version: 66.11
glider: 170
mission: 10
dive: 504
start: 2 15 113 6 44 58
data:
$ID,170
$MISSION,10
$DIVE,504
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$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,310
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,15
$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,200
$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,-143945.14
$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,2500
$C_ROLL_CLIMB,2160
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$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,8.8000002
$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
$GPS1,150213,063329,2147.580,11953.005,40,0.8,40,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-70.5
$GPS2,150213,064429,2147.672,11953.033,24,0.9,24,-3.0
$SPEED_LIMITS,0.177,0.315
$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,118.3,12965,-15.9,-10.215,-17.97
$D_GRID,2253
$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,-0.61,-194.6,0.0,0.0,0,85,0.00,0.00,-60.95,0.000,2,0.000,0.000,124,2559,1999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.61,-194.6,3.1,-1.4,4,166,11.60,1.42,-60.25,0.000,4,0.240,0.048,2833,1620,3647,0,0,0,0,0,0,24.91,26.11,26.58
$GC,224,-0.56,-194.6,14.9,-13.4,13,227,0.00,1.40,0.00,0.000,6,0.000,0.041,2833,2501,3648,0,0,0,0,0,0,28.83,25.98,28.83
$GC,523,-0.56,-194.6,53.0,-12.1,28,526,0.00,1.42,0.00,0.000,4,0.000,0.052,2833,3389,3648,0,0,0,0,0,0,28.83,25.90,28.83
$GC,581,-0.56,-194.6,60.0,-11.7,32,585,0.00,1.35,0.00,0.000,6,0.000,0.022,2833,2451,3648,0,0,0,0,0,0,28.83,26.32,28.83
$GC,883,-0.60,-194.6,94.9,-11.1,47,886,0.00,1.15,0.00,0.000,4,0.000,0.026,2834,1650,3648,0,0,0,0,0,0,28.83,25.60,28.83
$GC,971,-0.67,-194.6,102.5,-10.3,52,974,0.00,1.35,0.00,0.000,6,0.000,0.037,2833,2510,3648,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1274,-0.74,-194.6,131.0,-8.0,62,1278,0.12,1.38,0.00,0.000,4,0.084,0.050,2763,3377,3649,0,0,0,0,0,0,26.41,25.94,28.83
$GC,1362,-0.74,-194.6,137.9,-8.7,65,1366,0.12,1.35,0.00,0.000,6,0.142,0.023,2799,2411,3649,0,0,0,0,0,0,25.99,26.34,28.83
$GC,1665,-0.79,-194.6,167.4,-9.5,75,1668,0.00,1.60,0.00,0.000,4,0.000,0.050,2799,3386,3649,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1738,-0.84,-194.6,174.4,-9.3,78,1742,0.12,1.30,0.00,0.000,6,0.091,0.022,2735,2462,3649,0,0,0,0,0,0,26.19,26.36,28.83
$GC,2055,-0.84,-194.6,208.5,-10.5,89,2058,0.00,1.12,0.00,0.000,4,0.000,0.026,2735,1645,3649,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2141,-0.84,-194.6,216.9,-11.0,92,2144,0.00,1.42,0.00,0.000,6,0.000,0.037,2735,2549,3649,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2443,-0.84,-194.6,251.4,-10.6,102,2447,0.10,1.33,0.00,0.000,4,0.165,0.050,2764,3378,3648,0,0,0,0,0,0,26.26,25.94,28.83
$GC,2471,-0.84,-194.6,252.9,-10.3,103,2474,0.00,1.17,0.00,0.000,6,0.000,0.022,2764,2544,3649,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2776,-0.87,-194.6,278.4,-8.0,113,2779,0.00,1.38,0.00,0.000,4,0.000,0.051,2764,3376,3647,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2803,-0.90,-194.6,279.6,-8.1,114,2806,0.00,1.27,0.00,0.000,6,0.000,0.023,2764,2479,3646,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3106,-0.93,-194.6,309.7,-10.1,124,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2478,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3405,-0.96,-194.6,336.4,-8.2,134,3408,0.12,1.17,0.00,0.000,4,0.091,0.023,2703,1625,3644,0,0,0,0,0,0,26.41,26.29,28.83
$GC,3448,-0.96,-194.6,341.1,-8.9,136,3451,0.00,1.27,0.00,0.000,6,0.000,0.037,2703,2435,3643,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3766,-0.91,-194.6,375.3,-10.6,147,3771,0.15,1.52,0.00,0.000,4,0.158,0.051,2743,3378,3642,0,0,0,0,0,0,26.05,25.90,28.83
$GC,3854,-0.87,-194.6,382.5,-9.5,150,3857,0.00,1.38,0.00,0.000,6,0.000,0.024,2743,2423,3641,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4155,-0.87,-194.6,411.9,-9.6,160,4158,0.00,1.58,0.00,0.000,4,0.000,0.050,2744,3375,3640,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4214,-0.87,-194.6,416.5,-9.9,162,4217,0.00,1.45,0.00,0.000,6,0.000,0.023,2743,2373,3639,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4516,-0.87,-194.6,448.5,-10.2,172,4519,0.00,1.67,0.00,0.000,4,0.000,0.050,2743,3385,3638,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4604,-0.87,-194.6,456.1,-10.1,175,4607,0.00,1.52,0.00,0.000,6,0.000,0.023,2746,2336,3637,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4905,-0.87,-194.6,485.6,-8.9,185,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2331,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5206,-0.87,-194.6,513.3,-9.5,195,5209,0.00,1.73,0.00,0.000,4,0.000,0.050,2743,3384,3633,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5310,-0.87,-194.6,524.1,-10.3,199,5313,0.00,1.38,0.00,0.000,6,0.000,0.024,2743,2442,3633,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5628,-0.90,-194.6,557.8,-10.9,210,5631,0.00,1.12,0.00,0.000,4,0.000,0.023,2743,1645,3632,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5714,-0.90,-194.6,565.9,-10.9,213,5717,0.00,1.35,0.00,0.000,6,0.000,0.038,2743,2490,3631,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6018,-0.92,-194.6,597.7,-9.8,223,6021,0.00,1.23,0.00,0.000,4,0.000,0.023,2743,1637,3629,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6091,-0.92,-194.6,601.9,-9.4,225,6094,0.00,1.27,0.00,0.000,6,0.000,0.038,2743,2441,3629,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6405,-0.92,-194.6,630.3,-8.1,231,6408,0.00,1.15,0.00,0.000,4,0.000,0.024,2744,1630,3627,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6435,-0.92,-194.6,630.3,-8.1,231,6438,0.00,1.38,0.00,0.000,6,0.000,0.037,2743,2494,3627,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6737,-0.94,-194.6,655.2,-7.5,236,6740,0.00,1.45,0.00,0.000,4,0.000,0.051,2743,3384,3625,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6782,-0.94,-194.6,658.8,-7.6,237,6785,0.00,1.20,0.00,0.000,6,0.000,0.028,2743,2581,3625,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7127,-0.97,-194.6,687.1,-8.3,243,7130,0.00,1.35,0.00,0.000,4,0.000,0.023,2743,1633,3624,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7170,-1.00,-194.6,690.9,-8.4,244,7174,0.00,1.50,0.00,0.000,6,0.000,0.039,2744,2570,3626,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7516,-1.03,-194.6,721.9,-9.1,250,7519,0.12,1.30,0.00,0.000,4,0.099,0.052,2689,3378,3622,0,0,0,0,0,0,26.36,25.84,28.83
$GC,7575,-1.03,-194.6,726.8,-9.5,251,7578,0.00,1.20,0.00,0.000,6,0.000,0.026,2688,2573,3622,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7905,-0.97,-194.6,771.5,-13.0,257,7909,0.12,1.33,0.00,0.000,4,0.169,0.023,2720,1635,3621,0,0,0,0,0,0,26.10,26.22,28.83
$GC,8011,-0.92,-194.6,783.9,-12.5,259,8014,0.00,1.42,0.00,0.000,6,0.000,0.039,2720,2523,3621,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8355,-0.92,-194.6,818.9,-9.9,265,8358,0.00,1.30,0.00,0.000,4,0.000,0.024,2720,1632,3619,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8429,-0.92,-194.6,823.1,-9.6,266,8433,0.00,1.50,0.00,0.000,6,0.000,0.038,2720,2571,3619,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8747,-0.92,-194.6,851.6,-7.9,272,8750,0.00,1.33,0.00,0.000,4,0.000,0.053,2720,3390,3618,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8834,-0.92,-194.6,855.0,-7.7,273,8837,0.00,1.17,0.00,0.000,6,0.000,0.028,2720,2615,3618,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9135,-0.92,-194.6,879.2,-6.9,278,9138,0.00,1.27,0.00,0.000,4,0.000,0.053,2720,3378,3616,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9195,-0.92,-194.6,882.5,-7.0,279,9198,0.00,1.23,0.00,0.000,6,0.000,0.028,2720,2572,3616,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9525,-0.92,-194.6,906.0,-6.8,285,9528,0.00,1.35,0.00,0.000,4,0.000,0.054,2720,3379,3615,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9599,-0.92,-194.6,909.3,-6.9,286,9602,0.00,1.27,0.00,0.000,6,0.000,0.028,2720,2537,3614,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9917,-0.89,-194.6,935.7,-7.7,292,9920,0.00,1.35,0.00,0.000,4,0.000,0.024,2720,1595,3613,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10021,-0.85,-194.6,945.0,-8.3,294,10025,0.15,1.45,0.00,0.000,6,0.164,0.040,2762,2498,3614,0,0,0,0,0,0,25.53,25.91,28.83
$STATE,10122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10122,begin apogee
$GC,10131,-0.17,0.0,953.5,-8.5,296,10306,0.65,0.00,169.00,1.467,4,0.107,0.000,2980,2150,2851,0,0,0,0,0,0,25.37,28.83,22.82
$STATE,10308,end apogee,CONTROL_FINISHED_OK
$STATE,10308,begin climb
$GC,10311,0.61,194.6,964.4,0.0,299,10501,0.68,1.33,183.68,1.422,4,0.050,0.028,3234,1308,2059,0,0,0,0,0,0,24.75,24.84,22.27
$GC,10515,0.58,298.4,960.3,6.6,302,10618,0.00,1.45,98.43,1.385,6,0.000,0.034,3234,2165,1636,0,0,0,0,0,0,28.83,24.43,22.25
$GC,10953,0.59,315.6,917.8,9.6,310,10978,0.00,1.42,16.62,1.304,4,0.000,0.047,3234,3037,1565,0,0,0,0,0,0,28.83,25.72,23.85
$GC,11055,0.59,325.9,911.6,9.9,311,11071,0.00,1.30,10.95,1.230,6,0.000,0.025,3240,2164,1526,0,0,0,0,0,0,28.83,26.14,23.89
$GC,11370,0.59,325.9,872.8,10.8,317,11373,0.00,1.30,0.00,0.000,4,0.000,0.030,3240,1299,1522,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11444,0.59,325.9,868.1,10.8,318,11447,0.00,1.35,0.00,0.000,6,0.000,0.034,3240,2162,1521,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11762,0.59,325.9,831.4,10.7,324,11765,0.00,1.40,0.00,0.000,4,0.000,0.047,3240,3041,1521,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11849,0.59,325.9,826.0,10.9,325,11852,0.00,1.30,0.00,0.000,6,0.000,0.025,3240,2169,1521,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12150,0.59,325.9,789.0,10.4,330,12153,0.00,1.30,0.00,0.000,4,0.000,0.030,3240,1301,1520,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12212,0.62,329.7,784.7,10.1,331,12224,0.00,1.35,4.57,0.926,6,0.000,0.033,3240,2164,1509,0,0,0,0,0,0,28.83,26.09,24.13
$GC,12556,0.67,362.8,752.2,9.1,337,12592,0.00,1.38,32.60,1.316,4,0.000,0.030,3240,1301,1373,0,0,0,0,0,0,28.83,25.56,23.72
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$GC,14781,0.85,432.8,493.9,10.0,391,14788,0.00,0.00,5.15,0.864,6,0.000,0.000,3288,2299,1088,0,0,0,0,0,0,28.83,28.83,24.17
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$STATE,18976,end climb,SURFACE_DEPTH_REACHED
$STATE,18976,begin surface coast
$FINISH,1.8,1.013545
$STATE,18998,end surface coast,CONTROL_FINISHED_OK
$STATE,18998,begin surface
$SM_CCo,19079,0.00,0.000,0,0,845,492.56
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$IRIDIUM_FIX,2141.13,11953.33,150213,060640
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.60
$INTERNAL_PRESSURE,9.41992
$TCM_TEMP,22.10
$XPDR_PINGS,3
$SC_FREEKB,3826976
$24V_AH,22.3,110.592
$10V_AH,10.0,53.996
$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,24.325,123.500,643.500,0.000,0.000,0.000,0.000,391.550,0.750,0.000,25.459,1859.554,14972.692,889.287,1507.734,503.668,0.000,1912.545,0.000,1063.168,0.000,0.541,0.000
$DEVICE_MAMPS,240.210,54.315,1466.505,0.000,0.000,0.000,0.000,118.575,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.287,0.000,0.000,0.000
$MEM,325068
$DATA_FILE_SIZE,23379,553
$CAP_FILE_SIZE,179654,0
$CFSIZE,260034560,196194304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.030,314.9,1
$GPS,150213,120404,2147.556,11953.084,26,0.9,26,-3.0