version: 66.11
glider: 170
mission: 10
dive: 11
start: 11 6 112 23 21 14
data:
$ID,170
$MISSION,10
$DIVE,11
$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,-141935.34
$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,60
$R_STBD_OVSHOOT,20
$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
$GPS1,061112,231429,2148.127,12024.912,37,0.8,37,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-74.8
$GPS2,061112,232048,2147.935,12024.960,19,0.9,19,-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,908
$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,-194.6,0.0,0.0,0,110,0.00,0.00,-88.65,0.000,2,0.000,0.000,139,3402,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.51,-194.6,3.2,-2.5,16,155,11.25,0.50,-23.98,0.000,4,0.249,0.137,2942,3703,3564,0,0,0,0,0,0,26.03,26.22,26.53
$GC,383,-0.12,-194.6,104.3,-40.6,42,389,0.40,0.43,0.00,0.000,6,0.176,0.042,3063,3416,3565,0,0,0,0,0,0,26.27,26.46,28.83
$GC,588,-0.45,-194.6,123.9,-6.8,52,594,0.25,2.10,0.00,0.000,4,0.085,0.025,2959,1946,3566,0,0,0,0,0,0,26.49,26.56,28.83
$GC,766,-0.78,-194.6,136.8,-7.5,60,774,0.30,2.58,0.00,0.000,6,0.099,0.060,2852,3562,3565,0,0,0,0,0,0,26.50,26.51,28.83
$GC,953,-0.54,-194.6,170.9,-25.1,70,955,0.28,0.00,0.00,0.000,6,0.167,0.000,2932,3560,3566,0,0,0,0,0,0,26.47,28.83,28.83
$GC,1132,-0.65,-194.6,194.4,-10.4,79,1137,0.00,0.20,0.00,0.000,4,0.000,0.081,2932,3700,3566,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1195,-0.78,-194.6,199.7,-8.6,82,1201,0.17,0.12,0.00,0.000,6,0.047,0.073,2824,3600,3566,0,0,0,0,0,0,26.67,26.71,28.83
$GC,1400,-0.57,-194.6,237.1,-19.6,92,1402,0.35,0.00,0.00,0.000,6,0.170,0.000,2927,3600,3566,0,0,0,0,0,0,26.53,28.83,28.83
$GC,1579,-0.73,-194.6,248.0,-2.6,101,1585,0.12,2.38,0.00,0.000,4,0.091,0.025,2851,1946,3566,0,0,0,0,0,0,26.73,26.74,28.83
$GC,1607,-0.87,-194.6,249.2,-3.1,102,1612,0.00,2.65,0.00,0.000,6,0.000,0.061,2851,3607,3566,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1805,-0.75,-194.6,275.0,-13.9,112,1810,0.00,0.12,0.00,0.000,4,0.000,0.106,2851,3702,3565,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2037,-0.66,-194.6,306.9,-13.1,123,2043,0.12,0.12,0.00,0.000,6,0.146,0.073,2895,3600,3564,0,0,0,0,0,0,26.63,26.79,28.83
$GC,2351,-0.75,-194.6,335.1,-9.5,139,2356,0.00,2.38,0.00,0.000,4,0.000,0.028,2895,1949,3562,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2394,-0.88,-194.6,339.3,-10.0,141,2400,0.20,2.65,0.00,0.000,6,0.077,0.064,2807,3595,3562,0,0,0,0,0,0,26.74,26.71,28.83
$GC,2718,-0.69,-194.6,404.3,-19.2,157,2724,0.25,0.15,0.00,0.000,4,0.176,0.072,2884,3704,3560,0,0,0,0,0,0,26.64,26.75,28.83
$GC,2951,-0.75,-194.6,421.5,-5.9,168,2956,0.00,0.12,0.00,0.000,6,0.000,0.074,2885,3605,3558,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3264,-0.83,-194.6,442.3,-6.9,184,3270,0.12,2.35,0.00,0.000,4,0.095,0.025,2810,1966,3556,0,0,0,0,0,0,26.82,26.84,28.83
$GC,3388,-0.80,-194.6,457.2,-12.9,190,3394,0.15,2.62,0.00,0.000,6,0.170,0.066,2850,3587,3555,0,0,0,0,0,0,26.68,26.74,28.83
$GC,3712,-0.77,-194.6,497.7,-11.3,206,3717,0.00,2.38,0.00,0.000,4,0.000,0.028,2851,1971,3553,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3770,-0.77,-194.6,502.3,-10.9,208,3777,0.00,2.58,0.00,0.000,6,0.000,0.065,2850,3569,3553,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4076,-0.77,-194.6,538.8,-11.5,224,4082,0.00,2.35,0.00,0.000,4,0.000,0.028,2850,1972,3551,0,0,0,0,0,0,28.83,26.84,28.83
$GC,4113,-0.77,-194.6,541.3,-11.6,225,4120,0.00,2.55,0.00,0.000,6,0.000,0.067,2850,3554,3551,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4419,-0.77,-194.6,574.3,-10.4,241,4424,0.00,2.35,0.00,0.000,4,0.000,0.029,2851,1931,3549,0,0,0,0,0,0,28.83,26.86,28.83
$GC,4456,-0.77,-194.6,576.2,-9.7,242,4463,0.00,2.58,0.00,0.000,6,0.000,0.063,2850,3535,3549,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4762,-0.77,-194.6,606.7,-10.7,257,4767,0.00,0.25,0.00,0.000,4,0.000,0.080,2850,3709,3546,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4838,-0.77,-194.6,613.5,-10.7,259,4843,0.00,0.25,0.00,0.000,6,0.000,0.054,2851,3527,3546,0,0,0,0,0,0,28.83,26.85,28.83
$GC,5156,-0.77,-194.6,648.8,-10.5,270,5161,0.00,0.28,0.00,0.000,4,0.000,0.078,2850,3702,3545,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5249,-0.77,-194.6,658.8,-10.8,273,5254,0.00,0.22,0.00,0.000,6,0.000,0.057,2850,3541,3544,0,0,0,0,0,0,28.83,26.84,28.83
$GC,5583,-0.81,-194.6,694.7,-10.6,284,5588,0.00,2.30,0.00,0.000,4,0.000,0.031,2851,1952,3541,0,0,0,0,0,0,28.83,26.87,28.83
$GC,5621,-0.86,-194.6,697.9,-10.2,285,5626,0.00,2.58,0.00,0.000,6,0.000,0.067,2851,3540,3541,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,5857,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5858,begin apogee
$GC,5864,-0.12,0.0,721.9,-9.8,293,6024,0.62,0.00,152.38,1.269,4,0.122,0.000,3067,2982,2768,0,0,0,0,0,0,26.72,28.83,24.10
$STATE,6025,end apogee,CONTROL_FINISHED_OK
$STATE,6026,begin climb
$GC,6027,0.51,194.6,729.9,0.0,298,6200,0.50,1.27,163.77,1.229,4,0.036,0.066,3295,3699,1975,0,0,0,0,0,0,25.07,25.01,24.05
$GC,6427,0.06,194.6,649.0,30.6,311,6434,0.55,1.08,0.00,0.000,6,0.181,0.035,3131,3010,1966,0,0,0,0,0,0,25.84,26.03,28.83
$GC,6734,0.07,216.0,607.3,9.3,322,6757,0.00,1.12,17.42,1.122,4,0.000,0.061,3131,3702,1887,0,0,0,0,0,0,28.83,25.89,25.18
$GC,6836,0.05,216.0,596.6,10.6,326,6841,0.00,1.08,0.00,0.000,6,0.000,0.031,3133,2994,1885,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7159,0.05,216.0,561.4,10.6,342,7164,0.00,1.17,0.00,0.000,4,0.000,0.067,3133,3697,1882,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7215,0.05,216.0,556.5,11.0,344,7222,0.00,1.08,0.00,0.000,6,0.000,0.035,3133,2994,1882,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7521,0.05,216.0,522.2,10.8,360,7522,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2995,1880,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7822,0.05,216.0,485.6,13.2,375,7827,0.00,1.15,0.00,0.000,4,0.000,0.064,3132,3695,1880,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7894,0.05,216.0,476.2,14.5,378,7899,0.00,1.05,0.00,0.000,6,0.000,0.034,3133,3001,1880,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8207,0.10,249.9,442.6,8.8,394,8240,0.00,2.15,27.92,1.082,4,0.000,0.028,3133,1569,1749,0,0,0,0,0,0,28.83,26.05,25.32
$GC,8272,0.21,329.6,438.3,7.3,397,8349,0.15,2.33,65.45,1.078,6,0.091,0.054,3198,2998,1424,0,0,0,0,0,0,26.09,26.07,24.43
$GC,8649,0.14,329.6,384.1,17.2,416,8654,0.12,2.12,0.00,0.000,4,0.164,0.028,3159,1580,1419,0,0,0,0,0,0,26.06,26.19,28.83
$GC,8672,0.10,329.6,380.9,16.0,417,8678,0.00,2.28,0.00,0.000,6,0.000,0.054,3160,2981,1418,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8995,0.15,329.6,348.2,11.1,433,9000,0.00,1.15,0.00,0.000,4,0.000,0.063,3160,3694,1418,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9119,0.19,329.6,331.6,13.7,439,9125,0.00,1.08,0.00,0.000,6,0.000,0.031,3159,2969,1420,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9443,0.26,343.1,299.0,9.5,455,9463,0.10,2.05,11.25,0.919,4,0.107,0.030,3224,1617,1368,0,0,0,0,0,0,26.58,26.36,25.63
$GC,9480,0.31,348.0,296.8,9.8,456,9492,0.00,2.25,5.45,0.767,6,0.000,0.057,3224,3014,1350,0,0,0,0,0,0,28.83,26.31,25.55
$GC,9810,0.21,348.0,226.8,20.0,473,9815,0.12,1.10,0.00,0.000,4,0.158,0.057,3183,3701,1348,0,0,0,0,0,0,26.38,26.44,28.83
$GC,9827,0.12,348.0,226.8,20.0,473,9835,0.10,1.05,0.00,0.000,6,0.132,0.035,3150,3009,1348,0,0,0,0,0,0,26.38,26.51,28.83
$GC,10015,0.36,490.9,208.7,5.1,483,10139,0.17,1.23,115.20,0.910,4,0.078,0.067,3242,3691,767,0,0,0,0,0,0,26.54,25.03,24.47
$GC,10191,0.26,490.9,180.5,21.2,491,10198,0.15,1.05,0.00,0.000,6,0.123,0.032,3192,3018,764,0,0,0,0,0,0,25.46,25.58,28.83
$GC,10379,0.46,553.0,156.2,7.9,501,10437,0.17,0.00,53.40,0.849,6,0.082,0.000,3275,3018,514,0,0,0,0,0,0,26.03,28.83,24.71
$GC,10617,0.40,553.0,108.7,21.9,513,10623,0.12,1.15,0.00,0.000,4,0.160,0.065,3235,3692,512,0,0,0,0,0,0,25.86,25.91,28.83
$GC,10702,0.46,553.0,97.1,13.7,517,10707,0.00,0.98,0.00,0.000,6,0.000,0.033,3235,3060,512,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10906,0.83,553.0,78.2,12.5,527,10912,0.38,2.17,0.00,0.000,4,0.093,0.025,3376,1584,511,0,0,0,0,0,0,26.22,26.32,28.83
$GC,11099,1.18,553.0,52.2,13.9,536,11105,0.35,2.25,0.00,0.000,6,0.161,0.048,3479,3012,511,0,0,0,0,0,0,26.25,26.36,28.83
$STATE,11245,end climb,SURFACE_DEPTH_REACHED
$STATE,11245,begin surface coast
$FINISH,1.2,1.022119
$STATE,11252,end surface coast,CONTROL_FINISHED_OK
$STATE,11252,begin surface
$SM_CCo,11330,0.00,0.000,0,0,511,553.89
$SM_GC,1.96,8.70,0.65,0.00,0.052,0.074,0.000,135,3401,511,-9.26,-0.79,553.89,0,0,0,0,0,0,26.36,26.41,28.83
$IRIDIUM_FIX,2141.13,12025.58,061112,202055
$TT8_MAMPS,0.026964,0.026964
$HUMID,54.21
$INTERNAL_PRESSURE,9.44921
$TCM_TEMP,23.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.9,38.9
$SC_FREEKB,4015904
$24V_AH,24.0,2.584
$10V_AH,10.1,1.075
$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,26.300,79.000,612.250,0.000,0.000,0.000,0.000,228.800,1.500,0.000,20.282,1886.045,7060.119,658.185,1920.268,184.469,0.000,1832.992,0.000,1587.189,0.000,12.813,0.000
$DEVICE_MAMPS,248.625,136.935,1269.135,0.000,0.000,0.000,0.000,129.285,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11271.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.770,0.000,0.000,0.000
$MEM,324532
$DATA_FILE_SIZE,20110,557
$CAP_FILE_SIZE,152286,0
$CFSIZE,260034560,249864192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071112,023056,2146.670,12024.173,16,0.9,16,-3.1