2981,2093,2853,0,0,0,0,0,0,25.75,28.83,22.64
$STATE,11046,end apogee,CONTROL_FINISHED_OK
$STATE,11046,begin climb
$GC,11048,0.55,175.2,999.5,0.0,506,11222,0.62,0.00,169.15,1.449,6,0.057,0.000,3213,2092,2138,0,0,0,0,0,0,24.62,28.83,22.07
$GC,11511,0.50,175.2,972.9,8.5,522,11516,0.00,1.45,0.00,0.000,4,0.000,0.047,3213,2993,2126,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11655,0.43,175.2,960.8,9.6,526,11660,0.10,1.27,0.00,0.000,6,0.132,0.027,3179,2139,2126,0,0,0,0,0,0,25.96,26.32,28.83
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$STATE,20414,end climb,SURFACE_DEPTH_REACHED
$STATE,20414,begin surface coast
$FINISH,1.7,1.000225
$STATE,20448,end surface coast,CONTROL_FINISHED_OK
$STATE,20448,begin surface
$SM_CCo,20468,9.27,0.061,0,0,1016,450.13
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$IRIDIUM_FIX,2141.13,11958.51,180113,181858
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.23
$INTERNAL_PRESSURE,9.44921
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3872096
$24V_AH,22.1,79.415
$10V_AH,9.7,39.621
$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,23.875,136.975,559.425,9.275,0.000,0.000,0.000,312.175,0.000,0.000,19.145,3266.403,13581.780,771.772,2827.698,574.907,0.000,2465.267,0.000,2405.321,0.000,0.542,0.000
$DEVICE_MAMPS,244.800,52.785,1490.985,61.200,0.000,0.000,0.000,136.935,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20501.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.674,0.000,0.000,0.000
$MEM,324288
$DATA_FILE_SIZE,36727,951
$CAP_FILE_SIZE,248709,0
$CFSIZE,260034560,211079168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.146,289.1,1
$GPS,190113,060353,2147.942,11959.542,41,0.9,41,-3.0