version: 66.11
glider: 170
mission: 10
dive: 4
start: 11 6 112 1 42 17
data:
$ID,170
$MISSION,10
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$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,180
$T_MISSION,220
$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,200
$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,-141888.28
$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,3110
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,3000
$C_ROLL_CLIMB,3000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,38
$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,0.00060000003
$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
$GPS1,061112,013818,2154.082,12026.581,13,1.3,14,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-75.8
$GPS2,061112,014149,2153.966,12026.624,17,1.3,18,-3.1
$SPEED_LIMITS,0.173,0.313
$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,298.2,48715,-15.6,-10.000,-17.73
$D_GRID,849
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.51,-194.6,0.0,0.0,0,109,0.00,0.00,-88.43,0.000,2,0.000,0.000,137,3019,2784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.51,-194.6,3.7,-6.9,16,145,11.43,1.08,-13.82,0.000,4,0.259,0.091,2936,3687,3565,0,0,0,0,0,0,26.36,26.59,26.91
$GC,372,-0.37,-194.6,91.7,-28.7,38,379,0.15,1.00,0.00,0.000,6,0.158,0.035,2985,3007,3566,0,0,0,0,0,0,26.56,26.75,28.83
$GC,560,-0.46,-194.6,110.8,-4.4,48,565,0.00,1.08,0.00,0.000,4,0.000,0.063,2985,3676,3566,0,0,0,0,0,0,28.83,26.72,28.83
$GC,793,-0.66,-194.6,124.3,-8.7,59,799,0.22,1.00,0.00,0.000,6,0.065,0.035,2883,2988,3566,0,0,0,0,0,0,26.77,26.83,28.83
$GC,988,-0.72,-194.6,140.7,-6.9,69,994,0.00,1.10,0.00,0.000,4,0.000,0.060,2882,3678,3566,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1066,-0.77,-194.6,144.3,-5.6,72,1073,0.00,0.98,0.00,0.000,6,0.000,0.034,2882,3003,3565,0,0,0,0,0,0,28.83,26.86,28.83
$GC,1252,-0.77,-194.6,160.7,-11.6,82,1258,0.00,1.10,0.00,0.000,4,0.000,0.062,2882,3690,3566,0,0,0,0,0,0,28.83,26.79,28.83
$GC,1484,-0.75,-194.6,196.9,-16.1,93,1489,0.00,1.00,0.00,0.000,6,0.000,0.034,2882,3002,3565,0,0,0,0,0,0,28.83,26.88,28.83
$GC,1677,-0.77,-194.6,225.4,-13.4,103,1682,0.00,1.10,0.00,0.000,4,0.000,0.063,2884,3687,3564,0,0,0,0,0,0,28.83,26.81,28.83
$GC,1910,-0.78,-194.6,252.4,-11.1,114,1916,0.00,1.00,0.00,0.000,6,0.000,0.034,2883,3001,3563,0,0,0,0,0,0,28.83,26.89,28.83
$GC,2225,-0.82,-194.6,278.5,-7.8,130,2230,0.10,2.03,0.00,0.000,4,0.116,0.028,2824,1573,3561,0,0,0,0,0,0,26.89,26.88,28.83
$GC,2303,-0.84,-194.6,284.9,-9.5,133,2311,0.00,2.22,0.00,0.000,6,0.000,0.058,2824,2994,3560,0,0,0,0,0,0,28.83,26.81,28.83
$GC,2608,-0.80,-194.6,335.9,-17.2,149,2614,0.00,1.10,0.00,0.000,4,0.000,0.067,2824,3691,3560,0,0,0,0,0,0,28.83,26.81,28.83
$GC,2841,-0.75,-194.6,375.2,-16.6,160,2847,0.10,1.02,0.00,0.000,6,0.147,0.037,2860,2999,3557,0,0,0,0,0,0,26.72,26.90,28.83
$GC,3154,-0.77,-194.6,414.4,-11.9,176,3160,0.00,2.05,0.00,0.000,4,0.000,0.032,2861,1579,3554,0,0,0,0,0,0,28.83,26.88,28.83
$GC,3251,-0.82,-194.6,423.4,-10.9,180,3258,0.00,2.25,0.00,0.000,6,0.000,0.059,2860,3009,3553,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3558,-0.84,-194.6,454.3,-8.0,196,3563,0.00,1.10,0.00,0.000,4,0.000,0.067,2861,3704,3550,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3790,-0.84,-194.6,473.4,-8.5,207,3796,0.00,1.05,0.00,0.000,6,0.000,0.040,2861,3007,3549,0,0,0,0,0,0,28.83,26.89,28.83
$GC,4104,-0.87,-194.6,494.9,-5.8,223,4109,0.00,2.08,0.00,0.000,4,0.000,0.033,2860,1575,3546,0,0,0,0,0,0,28.83,26.89,28.83
$GC,4136,-0.91,-194.6,496.2,-5.5,224,4142,0.12,2.28,0.00,0.000,6,0.097,0.063,2796,3009,3546,0,0,0,0,0,0,26.84,26.82,28.83
$GC,4450,-0.86,-194.6,537.5,-13.6,240,4457,0.12,1.10,0.00,0.000,4,0.171,0.065,2835,3698,3543,0,0,0,0,0,0,26.73,26.82,28.83
$STATE,4472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4472,begin apogee
$GC,4478,-0.12,0.0,540.5,-13.0,241,4637,0.68,0.00,148.10,1.109,6,0.133,0.000,3067,2995,2767,0,0,0,0,0,0,26.72,28.83,24.56
$STATE,4639,end apogee,CONTROL_FINISHED_OK
$STATE,4639,begin climb
$GC,4641,0.51,194.6,546.9,0.0,249,4805,0.55,0.00,158.73,1.077,6,0.050,0.000,3288,2995,1975,0,0,0,0,0,0,25.49,28.83,24.52
$GC,5096,0.35,194.6,465.5,23.9,272,5101,0.20,2.10,0.00,0.000,4,0.185,0.033,3239,1574,1965,0,0,0,0,0,0,26.25,26.41,28.83
$GC,5219,0.29,194.6,444.6,15.5,278,5225,0.12,2.30,0.00,0.000,6,0.174,0.060,3207,3009,1962,0,0,0,0,0,0,26.36,26.46,28.83
$GC,5543,0.22,194.6,393.0,15.3,294,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,3009,1962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5844,0.15,194.6,345.6,16.8,309,5846,0.17,0.00,0.00,0.000,6,0.164,0.000,3156,3009,1960,0,0,0,0,0,0,26.59,28.83,28.83
$GC,6144,0.13,194.6,311.6,10.8,324,6150,0.00,1.10,0.00,0.000,4,0.000,0.063,3156,3697,1960,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6312,0.10,197.0,294.0,9.9,332,6317,0.00,1.05,0.00,0.000,6,0.000,0.037,3159,2999,1959,0,0,0,0,0,0,28.83,26.80,28.83
$GC,6629,0.10,197.0,260.7,11.2,348,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2999,1959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6930,0.12,223.8,230.5,9.1,363,6959,0.00,2.08,22.38,0.905,4,0.000,0.031,3159,1589,1854,0,0,0,0,0,0,28.83,26.41,25.72
$GC,7007,0.18,278.1,225.7,8.1,366,7059,0.00,2.25,43.45,0.902,6,0.000,0.060,3159,3002,1634,0,0,0,0,0,0,28.83,26.44,25.13
$GC,7252,0.29,403.9,209.9,5.7,379,7357,0.12,1.20,98.53,0.886,4,0.094,0.061,3241,3701,1121,0,0,0,0,0,0,26.37,25.30,24.72
$GC,7467,0.26,403.9,175.2,19.2,389,7472,0.12,1.08,0.00,0.000,6,0.132,0.037,3199,3004,1117,0,0,0,0,0,0,25.94,26.07,28.83
$GC,7661,0.31,425.7,152.0,9.3,399,7686,0.00,2.15,17.50,0.810,4,0.000,0.032,3200,1578,1032,0,0,0,0,0,0,28.83,26.10,25.44
$GC,7705,0.39,462.6,148.5,8.7,401,7745,0.12,2.30,30.60,0.816,6,0.107,0.057,3248,2999,881,0,0,0,0,0,0,26.10,26.10,25.11
$GC,7925,0.41,462.6,118.0,14.6,412,7930,0.00,1.12,0.00,0.000,4,0.000,0.064,3248,3700,877,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8017,0.42,462.6,105.6,14.9,416,8023,0.00,1.08,0.00,0.000,6,0.000,0.034,3247,2981,876,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8211,0.47,479.5,84.8,9.4,426,8231,0.00,2.10,13.95,0.743,4,0.000,0.031,3248,1594,813,0,0,0,0,0,0,28.83,26.30,25.67
$GC,8278,0.60,545.5,80.3,7.7,429,8343,0.17,2.25,55.85,0.771,6,0.098,0.054,3316,3008,544,0,0,0,0,0,0,26.32,26.32,25.08
$GC,8536,0.79,545.5,54.9,10.4,442,8538,0.15,0.00,0.00,0.000,6,0.097,0.000,3371,3007,543,0,0,0,0,0,0,26.23,28.83,28.83
$GC,8717,0.97,545.5,37.5,10.4,457,8719,0.15,0.00,0.00,0.000,6,0.133,0.000,3418,3007,543,0,0,0,0,0,0,26.36,28.83,28.83
$GC,8898,0.83,545.5,3.3,35.3,482,8905,0.12,1.08,0.00,0.000,4,0.177,0.052,3380,3696,543,0,0,0,0,0,0,26.42,26.51,28.83
$STATE,8911,end climb,SURFACE_DEPTH_REACHED
$STATE,8911,begin surface coast
$FINISH,0.8,1.008661
$STATE,8922,end surface coast,CONTROL_FINISHED_OK
$STATE,8922,begin surface
$SM_CCo,9000,0.00,0.000,0,0,543,546.04
$SM_GC,1.69,8.35,1.05,0.00,0.050,0.034,0.000,133,2990,543,-9.25,1.72,546.04,0,0,0,0,0,0,26.50,26.59,28.83
$IRIDIUM_FIX,2143.45,12025.58,061112,010145
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.01
$INTERNAL_PRESSURE,9.53711
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,4018592
$24V_AH,24.5,1.226
$10V_AH,10.1,0.518
$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,23.300,56.050,589.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,18.988,1723.000,5188.617,619.904,1430.175,117.079,0.000,1423.733,0.000,1375.786,0.000,0.545,0.000
$DEVICE_MAMPS,258.570,91.035,1109.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8893.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.726,0.000,0.000,0.000
$MEM,324464
$DATA_FILE_SIZE,16794,486
$CAP_FILE_SIZE,135846,0
$CFSIZE,260034560,250478592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.367,149.8,1
$GPS,061112,041329,2153.041,12027.146,36,0.8,36,-3.1