version: 66.11
glider: 170
mission: 10
dive: 10
start: 11 6 112 20 5 26
data:
$ID,170
$MISSION,10
$DIVE,10
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-06
$HEADING,0
$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,-141934.09
$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,3400
$C_ROLL_CLIMB,3000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,35
$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
$GPS1,061112,200118,2149.146,12025.717,14,0.9,14,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-72.6
$GPS2,061112,200500,2149.052,12025.731,18,0.9,18,-3.1
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,HEADING
$TGT_LATLONG,0.000,0.000
$TGT_RADIUS,1852.000
$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,864
$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,-194.6,0.0,0.0,0,104,0.00,0.00,-83.25,0.000,2,0.000,0.000,131,3406,2571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.51,-194.6,3.4,-3.6,15,144,11.10,0.47,-20.27,0.000,4,0.246,0.137,2937,3701,3564,0,0,0,0,0,0,26.17,26.36,26.65
$GC,351,-0.10,-194.6,92.9,-39.0,38,357,0.45,0.43,0.00,0.000,6,0.182,0.042,3070,3402,3564,0,0,0,0,0,0,26.34,26.53,28.83
$GC,546,-0.53,-194.6,116.0,-7.4,48,552,0.35,2.08,0.00,0.000,4,0.086,0.026,2935,1943,3564,0,0,0,0,0,0,26.52,26.62,28.83
$GC,599,-0.86,-194.6,119.5,-8.1,50,605,0.28,2.38,0.00,0.000,6,0.084,0.055,2831,3448,3564,0,0,0,0,0,0,26.53,26.53,28.83
$GC,794,-0.53,-194.6,167.3,-28.6,60,799,0.32,0.38,0.00,0.000,4,0.173,0.060,2931,3700,3565,0,0,0,0,0,0,26.48,26.59,28.83
$GC,978,-0.60,-194.6,183.8,-7.4,69,983,0.00,0.30,0.00,0.000,6,0.000,0.047,2932,3483,3566,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1182,-0.68,-194.6,202.2,-9.4,79,1188,0.12,2.17,0.00,0.000,4,0.089,0.024,2851,1957,3565,0,0,0,0,0,0,26.72,26.72,28.83
$GC,1215,-0.73,-194.6,205.1,-10.0,80,1220,0.00,2.42,0.00,0.000,6,0.000,0.060,2851,3477,3565,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1408,-0.58,-194.6,242.9,-18.6,90,1413,0.20,0.32,0.00,0.000,4,0.172,0.066,2914,3696,3564,0,0,0,0,0,0,26.60,26.68,28.83
$GC,1642,-0.68,-194.6,263.8,-8.5,101,1647,0.00,0.30,0.00,0.000,6,0.000,0.047,2915,3474,3564,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1955,-0.80,-194.6,293.8,-9.0,117,1961,0.15,0.35,0.00,0.000,4,0.080,0.063,2822,3697,3563,0,0,0,0,0,0,26.79,26.74,28.83
$GC,2189,-0.60,-194.6,337.5,-20.8,128,2194,0.28,0.30,0.00,0.000,6,0.155,0.047,2914,3478,3561,0,0,0,0,0,0,26.65,26.82,28.83
$GC,2502,-0.74,-194.6,364.3,-6.4,144,2504,0.12,0.00,0.00,0.000,6,0.090,0.000,2841,3478,3560,0,0,0,0,0,0,26.82,28.83,28.83
$GC,2803,-0.66,-194.6,406.8,-14.7,159,2805,0.20,0.00,0.00,0.000,6,0.161,0.000,2901,3478,3557,0,0,0,0,0,0,26.68,28.83,28.83
$GC,3104,-0.77,-194.6,428.2,-6.2,174,3109,0.12,0.35,0.00,0.000,4,0.090,0.065,2821,3697,3555,0,0,0,0,0,0,26.84,26.78,28.83
$GC,3336,-0.64,-194.6,464.2,-16.7,185,3342,0.22,0.32,0.00,0.000,6,0.148,0.048,2897,3466,3553,0,0,0,0,0,0,26.70,26.84,28.83
$GC,3650,-0.77,-194.6,486.9,-6.0,201,3656,0.10,2.17,0.00,0.000,4,0.109,0.027,2836,1940,3551,0,0,0,0,0,0,26.85,26.86,28.83
$GC,3678,-0.87,-194.6,488.8,-6.4,202,3684,0.00,2.42,0.00,0.000,6,0.000,0.063,2836,3454,3551,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3996,-0.81,-194.6,530.6,-12.6,218,4001,0.00,0.38,0.00,0.000,4,0.000,0.076,2836,3702,3548,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4230,-0.75,-194.6,559.1,-13.0,229,4236,0.08,0.35,0.00,0.000,6,0.150,0.047,2863,3453,3546,0,0,0,0,0,0,26.72,26.86,28.83
$GC,4544,-0.78,-194.6,588.8,-7.6,245,4549,0.00,2.15,0.00,0.000,4,0.000,0.029,2863,1940,3544,0,0,0,0,0,0,28.83,26.89,28.83
$GC,4581,-0.83,-194.6,590.5,-7.7,246,4588,0.00,2.40,0.00,0.000,6,0.000,0.063,2863,3439,3543,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4888,-0.87,-194.6,619.0,-10.2,259,4894,0.10,0.40,0.00,0.000,4,0.107,0.065,2808,3705,3541,0,0,0,0,0,0,26.86,26.80,28.83
$GC,5066,-0.75,-194.6,642.2,-15.8,264,5073,0.17,0.35,0.00,0.000,6,0.148,0.046,2866,3456,3540,0,0,0,0,0,0,26.71,26.86,28.83
$GC,5373,-0.81,-194.6,670.6,-7.5,275,5379,0.00,2.15,0.00,0.000,4,0.000,0.031,2867,1963,3537,0,0,0,0,0,0,28.83,26.89,28.83
$GC,5401,-0.87,-194.6,670.6,-7.5,275,5408,0.12,2.38,0.00,0.000,6,0.099,0.061,2807,3452,3537,0,0,0,0,0,0,26.82,26.79,28.83
$STATE,5650,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5650,begin apogee
$GC,5655,-0.12,0.0,702.5,-12.8,284,5816,0.77,0.00,151.00,1.249,4,0.144,0.000,3064,2990,2767,0,0,0,0,0,0,26.70,28.83,24.16
$STATE,5817,end apogee,CONTROL_FINISHED_OK
$STATE,5817,begin climb
$GC,5819,0.51,194.6,708.1,0.0,289,5992,0.52,1.25,162.90,1.210,4,0.037,0.064,3305,3698,1973,0,0,0,0,0,0,25.13,25.08,24.10
$GC,6219,0.06,194.6,613.9,31.3,303,6225,0.52,1.10,0.00,0.000,6,0.175,0.031,3135,2978,1965,0,0,0,0,0,0,25.89,26.08,28.83
$GC,6533,0.06,194.6,575.3,11.0,317,6538,0.00,2.05,0.00,0.000,4,0.000,0.031,3145,1591,1961,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6651,0.12,204.2,565.1,9.7,322,6663,0.00,2.28,6.97,0.956,6,0.000,0.059,3145,3003,1937,0,0,0,0,0,0,28.83,26.39,25.51
$GC,6981,0.10,204.2,530.0,10.3,339,6986,0.00,1.12,0.00,0.000,4,0.000,0.064,3144,3701,1935,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7098,0.03,204.2,517.7,12.3,344,7105,0.00,1.00,0.00,0.000,6,0.000,0.034,3147,3031,1934,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7404,0.03,213.8,483.0,9.7,360,7417,0.00,1.15,9.60,1.007,4,0.000,0.068,3147,3700,1897,0,0,0,0,0,0,28.83,26.35,25.64
$GC,7466,-0.01,213.9,476.6,10.0,363,7471,0.10,1.02,0.00,0.000,6,0.135,0.034,3110,3028,1895,0,0,0,0,0,0,26.34,26.46,28.83
$GC,7790,0.08,231.0,449.1,9.4,379,7810,0.00,2.22,15.27,1.045,4,0.000,0.029,3118,1568,1826,0,0,0,0,0,0,28.83,26.24,25.50
$GC,7827,0.17,246.4,447.3,9.5,380,7847,0.15,2.38,14.32,1.021,6,0.092,0.056,3180,3033,1763,0,0,0,0,0,0,26.24,26.22,25.25
$GC,8155,0.11,246.4,401.0,12.9,397,8161,0.12,1.08,0.00,0.000,4,0.162,0.060,3140,3698,1759,0,0,0,0,0,0,26.27,26.34,28.83
$GC,8193,0.07,246.4,398.1,12.6,398,8199,0.00,1.00,0.00,0.000,6,0.000,0.036,3143,3042,1759,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8499,0.10,246.4,364.6,11.3,414,8504,0.00,2.17,0.00,0.000,4,0.000,0.029,3145,1549,1757,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8556,0.17,246.4,360.0,11.1,416,8562,0.00,2.35,0.00,0.000,6,0.000,0.056,3145,3018,1757,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8862,0.30,365.1,335.0,5.9,432,8963,0.15,1.17,94.57,1.007,4,0.083,0.061,3232,3697,1279,0,0,0,0,0,0,26.64,25.13,24.51
$GC,9007,0.16,365.1,312.6,17.6,439,9013,0.22,1.08,0.00,0.000,6,0.129,0.033,3163,3018,1276,0,0,0,0,0,0,25.46,25.60,28.83
$GC,9331,0.27,424.9,285.5,7.9,455,9381,0.10,0.00,47.83,0.952,6,0.106,0.000,3222,3018,1036,0,0,0,0,0,0,26.26,28.83,24.79
$GC,9670,0.21,424.9,227.7,18.6,472,9676,0.12,2.15,0.00,0.000,4,0.150,0.028,3187,1583,1031,0,0,0,0,0,0,26.08,26.19,28.83
$GC,9714,0.24,424.9,222.2,15.7,474,9719,0.00,2.35,0.00,0.000,6,0.000,0.054,3187,3033,1031,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9919,0.34,424.9,201.1,12.1,484,9924,0.00,1.08,0.00,0.000,4,0.000,0.062,3187,3702,1030,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10016,0.43,424.9,191.4,11.4,488,10023,0.12,1.00,0.00,0.000,6,0.054,0.035,3270,3040,1030,0,0,0,0,0,0,26.41,26.44,28.83
$GC,10203,0.32,424.9,152.9,21.1,498,10205,0.20,0.00,0.00,0.000,6,0.138,0.000,3208,3040,1030,0,0,0,0,0,0,26.39,28.83,28.83
$GC,10382,0.55,536.9,137.2,6.1,507,10482,0.22,1.12,92.25,0.839,4,0.070,0.063,3306,3698,578,0,0,0,0,0,0,26.53,25.24,24.70
$GC,10509,0.47,536.9,115.4,20.7,513,10515,0.12,1.00,0.00,0.000,6,0.125,0.030,3264,3049,578,0,0,0,0,0,0,25.44,25.58,28.83
$GC,10709,0.67,606.3,93.5,7.6,523,10742,0.15,2.22,25.85,0.770,4,0.087,0.029,3337,1588,459,0,0,0,0,0,0,26.07,25.72,25.13
$GC,10774,0.78,606.3,85.7,11.2,526,10780,0.00,2.42,0.00,0.000,6,0.000,0.054,3337,3066,458,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10974,0.70,606.3,47.3,21.5,536,10979,0.00,2.22,0.00,0.000,4,0.000,0.031,3337,1593,458,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11001,0.65,606.3,41.7,22.1,538,11007,0.00,2.35,0.00,0.000,6,0.000,0.057,3337,3046,458,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,11175,end climb,SURFACE_DEPTH_REACHED
$STATE,11175,begin surface coast
$FINISH,1.2,1.007878
$STATE,11193,end surface coast,CONTROL_FINISHED_OK
$STATE,11193,begin surface
$SM_CCo,11270,0.00,0.000,0,0,458,566.89
$SM_GC,2.11,8.43,0.60,0.00,0.058,0.074,0.000,140,3400,458,-9.24,-0.71,566.89,0,0,0,0,0,0,26.28,26.29,28.83
$IRIDIUM_FIX,2141.13,12027.58,061112,191941
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.40
$INTERNAL_PRESSURE,9.46875
$TCM_TEMP,23.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,702.5,11.9
$SC_FREEKB,4016288
$24V_AH,24.1,2.385
$10V_AH,10.2,0.998
$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,26.550,71.375,620.575,0.000,0.000,0.000,0.000,0.000,1.500,0.000,19.075,1933.151,6929.728,669.347,1662.092,152.682,0.000,1590.036,0.000,1593.777,0.000,12.746,0.000
$DEVICE_MAMPS,246.330,136.935,1249.245,0.000,0.000,0.000,0.000,0.000,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11171.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.040,0.000,0.000,0.000
$MEM,324580
$DATA_FILE_SIZE,20139,569
$CAP_FILE_SIZE,163434,0
$CFSIZE,260034560,249946112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061112,231429,2148.127,12024.912,37,0.8,37,-3.1