version: 66.11
glider: 170
mission: 10
dive: 5
start: 11 6 112 4 20 28
data:
$ID,170
$MISSION,10
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$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,180
$T_MISSION,220
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51479
$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,2
$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,-141889.62
$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,3110
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,3000
$C_ROLL_CLIMB,3000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2769
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00060000003
$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
$GPS1,061112,041329,2153.041,12027.146,36,0.8,36,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-77.0
$GPS2,061112,042000,2152.794,12027.270,20,0.9,20,-3.1
$SPEED_LIMITS,0.173,0.313
$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,301.0,49078,-15.6,-10.000,-17.73
$D_GRID,849
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.51,-194.6,0.0,0.0,0,111,0.00,0.00,-89.72,0.000,2,0.000,0.000,133,2987,2572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.51,-194.6,3.1,-2.2,16,152,11.52,1.20,-19.83,0.000,4,0.259,0.093,2936,3698,3564,0,0,0,0,0,0,26.15,26.36,26.68
$GC,249,-0.33,-194.6,49.4,-37.9,34,257,0.20,1.02,0.00,0.000,6,0.180,0.037,2996,3017,3564,0,0,0,0,0,0,26.31,26.52,28.83
$GC,437,-0.36,-194.6,83.4,-12.1,44,443,0.00,2.08,0.00,0.000,4,0.000,0.028,2995,1558,3564,0,0,0,0,0,0,28.83,26.60,28.83
$GC,449,-0.40,-194.6,83.4,-12.1,44,455,0.00,2.25,0.00,0.000,6,0.000,0.054,2996,3002,3564,0,0,0,0,0,0,28.83,26.55,28.83
$GC,644,-0.49,-194.6,99.5,-6.7,54,649,0.12,1.10,0.00,0.000,4,0.094,0.058,2923,3700,3564,0,0,0,0,0,0,26.67,26.62,28.83
$GC,876,-0.46,-194.6,133.3,-14.7,65,882,0.10,1.05,0.00,0.000,6,0.132,0.034,2959,2980,3565,0,0,0,0,0,0,26.59,26.74,28.83
$GC,1071,-0.55,-194.6,145.6,-5.0,75,1076,0.00,1.15,0.00,0.000,4,0.000,0.061,2959,3696,3565,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1303,-0.65,-194.6,158.9,-6.2,86,1310,0.15,1.02,0.00,0.000,6,0.069,0.035,2888,2995,3565,0,0,0,0,0,0,26.73,26.80,28.83
$GC,1500,-0.72,-194.6,175.0,-8.3,96,1505,0.00,2.03,0.00,0.000,4,0.000,0.028,2888,1567,3565,0,0,0,0,0,0,28.83,26.82,28.83
$GC,1552,-0.78,-194.6,178.8,-8.2,98,1558,0.00,2.25,0.00,0.000,6,0.000,0.055,2888,3007,3565,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1745,-0.78,-194.6,200.5,-11.2,108,1750,0.00,1.08,0.00,0.000,4,0.000,0.064,2888,3691,3565,0,0,0,0,0,0,28.83,26.75,28.83
$GC,1978,-0.78,-194.6,223.3,-9.1,119,1984,0.00,1.00,0.00,0.000,6,0.000,0.034,2888,3003,3564,0,0,0,0,0,0,28.83,26.85,28.83
$GC,2172,-0.81,-194.6,238.1,-7.2,129,2178,0.12,1.12,0.00,0.000,4,0.095,0.060,2812,3701,3564,0,0,0,0,0,0,26.86,26.78,28.83
$GC,2405,-0.71,-194.6,284.9,-23.7,140,2411,0.17,1.02,0.00,0.000,6,0.158,0.034,2871,3000,3563,0,0,0,0,0,0,26.67,26.86,28.83
$GC,2719,-0.72,-194.6,320.7,-9.8,156,2724,0.00,2.03,0.00,0.000,4,0.000,0.028,2872,1567,3561,0,0,0,0,0,0,28.83,26.87,28.83
$GC,2823,-0.79,-194.6,330.3,-9.1,161,2828,0.00,2.25,0.00,0.000,6,0.000,0.057,2871,3011,3561,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3146,-0.81,-194.6,368.7,-11.8,177,3152,0.00,2.08,0.00,0.000,4,0.000,0.029,2872,1570,3558,0,0,0,0,0,0,28.83,26.89,28.83
$GC,3254,-0.87,-194.6,378.4,-8.8,182,3260,0.12,2.25,0.00,0.000,6,0.096,0.060,2806,3008,3558,0,0,0,0,0,0,26.82,26.79,28.83
$GC,3573,-0.82,-194.6,428.0,-15.5,198,3579,0.12,1.10,0.00,0.000,4,0.188,0.067,2845,3695,3555,0,0,0,0,0,0,26.72,26.79,28.83
$GC,3806,-0.79,-194.6,458.2,-13.9,209,3811,0.00,1.02,0.00,0.000,6,0.000,0.037,2845,3007,3553,0,0,0,0,0,0,28.83,26.89,28.83
$GC,4119,-0.79,-194.6,500.8,-14.1,225,4124,0.00,2.05,0.00,0.000,4,0.000,0.031,2845,1569,3552,0,0,0,0,0,0,28.83,26.89,28.83
$GC,4182,-0.81,-194.6,508.8,-12.9,228,4187,0.00,2.28,0.00,0.000,6,0.000,0.062,2845,2996,3552,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,4382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4383,begin apogee
$GC,4387,-0.12,0.0,540.0,-16.2,238,4546,0.65,0.00,149.90,1.106,6,0.132,0.000,3066,2997,2768,0,0,0,0,0,0,26.72,28.83,24.45
$STATE,4548,end apogee,CONTROL_FINISHED_OK
$STATE,4548,begin climb
$GC,4550,0.51,194.6,554.1,0.0,246,4719,0.52,1.23,159.57,1.079,4,0.044,0.063,3293,3698,1974,0,0,0,0,0,0,25.37,25.07,24.40
$GC,4811,0.30,194.6,518.4,29.5,259,4817,0.28,1.10,0.00,0.000,6,0.168,0.034,3214,2984,1968,0,0,0,0,0,0,25.77,25.94,28.83
$GC,5130,0.21,194.6,463.1,15.9,275,5136,0.12,2.05,0.00,0.000,4,0.181,0.031,3185,1584,1963,0,0,0,0,0,0,26.30,26.42,28.83
$GC,5178,0.16,194.6,457.5,14.3,277,5184,0.00,2.28,0.00,0.000,6,0.000,0.058,3185,3005,1962,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5497,0.12,194.6,416.8,12.1,293,5502,0.12,1.10,0.00,0.000,4,0.169,0.062,3145,3694,1962,0,0,0,0,0,0,26.48,26.56,28.83
$GC,5524,0.08,194.6,414.2,11.9,294,5530,0.00,1.02,0.00,0.000,6,0.000,0.039,3147,3018,1962,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5842,0.13,276.0,390.1,7.2,310,5912,0.00,2.28,63.80,1.016,4,0.000,0.032,3147,1579,1642,0,0,0,0,0,0,28.83,25.58,24.88
$GC,5946,0.22,367.9,383.1,6.8,315,6029,0.10,2.35,74.00,0.990,6,0.113,0.057,3195,3009,1269,0,0,0,0,0,0,25.79,25.79,24.53
$GC,6347,0.22,367.9,331.9,13.0,335,6352,0.00,1.12,0.00,0.000,4,0.000,0.066,3195,3701,1262,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6419,0.20,367.9,323.3,13.5,338,6424,0.00,1.08,0.00,0.000,6,0.000,0.036,3199,2990,1263,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6732,0.20,369.1,288.3,10.0,354,6738,0.00,2.08,0.00,0.000,4,0.000,0.033,3199,1583,1261,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6770,0.20,369.9,286.0,10.0,355,6776,0.00,2.28,0.00,0.000,6,0.000,0.058,3199,3009,1261,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7076,0.20,369.9,245.4,12.9,371,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,3009,1261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7256,0.24,419.7,229.0,8.3,380,7299,0.00,0.00,40.92,0.904,6,0.000,0.000,3199,3009,1056,0,0,0,0,0,0,28.83,28.83,25.31
$GC,7477,0.28,433.6,209.8,9.5,391,7497,0.00,1.12,11.98,0.822,4,0.000,0.065,3200,3691,1000,0,0,0,0,0,0,28.83,26.08,25.47
$GC,7540,0.31,433.6,202.6,11.1,394,7545,0.00,1.05,0.00,0.000,6,0.000,0.037,3199,3005,999,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7744,0.40,483.3,184.4,8.3,404,7788,0.12,0.00,41.53,0.856,6,0.093,0.000,3272,3004,798,0,0,0,0,0,0,26.46,28.83,25.16
$GC,7963,0.37,483.3,146.2,18.2,415,7965,0.15,0.00,0.00,0.000,6,0.149,0.000,3229,3004,795,0,0,0,0,0,0,26.12,28.83,28.83
$GC,8143,0.46,510.8,125.9,9.1,424,8172,0.00,2.15,23.20,0.791,4,0.000,0.031,3229,1577,685,0,0,0,0,0,0,28.83,26.05,25.43
$GC,8210,0.62,594.6,121.7,7.1,427,8267,0.25,2.30,48.42,0.790,6,0.106,0.051,3315,3013,460,0,0,0,0,0,0,26.07,26.10,24.95
$GC,8445,0.79,594.6,94.9,12.3,439,8447,0.15,0.00,0.00,0.000,6,0.110,0.000,3369,3013,459,0,0,0,0,0,0,26.13,28.83,28.83
$GC,8625,0.96,594.6,74.3,10.6,448,8631,0.12,2.12,0.00,0.000,4,0.090,0.027,3452,1561,459,0,0,0,0,0,0,26.39,26.39,28.83
$GC,8658,1.10,594.6,72.0,10.5,449,8664,0.00,2.30,0.00,0.000,6,0.000,0.055,3452,3005,458,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8847,0.94,594.6,4.8,40.9,469,8854,0.12,0.00,0.00,0.000,6,0.184,0.000,3415,3007,459,0,0,0,0,0,0,26.37,28.83,28.83
$STATE,8859,end climb,SURFACE_DEPTH_REACHED
$STATE,8859,begin surface coast
$FINISH,1.7,1.022039
$STATE,8866,end surface coast,CONTROL_FINISHED_OK
$STATE,8866,begin surface
$SM_CCo,8943,0.00,0.000,0,0,459,566.64
$SM_GC,1.89,8.73,0.00,0.00,0.067,0.000,0.000,134,3005,459,-9.26,0.14,566.64,0,0,0,0,0,0,26.42,28.83,28.83
$IRIDIUM_FIX,2145.77,12028.76,061112,010158
$TT8_MAMPS,0.025466,0.025466
$HUMID,53.89
$INTERNAL_PRESSURE,9.51758
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,4018208
$24V_AH,24.4,1.407
$10V_AH,10.1,0.589
$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,24.100,65.425,613.325,0.000,0.000,0.000,0.000,242.900,0.000,0.000,21.222,1654.939,5235.061,652.656,1643.933,153.558,0.000,1689.995,0.000,1306.961,0.000,0.543,0.000
$DEVICE_MAMPS,258.570,92.565,1106.190,0.000,0.000,0.000,0.000,126.990,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8881.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.290,0.000,0.000,0.000
$MEM,324400
$DATA_FILE_SIZE,16820,472
$CAP_FILE_SIZE,125976,0
$CFSIZE,260034560,250408960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.343,164.3,1
$GPS,061112,065024,2151.978,12027.217,17,1.3,17,-3.1