version: 66.11
glider: 170
mission: 10
dive: 9
start: 11 6 112 16 20 0
data:
$ID,170
$MISSION,10
$DIVE,9
$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,-141894.81
$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,3200
$C_ROLL_CLIMB,3000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,25
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,50
$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
$GPS1,061112,161300,2150.078,12026.205,13,2.0,13,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-78.1
$GPS2,061112,161931,2149.900,12026.188,25,0.9,25,-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,275.4,45953,-15.6,-10.000,-17.73
$D_GRID,904
$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,19,-0.51,-194.6,0.0,0.0,0,94,0.00,0.00,-73.30,0.000,2,0.000,0.000,137,3206,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.51,-194.6,3.0,-2.9,13,147,11.48,0.82,-30.77,0.000,4,0.255,0.106,2943,3707,3565,0,0,0,0,0,0,26.07,26.27,26.58
$GC,360,-0.16,-194.6,95.1,-43.2,40,366,0.35,0.75,0.00,0.000,6,0.172,0.037,3049,3203,3564,0,0,0,0,0,0,26.30,26.49,28.83
$GC,555,-0.59,-194.6,127.9,-12.1,50,561,0.35,0.80,0.00,0.000,4,0.103,0.059,2923,3697,3565,0,0,0,0,0,0,26.47,26.53,28.83
$GC,788,-0.96,-194.6,145.6,-8.1,61,794,0.30,0.85,0.00,0.000,6,0.084,0.035,2803,3115,3565,0,0,0,0,0,0,26.55,26.65,28.83
$GC,983,-0.68,-194.6,188.4,-25.7,71,989,0.28,0.93,0.00,0.000,4,0.182,0.059,2886,3691,3566,0,0,0,0,0,0,26.49,26.61,28.83
$GC,1216,-0.63,-194.6,229.1,-16.8,82,1220,0.00,0.82,0.00,0.000,6,0.000,0.035,2887,3122,3567,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1408,-0.63,-194.6,260.1,-13.9,92,1413,0.00,0.93,0.00,0.000,4,0.000,0.065,2887,3696,3567,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1640,-0.66,-194.6,288.4,-12.1,103,1646,0.00,0.77,0.00,0.000,6,0.000,0.036,2887,3158,3567,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1955,-0.72,-194.6,316.3,-9.4,119,1960,0.00,0.88,0.00,0.000,4,0.000,0.067,2887,3698,3565,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2187,-0.76,-194.6,330.5,-5.2,130,2192,0.00,0.73,0.00,0.000,6,0.000,0.037,2887,3197,3565,0,0,0,0,0,0,28.83,26.81,28.83
$GC,2500,-0.82,-194.6,352.7,-9.6,146,2507,0.12,2.05,0.00,0.000,4,0.093,0.026,2809,1770,3563,0,0,0,0,0,0,26.81,26.83,28.83
$GC,2610,-0.82,-194.6,365.5,-12.2,151,2616,0.12,2.33,0.00,0.000,6,0.171,0.062,2843,3231,3562,0,0,0,0,0,0,26.67,26.74,28.83
$GC,2928,-0.77,-194.6,408.0,-13.2,167,2933,0.00,0.73,0.00,0.000,4,0.000,0.067,2843,3699,3560,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3161,-0.69,-194.6,438.9,-14.7,178,3166,0.10,0.62,0.00,0.000,6,0.149,0.041,2880,3269,3558,0,0,0,0,0,0,26.70,26.84,28.83
$GC,3475,-0.76,-194.6,473.2,-8.9,194,3480,0.00,0.70,0.00,0.000,4,0.000,0.067,2879,3704,3557,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3707,-0.83,-194.6,485.7,-6.1,205,3714,0.08,0.62,0.00,0.000,6,0.060,0.042,2820,3282,3556,0,0,0,0,0,0,26.81,26.84,28.83
$GC,4022,-0.74,-194.6,534.8,-14.9,221,4028,0.15,0.68,0.00,0.000,4,0.177,0.067,2866,3700,3553,0,0,0,0,0,0,26.70,26.79,28.83
$GC,4258,-0.77,-194.6,561.9,-10.5,232,4263,0.00,0.57,0.00,0.000,6,0.000,0.041,2866,3305,3552,0,0,0,0,0,0,28.83,26.87,28.83
$GC,4571,-0.81,-194.6,590.2,-7.9,248,4577,0.00,2.20,0.00,0.000,4,0.000,0.031,2866,1776,3550,0,0,0,0,0,0,28.83,26.84,28.83
$GC,4681,-0.93,-194.6,597.1,-6.5,253,4686,0.17,2.50,0.00,0.000,6,0.080,0.063,2781,3335,3550,0,0,0,0,0,0,26.83,26.78,28.83
$GC,4993,-0.75,-194.6,650.0,-18.8,264,4998,0.28,0.57,0.00,0.000,4,0.177,0.067,2865,3702,3548,0,0,0,0,0,0,26.69,26.79,28.83
$GC,5226,-0.80,-194.6,669.7,-8.1,271,5232,0.00,0.50,0.00,0.000,6,0.000,0.043,2865,3359,3546,0,0,0,0,0,0,28.83,26.86,28.83
$GC,5541,-0.86,-194.6,688.8,-5.6,282,5547,0.00,0.55,0.00,0.000,4,0.000,0.073,2865,3696,3545,0,0,0,0,0,0,28.83,26.80,28.83
$GC,5777,-0.92,-194.6,700.7,-4.7,289,5783,0.10,0.45,0.00,0.000,6,0.057,0.044,2796,3386,3544,0,0,0,0,0,0,26.83,26.86,28.83
$GC,6092,-0.81,-194.6,746.5,-18.3,300,6098,0.15,0.52,0.00,0.000,4,0.174,0.070,2843,3704,3541,0,0,0,0,0,0,26.72,26.79,28.83
$STATE,6244,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6244,begin apogee
$GC,6250,-0.12,0.0,761.7,-10.1,305,6411,0.68,0.00,153.70,1.289,4,0.141,0.000,3067,2993,2766,0,0,0,0,0,0,26.72,28.83,24.09
$STATE,6413,end apogee,CONTROL_FINISHED_OK
$STATE,6413,begin climb
$GC,6415,0.51,194.6,762.0,0.0,310,6591,0.57,2.20,163.82,1.249,4,0.045,0.029,3293,1585,1976,0,0,0,0,0,0,25.10,25.10,24.04
$GC,6754,0.26,194.6,707.7,24.2,321,6762,0.35,2.35,0.00,0.000,6,0.178,0.059,3199,3008,1967,0,0,0,0,0,0,25.75,25.85,28.83
$GC,7060,0.09,194.6,632.9,22.1,332,7066,0.17,1.12,0.00,0.000,4,0.171,0.063,3145,3697,1965,0,0,0,0,0,0,26.17,26.26,28.83
$GC,7139,-0.05,194.6,621.1,20.5,334,7145,0.15,1.05,0.00,0.000,6,0.134,0.037,3096,3013,1965,0,0,0,0,0,0,26.25,26.37,28.83
$GC,7448,0.02,194.6,590.3,10.2,346,7454,0.00,2.15,0.00,0.000,4,0.000,0.031,3096,1568,1962,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7476,0.11,196.2,588.2,9.9,347,7482,0.15,2.30,0.00,0.000,6,0.096,0.057,3157,3004,1962,0,0,0,0,0,0,26.47,26.46,28.83
$GC,7796,0.07,197.1,553.9,10.0,363,7801,0.00,1.12,0.00,0.000,4,0.000,0.065,3157,3703,1962,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7853,0.01,197.1,549.1,10.5,365,7860,0.12,1.08,0.00,0.000,6,0.145,0.036,3117,2995,1962,0,0,0,0,0,0,26.48,26.62,28.83
$GC,8159,0.10,274.8,523.5,7.3,381,8226,0.00,0.00,64.80,1.147,6,0.000,0.000,3117,2994,1648,0,0,0,0,0,0,28.83,28.83,24.62
$GC,8519,0.25,317.1,495.7,8.5,399,8559,0.17,1.25,34.67,1.104,4,0.076,0.065,3206,3699,1476,0,0,0,0,0,0,26.22,25.46,24.78
$GC,8616,0.18,317.1,481.6,17.3,403,8624,0.12,1.10,0.00,0.000,6,0.138,0.037,3169,3006,1473,0,0,0,0,0,0,25.67,25.81,28.83
$GC,8922,0.18,317.1,434.4,13.0,419,8923,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,3005,1470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9223,0.18,317.1,399.8,12.3,434,9228,0.00,1.15,0.00,0.000,4,0.000,0.063,3169,3699,1469,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9280,0.18,317.1,394.1,12.5,436,9287,0.00,1.05,0.00,0.000,6,0.000,0.034,3173,3012,1469,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9586,0.18,317.1,350.5,13.3,452,9591,0.00,2.12,0.00,0.000,4,0.000,0.031,3173,1566,1469,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9658,0.26,317.1,343.6,11.4,455,9663,0.00,2.33,0.00,0.000,6,0.000,0.055,3173,3024,1468,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9971,0.29,317.1,305.4,11.1,471,9977,0.00,1.08,0.00,0.000,4,0.000,0.063,3173,3697,1469,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10076,0.29,317.1,292.7,12.5,476,10082,0.00,1.05,0.00,0.000,6,0.000,0.034,3173,3004,1469,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10400,0.33,317.1,257.2,10.3,492,10406,0.12,1.15,0.00,0.000,4,0.092,0.066,3256,3695,1469,0,0,0,0,0,0,26.71,26.64,28.83
$GC,10443,0.28,317.1,250.1,13.2,494,10449,0.17,1.02,0.00,0.000,6,0.142,0.031,3202,3006,1469,0,0,0,0,0,0,26.56,26.73,28.83
$GC,10767,0.30,342.3,212.8,9.1,510,10792,0.00,1.20,20.08,0.898,4,0.000,0.067,3201,3703,1372,0,0,0,0,0,0,28.83,26.29,25.67
$GC,10830,0.30,351.6,206.4,9.7,513,10844,0.00,0.98,9.05,0.816,6,0.000,0.032,3201,3050,1334,0,0,0,0,0,0,28.83,26.41,25.55
$GC,11033,0.33,351.6,182.7,12.0,523,11038,0.00,2.15,0.00,0.000,4,0.000,0.028,3201,1593,1332,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11086,0.43,351.6,178.1,11.4,525,11092,0.15,2.30,0.00,0.000,6,0.093,0.056,3266,3029,1331,0,0,0,0,0,0,26.40,26.38,28.83
$GC,11281,0.35,351.6,144.5,16.0,535,11287,0.12,1.08,0.00,0.000,4,0.155,0.059,3223,3701,1332,0,0,0,0,0,0,26.42,26.47,28.83
$GC,11371,0.36,367.3,136.3,9.5,539,11391,0.00,1.02,13.60,0.806,6,0.000,0.032,3225,3015,1270,0,0,0,0,0,0,28.83,26.57,25.68
$GC,11590,0.59,506.5,121.3,5.2,550,11712,0.17,2.22,111.28,0.814,4,0.076,0.028,3311,1581,702,0,0,0,0,0,0,26.47,25.20,24.61
$GC,11755,0.63,506.5,100.7,12.1,558,11761,0.00,2.38,0.00,0.000,6,0.000,0.054,3311,3013,700,0,0,0,0,0,0,28.83,25.54,28.83
$GC,11958,0.63,506.5,73.5,14.9,568,11963,0.00,1.12,0.00,0.000,4,0.000,0.061,3311,3705,699,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11984,0.63,506.5,69.5,15.8,569,11989,0.00,1.08,0.00,0.000,6,0.000,0.031,3311,2999,699,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12173,0.60,506.5,35.0,17.4,582,12178,0.00,2.08,0.00,0.000,4,0.000,0.028,3311,1586,698,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12216,0.65,506.5,28.0,15.8,586,12221,0.00,2.28,0.00,0.000,6,0.000,0.051,3311,3012,698,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,12393,end climb,SURFACE_DEPTH_REACHED
$STATE,12393,begin surface coast
$FINISH,1.4,1.022141
$STATE,12410,end surface coast,CONTROL_FINISHED_OK
$STATE,12410,begin surface
$SM_CCo,12487,0.00,0.000,0,0,697,508.51
$SM_GC,2.25,8.23,0.30,0.00,0.050,0.067,0.000,131,3211,697,-9.26,-0.90,508.51,0,0,0,0,0,0,26.36,26.41,28.83
$IRIDIUM_FIX,2141.13,12022.40,061112,131314
$TT8_MAMPS,0.025466,0.025466
$HUMID,50.11
$INTERNAL_PRESSURE,9.51758
$TCM_TEMP,24.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.7,80.2
$SC_FREEKB,4016672
$24V_AH,24.0,2.182
$10V_AH,9.9,0.915
$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,25.500,72.125,571.000,0.000,0.000,0.000,0.000,235.675,1.750,0.000,25.636,2428.652,7352.087,645.507,2259.186,197.409,0.000,1942.831,0.000,1906.666,0.000,15.952,0.000
$DEVICE_MAMPS,254.745,105.570,1289.025,0.000,0.000,0.000,0.000,128.520,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12430.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.959,0.000,0.000,0.000
$MEM,324308
$DATA_FILE_SIZE,23402,621
$CAP_FILE_SIZE,168266,0
$CFSIZE,260034560,250023936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.208,173.6,1
$GPS,061112,194922,2149.447,12025.651,36,1.0,38,-3.1