version: 66.11
glider: 170
mission: 10
dive: 430
start: 1 30 113 2 34 45
data:
$ID,170
$MISSION,10
$DIVE,430
$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,410
$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,9
$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,-143738.92
$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,2500
$C_ROLL_CLIMB,2160
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,51
$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,21.5
$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
$GPS1,300113,022459,2102.436,12003.695,41,0.7,41,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-73.3
$GPS2,300113,023417,2102.424,12003.904,20,1.0,20,-2.9
$SPEED_LIMITS,0.147,0.282
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,201.7,226832,-14.4,-8.462,-16.72
$D_GRID,3352
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.55,-175.2,0.0,0.0,0,70,0.00,0.00,-45.97,0.000,2,0.000,0.000,135,2524,1967,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.55,-175.2,3.0,-1.2,8,158,11.65,1.40,-65.57,0.000,4,0.243,0.050,2847,1604,3569,0,0,0,0,0,0,24.98,26.16,26.60
$GC,262,-0.51,-175.2,19.5,-12.5,41,268,0.00,1.38,0.00,0.000,6,0.000,0.041,2847,2486,3570,0,0,0,0,0,0,28.83,26.10,28.83
$GC,457,-0.47,-175.2,44.9,-13.0,64,459,0.12,0.00,0.00,0.000,6,0.158,0.000,2884,2486,3570,0,0,0,0,0,0,26.21,28.83,28.83
$GC,648,-0.47,-175.2,67.1,-11.6,76,653,0.00,1.27,0.00,0.000,4,0.000,0.026,2885,1610,3570,0,0,0,0,0,0,28.83,26.36,28.83
$GC,715,-0.51,-175.2,73.7,-10.4,79,720,0.00,1.38,0.00,0.000,6,0.000,0.038,2885,2502,3570,0,0,0,0,0,0,28.83,26.20,28.83
$GC,914,-0.59,-175.2,90.3,-7.5,89,920,0.12,1.30,0.00,0.000,4,0.090,0.021,2810,1609,3571,0,0,0,0,0,0,26.46,26.36,28.83
$GC,994,-0.63,-175.2,95.8,-8.4,92,1001,0.00,1.38,0.00,0.000,6,0.000,0.038,2810,2501,3570,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1178,-0.63,-175.2,117.0,-11.6,102,1184,0.00,1.38,0.00,0.000,4,0.000,0.050,2810,3374,3572,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1198,-0.63,-175.2,117.0,-11.6,102,1204,0.00,1.30,0.00,0.000,6,0.000,0.024,2811,2450,3571,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1384,-0.66,-175.2,141.7,-11.9,112,1389,0.00,1.12,0.00,0.000,4,0.000,0.024,2810,1627,3572,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1431,-0.69,-175.2,146.8,-11.6,114,1436,0.00,1.35,0.00,0.000,6,0.000,0.037,2810,2506,3572,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1633,-0.72,-175.2,162.7,-6.1,124,1638,0.00,1.23,0.00,0.000,4,0.000,0.024,2810,1638,3573,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1666,-0.74,-175.2,164.2,-5.8,125,1672,0.00,1.33,0.00,0.000,6,0.000,0.037,2810,2496,3573,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1862,-0.78,-175.2,176.4,-6.8,135,1867,0.00,1.38,0.00,0.000,4,0.000,0.051,2810,3366,3573,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1886,-0.82,-175.2,178.3,-7.2,136,1892,0.08,1.23,0.00,0.000,6,0.067,0.024,2751,2481,3573,0,0,0,0,0,0,26.29,26.46,28.83
$GC,2094,-0.76,-175.2,205.6,-15.1,146,2100,0.12,1.15,0.00,0.000,4,0.167,0.020,2792,1667,3573,0,0,0,0,0,0,26.17,26.44,28.83
$GC,2133,-0.71,-175.2,209.8,-14.9,147,2140,0.00,1.27,0.00,0.000,6,0.000,0.038,2792,2498,3573,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2321,-0.74,-175.2,232.2,-9.8,157,2326,0.00,1.20,0.00,0.000,4,0.000,0.022,2792,1646,3572,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2385,-0.77,-175.2,237.5,-8.4,160,2390,0.00,1.30,0.00,0.000,6,0.000,0.037,2792,2497,3573,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2592,-0.81,-175.2,251.4,-6.6,170,2597,0.00,1.20,0.00,0.000,4,0.000,0.023,2792,1637,3572,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2636,-0.83,-175.2,254.8,-7.0,172,2641,0.00,1.33,0.00,0.000,6,0.000,0.037,2792,2498,3572,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2961,-0.87,-175.2,283.7,-10.2,188,2967,0.12,1.38,0.00,0.000,4,0.088,0.049,2718,3378,3570,0,0,0,0,0,0,26.48,26.10,28.83
$GC,3006,-0.87,-175.2,289.7,-11.8,190,3012,0.10,1.23,0.00,0.000,6,0.139,0.025,2753,2523,3570,0,0,0,0,0,0,26.02,26.46,28.83
$GC,3332,-0.82,-175.2,328.8,-10.9,206,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2522,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3633,-0.78,-175.2,359.4,-10.3,221,3638,0.12,1.38,0.00,0.000,4,0.164,0.050,2793,3376,3568,0,0,0,0,0,0,26.20,26.08,28.83
$GC,3672,-0.75,-175.2,361.9,-10.2,222,3679,0.00,1.25,0.00,0.000,6,0.000,0.027,2793,2509,3567,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3977,-0.79,-175.2,392.8,-9.8,238,3982,0.00,1.25,0.00,0.000,4,0.000,0.024,2793,1621,3566,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4051,-0.82,-175.2,399.2,-9.9,241,4057,0.00,1.38,0.00,0.000,6,0.000,0.038,2793,2507,3567,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4366,-0.86,-175.2,429.8,-9.1,257,4372,0.12,1.38,0.00,0.000,4,0.090,0.050,2724,3387,3564,0,0,0,0,0,0,26.47,26.08,28.83
$GC,4440,-0.86,-175.2,437.1,-10.6,260,4446,0.10,1.30,0.00,0.000,6,0.135,0.025,2757,2487,3563,0,0,0,0,0,0,26.03,26.45,28.83
$GC,4755,-0.84,-175.2,466.4,-8.0,276,4761,0.00,1.20,0.00,0.000,4,0.000,0.024,2756,1633,3563,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4821,-0.80,-175.2,471.6,-8.0,279,4827,0.00,1.38,0.00,0.000,6,0.000,0.038,2757,2508,3562,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5146,-0.77,-175.2,499.4,-8.9,295,5152,0.10,1.27,0.00,0.000,4,0.173,0.021,2784,1630,3561,0,0,0,0,0,0,26.32,26.41,28.83
$GC,5185,-0.74,-175.2,501.7,-8.9,296,5191,0.00,1.35,0.00,0.000,6,0.000,0.039,2784,2496,3561,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5492,-0.76,-175.2,531.7,-10.2,312,5497,0.00,1.25,0.00,0.000,4,0.000,0.024,2784,1630,3559,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5591,-0.79,-175.2,541.2,-11.1,316,5598,0.00,1.35,0.00,0.000,6,0.000,0.039,2784,2496,3559,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5897,-0.81,-175.2,577.7,-11.4,332,5902,0.00,1.25,0.00,0.000,4,0.000,0.024,2784,1634,3557,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5955,-0.84,-175.2,582.6,-11.2,334,5963,0.00,1.35,0.00,0.000,6,0.000,0.039,2784,2498,3557,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6275,-0.88,-175.2,613.2,-8.4,348,6280,0.00,1.40,0.00,0.000,4,0.000,0.053,2784,3376,3556,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6376,-0.91,-175.2,620.6,-7.7,351,6381,0.10,1.27,0.00,0.000,6,0.059,0.028,2725,2520,3555,0,0,0,0,0,0,26.23,26.40,28.83
$GC,6708,-0.87,-175.2,648.8,-8.4,362,6710,0.12,0.00,0.00,0.000,6,0.164,0.000,2758,2519,3554,0,0,0,0,0,0,26.22,28.83,28.83
$GC,7005,-0.87,-175.2,673.0,-8.4,372,7006,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2519,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7306,-0.87,-175.2,701.0,-9.6,382,7312,0.00,1.40,0.00,0.000,4,0.000,0.053,2756,3373,3551,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7394,-0.87,-175.2,707.5,-9.9,384,7401,0.00,1.30,0.00,0.000,6,0.000,0.029,2757,2497,3551,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7701,-0.87,-175.2,741.3,-10.4,395,7707,0.00,1.25,0.00,0.000,4,0.000,0.025,2757,1617,3549,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7731,-0.87,-175.2,741.3,-10.4,395,7737,0.00,1.38,0.00,0.000,6,0.000,0.041,2756,2495,3548,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8035,-0.87,-175.2,778.5,-11.2,406,8041,0.00,1.40,0.00,0.000,4,0.000,0.054,2756,3368,3548,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8101,-0.87,-175.2,786.2,-11.4,408,8107,0.00,1.30,0.00,0.000,6,0.000,0.028,2757,2495,3548,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8437,-0.87,-175.2,824.8,-11.5,419,8443,0.00,1.25,0.00,0.000,4,0.000,0.025,2757,1619,3547,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8450,-0.87,-175.2,824.8,-11.5,419,8455,0.00,1.38,0.00,0.000,6,0.000,0.041,2756,2495,3546,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8774,-0.87,-175.2,863.2,-11.3,430,8780,0.00,1.40,0.00,0.000,4,0.000,0.054,2756,3369,3546,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8824,-0.87,-175.2,867.2,-11.2,431,8830,0.00,1.30,0.00,0.000,6,0.000,0.029,2757,2498,3546,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9146,-0.84,-175.2,905.6,-11.3,442,9151,0.00,1.27,0.00,0.000,4,0.000,0.026,2757,1610,3545,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9213,-0.82,-175.2,913.1,-11.2,444,9219,0.00,1.40,0.00,0.000,6,0.000,0.041,2756,2498,3545,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9546,-0.80,-175.2,948.1,-10.2,455,9552,0.00,1.30,0.00,0.000,4,0.000,0.026,2757,1614,3543,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9585,-0.77,-175.2,951.8,-10.0,456,9590,0.00,1.40,0.00,0.000,6,0.000,0.041,2756,2499,3543,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9917,-0.75,-175.2,983.6,-9.8,467,9923,0.12,1.38,0.00,0.000,4,0.163,0.051,2796,3378,3543,0,0,0,0,0,0,26.13,25.92,28.83
$GC,9976,-0.75,-175.2,986.8,-9.5,468,9982,0.00,1.33,0.00,0.000,6,0.000,0.031,2796,2502,3542,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,10010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10010,begin apogee
$GC,10017,-0.17,0.0,991.3,-8.3,470,10183,0.52,0.00,154.50,1.485,6,0.105,0.000,2979,2142,2853,0,0,0,0,0,0,25.68,28.83,22.49
$STATE,10184,end apogee,CONTROL_FINISHED_OK
$STATE,10185,begin climb
$GC,10187,0.55,175.2,1000.3,0.0,475,10365,0.65,1.58,170.02,1.445,4,0.058,0.045,3217,3033,2136,0,0,0,0,0,0,24.70,23.75,21.96
$GC,10499,0.47,175.2,985.8,9.0,485,10505,0.10,1.30,0.00,0.000,6,0.131,0.026,3186,2171,2126,0,0,0,0,0,0,25.48,25.82,28.83
$GC,10827,0.46,225.8,961.9,6.8,496,10876,0.00,1.48,44.60,1.425,4,0.000,0.042,3186,3044,1932,0,0,0,0,0,0,28.83,25.34,23.51
$GC,10912,0.45,272.1,957.3,7.0,498,10963,0.00,1.35,44.08,1.405,6,0.000,0.026,3188,2169,1742,0,0,0,0,0,0,28.83,25.84,23.38
$GC,11276,0.45,272.1,924.0,9.1,511,11282,0.00,1.33,0.00,0.000,4,0.000,0.031,3188,1285,1735,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,20716,end climb,SURFACE_DEPTH_REACHED
$STATE,20719,begin surface coast
$FINISH,1.7,1.022318
$STATE,20750,end surface coast,CONTROL_FINISHED_OK
$STATE,20750,begin surface
$SM_CCo,20771,14.38,0.062,0,0,1018,450.13
$SM_GC,2.64,8.57,0.52,14.38,0.055,0.044,0.062,138,2512,1018,-9.01,-0.99,450.13,0,0,0,0,0,0,25.62,26.25,25.91
$IRIDIUM_FIX,2057.14,12002.75,290113,202048
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.87
$INTERNAL_PRESSURE,9.38085
$TCM_TEMP,21.90
$XPDR_PINGS,1
$SC_FREEKB,3855328
$24V_AH,22.0,89.796
$10V_AH,9.5,45.365
$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,24.900,144.725,539.650,14.375,0.000,0.000,0.000,300.050,0.250,0.000,21.513,3314.995,13788.461,763.268,2841.753,620.713,0.000,2469.980,0.000,2424.845,0.000,0.542,0.000
$DEVICE_MAMPS,243.270,53.550,1484.865,61.965,0.000,0.000,0.000,139.995,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20810.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.860,0.000,0.000,0.000
$MEM,324332
$DATA_FILE_SIZE,36695,968
$CAP_FILE_SIZE,258306,0
$CFSIZE,260034560,205520896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.023,282.1,1
$GPS,300113,082252,2101.514,12003.471,57,0.8,57,-2.9