version: 66.11
glider: 170
mission: 10
dive: 405
start: 1 23 113 20 14 52
data:
$ID,170
$MISSION,10
$DIVE,405
$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,360
$T_MISSION,380
$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,190
$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,-143707.38
$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,89
$R_STBD_OVSHOOT,45
$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
$GPS1,230113,200134,2123.270,12003.721,66,0.9,66,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-75.4
$GPS2,230113,201423,2123.226,12003.646,21,1.0,21,-3.0
$SPEED_LIMITS,0.159,0.297
$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,197.9,265332,-14.9,-9.167,-17.17
$D_GRID,2807
$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,-0.57,-184.9,0.0,0.0,0,68,0.00,0.00,-44.00,0.000,2,0.000,0.000,130,2462,1933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.57,-184.9,3.1,-1.9,8,162,11.43,1.25,-67.82,0.000,4,0.239,0.057,2842,1635,3608,0,0,0,0,0,0,25.01,26.13,26.60
$GC,298,-0.53,-184.9,27.1,-13.2,47,304,0.00,1.30,0.00,0.000,6,0.000,0.041,2842,2473,3608,0,0,0,0,0,0,28.83,26.17,28.83
$GC,484,-0.50,-184.9,50.7,-12.0,66,489,0.12,1.35,0.00,0.000,4,0.158,0.049,2887,3357,3609,0,0,0,0,0,0,26.19,26.10,28.83
$GC,531,-0.50,-184.9,55.4,-11.3,68,536,0.00,1.25,0.00,0.000,6,0.000,0.024,2887,2469,3608,0,0,0,0,0,0,28.83,26.45,28.83
$GC,730,-0.57,-184.9,75.4,-9.9,78,732,0.12,0.00,0.00,0.000,6,0.089,0.000,2819,2468,3609,0,0,0,0,0,0,26.49,28.83,28.83
$GC,910,-0.62,-184.9,94.4,-10.0,87,916,0.00,1.17,0.00,0.000,4,0.000,0.023,2819,1619,3609,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1000,-0.64,-184.9,102.5,-9.6,91,1005,0.00,1.33,0.00,0.000,6,0.000,0.037,2819,2486,3609,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1201,-0.68,-184.9,121.0,-9.1,101,1206,0.00,1.25,0.00,0.000,4,0.000,0.024,2819,1614,3610,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1280,-0.68,-184.9,127.5,-9.7,104,1287,0.00,1.33,0.00,0.000,6,0.000,0.037,2819,2480,3610,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1465,-0.73,-184.9,147.0,-9.7,114,1470,0.00,1.23,0.00,0.000,4,0.000,0.024,2819,1624,3610,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1538,-0.77,-184.9,153.2,-9.8,117,1544,0.00,1.30,0.00,0.000,6,0.000,0.037,2819,2474,3610,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1733,-0.82,-184.9,170.9,-8.5,127,1739,0.12,1.23,0.00,0.000,4,0.090,0.021,2744,1623,3611,0,0,0,0,0,0,26.49,26.44,28.83
$GC,1768,-0.84,-184.9,173.4,-8.9,128,1773,0.00,1.30,0.00,0.000,6,0.000,0.037,2744,2473,3610,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1963,-0.78,-184.9,198.7,-12.5,138,1969,0.12,1.38,0.00,0.000,4,0.166,0.048,2784,3361,3609,0,0,0,0,0,0,26.20,26.15,28.83
$GC,2002,-0.73,-184.9,201.8,-12.3,139,2008,0.00,1.25,0.00,0.000,6,0.000,0.023,2784,2447,3610,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2189,-0.70,-184.9,223.7,-11.4,149,2195,0.00,1.10,0.00,0.000,4,0.000,0.022,2784,1656,3609,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2227,-0.67,-184.9,226.5,-11.3,150,2235,0.08,1.25,0.00,0.000,6,0.137,0.038,2813,2472,3609,0,0,0,0,0,0,26.03,26.28,28.83
$GC,2416,-0.71,-184.9,244.8,-8.4,160,2421,0.00,1.17,0.00,0.000,4,0.000,0.023,2813,1640,3609,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2429,-0.75,-184.9,244.8,-8.4,160,2435,0.00,1.27,0.00,0.000,6,0.000,0.037,2813,2476,3609,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2624,-0.80,-184.9,263.1,-8.6,170,2630,0.12,1.20,0.00,0.000,4,0.095,0.020,2741,1633,3609,0,0,0,0,0,0,26.48,26.45,28.83
$GC,2659,-0.84,-184.9,265.6,-9.0,171,2664,0.00,1.30,0.00,0.000,6,0.000,0.037,2741,2482,3608,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2973,-0.79,-184.9,304.2,-11.6,187,2979,0.12,1.38,0.00,0.000,4,0.162,0.049,2781,3353,3607,0,0,0,0,0,0,26.22,26.15,28.83
$GC,3018,-0.75,-184.9,308.6,-10.9,189,3024,0.00,1.23,0.00,0.000,6,0.000,0.025,2781,2487,3607,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3343,-0.75,-184.9,337.5,-9.1,205,3348,0.00,1.20,0.00,0.000,4,0.000,0.023,2781,1626,3606,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3367,-0.75,-184.9,339.8,-9.2,206,3372,0.00,1.30,0.00,0.000,6,0.000,0.038,2781,2473,3606,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3691,-0.75,-184.9,370.1,-8.7,222,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2474,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3993,-0.75,-184.9,395.1,-8.4,237,3998,0.00,1.38,0.00,0.000,4,0.000,0.052,2781,3339,3602,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4020,-0.75,-184.9,397.4,-8.6,238,4026,0.00,1.23,0.00,0.000,6,0.000,0.026,2781,2473,3603,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4341,-0.75,-184.9,426.5,-9.2,254,4346,0.00,1.42,0.00,0.000,4,0.000,0.051,2781,3348,3600,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4359,-0.75,-184.9,426.5,-9.2,254,4365,0.00,1.23,0.00,0.000,6,0.000,0.026,2781,2492,3600,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4666,-0.79,-184.9,457.6,-9.6,270,4672,0.00,1.38,0.00,0.000,4,0.000,0.052,2781,3338,3597,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4739,-0.81,-184.9,464.0,-9.8,273,4744,0.00,1.25,0.00,0.000,6,0.000,0.028,2781,2480,3597,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5053,-0.84,-184.9,492.0,-8.2,289,5059,0.00,1.25,0.00,0.000,4,0.000,0.024,2782,1595,3596,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5139,-0.87,-184.9,498.9,-8.2,293,5145,0.00,1.38,0.00,0.000,6,0.000,0.038,2781,2476,3596,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5464,-0.90,-184.9,525.4,-8.4,309,5470,0.10,1.40,0.00,0.000,4,0.109,0.050,2728,3368,3593,0,0,0,0,0,0,26.52,26.10,28.83
$GC,5509,-0.90,-184.9,530.2,-9.5,311,5514,0.00,1.33,0.00,0.000,6,0.000,0.026,2728,2449,3594,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5833,-0.85,-184.9,569.3,-12.3,327,5835,0.12,0.00,0.00,0.000,6,0.166,0.000,2762,2447,3592,0,0,0,0,0,0,26.23,28.83,28.83
$GC,6134,-0.85,-184.9,599.7,-10.1,342,6139,0.00,1.48,0.00,0.000,4,0.000,0.052,2762,3354,3590,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6169,-0.83,-184.9,603.5,-10.4,344,6174,0.00,1.27,0.00,0.000,6,0.000,0.028,2762,2488,3590,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6504,-0.83,-184.9,636.0,-9.4,355,6509,0.00,1.25,0.00,0.000,4,0.000,0.024,2762,1603,3589,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6572,-0.83,-184.9,642.2,-9.5,357,6578,0.00,1.35,0.00,0.000,6,0.000,0.040,2762,2470,3590,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6903,-0.83,-184.9,673.6,-9.4,368,6908,0.00,1.27,0.00,0.000,4,0.000,0.025,2762,1596,3588,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6937,-0.83,-184.9,677.0,-9.3,369,6942,0.00,1.38,0.00,0.000,6,0.000,0.040,2762,2470,3587,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7274,-0.85,-184.9,708.7,-9.4,380,7279,0.00,1.40,0.00,0.000,4,0.000,0.051,2762,3350,3586,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7351,-0.85,-184.9,714.9,-9.3,382,7357,0.00,1.30,0.00,0.000,6,0.000,0.029,2762,2473,3585,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7674,-0.87,-184.9,743.8,-8.3,393,7679,0.00,1.25,0.00,0.000,4,0.000,0.026,2762,1598,3583,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7698,-0.89,-184.9,743.8,-8.3,393,7703,0.00,1.38,0.00,0.000,6,0.000,0.041,2762,2472,3583,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8015,-0.89,-184.9,771.6,-8.1,404,8020,0.00,1.27,0.00,0.000,4,0.000,0.025,2762,1597,3581,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8109,-0.89,-184.9,779.4,-8.1,407,8114,0.00,1.38,0.00,0.000,6,0.000,0.039,2762,2473,3582,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8445,-0.89,-184.9,808.4,-9.0,418,8450,0.00,1.27,0.00,0.000,4,0.000,0.025,2762,1602,3581,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8540,-0.89,-184.9,817.7,-9.6,421,8545,0.00,1.38,0.00,0.000,6,0.000,0.041,2762,2472,3580,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8877,-0.89,-184.9,851.4,-10.3,432,8878,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2471,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9173,-0.89,-184.9,883.7,-10.9,442,9179,0.00,1.27,0.00,0.000,4,0.000,0.026,2762,1601,3577,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9232,-0.89,-184.9,887.4,-11.0,443,9239,0.00,1.38,0.00,0.000,6,0.000,0.041,2762,2474,3577,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9538,-0.89,-184.9,921.6,-10.2,454,9543,0.00,1.40,0.00,0.000,4,0.000,0.054,2762,3347,3577,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9565,-0.89,-184.9,921.6,-10.2,454,9572,0.00,1.30,0.00,0.000,6,0.000,0.030,2762,2473,3577,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9872,-0.89,-184.9,954.4,-9.8,465,9878,0.00,1.25,0.00,0.000,4,0.000,0.026,2762,1603,3575,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9966,-0.89,-184.9,963.9,-10.1,468,9971,0.00,1.38,0.00,0.000,6,0.000,0.042,2762,2468,3575,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,10237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10237,begin apogee
$GC,10245,-0.17,0.0,990.7,-9.8,477,10415,0.65,0.00,162.45,1.484,6,0.119,0.000,2980,2089,2853,0,0,0,0,0,0,25.56,28.83,22.46
$STATE,10416,end apogee,CONTROL_FINISHED_OK
$STATE,10417,begin climb
$GC,10420,0.57,184.9,998.7,0.0,482,10609,0.68,1.38,178.82,1.439,4,0.057,0.032,3227,1278,2097,0,0,0,0,0,0,24.53,23.76,21.99
$GC,10678,0.51,184.9,986.6,9.5,491,10683,0.00,1.38,0.00,0.000,6,0.000,0.037,3227,2122,2092,0,0,0,0,0,0,28.83,25.05,28.83
$GC,10999,0.45,184.9,953.0,9.9,502,11004,0.12,1.35,0.00,0.000,4,0.156,0.044,3185,3011,2087,0,0,0,0,0,0,26.05,26.09,28.83
$GC,11097,0.41,184.9,943.9,9.6,505,11102,0.00,1.30,0.00,0.000,6,0.000,0.027,3188,2137,2087,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11433,0.40,216.3,915.4,8.1,516,11469,0.00,1.38,28.27,1.393,4,0.000,0.034,3188,1258,1969,0,0,0,0,0,0,28.83,25.67,23.72
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$STATE,19816,end climb,SURFACE_DEPTH_REACHED
$STATE,19816,begin surface coast
$FINISH,1.7,1.023089
$STATE,19837,end surface coast,CONTROL_FINISHED_OK
$STATE,19837,begin surface
$SM_CCo,19919,0.00,0.000,0,0,823,497.96
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$IRIDIUM_FIX,2115.63,12006.22,230113,202034
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.57
$INTERNAL_PRESSURE,9.38085
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,3864928
$24V_AH,22.0,83.866
$10V_AH,9.7,42.116
$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,23.675,132.875,636.000,0.000,0.000,0.000,0.000,449.025,0.000,0.000,22.153,3147.812,13243.999,785.018,2917.004,577.237,0.000,2612.074,0.000,2342.427,0.000,0.542,0.000
$DEVICE_MAMPS,238.680,56.610,1484.100,0.000,0.000,0.000,0.000,134.640,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19903.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.479,0.000,0.000,0.000
$MEM,324344
$DATA_FILE_SIZE,36681,919
$CAP_FILE_SIZE,244943,0
$CFSIZE,260034560,208691200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.072,340.0,1
$GPS,240113,014804,2121.873,12003.094,33,0.8,33,-2.9