version: 66.11
glider: 170
mission: 10
dive: 121
start: 11 26 112 12 6 14
data:
$ID,170
$MISSION,10
$DIVE,121
$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,380
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,-143239.34
$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,3050
$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,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,42
$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,0.00039999999
$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,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
$GPS1,261112,115752,2002.630,11954.500,39,0.8,39,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-75.9
$GPS2,261112,120547,2002.489,11954.129,14,1.2,14,-2.6
$SPEED_LIMITS,0.150,0.281
$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,135.0,116185,-14.9,-8.684,-17.18
$D_GRID,3508
$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,18,begin dive
$GC,20,-0.51,-170.3,0.0,0.0,0,89,0.00,0.00,-67.00,0.000,2,0.000,0.000,134,2626,1960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.51,-170.3,3.1,-1.9,12,160,11.05,2.10,-47.80,0.000,4,0.241,0.038,2880,1189,3464,0,0,0,0,0,0,25.73,26.14,26.41
$GC,358,-0.43,-170.3,61.5,-23.6,45,365,0.12,2.20,0.00,0.000,6,0.178,0.049,2912,2584,3464,0,0,0,0,0,0,26.06,26.21,28.83
$GC,554,-0.38,-170.3,100.5,-17.2,55,559,0.00,1.77,0.00,0.000,4,0.000,0.055,2908,3700,3464,0,0,0,0,0,0,28.83,26.30,28.83
$GC,620,-0.35,-170.3,110.8,-16.3,58,627,0.00,1.62,0.00,0.000,6,0.000,0.023,2908,2563,3464,0,0,0,0,0,0,28.83,26.43,28.83
$GC,820,-0.32,-170.3,137.9,-12.6,68,826,0.12,1.92,0.00,0.000,4,0.148,0.024,2950,1210,3464,0,0,0,0,0,0,26.33,26.46,28.83
$GC,884,-0.32,-170.3,143.6,-9.6,71,890,0.00,2.15,0.00,0.000,6,0.000,0.041,2950,2614,3464,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1090,-0.35,-170.3,156.9,-5.7,81,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2614,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1268,-0.38,-170.3,166.8,-5.3,90,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2614,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1449,-0.42,-170.3,176.6,-4.6,99,1454,0.12,2.05,0.00,0.000,4,0.087,0.028,2874,1217,3463,0,0,0,0,0,0,26.60,26.57,28.83
$GC,1543,-0.42,-170.3,183.4,-8.2,103,1549,0.12,2.12,0.00,0.000,6,0.155,0.041,2912,2610,3463,0,0,0,0,0,0,26.40,26.52,28.83
$GC,1739,-0.43,-170.3,200.0,-8.0,113,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2610,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1917,-0.44,-170.3,215.6,-8.5,122,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2611,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2097,-0.46,-170.3,229.6,-7.2,131,2103,0.00,2.03,0.00,0.000,4,0.000,0.025,2912,1209,3462,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2191,-0.49,-170.3,234.7,-6.1,135,2197,0.00,2.10,0.00,0.000,6,0.000,0.040,2913,2603,3462,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2386,-0.52,-170.3,244.7,-5.6,145,2391,0.00,1.67,0.00,0.000,4,0.000,0.050,2912,3697,3461,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2423,-0.55,-170.3,246.1,-5.8,146,2430,0.12,1.58,0.00,0.000,6,0.090,0.026,2838,2556,3461,0,0,0,0,0,0,26.59,26.69,28.83
$GC,2610,-0.53,-170.3,268.4,-11.7,156,2617,0.12,1.85,0.00,0.000,4,0.151,0.023,2880,1242,3460,0,0,0,0,0,0,26.48,26.64,28.83
$GC,2659,-0.52,-170.3,273.3,-11.1,158,2664,0.00,2.08,0.00,0.000,6,0.000,0.040,2880,2606,3460,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2977,-0.53,-170.3,300.8,-8.7,174,2982,0.00,1.98,0.00,0.000,4,0.000,0.025,2880,1247,3459,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3054,-0.55,-170.3,305.2,-7.2,177,3061,0.00,2.08,0.00,0.000,6,0.000,0.040,2880,2609,3459,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3361,-0.56,-170.3,324.4,-6.3,193,3366,0.00,2.00,0.00,0.000,4,0.000,0.025,2880,1236,3457,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3428,-0.58,-170.3,328.5,-6.5,196,3433,0.00,2.08,0.00,0.000,6,0.000,0.039,2880,2599,3457,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3747,-0.61,-170.3,354.3,-8.4,212,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2599,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4047,-0.63,-170.3,379.1,-8.1,227,4053,0.00,1.95,0.00,0.000,4,0.000,0.025,2880,1245,3451,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4112,-0.65,-170.3,384.1,-7.7,230,4119,0.12,2.05,0.00,0.000,6,0.096,0.040,2821,2604,3451,0,0,0,0,0,0,26.59,26.60,28.83
$GC,4437,-0.63,-170.3,417.7,-10.5,246,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2605,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4739,-0.61,-170.3,451.2,-11.4,261,4745,0.10,2.00,0.00,0.000,4,0.163,0.023,2850,1235,3446,0,0,0,0,0,0,26.58,26.67,28.83
$GC,4763,-0.60,-170.3,453.8,-11.0,262,4768,0.00,2.10,0.00,0.000,6,0.000,0.041,2849,2605,3446,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5086,-0.60,-170.3,480.5,-8.0,278,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2605,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5387,-0.60,-170.3,503.4,-7.3,293,5393,0.00,1.70,0.00,0.000,4,0.000,0.054,2849,3697,3443,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5440,-0.60,-170.3,506.6,-7.3,295,5445,0.00,1.52,0.00,0.000,6,0.000,0.028,2850,2644,3442,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5752,-0.60,-170.3,528.6,-6.9,311,5758,0.00,2.10,0.00,0.000,4,0.000,0.025,2850,1195,3440,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5840,-0.61,-170.3,534.9,-7.6,315,5846,0.00,2.15,0.00,0.000,6,0.000,0.040,2849,2599,3440,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6159,-0.61,-170.3,561.5,-8.7,331,6164,0.00,2.05,0.00,0.000,4,0.000,0.026,2850,1197,3438,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6202,-0.62,-170.3,565.5,-8.9,333,6207,0.00,2.17,0.00,0.000,6,0.000,0.041,2849,2606,3437,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6525,-0.63,-170.3,594.2,-8.9,349,6531,0.00,2.08,0.00,0.000,4,0.000,0.026,2850,1198,3435,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6549,-0.63,-170.3,596.4,-9.0,350,6554,0.00,2.15,0.00,0.000,6,0.000,0.041,2849,2603,3435,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6864,-0.65,-170.3,623.2,-8.2,361,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2603,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7163,-0.65,-170.3,647.8,-7.8,371,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2602,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7462,-0.66,-170.3,674.2,-9.0,381,7468,0.00,2.08,0.00,0.000,4,0.000,0.026,2850,1196,3431,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7544,-0.67,-170.3,680.0,-9.1,383,7550,0.00,2.17,0.00,0.000,6,0.000,0.041,2849,2608,3431,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7858,-0.68,-170.3,708.9,-8.9,394,7863,0.00,2.08,0.00,0.000,4,0.000,0.027,2849,1202,3429,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7900,-0.70,-170.3,712.0,-9.0,395,7905,0.00,2.17,0.00,0.000,6,0.000,0.041,2849,2611,3430,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8225,-0.71,-170.3,739.7,-7.8,406,8230,0.00,2.08,0.00,0.000,4,0.000,0.027,2849,1205,3428,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8289,-0.72,-170.3,744.7,-7.6,408,8294,0.00,2.17,0.00,0.000,6,0.000,0.042,2849,2607,3428,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8624,-0.73,-170.3,768.9,-7.0,419,8630,0.12,2.08,0.00,0.000,4,0.093,0.025,2781,1202,3426,0,0,0,0,0,0,26.68,26.65,28.83
$GC,8662,-0.73,-170.3,772.2,-7.6,420,8669,0.12,2.17,0.00,0.000,6,0.168,0.043,2816,2606,3426,0,0,0,0,0,0,26.39,26.57,28.83
$GC,8993,-0.72,-170.3,803.8,-9.5,431,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2606,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9293,-0.71,-170.3,831.2,-8.9,441,9298,0.00,2.08,0.00,0.000,4,0.000,0.027,2816,1202,3424,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9326,-0.70,-170.3,834.3,-8.8,442,9331,0.00,2.17,0.00,0.000,6,0.000,0.043,2816,2601,3424,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9660,-0.69,-170.3,863.0,-8.6,453,9661,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2601,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9959,-0.68,-170.3,889.8,-8.8,463,9964,0.00,2.08,0.00,0.000,4,0.000,0.027,2816,1198,3423,0,0,0,0,0,0,28.83,26.64,28.83
$GC,10015,-0.68,-170.3,892.6,-8.7,464,10023,0.00,2.17,0.00,0.000,6,0.000,0.042,2816,2600,3422,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10324,-0.67,-170.3,918.8,-8.0,475,10329,0.00,2.08,0.00,0.000,4,0.000,0.027,2818,1199,3421,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10360,-0.67,-170.3,921.5,-7.9,476,10365,0.00,2.17,0.00,0.000,6,0.000,0.042,2816,2602,3421,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10690,-0.67,-170.3,947.2,-8.2,487,10691,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2602,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10987,-0.67,-170.3,973.7,-8.9,497,10993,0.00,2.05,0.00,0.000,4,0.000,0.027,2816,1202,3420,0,0,0,0,0,0,28.83,26.64,28.83
$GC,11044,-0.67,-170.3,976.6,-8.9,498,11051,0.00,2.15,0.00,0.000,6,0.000,0.042,2816,2602,3420,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,11198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11199,begin apogee
$GC,11204,-0.15,0.0,991.6,-8.4,504,11352,0.52,0.00,138.43,1.485,6,0.118,0.000,2998,2102,2767,0,0,0,0,0,0,26.34,28.83,23.87
$STATE,11354,end apogee,CONTROL_FINISHED_OK
$STATE,11354,begin climb
$GC,11356,0.51,170.3,996.6,0.0,509,11515,0.57,0.00,153.52,1.444,6,0.051,0.000,3220,2102,2073,0,0,0,0,0,0,24.94,28.83,23.07
$GC,11801,0.46,170.3,947.2,14.0,524,11807,0.00,2.38,0.00,0.000,4,0.000,0.050,3220,3533,2063,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11824,0.42,170.3,947.2,14.0,524,11830,0.15,2.17,0.00,0.000,6,0.159,0.028,3186,2136,2062,0,0,0,0,0,0,25.45,25.65,28.83
$GC,12140,0.39,170.3,904.9,12.3,535,12146,0.00,2.15,0.00,0.000,4,0.000,0.035,3190,723,2060,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12188,0.36,170.3,900.6,12.2,536,12193,0.00,2.17,0.00,0.000,6,0.000,0.037,3189,2122,2060,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,20990,end climb,SURFACE_DEPTH_REACHED
$STATE,20990,begin surface coast
$FINISH,1.5,1.013793
$STATE,21022,end surface coast,CONTROL_FINISHED_OK
$STATE,21022,begin surface
$SM_CCo,21103,0.00,0.000,0,0,459,566.64
$SM_GC,2.58,8.27,2.97,0.00,0.045,0.040,0.000,143,2589,459,-9.06,-1.27,566.64,0,0,0,0,0,0,25.93,26.03,28.83
$IRIDIUM_FIX,1957.29,11954.08,261112,060609
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.72
$INTERNAL_PRESSURE,9.44921
$TCM_TEMP,24.10
$XPDR_PINGS,0
$SC_FREEKB,3973664
$24V_AH,23.1,26.412
$10V_AH,10.0,11.151
$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,22.800,207.050,614.475,0.000,0.000,0.000,0.000,290.750,0.000,0.000,15.667,3227.919,14423.458,815.343,2773.984,326.790,0.000,2468.711,0.000,2341.388,0.000,0.543,0.000
$DEVICE_MAMPS,240.975,55.080,1484.865,0.000,0.000,0.000,0.000,133.110,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21049.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.223,0.000,0.000,0.000
$MEM,323692
$DATA_FILE_SIZE,36644,975
$CAP_FILE_SIZE,250647,0
$CFSIZE,260034560,239411200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.168,282.2,1
$GPS,261112,175904,2001.048,11954.529,31,0.7,31,-2.6