version: 66.11
glider: 170
mission: 10
dive: 12
start: 11 7 112 2 37 49
data:
$ID,170
$MISSION,10
$DIVE,12
$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,10
$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,-141936.59
$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,48
$R_STBD_OVSHOOT,24
$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
$GPS1,071112,023056,2146.670,12024.173,16,0.9,16,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-76.1
$GPS2,071112,023723,2146.533,12024.103,41,0.9,41,-3.1
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,HEADING
$TGT_LATLONG,2157.168,12026.125
$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,13.1,20000,-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,17,begin dive
$GC,19,-0.51,-194.6,0.0,0.0,0,104,0.00,0.00,-83.00,0.000,2,0.000,0.000,134,3403,2341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.51,-194.6,3.0,-2.3,15,155,11.20,0.50,-29.52,0.000,4,0.247,0.140,2940,3701,3563,0,0,0,0,0,0,26.05,26.25,26.55
$GC,383,-0.17,-194.6,97.2,-35.6,43,388,0.35,0.43,0.00,0.000,6,0.174,0.041,3047,3402,3564,0,0,0,0,0,0,26.28,26.47,28.83
$GC,587,-0.62,-194.6,120.3,-10.6,53,593,0.38,0.47,0.00,0.000,4,0.090,0.060,2906,3698,3564,0,0,0,0,0,0,26.47,26.48,28.83
$GC,640,-0.91,-194.6,124.9,-10.3,55,645,0.20,0.52,0.00,0.000,6,0.045,0.038,2793,3324,3564,0,0,0,0,0,0,26.55,26.57,28.83
$GC,834,-0.54,-194.6,179.4,-28.6,65,840,0.45,1.92,0.00,0.000,4,0.188,0.024,2928,1941,3565,0,0,0,0,0,0,26.43,26.64,28.83
$GC,861,-0.24,-194.6,185.6,-28.3,66,867,0.32,2.15,0.00,0.000,6,0.122,0.061,3036,3299,3565,0,0,0,0,0,0,26.49,26.53,28.83
$GC,1061,-0.57,-194.6,197.2,-6.6,76,1067,0.30,1.95,0.00,0.000,4,0.095,0.025,2921,1939,3565,0,0,0,0,0,0,26.58,26.66,28.83
$GC,1134,-0.87,-194.6,201.8,-6.9,79,1140,0.25,2.50,0.00,0.000,6,0.082,0.059,2822,3504,3566,0,0,0,0,0,0,26.60,26.59,28.83
$GC,1329,-0.67,-194.6,229.0,-18.5,89,1335,0.22,2.22,0.00,0.000,4,0.177,0.024,2893,1968,3566,0,0,0,0,0,0,26.52,26.72,28.83
$GC,1403,-0.62,-194.6,236.7,-13.8,92,1408,0.00,2.42,0.00,0.000,6,0.000,0.061,2891,3479,3566,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1596,-0.62,-194.6,256.3,-10.3,102,1601,0.00,0.32,0.00,0.000,4,0.000,0.075,2891,3698,3566,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1827,-0.65,-194.6,280.2,-10.8,113,1832,0.00,0.28,0.00,0.000,6,0.000,0.048,2891,3494,3564,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2140,-0.71,-194.6,307.0,-7.3,129,2145,0.00,0.32,0.00,0.000,4,0.000,0.073,2891,3696,3563,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2265,-0.77,-194.6,317.3,-8.7,135,2270,0.00,0.28,0.00,0.000,6,0.000,0.049,2891,3497,3563,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2588,-0.84,-194.6,345.5,-7.9,151,2594,0.12,2.20,0.00,0.000,4,0.091,0.026,2810,1938,3561,0,0,0,0,0,0,26.79,26.82,28.83
$GC,2693,-0.80,-194.6,358.3,-12.6,156,2699,0.15,2.50,0.00,0.000,6,0.171,0.063,2850,3487,3560,0,0,0,0,0,0,26.65,26.72,28.83
$GC,3017,-0.73,-194.6,402.9,-14.1,172,3022,0.00,0.30,0.00,0.000,4,0.000,0.076,2850,3693,3558,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3249,-0.67,-194.6,439.3,-17.0,183,3255,0.12,0.28,0.00,0.000,6,0.148,0.050,2894,3492,3557,0,0,0,0,0,0,26.68,26.83,28.83
$GC,3563,-0.78,-194.6,464.9,-6.1,199,3569,0.12,0.32,0.00,0.000,4,0.093,0.066,2818,3699,3554,0,0,0,0,0,0,26.83,26.77,28.83
$GC,3726,-0.65,-194.6,485.8,-14.4,207,3732,0.22,0.30,0.00,0.000,6,0.151,0.047,2893,3487,3553,0,0,0,0,0,0,26.68,26.86,28.83
$GC,4050,-0.76,-194.6,508.4,-7.7,223,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,3487,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4351,-0.88,-194.6,528.7,-5.5,238,4357,0.15,2.20,0.00,0.000,4,0.090,0.028,2809,1938,3550,0,0,0,0,0,0,26.82,26.87,28.83
$GC,4384,-0.96,-194.6,530.5,-5.7,239,4390,0.00,2.45,0.00,0.000,6,0.000,0.060,2809,3488,3550,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4697,-0.81,-194.6,578.4,-16.6,255,4703,0.12,0.30,0.00,0.000,4,0.191,0.068,2847,3693,3548,0,0,0,0,0,0,26.70,26.79,28.83
$GC,4850,-0.78,-194.6,596.0,-11.3,262,4854,0.00,0.30,0.00,0.000,6,0.000,0.047,2847,3480,3546,0,0,0,0,0,0,28.83,26.86,28.83
$GC,5183,-0.78,-194.6,635.6,-12.0,274,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,3480,3545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5482,-0.75,-194.6,668.8,-11.1,284,5487,0.00,0.35,0.00,0.000,4,0.000,0.077,2847,3695,3543,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5716,-0.88,-194.6,690.1,-9.0,291,5720,0.00,0.30,0.00,0.000,6,0.000,0.050,2847,3486,3542,0,0,0,0,0,0,28.83,26.86,28.83
$STATE,5906,end dive,NO_VERTICAL_VELOCITY
$STATE,5906,begin apogee
$GC,5912,-0.12,0.0,690.1,0.0,298,6072,0.57,0.00,151.48,1.236,4,0.059,0.000,3084,3003,2768,0,0,0,0,0,0,26.82,28.83,24.11
$STATE,6074,end apogee,CONTROL_FINISHED_OK
$STATE,6074,begin climb
$GC,6076,0.51,194.6,690.1,0.0,303,6249,0.52,1.23,164.57,1.196,4,0.086,0.067,3268,3690,1974,0,0,0,0,0,0,25.00,25.01,24.04
$GC,6476,0.13,194.6,624.3,29.1,316,6483,0.38,1.08,0.00,0.000,6,0.166,0.032,3159,2993,1965,0,0,0,0,0,0,25.84,26.02,28.83
$GC,6782,0.07,194.6,573.8,12.4,330,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2993,1961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7083,0.02,194.6,534.3,13.7,345,7085,0.15,0.00,0.00,0.000,6,0.159,0.000,3117,2993,1960,0,0,0,0,0,0,26.36,28.83,28.83
$GC,7383,0.10,241.8,508.0,8.4,360,7426,0.00,1.17,37.70,1.108,4,0.000,0.064,3117,3703,1782,0,0,0,0,0,0,28.83,25.68,25.01
$GC,7448,0.18,285.0,502.7,8.5,363,7493,0.12,1.10,36.97,1.086,6,0.050,0.036,3192,3001,1605,0,0,0,0,0,0,25.83,25.85,24.54
$GC,7806,0.12,285.0,450.0,13.8,381,7812,0.12,2.10,0.00,0.000,4,0.166,0.028,3161,1575,1599,0,0,0,0,0,0,26.10,26.22,28.83
$GC,7853,0.12,285.0,446.5,10.6,383,7858,0.00,2.25,0.00,0.000,6,0.000,0.054,3159,2986,1597,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8171,0.15,285.0,418.3,10.1,399,8176,0.00,1.15,0.00,0.000,4,0.000,0.062,3159,3695,1597,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8259,0.15,285.0,407.8,12.6,403,8264,0.00,1.05,0.00,0.000,6,0.000,0.031,3159,2986,1597,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8577,0.19,299.1,373.3,9.5,419,8596,0.00,1.20,11.60,0.962,4,0.000,0.067,3159,3694,1548,0,0,0,0,0,0,28.83,26.29,25.60
$GC,8693,0.19,299.1,362.9,10.3,424,8700,0.00,1.00,0.00,0.000,6,0.000,0.031,3159,3024,1547,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9000,0.22,299.1,329.2,10.6,440,9005,0.00,2.08,0.00,0.000,4,0.000,0.028,3159,1589,1545,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9052,0.32,321.1,325.7,9.2,442,9077,0.17,2.22,18.90,0.972,6,0.084,0.054,3240,3005,1458,0,0,0,0,0,0,26.53,26.51,25.47
$GC,9385,0.19,321.1,265.2,18.3,459,9387,0.22,0.00,0.00,0.000,6,0.153,0.000,3174,3005,1455,0,0,0,0,0,0,26.30,28.83,28.83
$GC,9686,0.24,332.8,236.4,9.6,474,9705,0.00,2.15,10.30,0.862,4,0.000,0.028,3174,1594,1411,0,0,0,0,0,0,28.83,26.37,25.67
$GC,9728,0.34,365.9,232.8,8.9,476,9763,0.15,2.28,27.60,0.913,6,0.091,0.054,3243,3020,1277,0,0,0,0,0,0,26.35,26.33,25.23
$GC,9951,0.24,365.9,197.4,16.3,487,9956,0.15,1.10,0.00,0.000,4,0.150,0.059,3194,3698,1274,0,0,0,0,0,0,26.11,26.17,28.83
$GC,9983,0.16,365.9,194.0,15.5,488,9989,0.10,1.00,0.00,0.000,6,0.122,0.031,3160,3035,1273,0,0,0,0,0,0,26.15,26.27,28.83
$GC,10178,0.47,535.0,182.4,4.2,498,10327,0.25,2.30,138.48,0.866,4,0.066,0.029,3281,1575,586,0,0,0,0,0,0,26.39,25.04,24.41
$GC,10388,0.47,535.0,152.4,15.5,508,10394,0.00,2.40,0.00,0.000,6,0.000,0.053,3281,3025,585,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10583,0.44,535.0,118.2,19.6,518,10588,0.00,1.10,0.00,0.000,4,0.000,0.061,3281,3701,583,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10709,0.44,535.0,95.5,17.6,524,10714,0.00,0.98,0.00,0.000,6,0.000,0.031,3281,3053,583,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10908,0.57,535.0,71.6,12.0,534,10913,0.00,2.17,0.00,0.000,4,0.000,0.027,3282,1564,583,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10951,0.78,563.8,68.5,9.0,536,10985,0.22,2.35,25.20,0.752,6,0.081,0.047,3372,3047,469,0,0,0,0,0,0,26.33,26.32,25.41
$GC,11168,0.62,563.8,17.1,29.0,555,11175,0.20,1.05,0.00,0.000,4,0.156,0.066,3309,3688,468,0,0,0,0,0,0,26.12,26.18,28.83
$STATE,11240,end climb,SURFACE_DEPTH_REACHED
$STATE,11241,begin surface coast
$FINISH,1.9,1.022100
$STATE,11257,end surface coast,CONTROL_FINISHED_OK
$STATE,11257,begin surface
$SM_CCo,11334,0.00,0.000,0,0,468,564.44
$SM_GC,2.06,8.38,0.45,0.00,0.058,0.034,0.000,135,3376,468,-9.26,1.16,564.44,0,0,0,0,0,0,26.23,26.36,28.83
$IRIDIUM_FIX,2138.81,12025.58,061112,232349
$TT8_MAMPS,0.025466,0.025466
$HUMID,52.04
$INTERNAL_PRESSURE,9.46875
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,4015520
$24V_AH,24.0,2.780
$10V_AH,10.0,1.154
$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,26.425,65.775,622.800,0.000,0.000,0.000,0.000,219.075,1.250,0.000,42.790,1928.793,6998.008,648.877,1965.989,180.237,0.000,1824.689,0.000,1624.452,0.000,12.729,0.000
$DEVICE_MAMPS,247.095,139.995,1236.240,0.000,0.000,0.000,0.000,130.050,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11273.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.141,0.000,0.000,0.000
$MEM,324572
$DATA_FILE_SIZE,20047,572
$CAP_FILE_SIZE,152905,0
$CFSIZE,260034560,249786368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071112,054800,2146.530,12024.881,41,0.8,41,-3.1