version: 66.11
glider: 170
mission: 10
dive: 433
start: 1 30 113 20 43 41
data:
$ID,170
$MISSION,10
$DIVE,433
$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,310
$T_MISSION,330
$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,300
$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,-143742.77
$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,73
$R_STBD_OVSHOOT,62
$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
$GPS1,300113,203304,2100.366,12003.734,38,1.0,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-72.7
$GPS2,300113,204311,2100.675,12003.749,17,0.9,17,-2.9
$SPEED_LIMITS,0.184,0.381
$TGT_NAME,W2A
$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,1.4,82343,-13.4,-10.645,-15.61
$D_GRID,3323
$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,-0.56,-292.0,0.0,0.0,0,69,0.00,0.00,-44.80,0.000,2,0.000,0.000,132,2539,1757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.56,-292.0,3.0,-1.3,8,199,11.27,1.30,-104.28,0.000,4,0.233,0.076,2846,3361,3961,0,0,0,0,0,0,25.03,25.98,26.64
$GC,228,-0.56,-292.0,10.6,-12.1,34,235,0.00,1.25,0.00,0.000,6,0.000,0.024,2846,2467,3963,0,0,0,0,0,0,28.83,26.36,28.83
$GC,421,-0.61,-292.0,33.6,-10.9,63,426,0.00,1.15,0.00,0.000,4,0.000,0.027,2847,1670,3963,0,0,0,0,0,0,28.83,26.34,28.83
$GC,447,-0.66,-292.0,36.3,-10.8,65,452,0.00,1.25,0.00,0.000,6,0.000,0.042,2847,2477,3963,0,0,0,0,0,0,28.83,26.17,28.83
$GC,651,-0.72,-292.0,59.2,-10.9,81,653,0.12,0.00,0.00,0.000,6,0.087,0.000,2775,2477,3963,0,0,0,0,0,0,26.47,28.83,28.83
$GC,831,-0.74,-292.0,78.4,-11.2,90,836,0.00,1.42,0.00,0.000,4,0.000,0.051,2775,3374,3963,0,0,0,0,0,0,28.83,26.10,28.83
$GC,854,-0.74,-292.0,81.1,-11.3,91,860,0.00,1.23,0.00,0.000,6,0.000,0.025,2775,2499,3963,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1061,-0.78,-292.0,101.5,-10.1,101,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2497,3963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1240,-0.82,-292.0,119.3,-9.8,110,1245,0.00,1.20,0.00,0.000,4,0.000,0.026,2775,1661,3963,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1324,-0.82,-292.0,127.0,-9.0,114,1329,0.00,1.30,0.00,0.000,6,0.000,0.038,2775,2511,3963,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1531,-0.86,-292.0,146.6,-10.5,124,1536,0.00,1.25,0.00,0.000,4,0.000,0.026,2775,1657,3963,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1590,-0.90,-292.0,151.7,-10.8,126,1596,0.00,1.30,0.00,0.000,6,0.000,0.039,2775,2501,3963,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1776,-0.93,-292.0,175.4,-11.4,136,1782,0.12,1.23,0.00,0.000,4,0.088,0.021,2700,1657,3963,0,0,0,0,0,0,26.48,26.40,28.83
$GC,1800,-0.93,-292.0,178.4,-11.2,137,1806,0.10,1.30,0.00,0.000,6,0.138,0.038,2734,2504,3963,0,0,0,0,0,0,25.91,26.24,28.83
$GC,2007,-0.89,-292.0,201.3,-10.9,147,2013,0.00,1.38,0.00,0.000,4,0.000,0.051,2734,3375,3963,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2042,-0.85,-292.0,204.3,-11.1,148,2047,0.00,1.23,0.00,0.000,6,0.000,0.023,2734,2492,3963,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2236,-0.81,-292.0,228.5,-11.8,158,2242,0.12,1.17,0.00,0.000,4,0.156,0.020,2778,1637,3962,0,0,0,0,0,0,26.22,26.41,28.83
$GC,2290,-0.79,-292.0,233.3,-11.3,160,2295,0.00,1.33,0.00,0.000,6,0.000,0.038,2778,2498,3962,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2486,-0.87,-292.0,253.0,-9.8,170,2492,0.00,1.20,0.00,0.000,4,0.000,0.024,2778,1656,3962,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2583,-0.92,-292.0,261.3,-9.7,174,2589,0.08,1.30,0.00,0.000,6,0.057,0.038,2715,2499,3961,0,0,0,0,0,0,26.17,26.24,28.83
$GC,2898,-0.92,-292.0,296.6,-10.4,190,2903,0.00,1.38,0.00,0.000,4,0.000,0.052,2715,3370,3959,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2972,-0.92,-292.0,303.1,-10.2,193,2977,0.00,1.23,0.00,0.000,6,0.000,0.026,2715,2515,3959,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3286,-0.92,-292.0,336.8,-10.7,209,3291,0.00,1.25,0.00,0.000,4,0.000,0.024,2715,1626,3958,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3334,-0.92,-292.0,341.8,-11.1,211,3340,0.00,1.35,0.00,0.000,6,0.000,0.037,2715,2505,3958,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3653,-0.88,-292.0,383.7,-12.8,227,3659,0.12,1.35,0.00,0.000,4,0.158,0.050,2754,3385,3956,0,0,0,0,0,0,26.20,26.10,28.83
$GC,3703,-0.85,-292.0,388.8,-12.0,229,3709,0.00,1.27,0.00,0.000,6,0.000,0.026,2755,2493,3955,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4023,-0.90,-292.0,417.9,-8.5,245,4028,0.00,1.20,0.00,0.000,4,0.000,0.024,2754,1636,3953,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4042,-0.95,-292.0,417.9,-8.5,245,4049,0.00,1.33,0.00,0.000,6,0.000,0.039,2754,2493,3953,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4348,-1.00,-292.0,448.7,-10.1,261,4354,0.12,1.40,0.00,0.000,4,0.090,0.049,2685,3386,3951,0,0,0,0,0,0,26.48,26.08,28.83
$GC,4414,-0.97,-292.0,457.1,-12.0,264,4420,0.10,1.27,0.00,0.000,6,0.135,0.026,2719,2506,3951,0,0,0,0,0,0,26.03,26.46,28.83
$GC,4739,-0.94,-292.0,497.0,-11.7,280,4745,0.00,1.23,0.00,0.000,4,0.000,0.024,2719,1632,3948,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4773,-0.90,-292.0,499.9,-11.6,281,4778,0.00,1.35,0.00,0.000,6,0.000,0.040,2719,2498,3948,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5088,-0.87,-292.0,535.1,-10.9,297,5093,0.12,1.25,0.00,0.000,4,0.164,0.021,2761,1633,3947,0,0,0,0,0,0,26.19,26.40,28.83
$GC,5116,-0.84,-292.0,537.7,-10.8,298,5122,0.00,1.35,0.00,0.000,6,0.000,0.039,2761,2501,3947,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5437,-0.89,-292.0,568.4,-9.7,314,5442,0.00,1.25,0.00,0.000,4,0.000,0.025,2761,1635,3945,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5511,-0.94,-292.0,574.7,-9.5,317,5517,0.00,1.35,0.00,0.000,6,0.000,0.041,2761,2499,3944,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5848,-0.98,-292.0,605.7,-8.9,333,5853,0.12,1.35,0.00,0.000,4,0.091,0.050,2692,3375,3942,0,0,0,0,0,0,26.47,26.04,28.83
$GC,5877,-1.03,-292.0,605.7,-8.9,333,5883,0.00,1.27,0.00,0.000,6,0.000,0.029,2692,2514,3942,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6186,-0.97,-292.0,647.7,-12.4,344,6191,0.00,1.27,0.00,0.000,4,0.000,0.024,2692,1620,3939,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6315,-0.92,-292.0,663.8,-12.6,348,6321,0.10,1.38,0.00,0.000,6,0.145,0.041,2740,2498,3939,0,0,0,0,0,0,25.74,26.17,28.83
$GC,6649,-0.97,-292.0,697.2,-9.9,359,6654,0.00,1.40,0.00,0.000,4,0.000,0.054,2740,3372,3938,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6683,-1.01,-292.0,700.9,-9.9,360,6688,0.00,1.30,0.00,0.000,6,0.000,0.029,2740,2500,3937,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7021,-1.04,-292.0,735.1,-10.3,371,7026,0.12,1.25,0.00,0.000,4,0.094,0.023,2674,1624,3936,0,0,0,0,0,0,26.46,26.37,28.83
$GC,7105,-1.04,-292.0,744.2,-11.7,373,7110,0.00,1.38,0.00,0.000,6,0.000,0.041,2674,2499,3935,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7420,-0.97,-292.0,791.3,-13.9,384,7426,0.12,1.38,0.00,0.000,4,0.175,0.051,2712,3381,3934,0,0,0,0,0,0,26.10,25.99,28.83
$GC,7458,-0.91,-292.0,795.6,-13.5,385,7463,0.00,1.33,0.00,0.000,6,0.000,0.028,2713,2488,3934,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7789,-0.87,-292.0,831.4,-10.7,396,7795,0.12,1.25,0.00,0.000,4,0.154,0.021,2755,1619,3932,0,0,0,0,0,0,26.19,26.37,28.83
$GC,7819,-0.83,-292.0,831.4,-10.7,396,7825,0.00,1.38,0.00,0.000,6,0.000,0.042,2754,2494,3932,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8127,-0.88,-292.0,861.1,-9.0,407,8132,0.00,1.42,0.00,0.000,4,0.000,0.054,2754,3381,3931,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8186,-0.93,-292.0,864.4,-9.0,408,8194,0.00,1.33,0.00,0.000,6,0.000,0.030,2754,2498,3930,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8494,-0.98,-292.0,895.5,-9.4,419,8499,0.00,1.27,0.00,0.000,4,0.000,0.027,2755,1613,3929,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8530,-1.02,-292.0,898.9,-9.4,420,8535,0.10,1.40,0.00,0.000,6,0.063,0.041,2698,2494,3929,0,0,0,0,0,0,26.03,26.12,28.83
$GC,8865,-0.98,-292.0,940.5,-12.2,431,8870,0.00,1.42,0.00,0.000,4,0.000,0.053,2698,3377,3927,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8933,-0.93,-292.0,948.6,-12.3,433,8939,0.10,1.33,0.00,0.000,6,0.132,0.029,2733,2488,3927,0,0,0,0,0,0,25.96,26.37,28.83
$GC,9265,-0.93,-292.0,982.8,-10.1,444,9270,0.00,1.25,0.00,0.000,4,0.000,0.025,2733,1613,3926,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9303,-0.93,-292.0,986.5,-10.2,445,9309,0.00,1.40,0.00,0.000,6,0.000,0.042,2732,2499,3926,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,9330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9330,begin apogee
$GC,9337,-0.17,0.0,990.2,-10.4,446,9581,0.73,0.00,237.77,1.476,6,0.109,0.000,2980,2144,2853,0,0,0,0,0,0,25.58,28.83,22.19
$STATE,9583,end apogee,CONTROL_FINISHED_OK
$STATE,9583,begin climb
$GC,9586,0.56,292.0,1007.1,0.0,454,9875,0.68,1.62,280.90,1.433,4,0.054,0.046,3226,3034,1661,0,0,0,0,0,0,24.22,23.70,21.98
$GC,9899,0.53,377.6,994.5,8.6,464,9991,0.00,1.40,83.45,1.395,6,0.000,0.025,3226,2178,1312,0,0,0,0,0,0,28.83,24.48,22.15
$GC,10300,0.56,446.6,955.6,9.0,478,10372,0.00,1.42,65.38,1.400,4,0.000,0.031,3227,1261,1032,0,0,0,0,0,0,28.83,25.18,23.43
$GC,10427,0.59,513.2,944.5,9.0,482,10500,0.00,1.42,65.68,1.385,6,0.000,0.036,3227,2166,759,0,0,0,0,0,0,28.83,25.79,23.36
$GC,10814,0.73,513.2,901.9,12.3,495,10820,0.12,1.38,0.00,0.000,4,0.109,0.030,3281,1269,755,0,0,0,0,0,0,26.22,26.23,28.83
$GC,10940,0.90,513.2,886.7,12.2,499,10945,0.10,1.40,0.00,0.000,6,0.104,0.037,3328,2163,753,0,0,0,0,0,0,26.04,26.24,28.83
$GC,11275,0.93,513.2,842.8,13.2,510,11280,0.00,1.35,0.00,0.000,4,0.000,0.047,3329,3032,753,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,17338,end climb,SURFACE_DEPTH_REACHED
$STATE,17338,begin surface coast
$FINISH,1.7,1.010435
$STATE,17353,end surface coast,CONTROL_FINISHED_OK
$STATE,17353,begin surface
$SM_CCo,17434,0.00,0.000,0,0,457,587.74
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$IRIDIUM_FIX,2052.52,12001.59,300113,141411
$TT8_MAMPS,0.026964,0.026964
$HUMID,60.12
$INTERNAL_PRESSURE,9.30272
$TCM_TEMP,21.50
$XPDR_PINGS,0
$SC_FREEKB,3854176
$24V_AH,22.0,90.561
$10V_AH,9.4,45.736
$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,24.625,123.225,801.775,0.000,0.000,0.000,0.000,347.100,0.000,0.000,18.902,2777.039,11189.572,947.304,2546.261,564.941,0.000,2566.083,0.000,2097.631,0.000,0.541,0.000
$DEVICE_MAMPS,233.325,75.735,1476.450,0.000,0.000,0.000,0.000,136.935,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17409.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.995,0.000,0.000,0.000
$MEM,324556
$DATA_FILE_SIZE,33345,813
$CAP_FILE_SIZE,222677,0
$CFSIZE,260034560,205172736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.073,108.6,1
$GPS,310113,013535,2102.354,12004.700,39,0.8,39,-2.9