version: 66.11
glider: 170
mission: 10
dive: 403
start: 1 23 113 7 49 17
data:
$ID,170
$MISSION,10
$DIVE,403
$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,390
$T_MISSION,420
$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,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51760
$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,3
$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,-143704.88
$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,3035
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,25
$C_ROLL_DIVE,2475
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2853
$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,21.5
$MINV_10V,9
$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
$GPS1,230113,073535,2125.196,12002.969,33,0.8,33,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-74.1
$GPS2,230113,074847,2125.178,12002.854,17,1.0,17,-3.0
$SPEED_LIMITS,0.147,0.282
$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,175.5,268916,-14.4,-8.462,-16.72
$D_GRID,2838
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.55,-175.2,0.0,0.0,0,70,0.00,0.00,-45.67,0.000,2,0.000,0.000,134,2482,1959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.55,-175.2,3.1,-1.9,8,158,11.48,1.35,-65.40,0.000,4,0.241,0.047,2850,1576,3568,0,0,0,0,0,0,25.22,26.23,26.60
$GC,276,-0.50,-175.2,22.3,-13.1,44,282,0.00,1.40,0.00,0.000,6,0.000,0.041,2850,2470,3568,0,0,0,0,0,0,28.83,26.15,28.83
$GC,471,-0.47,-175.2,46.8,-12.0,65,477,0.12,1.30,0.00,0.000,4,0.149,0.024,2893,1583,3568,0,0,0,0,0,0,26.22,26.37,28.83
$GC,515,-0.47,-175.2,51.4,-10.3,69,520,0.00,1.40,0.00,0.000,6,0.000,0.041,2893,2483,3569,0,0,0,0,0,0,28.83,26.21,28.83
$GC,719,-0.55,-175.2,68.9,-8.6,79,726,0.12,1.35,0.00,0.000,4,0.092,0.048,2818,3370,3569,0,0,0,0,0,0,26.48,26.16,28.83
$GC,804,-0.55,-175.2,78.4,-10.9,83,811,0.10,1.33,0.00,0.000,6,0.118,0.024,2857,2405,3569,0,0,0,0,0,0,26.13,26.48,28.83
$GC,1013,-0.61,-175.2,96.8,-8.5,93,1018,0.00,1.50,0.00,0.000,4,0.000,0.047,2857,3351,3569,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1120,-0.66,-175.2,105.5,-8.1,98,1126,0.08,1.30,0.00,0.000,6,0.056,0.023,2795,2405,3569,0,0,0,0,0,0,26.34,26.50,28.83
$GC,1327,-0.66,-175.2,128.0,-11.5,108,1332,0.00,1.50,0.00,0.000,4,0.000,0.046,2795,3351,3569,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1414,-0.63,-175.2,138.5,-12.2,112,1420,0.08,1.30,0.00,0.000,6,0.125,0.023,2825,2405,3570,0,0,0,0,0,0,26.17,26.51,28.83
$GC,1616,-0.67,-175.2,159.3,-9.7,122,1622,0.00,1.15,0.00,0.000,4,0.000,0.025,2825,1580,3570,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1722,-0.70,-175.2,169.4,-9.5,127,1727,0.00,1.40,0.00,0.000,6,0.000,0.039,2825,2478,3570,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1927,-0.75,-175.2,188.6,-9.3,137,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2478,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2106,-0.79,-175.2,205.2,-9.2,146,2112,0.12,1.38,0.00,0.000,4,0.091,0.049,2749,3365,3570,0,0,0,0,0,0,26.51,26.18,28.83
$GC,2145,-0.82,-175.2,207.8,-9.5,147,2152,0.00,1.33,0.00,0.000,6,0.000,0.023,2749,2402,3570,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2331,-0.76,-175.2,231.5,-11.8,157,2337,0.12,1.15,0.00,0.000,4,0.164,0.021,2791,1574,3570,0,0,0,0,0,0,26.21,26.44,28.83
$GC,2376,-0.71,-175.2,236.1,-10.8,159,2381,0.00,1.40,0.00,0.000,6,0.000,0.040,2791,2477,3569,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2580,-0.71,-175.2,254.7,-8.9,169,2585,0.00,1.38,0.00,0.000,4,0.000,0.051,2791,3354,3569,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2623,-0.71,-175.2,258.5,-8.7,171,2628,0.00,1.30,0.00,0.000,6,0.000,0.024,2791,2417,3569,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2946,-0.71,-175.2,286.3,-8.9,187,2951,0.00,1.17,0.00,0.000,4,0.000,0.024,2791,1579,3568,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2998,-0.71,-175.2,290.3,-9.1,189,3004,0.00,1.40,0.00,0.000,6,0.000,0.038,2792,2484,3568,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3313,-0.74,-175.2,319.6,-9.0,205,3319,0.00,1.30,0.00,0.000,4,0.000,0.024,2791,1581,3565,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3358,-0.76,-175.2,323.6,-9.2,207,3363,0.00,1.38,0.00,0.000,6,0.000,0.039,2791,2468,3565,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3681,-0.79,-175.2,353.8,-8.9,223,3688,0.00,1.40,0.00,0.000,4,0.000,0.050,2791,3357,3564,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3720,-0.81,-175.2,355.9,-8.7,224,3727,0.00,1.33,0.00,0.000,6,0.000,0.025,2791,2417,3564,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4027,-0.84,-175.2,381.9,-8.1,240,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2417,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4328,-0.87,-175.2,408.2,-9.0,255,4334,0.12,1.52,0.00,0.000,4,0.093,0.049,2726,3357,3561,0,0,0,0,0,0,26.50,26.15,28.83
$GC,4439,-0.80,-175.2,420.7,-12.5,260,4445,0.15,1.33,0.00,0.000,6,0.133,0.024,2777,2415,3560,0,0,0,0,0,0,25.96,26.51,28.83
$GC,4760,-0.78,-175.2,455.8,-10.9,276,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2415,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5060,-0.78,-175.2,485.3,-9.3,291,5067,0.00,1.50,0.00,0.000,4,0.000,0.051,2777,3350,3557,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5139,-0.78,-175.2,491.8,-9.7,294,5146,0.00,1.33,0.00,0.000,6,0.000,0.027,2777,2423,3556,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5445,-0.78,-175.2,520.1,-8.4,310,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2422,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5748,-0.78,-175.2,545.6,-8.7,325,5753,0.00,1.20,0.00,0.000,4,0.000,0.024,2777,1559,3554,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5835,-0.78,-175.2,553.2,-8.8,329,5840,0.00,1.42,0.00,0.000,6,0.000,0.039,2777,2473,3552,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6154,-0.78,-175.2,583.8,-9.8,345,6159,0.00,1.30,0.00,0.000,4,0.000,0.024,2777,1575,3551,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6212,-0.78,-175.2,588.1,-9.8,347,6220,0.00,1.40,0.00,0.000,6,0.000,0.040,2777,2468,3551,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6522,-0.80,-175.2,616.8,-8.6,360,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2468,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6819,-0.80,-175.2,641.3,-8.1,370,6824,0.00,1.40,0.00,0.000,4,0.000,0.051,2779,3350,3547,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6906,-0.80,-175.2,646.6,-8.2,372,6914,0.00,1.33,0.00,0.000,6,0.000,0.028,2777,2440,3547,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7213,-0.80,-175.2,673.9,-8.3,383,7218,0.00,1.48,0.00,0.000,4,0.000,0.052,2777,3350,3546,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7256,-0.80,-175.2,676.9,-8.4,384,7261,0.00,1.27,0.00,0.000,6,0.000,0.028,2777,2481,3545,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7582,-0.80,-175.2,706.1,-8.9,395,7587,0.00,1.25,0.00,0.000,4,0.000,0.025,2777,1595,3544,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7594,-0.80,-175.2,706.1,-8.9,395,7599,0.00,1.38,0.00,0.000,6,0.000,0.041,2777,2471,3545,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7921,-0.82,-175.2,736.8,-8.9,406,7926,0.00,1.40,0.00,0.000,4,0.000,0.052,2777,3351,3543,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7990,-0.84,-175.2,742.9,-9.0,408,7995,0.00,1.30,0.00,0.000,6,0.000,0.028,2777,2457,3543,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8321,-0.86,-175.2,773.1,-8.9,419,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2457,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8619,-0.86,-175.2,797.5,-7.8,429,8624,0.00,1.45,0.00,0.000,4,0.000,0.053,2777,3348,3541,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8632,-0.86,-175.2,797.5,-7.8,429,8637,0.00,1.27,0.00,0.000,6,0.000,0.029,2777,2486,3540,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8959,-0.89,-175.2,824.6,-8.0,440,8964,0.00,1.27,0.00,0.000,4,0.000,0.025,2777,1591,3540,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9042,-0.89,-175.2,829.8,-7.9,442,9047,0.00,1.40,0.00,0.000,6,0.000,0.041,2777,2477,3539,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9358,-0.91,-175.2,855.5,-7.6,453,9364,0.12,1.40,0.00,0.000,4,0.100,0.051,2715,3360,3538,0,0,0,0,0,0,26.44,26.03,28.83
$GC,9514,-0.84,-175.2,873.3,-12.0,458,9520,0.12,1.33,0.00,0.000,6,0.136,0.028,2755,2469,3537,0,0,0,0,0,0,25.92,26.42,28.83
$GC,9849,-0.81,-175.2,905.2,-9.5,469,9854,0.00,1.45,0.00,0.000,4,0.000,0.054,2755,3355,3536,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9877,-0.77,-175.2,905.2,-9.5,469,9884,0.00,1.30,0.00,0.000,6,0.000,0.029,2756,2473,3536,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10186,-0.74,-175.2,938.7,-10.4,480,10192,0.12,1.25,0.00,0.000,4,0.157,0.023,2796,1606,3535,0,0,0,0,0,0,26.19,26.39,28.83
$GC,10215,-0.71,-175.2,938.7,-10.4,480,10221,0.00,1.38,0.00,0.000,6,0.000,0.043,2796,2473,3535,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10522,-0.71,-175.2,966.1,-8.0,491,10527,0.00,1.42,0.00,0.000,4,0.000,0.054,2796,3355,3535,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10550,-0.71,-175.2,966.1,-8.0,491,10557,0.00,1.30,0.00,0.000,6,0.000,0.030,2796,2488,3534,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,10823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10823,begin apogee
$GC,10831,-0.17,0.0,990.3,-7.7,501,10991,0.52,0.00,153.30,1.483,6,0.108,0.000,2977,2090,2853,0,0,0,0,0,0,25.72,28.83,22.57
$STATE,10993,end apogee,CONTROL_FINISHED_OK
$STATE,10993,begin climb
$GC,10996,0.55,175.2,998.4,0.0,506,11177,0.65,1.62,170.50,1.444,4,0.058,0.047,3214,2998,2137,0,0,0,0,0,0,24.60,23.75,22.01
$GC,11265,0.48,175.2,986.6,9.4,515,11271,0.00,1.33,0.00,0.000,6,0.000,0.025,3218,2148,2130,0,0,0,0,0,0,28.83,25.40,28.83
$GC,11588,0.42,175.2,953.4,10.0,526,11593,0.15,1.33,0.00,0.000,4,0.153,0.028,3176,1229,2127,0,0,0,0,0,0,26.01,26.22,28.83
$GC,11626,0.37,175.2,950.3,9.5,527,11632,0.00,1.40,0.00,0.000,6,0.000,0.037,3176,2128,2125,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11960,0.38,191.0,924.0,8.0,538,11979,0.00,1.42,13.75,1.327,4,0.000,0.048,3175,3008,2074,0,0,0,0,0,0,28.83,25.93,23.85
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$STATE,21103,end climb,SURFACE_DEPTH_REACHED
$STATE,21103,begin surface coast
$FINISH,1.7,1.022955
$STATE,21173,end surface coast,CONTROL_FINISHED_OK
$STATE,21173,begin surface
$SM_CCo,21193,4.97,0.063,0,0,1018,450.13
$SM_GC,3.29,8.38,0.55,4.97,0.045,0.047,0.063,135,2483,1018,-9.02,-1.13,450.13,0,0,0,0,0,0,25.62,26.25,25.95
$IRIDIUM_FIX,2117.95,12006.22,230113,070716
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.89
$INTERNAL_PRESSURE,9.41015
$TCM_TEMP,22.80
$XPDR_PINGS,2
$SC_FREEKB,3865696
$24V_AH,22.0,83.379
$10V_AH,9.8,41.853
$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,23.275,143.725,569.775,4.975,0.000,0.000,0.000,439.100,0.500,0.000,18.500,3422.142,14037.359,791.213,3078.751,623.602,0.000,2658.941,0.000,2522.379,0.000,0.542,0.000
$DEVICE_MAMPS,240.975,53.550,1483.335,63.495,0.000,0.000,0.000,141.525,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21232.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.663,0.000,0.000,0.000
$MEM,324308
$DATA_FILE_SIZE,36743,991
$CAP_FILE_SIZE,257302,0
$CFSIZE,260034560,208941056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.088,289.4,1
$GPS,230113,134359,2124.156,12002.475,40,1.0,40,-3.0