version: 66.11
glider: 170
mission: 10
dive: 22
start: 11 8 112 8 30 20
data:
$ID,170
$MISSION,10
$DIVE,22
$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,330
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$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,1
$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,-142806.33
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,3400
$C_ROLL_CLIMB,3000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2.5
$ROLL_ADJ_DBAND,0.029999999
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,50
$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
$GPS1,081112,082204,2133.221,12028.631,35,0.9,35,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-76.1
$GPS2,081112,082953,2133.000,12028.556,20,1.0,20,-3.0
$SPEED_LIMITS,0.173,0.345
$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,297.3,53914,-14.0,-10.000,-16.19
$D_GRID,1348
$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,-0.50,-243.3,0.0,0.0,0,116,0.00,0.00,-94.90,0.000,2,0.000,0.000,134,3415,2553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.50,-243.3,3.1,-1.9,17,163,11.40,2.12,-23.98,0.000,4,0.252,0.041,2943,1942,3762,0,0,0,0,0,0,26.06,26.36,26.58
$GC,276,-0.55,-243.3,39.0,-13.4,38,282,0.00,2.35,0.00,0.000,6,0.000,0.062,2943,3403,3763,0,0,0,0,0,0,28.83,26.36,28.83
$GC,481,-0.28,-243.3,95.0,-30.9,51,487,0.22,0.45,0.00,0.000,4,0.184,0.067,3011,3694,3762,0,0,0,0,0,0,26.36,26.48,28.83
$GC,534,-0.06,-243.3,107.5,-29.4,53,539,0.20,0.30,0.00,0.000,6,0.135,0.046,3081,3476,3762,0,0,0,0,0,0,26.41,26.57,28.83
$GC,729,-0.50,-243.3,125.8,-9.6,63,735,0.35,0.35,0.00,0.000,4,0.089,0.064,2946,3694,3762,0,0,0,0,0,0,26.55,26.56,28.83
$GC,962,-0.79,-243.3,149.5,-10.9,74,967,0.22,0.00,0.00,0.000,6,0.090,0.000,2851,3695,3762,0,0,0,0,0,0,26.61,28.83,28.83
$GC,1156,-1.12,-243.3,167.9,-8.0,84,1161,0.25,0.00,0.00,0.000,4,0.085,0.000,2744,3695,3763,0,0,0,0,0,0,26.65,28.83,28.83
$GC,1390,-0.60,-243.3,241.8,-37.5,95,1395,0.55,0.00,0.00,0.000,6,0.194,0.000,2908,3695,3764,0,0,0,0,0,0,26.54,28.83,28.83
$GC,1584,-0.68,-243.3,270.5,-7.5,105,1589,0.00,2.50,0.00,0.000,4,0.000,0.026,2908,1973,3764,0,0,0,0,0,0,28.83,26.76,28.83
$GC,1616,-0.78,-243.3,272.1,-7.2,106,1624,0.15,2.70,0.00,0.000,6,0.092,0.062,2847,3668,3764,0,0,0,0,0,0,26.70,26.68,28.83
$GC,1932,-0.65,-243.3,321.1,-16.1,122,1938,0.15,2.45,0.00,0.000,4,0.168,0.024,2896,1969,3763,0,0,0,0,0,0,26.64,26.78,28.83
$GC,1959,-0.57,-243.3,324.5,-15.6,123,1965,0.10,2.70,0.00,0.000,6,0.156,0.063,2928,3657,3763,0,0,0,0,0,0,26.67,26.71,28.83
$GC,2278,-0.90,-243.3,354.3,-9.9,139,2284,0.28,2.45,0.00,0.000,4,0.081,0.024,2813,1939,3761,0,0,0,0,0,0,26.74,26.82,28.83
$GC,2332,-1.13,-243.3,358.4,-9.4,141,2338,0.20,2.67,0.00,0.000,6,0.077,0.060,2714,3621,3760,0,0,0,0,0,0,26.77,26.73,28.83
$GC,2646,-0.66,-243.3,468.2,-35.2,157,2652,0.62,0.10,0.00,0.000,4,0.203,0.083,2894,3707,3758,0,0,0,0,0,0,26.60,26.73,28.83
$GC,2870,-0.79,-243.3,491.5,-6.5,168,2877,0.08,0.12,0.00,0.000,6,0.067,0.072,2833,3615,3757,0,0,0,0,0,0,26.76,26.85,28.83
$GC,3195,-0.72,-243.3,528.7,-11.6,184,3201,0.12,2.38,0.00,0.000,4,0.165,0.027,2874,1952,3754,0,0,0,0,0,0,26.69,26.82,28.83
$GC,3274,-0.78,-243.3,533.3,-8.2,187,3280,0.00,2.65,0.00,0.000,6,0.000,0.064,2874,3608,3753,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3579,-1.12,-243.3,557.5,-8.5,203,3585,0.32,0.12,0.00,0.000,4,0.092,0.080,2748,3708,3751,0,0,0,0,0,0,26.76,26.76,28.83
$GC,3612,-1.39,-243.3,559.6,-8.5,204,3618,0.20,0.15,0.00,0.000,6,0.047,0.067,2645,3583,3750,0,0,0,0,0,0,26.80,26.85,28.83
$GC,3926,-0.81,-243.3,680.0,-41.3,217,3932,0.70,2.33,0.00,0.000,4,0.219,0.024,2840,1938,3747,0,0,0,0,0,0,26.62,26.87,28.83
$GC,3944,-0.24,-243.3,680.0,-41.3,217,3951,0.60,2.70,0.00,0.000,6,0.153,0.069,3029,3609,3748,0,0,0,0,0,0,26.66,26.74,28.83
$GC,4266,-0.58,-243.3,708.2,-7.3,228,4272,0.30,2.40,0.00,0.000,4,0.106,0.026,2918,1947,3744,0,0,0,0,0,0,26.74,26.85,28.83
$GC,4365,-0.93,-243.3,716.1,-8.0,231,4371,0.30,2.65,0.00,0.000,6,0.083,0.063,2804,3601,3744,0,0,0,0,0,0,26.76,26.76,28.83
$GC,4697,-1.02,-243.3,743.6,-8.4,242,4703,0.00,2.38,0.00,0.000,4,0.000,0.028,2804,1939,3741,0,0,0,0,0,0,28.83,26.86,28.83
$GC,4797,-1.08,-243.3,752.7,-9.1,245,4804,0.12,2.40,0.00,0.000,6,0.095,0.062,2743,3444,3741,0,0,0,0,0,0,26.79,26.76,28.83
$GC,5127,-0.82,-243.3,827.3,-23.0,256,5133,0.32,0.38,0.00,0.000,4,0.189,0.065,2841,3694,3737,0,0,0,0,0,0,26.65,26.78,28.83
$GC,5361,-0.84,-243.3,851.6,-10.1,263,5366,0.00,0.32,0.00,0.000,6,0.000,0.048,2841,3471,3736,0,0,0,0,0,0,28.83,26.84,28.83
$GC,5676,-0.88,-243.3,886.4,-10.1,274,5681,0.00,0.38,0.00,0.000,4,0.000,0.073,2840,3705,3734,0,0,0,0,0,0,28.83,26.78,28.83
$STATE,5831,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5831,begin apogee
$GC,5837,-0.12,0.0,900.9,-9.2,279,6040,0.65,0.00,194.70,1.382,4,0.116,0.000,3068,3001,2768,0,0,0,0,0,0,26.72,28.83,23.99
$STATE,6041,end apogee,CONTROL_FINISHED_OK
$STATE,6042,begin climb
$GC,6043,0.50,243.3,910.6,0.0,286,6259,0.52,1.25,207.57,1.343,4,0.037,0.068,3308,3697,1777,0,0,0,0,0,0,25.02,24.96,23.93
$GC,6366,-0.00,243.3,838.8,36.3,296,6374,0.68,1.10,0.00,0.000,6,0.177,0.031,3117,2998,1771,0,0,0,0,0,0,25.51,25.69,28.83
$GC,6674,-0.00,243.3,788.4,12.0,307,6675,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2996,1766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6972,-0.00,243.3,754.4,11.2,317,6977,0.00,1.17,0.00,0.000,4,0.000,0.069,3117,3691,1764,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7024,-0.00,243.3,750.6,11.3,318,7029,0.00,1.05,0.00,0.000,6,0.000,0.032,3118,2986,1765,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7338,0.02,282.1,719.2,8.9,329,7377,0.00,1.20,32.53,1.251,4,0.000,0.068,3119,3696,1617,0,0,0,0,0,0,28.83,25.68,24.94
$GC,7445,0.05,326.4,710.9,8.8,332,7490,0.00,1.00,38.10,1.237,6,0.000,0.031,3118,3032,1439,0,0,0,0,0,0,28.83,26.01,24.46
$GC,7791,0.17,392.2,682.9,8.2,344,7852,0.12,1.20,55.40,1.233,4,0.092,0.065,3188,3698,1170,0,0,0,0,0,0,26.20,25.08,24.35
$GC,7886,0.14,392.2,667.5,14.2,347,7892,0.10,1.00,0.00,0.000,6,0.140,0.034,3157,3068,1167,0,0,0,0,0,0,25.39,25.51,28.83
$GC,8220,0.14,392.2,622.6,12.3,358,8226,0.00,2.20,0.00,0.000,4,0.000,0.029,3158,1584,1164,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8273,0.16,392.2,619.3,11.8,359,8279,0.00,2.35,0.00,0.000,6,0.000,0.054,3158,3040,1164,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8587,0.16,392.2,581.7,12.4,372,8592,0.00,1.05,0.00,0.000,4,0.000,0.063,3159,3695,1163,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8624,0.16,392.2,578.7,12.5,373,8630,0.00,0.98,0.00,0.000,6,0.000,0.036,3159,3053,1163,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8930,0.16,392.2,536.7,13.3,389,8935,0.00,2.17,0.00,0.000,4,0.000,0.029,3159,1579,1163,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8968,0.18,392.2,534.0,13.1,390,8974,0.00,2.35,0.00,0.000,6,0.000,0.055,3159,3050,1162,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9273,0.18,392.2,497.7,11.2,406,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,3050,1162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9574,0.22,401.5,468.4,9.7,421,9584,0.00,0.00,7.88,0.976,6,0.000,0.000,3159,3050,1134,0,0,0,0,0,0,28.83,28.83,25.67
$GC,9873,0.28,408.7,437.7,9.8,436,9888,0.12,1.08,7.93,0.957,4,0.092,0.063,3232,3707,1102,0,0,0,0,0,0,26.60,26.39,25.63
$GC,9916,0.24,408.7,430.1,13.6,438,9922,0.12,1.02,0.00,0.000,6,0.143,0.034,3195,3035,1101,0,0,0,0,0,0,26.32,26.46,28.83
$GC,10240,0.14,408.7,370.2,17.4,454,10246,0.12,2.12,0.00,0.000,4,0.169,0.028,3159,1569,1100,0,0,0,0,0,0,26.46,26.57,28.83
$GC,10303,0.21,408.7,364.1,11.4,457,10309,0.00,2.30,0.00,0.000,6,0.000,0.052,3158,3016,1099,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10627,0.50,408.7,332.1,11.1,473,10633,0.28,1.08,0.00,0.000,4,0.079,0.060,3276,3691,1099,0,0,0,0,0,0,26.61,26.60,28.83
$GC,10671,0.72,408.7,327.1,11.6,475,10677,0.12,1.00,0.00,0.000,6,0.052,0.034,3363,3030,1099,0,0,0,0,0,0,26.65,26.67,28.83
$GC,10995,0.27,408.7,191.2,42.1,491,11001,0.52,1.08,0.00,0.000,4,0.177,0.063,3202,3696,1099,0,0,0,0,0,0,26.51,26.62,28.83
$GC,11144,0.27,408.7,163.8,13.9,498,11149,0.00,1.10,0.00,0.000,6,0.000,0.031,3201,2957,1099,0,0,0,0,0,0,28.83,26.71,28.83
$GC,11344,0.46,545.4,148.6,6.2,508,11466,0.12,1.33,114.07,0.861,4,0.093,0.069,3282,3690,544,0,0,0,0,0,0,26.71,25.15,24.60
$GC,11532,0.36,545.4,117.3,18.8,517,11538,0.15,1.08,0.00,0.000,6,0.117,0.033,3229,3001,543,0,0,0,0,0,0,25.58,25.70,28.83
$GC,11732,0.75,548.2,100.1,9.9,527,11743,0.32,1.15,3.78,0.522,4,0.096,0.057,3351,3693,533,0,0,0,0,0,0,26.03,26.03,25.41
$GC,11885,1.12,548.2,84.4,11.4,534,11890,0.28,1.35,0.00,0.000,6,0.081,0.027,3471,2775,532,0,0,0,0,0,0,26.16,26.29,28.83
$GC,12074,0.76,548.2,21.2,40.4,547,12082,0.35,1.48,0.00,0.000,4,0.161,0.061,3362,3693,533,0,0,0,0,0,0,26.20,26.30,28.83
$GC,12126,0.50,548.2,4.5,30.6,556,12133,0.25,1.30,0.00,0.000,6,0.145,0.031,3274,2827,532,0,0,0,0,0,0,26.25,26.42,28.83
$STATE,12138,end climb,SURFACE_DEPTH_REACHED
$STATE,12138,begin surface coast
$FINISH,1.5,1.022130
$STATE,12151,end surface coast,CONTROL_FINISHED_OK
$STATE,12151,begin surface
$SM_CCo,12229,0.00,0.000,0,0,532,548.74
$SM_GC,2.09,8.10,0.98,0.00,0.047,0.063,0.000,137,3397,532,-9.24,-0.76,548.74,0,0,0,0,0,0,26.32,26.33,28.83
$IRIDIUM_FIX,2127.21,12100.61,081112,040451
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.60
$INTERNAL_PRESSURE,9.46875
$TCM_TEMP,23.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,900.9,12.8
$SC_FREEKB,4011680
$24V_AH,23.9,4.668
$10V_AH,9.8,1.927
$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,30.725,83.075,661.950,0.000,0.000,0.000,0.000,301.325,2.500,0.000,21.636,2076.834,7644.835,711.964,2045.235,211.851,0.000,1997.701,0.000,1635.498,0.000,20.018,0.000
$DEVICE_MAMPS,251.685,82.620,1382.355,0.000,0.000,0.000,0.000,126.990,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12165.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.048,0.000,0.000,0.000
$MEM,323472
$DATA_FILE_SIZE,20090,560
$CAP_FILE_SIZE,163270,0
$CFSIZE,260034560,248995840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.190,181.3,1
$GPS,081112,115505,2132.833,12026.768,19,1.0,19,-3.0