version: 66.11
glider: 170
mission: 10
dive: 123
start: 11 27 112 0 8 22
data:
$ID,170
$MISSION,10
$DIVE,123
$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,-143241.84
$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,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,93
$R_STBD_OVSHOOT,47
$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
$GPS1,261112,235934,1959.671,11956.343,31,0.9,31,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-75.5
$GPS2,271112,000754,1959.660,11956.147,14,1.8,14,-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,172.6,110696,-14.9,-8.684,-17.18
$D_GRID,3550
$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,19,-0.51,-170.3,0.0,0.0,0,74,0.00,0.00,-52.38,0.000,2,0.000,0.000,132,2615,1788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.51,-170.3,3.1,-1.9,9,150,11.32,2.12,-54.90,0.000,4,0.247,0.041,2884,1209,3465,0,0,0,0,0,0,25.66,26.10,26.36
$GC,249,-0.42,-170.3,38.3,-24.7,36,256,0.10,2.15,0.00,0.000,6,0.192,0.043,2908,2590,3465,0,0,0,0,0,0,25.98,26.13,28.83
$GC,455,-0.36,-170.3,79.7,-20.2,49,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2590,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,634,-0.34,-170.3,108.5,-14.1,58,640,0.10,2.05,0.00,0.000,4,0.165,0.029,2936,1228,3466,0,0,0,0,0,0,26.29,26.36,28.83
$GC,659,-0.33,-170.3,111.3,-13.7,59,664,0.00,2.10,0.00,0.000,6,0.000,0.041,2936,2606,3466,0,0,0,0,0,0,28.83,26.34,28.83
$GC,862,-0.35,-170.3,130.5,-9.7,69,867,0.00,1.65,0.00,0.000,4,0.000,0.050,2936,3690,3466,0,0,0,0,0,0,28.83,26.37,28.83
$GC,893,-0.37,-170.3,132.7,-9.7,70,900,0.00,1.55,0.00,0.000,6,0.000,0.025,2936,2569,3466,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1089,-0.40,-170.3,148.6,-7.6,80,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2566,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1268,-0.44,-170.3,162.6,-8.0,89,1274,0.00,1.90,0.00,0.000,4,0.000,0.025,2936,1243,3466,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1302,-0.47,-170.3,164.6,-8.1,90,1308,0.12,2.08,0.00,0.000,6,0.089,0.040,2865,2602,3467,0,0,0,0,0,0,26.48,26.48,28.83
$GC,1498,-0.44,-170.3,191.9,-14.2,100,1503,0.12,1.98,0.00,0.000,4,0.149,0.023,2908,1246,3465,0,0,0,0,0,0,26.41,26.56,28.83
$GC,1575,-0.44,-170.3,198.4,-10.6,103,1583,0.00,2.05,0.00,0.000,6,0.000,0.040,2908,2604,3465,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1762,-0.47,-170.3,213.4,-7.4,113,1767,0.00,1.65,0.00,0.000,4,0.000,0.050,2908,3693,3465,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1786,-0.49,-170.3,215.3,-7.4,114,1791,0.00,1.52,0.00,0.000,6,0.000,0.026,2908,2592,3465,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1990,-0.52,-170.3,231.5,-8.2,124,1995,0.00,1.95,0.00,0.000,4,0.000,0.025,2907,1232,3464,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2028,-0.55,-170.3,233.2,-7.7,125,2035,0.12,2.10,0.00,0.000,6,0.096,0.039,2839,2612,3464,0,0,0,0,0,0,26.54,26.54,28.83
$GC,2215,-0.52,-170.3,255.6,-12.4,135,2222,0.12,1.65,0.00,0.000,4,0.149,0.050,2880,3694,3463,0,0,0,0,0,0,26.46,26.53,28.83
$GC,2264,-0.52,-170.3,260.0,-10.9,137,2269,0.00,1.50,0.00,0.000,6,0.000,0.026,2880,2600,3463,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2582,-0.54,-170.3,287.8,-8.4,153,2588,0.00,1.92,0.00,0.000,4,0.000,0.025,2881,1240,3460,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2646,-0.56,-170.3,293.0,-8.2,156,2651,0.00,2.08,0.00,0.000,6,0.000,0.039,2880,2602,3460,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2969,-0.57,-170.3,317.1,-7.0,172,2974,0.00,1.70,0.00,0.000,4,0.000,0.051,2880,3701,3458,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3016,-0.60,-170.3,320.1,-7.0,174,3021,0.00,1.52,0.00,0.000,6,0.000,0.028,2880,2607,3458,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3335,-0.62,-170.3,343.1,-7.6,190,3340,0.00,2.00,0.00,0.000,4,0.000,0.025,2880,1218,3456,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3392,-0.64,-170.3,346.7,-7.9,192,3400,0.12,2.10,0.00,0.000,6,0.096,0.039,2821,2603,3455,0,0,0,0,0,0,26.57,26.58,28.83
$GC,3698,-0.62,-170.3,385.4,-12.3,208,3699,0.10,0.00,0.00,0.000,6,0.164,0.000,2848,2604,3453,0,0,0,0,0,0,26.55,28.83,28.83
$GC,3998,-0.62,-170.3,416.0,-10.2,223,4004,0.00,2.00,0.00,0.000,4,0.000,0.025,2849,1218,3450,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4030,-0.62,-170.3,418.7,-10.4,224,4036,0.00,2.10,0.00,0.000,6,0.000,0.040,2848,2603,3450,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4343,-0.62,-170.3,453.0,-10.6,240,4348,0.00,2.03,0.00,0.000,4,0.000,0.025,2849,1218,3448,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4395,-0.62,-170.3,457.5,-10.6,242,4401,0.00,2.10,0.00,0.000,6,0.000,0.041,2849,2601,3448,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4709,-0.62,-170.3,486.8,-8.6,258,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2602,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5010,-0.62,-170.3,511.6,-8.3,273,5016,0.00,2.03,0.00,0.000,4,0.000,0.025,2849,1224,3444,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5067,-0.62,-170.3,515.4,-8.4,275,5074,0.00,2.10,0.00,0.000,6,0.000,0.041,2849,2600,3444,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5373,-0.62,-170.3,540.8,-7.9,291,5379,0.00,2.00,0.00,0.000,4,0.000,0.026,2849,1226,3442,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5416,-0.62,-170.3,544.3,-8.1,293,5422,0.00,2.12,0.00,0.000,6,0.000,0.041,2849,2610,3441,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5739,-0.62,-170.3,573.0,-9.2,309,5744,0.00,2.03,0.00,0.000,4,0.000,0.026,2849,1220,3439,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5766,-0.63,-170.3,575.2,-9.3,310,5772,0.00,2.12,0.00,0.000,6,0.000,0.041,2852,2613,3439,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6074,-0.64,-170.3,604.6,-9.5,325,6080,0.00,2.03,0.00,0.000,4,0.000,0.026,2849,1225,3438,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6097,-0.64,-170.3,604.6,-9.5,325,6103,0.00,2.10,0.00,0.000,6,0.000,0.041,2849,2601,3438,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6413,-0.65,-170.3,634.7,-8.6,336,6418,0.00,2.03,0.00,0.000,4,0.000,0.026,2849,1228,3435,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6450,-0.66,-170.3,637.7,-8.4,337,6455,0.00,2.10,0.00,0.000,6,0.000,0.041,2848,2603,3435,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6780,-0.67,-170.3,664.3,-7.9,348,6786,0.00,2.03,0.00,0.000,4,0.000,0.030,2849,1218,3434,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6808,-0.68,-170.3,664.3,-7.9,348,6815,0.00,2.15,0.00,0.000,6,0.000,0.041,2849,2611,3433,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7115,-0.69,-170.3,689.6,-7.6,359,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2611,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7414,-0.70,-170.3,711.6,-7.4,369,7420,0.00,2.03,0.00,0.000,4,0.000,0.027,2848,1229,3431,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7457,-0.72,-170.3,714.4,-7.6,370,7463,0.00,2.10,0.00,0.000,6,0.000,0.042,2849,2601,3431,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7783,-0.73,-170.3,740.5,-7.8,381,7788,0.00,2.03,0.00,0.000,4,0.000,0.027,2849,1231,3430,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7865,-0.74,-170.3,745.7,-7.8,383,7871,0.12,2.10,0.00,0.000,6,0.095,0.042,2786,2603,3430,0,0,0,0,0,0,26.55,26.57,28.83
$GC,8180,-0.71,-170.3,785.3,-12.4,394,8186,0.12,1.70,0.00,0.000,4,0.168,0.053,2821,3700,3428,0,0,0,0,0,0,26.46,26.53,28.83
$GC,8238,-0.69,-170.3,789.3,-12.1,395,8245,0.00,1.60,0.00,0.000,6,0.000,0.030,2821,2627,3428,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8544,-0.69,-170.3,822.2,-10.0,406,8550,0.00,2.10,0.00,0.000,4,0.000,0.028,2821,1193,3427,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8637,-0.69,-170.3,831.6,-10.0,409,8642,0.00,2.17,0.00,0.000,6,0.000,0.042,2821,2605,3426,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8971,-0.69,-170.3,865.7,-10.4,420,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2605,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9269,-0.69,-170.3,896.8,-10.6,430,9275,0.00,2.08,0.00,0.000,4,0.000,0.027,2821,1202,3424,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9322,-0.69,-170.3,900.3,-10.6,431,9327,0.00,2.15,0.00,0.000,6,0.000,0.043,2821,2602,3424,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9634,-0.69,-170.3,932.3,-9.3,442,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2602,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9935,-0.69,-170.3,958.9,-8.6,452,9941,0.00,2.08,0.00,0.000,4,0.000,0.028,2821,1203,3422,0,0,0,0,0,0,28.83,26.64,28.83
$GC,10014,-0.69,-170.3,964.2,-8.3,454,10019,0.00,2.17,0.00,0.000,6,0.000,0.043,2821,2604,3422,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,10330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10331,begin apogee
$GC,10337,-0.15,0.0,990.0,-7.4,465,10483,0.50,0.00,139.20,1.485,6,0.114,0.000,2996,2098,2768,0,0,0,0,0,0,26.34,28.83,23.85
$STATE,10485,end apogee,CONTROL_FINISHED_OK
$STATE,10485,begin climb
$GC,10487,0.51,170.3,993.3,0.0,470,10653,0.57,2.58,154.60,1.439,4,0.054,0.050,3217,3521,2073,0,0,0,0,0,0,24.88,23.80,22.97
$GC,10680,0.44,170.3,978.3,11.1,476,10686,0.12,2.25,0.00,0.000,6,0.163,0.026,3196,2157,2069,0,0,0,0,0,0,24.26,24.41,28.83
$GC,11000,0.41,170.3,933.9,13.0,487,11006,0.00,2.22,0.00,0.000,4,0.000,0.035,3201,719,2063,0,0,0,0,0,0,28.83,25.65,28.83
$GC,11108,0.38,170.3,922.1,12.5,490,11115,0.00,2.20,0.00,0.000,6,0.000,0.036,3203,2122,2060,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11430,0.35,170.3,879.8,12.6,501,11435,0.12,2.22,0.00,0.000,4,0.159,0.050,3161,3528,2060,0,0,0,0,0,0,25.98,26.07,28.83
$GC,11482,0.32,170.3,875.4,12.5,502,11488,0.00,2.15,0.00,0.000,6,0.000,0.028,3170,2104,2060,0,0,0,0,0,0,28.83,26.21,28.83
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$STATE,20237,end climb,SURFACE_DEPTH_REACHED
$STATE,20238,begin surface coast
$FINISH,1.4,1.004927
$STATE,20263,end surface coast,CONTROL_FINISHED_OK
$STATE,20264,begin surface
$SM_CCo,20342,0.00,0.000,0,0,458,566.89
$SM_GC,2.49,8.60,0.73,0.00,0.047,0.041,0.000,135,2605,458,-9.07,-1.19,566.89,0,0,0,0,0,0,25.96,26.08,28.83
$IRIDIUM_FIX,1952.70,11952.94,261112,181809
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.47
$INTERNAL_PRESSURE,9.42968
$TCM_TEMP,23.80
$XPDR_PINGS,1
$SC_FREEKB,3972896
$24V_AH,23.0,26.840
$10V_AH,10.0,11.395
$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,23.625,212.375,607.450,0.000,0.000,0.000,0.000,312.725,0.250,0.000,15.778,3119.750,13865.928,813.970,2699.453,332.487,0.000,2453.523,0.000,2256.177,0.000,0.543,0.000
$DEVICE_MAMPS,247.095,52.785,1484.865,0.000,0.000,0.000,0.000,136.170,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20293.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.434,0.000,0.000,0.000
$MEM,323688
$DATA_FILE_SIZE,36698,950
$CAP_FILE_SIZE,248106,0
$CFSIZE,260034560,239177728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.051,215.3,1
$GPS,271112,054834,1956.243,11956.600,34,0.8,34,-2.6