version: 66.11
glider: 170
mission: 10
dive: 51
start: 11 11 112 11 0 56
data:
$ID,170
$MISSION,10
$DIVE,51
$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,320
$T_MISSION,340
$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,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,-143151.84
$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,3060
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,50
$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,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
$GPS1,111112,105328,2138.724,12033.069,40,0.9,40,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-71.2
$GPS2,111112,110029,2138.621,12032.938,21,0.9,21,-3.0
$SPEED_LIMITS,0.179,0.348
$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,316.6,57876,-14.3,-10.312,-16.49
$D_GRID,681
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.57,-243.3,0.0,0.0,0,111,0.00,0.00,-88.62,0.000,2,0.000,0.000,141,2642,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.57,-243.3,3.2,-2.5,15,163,11.07,1.67,-29.70,0.000,4,0.251,0.073,2871,3673,3763,0,0,0,0,0,0,26.06,26.29,26.59
$GC,391,-0.57,-243.3,86.1,-31.8,45,396,0.00,1.58,0.00,0.000,6,0.000,0.025,2871,2536,3763,0,0,0,0,0,0,28.83,26.54,28.83
$GC,593,-0.57,-243.3,131.4,-16.3,55,599,0.00,1.77,0.00,0.000,4,0.000,0.053,2871,3677,3763,0,0,0,0,0,0,28.83,26.51,28.83
$GC,737,-0.57,-243.3,148.8,-9.5,62,743,0.00,1.60,0.00,0.000,6,0.000,0.023,2871,2532,3763,0,0,0,0,0,0,28.83,26.65,28.83
$GC,941,-0.57,-243.3,173.3,-13.1,72,946,0.00,1.92,0.00,0.000,4,0.000,0.026,2870,1166,3764,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1013,-0.57,-243.3,182.4,-14.1,75,1018,0.00,2.10,0.00,0.000,6,0.000,0.040,2871,2551,3763,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1206,-0.57,-243.3,210.6,-13.3,85,1211,0.00,1.75,0.00,0.000,4,0.000,0.055,2871,3698,3764,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1248,-0.57,-243.3,215.8,-12.6,87,1253,0.00,1.67,0.00,0.000,6,0.000,0.024,2871,2539,3763,0,0,0,0,0,0,28.83,26.73,28.83
$GC,1451,-0.57,-243.3,236.2,-8.8,97,1457,0.00,1.80,0.00,0.000,4,0.000,0.054,2871,3694,3762,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1519,-0.57,-243.3,240.8,-7.5,100,1525,0.00,1.60,0.00,0.000,6,0.000,0.024,2871,2582,3762,0,0,0,0,0,0,28.83,26.75,28.83
$GC,1718,-0.57,-243.3,255.0,-7.1,110,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2580,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2019,-0.57,-243.3,277.2,-7.0,125,2024,0.00,1.77,0.00,0.000,4,0.000,0.057,2871,3701,3760,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2056,-0.57,-243.3,279.0,-7.2,126,2062,0.00,1.58,0.00,0.000,6,0.000,0.025,2871,2606,3760,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2362,-0.57,-243.3,302.2,-7.5,142,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2603,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2663,-0.57,-243.3,325.3,-7.9,157,2668,0.00,1.73,0.00,0.000,4,0.000,0.057,2873,3693,3756,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2700,-0.57,-243.3,327.1,-7.9,158,2707,0.00,1.55,0.00,0.000,6,0.000,0.026,2871,2612,3756,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3006,-0.57,-243.3,352.6,-7.9,174,3012,0.00,2.03,0.00,0.000,4,0.000,0.028,2871,1202,3753,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3050,-0.57,-243.3,356.1,-8.1,176,3056,0.00,2.17,0.00,0.000,6,0.000,0.042,2871,2620,3753,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3374,-0.57,-243.3,382.2,-8.1,192,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2620,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3676,-0.57,-243.3,408.5,-9.2,207,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2621,3749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3976,-0.57,-243.3,432.3,-7.3,222,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2620,3746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4275,-0.57,-243.3,452.1,-6.6,237,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2621,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4575,-0.57,-243.3,471.5,-6.0,252,4581,0.00,2.08,0.00,0.000,4,0.000,0.031,2871,1201,3744,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4602,-0.57,-243.3,473.1,-6.2,253,4608,0.00,2.15,0.00,0.000,6,0.000,0.044,2871,2603,3743,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4921,-0.57,-243.3,495.9,-7.8,269,4926,0.00,1.70,0.00,0.000,4,0.000,0.055,2871,3704,3742,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4959,-0.57,-243.3,497.8,-7.9,270,4965,0.00,1.60,0.00,0.000,6,0.000,0.031,2871,2595,3742,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5265,-0.57,-243.3,519.0,-6.2,286,5270,0.00,1.75,0.00,0.000,4,0.000,0.057,2871,3699,3739,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5337,-0.57,-243.3,523.3,-6.9,289,5342,0.00,1.55,0.00,0.000,6,0.000,0.030,2871,2630,3739,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5650,-0.57,-243.3,552.9,-9.3,305,5656,0.00,2.08,0.00,0.000,4,0.000,0.028,2871,1196,3738,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5883,-0.57,-243.3,575.4,-9.7,316,5889,0.00,2.15,0.00,0.000,6,0.000,0.044,2871,2604,3736,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6217,-0.57,-243.3,606.3,-9.1,332,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2604,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6517,-0.57,-243.3,636.0,-10.1,342,6523,0.00,1.65,0.00,0.000,4,0.000,0.052,2871,3692,3732,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6599,-0.57,-243.3,642.9,-10.8,344,6604,0.00,1.62,0.00,0.000,6,0.000,0.031,2872,2572,3732,0,0,0,0,0,0,28.83,26.82,28.83
$STATE,6912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6912,begin apogee
$GC,6918,-0.15,0.0,681.7,-10.8,355,7111,0.35,0.00,189.02,1.235,4,0.073,0.000,3016,1885,2770,0,0,0,0,0,0,26.74,28.83,24.11
$STATE,7113,end apogee,CONTROL_FINISHED_OK
$STATE,7113,begin climb
$GC,7115,0.57,243.3,695.8,0.0,361,7333,0.65,2.15,203.68,1.201,4,0.058,0.037,3254,528,1775,0,0,0,0,0,0,25.01,25.02,23.99
$GC,7427,0.57,243.3,667.5,14.1,372,7432,0.00,2.17,0.00,0.000,6,0.000,0.037,3254,1898,1770,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7761,0.57,243.3,614.7,15.4,383,7766,0.00,2.12,0.00,0.000,4,0.000,0.042,3254,539,1767,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7854,0.57,243.3,601.5,14.4,386,7859,0.00,2.17,0.00,0.000,6,0.000,0.041,3254,1937,1766,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8167,0.57,243.3,556.4,15.6,401,8172,0.00,2.15,0.00,0.000,4,0.000,0.048,3254,3318,1766,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8233,0.57,243.3,546.1,15.7,404,8239,0.00,2.03,0.00,0.000,6,0.000,0.028,3256,1965,1766,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8551,0.57,243.3,502.2,13.1,420,8557,0.00,2.10,0.00,0.000,4,0.000,0.047,3256,3313,1765,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8590,0.57,243.3,498.7,13.4,421,8596,0.00,2.00,0.00,0.000,6,0.000,0.028,3258,1973,1765,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8895,0.57,243.3,454.2,13.9,437,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1973,1765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9196,0.57,243.3,411.8,13.8,452,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1973,1764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9496,0.57,243.3,374.5,12.0,467,9501,0.00,2.10,0.00,0.000,4,0.000,0.047,3258,3313,1764,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9599,0.57,243.3,360.4,13.5,472,9605,0.00,2.00,0.00,0.000,6,0.000,0.028,3263,1970,1764,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9922,0.57,243.3,318.4,13.4,488,9928,0.00,2.10,0.00,0.000,4,0.000,0.047,3263,3319,1765,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9939,0.57,243.3,318.4,13.4,488,9946,0.00,1.98,0.00,0.000,6,0.000,0.028,3268,1987,1764,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10246,0.57,243.3,274.4,12.7,504,10251,0.00,2.05,0.00,0.000,4,0.000,0.046,3268,3311,1764,0,0,0,0,0,0,28.83,26.66,28.83
$GC,10353,0.57,243.3,260.4,13.7,509,10359,0.00,1.95,0.00,0.000,6,0.000,0.028,3268,1992,1764,0,0,0,0,0,0,28.83,26.71,28.83
$GC,10671,0.57,243.3,220.1,12.0,525,10677,0.00,2.03,0.00,0.000,4,0.000,0.046,3269,3311,1764,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10714,0.57,243.3,214.4,12.5,527,10720,0.00,1.92,0.00,0.000,6,0.000,0.029,3268,2010,1764,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10917,0.57,243.3,189.3,12.0,537,10922,0.00,2.20,0.00,0.000,4,0.000,0.039,3268,534,1764,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10939,0.57,243.3,186.7,11.9,538,10945,0.00,2.20,0.00,0.000,6,0.000,0.036,3268,1989,1763,0,0,0,0,0,0,28.83,26.70,28.83
$GC,11142,0.57,243.3,162.4,12.4,548,11148,0.00,2.22,0.00,0.000,4,0.000,0.042,3268,540,1764,0,0,0,0,0,0,28.83,26.68,28.83
$GC,11275,0.57,243.3,148.0,11.5,554,11280,0.00,2.08,0.00,0.000,6,0.000,0.035,3268,1927,1763,0,0,0,0,0,0,28.83,26.71,28.83
$GC,11469,0.58,257.0,126.9,9.9,564,11489,0.00,2.12,11.20,0.790,4,0.000,0.047,3268,3301,1720,0,0,0,0,0,0,28.83,26.50,25.77
$GC,11581,0.58,257.0,116.3,10.7,569,11586,0.00,1.92,0.00,0.000,6,0.000,0.026,3268,1983,1719,0,0,0,0,0,0,28.83,26.59,28.83
$GC,11774,0.61,305.5,98.8,8.9,579,11823,0.00,2.15,39.67,0.809,4,0.000,0.044,3268,3300,1522,0,0,0,0,0,0,28.83,25.94,25.30
$GC,11844,0.61,305.5,92.2,10.5,582,11850,0.00,1.90,0.00,0.000,6,0.000,0.026,3268,2026,1521,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12038,0.65,377.5,71.9,8.3,592,12102,0.00,2.38,56.58,0.778,4,0.000,0.037,3268,532,1229,0,0,0,0,0,0,28.83,25.53,24.91
$GC,12170,0.80,634.5,66.9,3.0,598,12335,0.15,2.28,154.32,0.753,6,0.085,0.035,3334,2003,460,0,0,0,0,0,0,25.85,25.86,24.51
$GC,12523,0.81,652.6,35.6,9.8,623,12529,0.00,2.05,0.00,0.000,4,0.000,0.045,3334,3312,459,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12580,0.81,652.6,30.1,10.7,628,12587,0.00,1.98,0.00,0.000,6,0.000,0.027,3335,2001,459,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12768,0.88,765.6,12.7,7.1,659,12774,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2001,459,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12912,end climb,SURFACE_DEPTH_REACHED
$STATE,12912,begin surface coast
$FINISH,1.6,1.021936
$STATE,12939,end surface coast,CONTROL_FINISHED_OK
$STATE,12939,begin surface
$SM_CCo,13017,0.00,0.000,0,0,459,566.89
$SM_GC,2.36,8.40,0.95,0.00,0.056,0.045,0.000,138,2598,459,-9.10,-1.13,566.89,0,0,0,0,0,0,26.21,26.33,28.83
$IRIDIUM_FIX,2129.53,12036.75,111112,070720
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.33
$INTERNAL_PRESSURE,9.52734
$TCM_TEMP,24.70
$XPDR_PINGS,1
$SC_FREEKB,4000544
$24V_AH,24.0,9.810
$10V_AH,9.8,3.847
$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,20.625,107.025,654.475,0.000,0.000,0.000,0.000,260.575,0.250,0.000,22.171,2213.046,8220.656,717.992,2083.691,204.649,0.000,1994.669,0.000,1711.918,0.000,0.545,0.000
$DEVICE_MAMPS,250.920,72.675,1234.710,0.000,0.000,0.000,0.000,128.520,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12968.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.144,0.000,0.000,0.000
$MEM,323216
$DATA_FILE_SIZE,26768,692
$CAP_FILE_SIZE,159675,0
$CFSIZE,260034560,246964224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.288,140.1,1
$GPS,111112,143904,2138.915,12032.290,34,1.2,35,-3.0