version: 66.11
glider: 170
mission: 10
dive: 8
start: 11 6 112 13 16 22
data:
$ID,170
$MISSION,10
$DIVE,8
$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,330
$T_MISSION,350
$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,-141893.56
$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,0.02
$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,54
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2.5
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,061112,131005,2150.173,12026.520,37,1.2,37,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-73.1
$GPS2,061112,131554,2149.964,12026.499,19,0.9,19,-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,306.7,46500,-15.6,-10.000,-17.73
$D_GRID,794
$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,-194.6,0.0,0.0,0,116,0.00,0.00,-94.75,0.000,2,0.000,0.000,139,3017,2590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.51,-194.6,3.5,-3.6,17,158,11.48,1.05,-19.15,0.000,4,0.256,0.087,2936,3687,3564,0,0,0,0,0,0,26.08,26.28,26.58
$GC,386,-0.18,-194.6,102.6,-35.6,41,392,0.35,1.02,0.00,0.000,6,0.171,0.036,3042,3006,3564,0,0,0,0,0,0,26.33,26.51,28.83
$GC,592,-0.55,-194.6,117.1,-7.5,51,598,0.28,2.05,0.00,0.000,4,0.076,0.025,2928,1559,3564,0,0,0,0,0,0,26.55,26.58,28.83
$GC,810,-0.88,-194.6,139.5,-11.4,61,818,0.30,2.22,0.00,0.000,6,0.085,0.054,2815,2989,3565,0,0,0,0,0,0,26.58,26.59,28.83
$GC,997,-0.61,-194.6,180.2,-25.0,71,1003,0.30,1.12,0.00,0.000,4,0.179,0.062,2906,3695,3564,0,0,0,0,0,0,26.52,26.63,28.83
$GC,1229,-0.61,-194.6,209.2,-10.6,82,1234,0.00,1.02,0.00,0.000,6,0.000,0.034,2906,2992,3567,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1424,-0.69,-194.6,226.3,-8.0,92,1429,0.00,1.12,0.00,0.000,4,0.000,0.063,2906,3690,3566,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1657,-0.74,-194.6,245.2,-8.7,103,1662,0.08,0.90,0.00,0.000,6,0.064,0.035,2848,3071,3565,0,0,0,0,0,0,26.73,26.79,28.83
$GC,1851,-0.65,-194.6,274.2,-15.8,113,1857,0.15,1.00,0.00,0.000,4,0.171,0.062,2897,3690,3565,0,0,0,0,0,0,26.66,26.73,28.83
$GC,2085,-0.72,-194.6,295.3,-7.7,124,2091,0.00,0.90,0.00,0.000,6,0.000,0.036,2897,3073,3563,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2400,-0.81,-194.6,319.0,-8.9,140,2405,0.12,2.15,0.00,0.000,4,0.096,0.026,2822,1566,3562,0,0,0,0,0,0,26.82,26.84,28.83
$GC,2527,-0.85,-194.6,335.8,-14.1,146,2533,0.00,2.42,0.00,0.000,6,0.000,0.058,2822,3099,3562,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2846,-0.75,-194.6,391.2,-16.4,162,2852,0.12,0.95,0.00,0.000,4,0.178,0.064,2862,3700,3560,0,0,0,0,0,0,26.70,26.77,28.83
$GC,3079,-0.75,-194.6,418.6,-11.0,173,3084,0.00,0.80,0.00,0.000,6,0.000,0.038,2862,3156,3559,0,0,0,0,0,0,28.83,26.85,28.83
$GC,3391,-0.75,-194.6,447.2,-9.9,189,3396,0.00,2.28,0.00,0.000,4,0.000,0.029,2862,1581,3556,0,0,0,0,0,0,28.83,26.86,28.83
$GC,3495,-0.87,-194.6,458.3,-10.7,194,3500,0.00,2.53,0.00,0.000,6,0.000,0.060,2862,3166,3555,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3819,-0.90,-194.6,496.7,-9.9,210,3824,0.12,0.82,0.00,0.000,4,0.093,0.065,2792,3691,3553,0,0,0,0,0,0,26.86,26.79,28.83
$GC,4051,-0.71,-194.6,539.3,-18.1,221,4058,0.25,0.70,0.00,0.000,6,0.159,0.040,2874,3220,3552,0,0,0,0,0,0,26.70,26.86,28.83
$GC,4367,-0.79,-194.6,563.6,-2.4,237,4372,0.00,0.77,0.00,0.000,4,0.000,0.070,2874,3697,3550,0,0,0,0,0,0,28.83,26.81,28.83
$GC,4600,-0.85,-194.6,575.8,-8.9,248,4606,0.08,0.73,0.00,0.000,6,0.060,0.041,2813,3211,3548,0,0,0,0,0,0,26.84,26.87,28.83
$GC,4915,-0.74,-194.6,626.9,-15.0,261,4921,0.17,0.80,0.00,0.000,4,0.168,0.070,2868,3695,3546,0,0,0,0,0,0,26.72,26.80,28.83
$GC,4949,-0.67,-194.6,630.9,-14.3,262,4954,0.00,0.68,0.00,0.000,6,0.000,0.042,2868,3249,3546,0,0,0,0,0,0,28.83,26.86,28.83
$GC,5283,-0.75,-194.6,648.7,-5.6,273,5288,0.00,2.42,0.00,0.000,4,0.000,0.030,2868,1589,3544,0,0,0,0,0,0,28.83,26.89,28.83
$GC,5516,-1.23,-194.6,650.8,-0.2,280,5522,0.45,2.60,0.00,0.000,6,0.098,0.050,2708,3250,3543,0,0,0,0,0,0,26.77,26.81,28.83
$STATE,5557,end dive,NO_VERTICAL_VELOCITY
$STATE,5557,begin apogee
$GC,5562,-0.12,0.0,651.0,0.0,282,5720,0.93,0.00,150.73,1.200,4,0.063,0.000,3077,3008,2768,0,0,0,0,0,0,26.83,28.83,24.22
$STATE,5722,end apogee,CONTROL_FINISHED_OK
$STATE,5722,begin climb
$GC,5724,0.51,194.6,651.3,0.0,287,5892,0.50,0.00,162.25,1.170,6,0.047,0.000,3286,3007,1975,0,0,0,0,0,0,25.13,28.83,24.16
$GC,6191,0.15,194.6,581.2,26.5,304,6197,0.40,2.12,0.00,0.000,4,0.177,0.031,3178,1585,1965,0,0,0,0,0,0,26.03,26.19,28.83
$GC,6285,0.08,194.6,566.6,16.6,308,6291,0.15,2.28,0.00,0.000,6,0.158,0.057,3136,2992,1962,0,0,0,0,0,0,26.17,26.24,28.83
$GC,6599,0.09,207.5,529.6,9.6,324,6613,0.00,1.20,10.48,1.014,4,0.000,0.067,3137,3706,1922,0,0,0,0,0,0,28.83,26.21,25.50
$GC,6697,0.07,211.2,521.4,9.9,328,6708,0.00,1.10,4.60,0.787,6,0.000,0.035,3141,2984,1907,0,0,0,0,0,0,28.83,26.37,25.48
$GC,7025,0.07,218.7,493.1,9.7,345,7040,0.00,1.20,7.88,0.955,4,0.000,0.066,3141,3697,1875,0,0,0,0,0,0,28.83,26.29,25.58
$GC,7087,0.07,218.7,483.8,14.3,348,7093,0.00,1.05,0.00,0.000,6,0.000,0.035,3145,3017,1874,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7410,0.07,218.7,444.7,10.7,364,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,3019,1872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7711,0.07,218.7,407.8,12.0,379,7717,0.00,1.12,0.00,0.000,4,0.000,0.069,3145,3695,1871,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7900,0.04,218.7,385.8,11.2,388,7905,0.00,1.02,0.00,0.000,6,0.000,0.036,3145,3016,1870,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8218,0.08,248.4,360.6,9.0,404,8248,0.00,2.22,24.52,1.009,4,0.000,0.031,3145,1564,1755,0,0,0,0,0,0,28.83,26.19,25.48
$GC,8275,0.15,271.2,356.7,9.2,406,8301,0.00,2.33,19.65,0.980,6,0.000,0.057,3145,3000,1662,0,0,0,0,0,0,28.83,26.20,25.18
$GC,8601,0.27,334.8,326.8,7.8,423,8662,0.12,1.20,51.38,0.991,4,0.092,0.065,3225,3702,1403,0,0,0,0,0,0,26.38,25.42,24.80
$GC,8769,0.13,334.8,293.4,23.2,431,8775,0.20,1.08,0.00,0.000,6,0.132,0.034,3160,3007,1399,0,0,0,0,0,0,25.85,25.99,28.83
$GC,9088,0.28,422.3,261.5,7.0,447,9167,0.12,1.25,69.15,0.942,4,0.092,0.064,3230,3705,1046,0,0,0,0,0,0,26.37,25.26,24.66
$GC,9201,0.21,422.3,247.0,15.2,452,9207,0.15,1.05,0.00,0.000,6,0.124,0.032,3184,3028,1044,0,0,0,0,0,0,25.51,25.65,28.83
$GC,9396,0.33,459.0,224.8,8.7,462,9434,0.00,2.22,29.58,0.891,4,0.000,0.030,3185,1582,896,0,0,0,0,0,0,28.83,25.64,24.99
$GC,9472,0.50,514.4,219.8,8.1,465,9528,0.25,2.35,47.15,0.886,6,0.081,0.050,3278,3027,671,0,0,0,0,0,0,25.78,25.77,24.63
$GC,9721,0.93,514.4,193.9,11.7,478,9726,0.32,1.10,0.00,0.000,4,0.073,0.057,3411,3701,669,0,0,0,0,0,0,26.01,25.99,28.83
$GC,9748,1.24,514.4,190.3,12.3,479,9754,0.22,1.05,0.00,0.000,6,0.047,0.033,3524,3012,669,0,0,0,0,0,0,26.07,26.11,28.83
$GC,9947,0.76,514.4,87.1,48.1,489,9954,0.57,2.12,0.00,0.000,4,0.184,0.031,3366,1590,667,0,0,0,0,0,0,26.11,26.28,28.83
$GC,10033,0.61,514.4,65.7,24.4,493,10039,0.20,2.25,0.00,0.000,6,0.141,0.060,3305,2981,667,0,0,0,0,0,0,26.23,26.29,28.83
$GC,10226,0.61,514.4,37.2,15.6,506,10232,0.00,1.15,0.00,0.000,4,0.000,0.066,3305,3691,666,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10264,0.58,514.4,31.9,16.2,509,10270,0.00,1.08,0.00,0.000,6,0.000,0.034,3308,2972,666,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10450,0.58,514.4,4.8,12.0,542,10457,0.00,2.03,0.00,0.000,4,0.000,0.032,3310,1595,666,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,10462,end climb,SURFACE_DEPTH_REACHED
$STATE,10462,begin surface coast
$FINISH,2.3,1.022119
$STATE,10469,end surface coast,CONTROL_FINISHED_OK
$STATE,10469,begin surface
$SM_CCo,10549,0.00,0.000,0,0,665,516.11
$SM_GC,2.12,8.35,2.28,0.00,0.060,0.053,0.000,138,3010,665,-9.25,-0.59,516.11,0,0,0,0,0,0,26.43,26.48,28.83
$IRIDIUM_FIX,2143.45,12025.58,061112,101003
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.38
$INTERNAL_PRESSURE,9.48828
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,4017056
$24V_AH,24.2,1.993
$10V_AH,10.0,0.827
$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,26.750,71.300,577.350,0.000,0.000,0.000,0.000,208.400,0.000,0.000,20.510,2103.794,6008.793,634.925,1983.604,173.776,0.000,1800.513,0.000,1675.813,0.000,0.543,0.000
$DEVICE_MAMPS,256.275,87.210,1200.285,0.000,0.000,0.000,0.000,128.520,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10480.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.374,0.000,0.000,0.000
$MEM,324356
$DATA_FILE_SIZE,20081,545
$CAP_FILE_SIZE,148035,0
$CFSIZE,260034560,250138624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.075,179.2,1
$GPS,061112,161300,2150.078,12026.205,13,2.0,13,-3.1