version: 66.11
glider: 170
mission: 10
dive: 15
start: 11 7 112 11 18 15
data:
$ID,170
$MISSION,10
$DIVE,15
$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,-141940.44
$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,27
$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
$GPS1,071112,111201,2145.390,12025.933,21,1.2,21,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-74.2
$GPS2,071112,111748,2145.205,12025.954,15,1.2,16,-3.1
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,HEADING
$TGT_LATLONG,2155.840,12027.976
$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,846
$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,18,-0.51,-194.6,0.0,0.0,0,104,0.00,0.00,-83.70,0.000,2,0.000,0.000,137,3417,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.51,-194.6,3.1,-3.5,15,155,11.18,0.47,-32.75,0.000,4,0.249,0.143,2939,3698,3564,0,0,0,0,0,0,26.13,26.33,26.63
$GC,383,-0.15,-194.6,94.8,-36.6,44,389,0.38,0.40,0.00,0.000,6,0.181,0.041,3052,3410,3564,0,0,0,0,0,0,26.34,26.53,28.83
$GC,588,-0.48,-194.6,118.2,-5.3,54,594,0.25,0.45,0.00,0.000,4,0.094,0.061,2956,3694,3565,0,0,0,0,0,0,26.53,26.53,28.83
$GC,697,-0.83,-194.6,128.6,-9.9,59,702,0.28,0.45,0.00,0.000,6,0.063,0.041,2835,3367,3565,0,0,0,0,0,0,26.58,26.64,28.83
$GC,896,-0.49,-194.6,180.4,-31.2,69,902,0.35,0.52,0.00,0.000,4,0.176,0.062,2943,3695,3565,0,0,0,0,0,0,26.50,26.61,28.83
$GC,1040,-0.60,-194.6,195.6,-6.6,76,1045,0.00,0.40,0.00,0.000,6,0.000,0.041,2943,3405,3566,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1244,-0.76,-194.6,207.3,-6.0,86,1246,0.22,0.00,0.00,0.000,6,0.065,0.000,2828,3405,3566,0,0,0,0,0,0,26.72,28.83,28.83
$GC,1423,-0.56,-194.6,243.2,-22.2,95,1428,0.30,0.47,0.00,0.000,4,0.170,0.063,2922,3698,3567,0,0,0,0,0,0,26.59,26.69,28.83
$GC,1581,-0.66,-194.6,258.9,-8.4,102,1587,0.00,0.40,0.00,0.000,6,0.000,0.041,2922,3403,3567,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1887,-0.79,-194.6,280.2,-6.4,118,1893,0.15,2.03,0.00,0.000,4,0.083,0.024,2834,1958,3566,0,0,0,0,0,0,26.78,26.80,28.83
$GC,1950,-0.82,-194.6,287.5,-10.4,121,1956,0.00,2.28,0.00,0.000,6,0.000,0.061,2833,3395,3566,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2274,-0.68,-194.6,343.3,-16.2,137,2279,0.17,0.47,0.00,0.000,4,0.186,0.066,2888,3702,3564,0,0,0,0,0,0,26.65,26.74,28.83
$GC,2506,-0.71,-194.6,363.5,-7.3,148,2512,0.00,0.35,0.00,0.000,6,0.000,0.044,2889,3446,3564,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2820,-0.78,-194.6,382.4,-5.6,164,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,3445,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3121,-0.84,-194.6,405.8,-9.4,179,3122,0.15,0.00,0.00,0.000,6,0.079,0.000,2808,3445,3560,0,0,0,0,0,0,26.83,28.83,28.83
$GC,3420,-0.67,-194.6,460.3,-19.5,194,3426,0.25,0.43,0.00,0.000,4,0.172,0.067,2887,3706,3558,0,0,0,0,0,0,26.67,26.78,28.83
$GC,3653,-0.75,-194.6,482.8,-8.9,205,3658,0.00,0.40,0.00,0.000,6,0.000,0.044,2887,3419,3557,0,0,0,0,0,0,28.83,26.85,28.83
$GC,3967,-0.84,-194.6,507.2,-7.1,221,3969,0.15,0.00,0.00,0.000,6,0.083,0.000,2809,3420,3554,0,0,0,0,0,0,26.84,28.83,28.83
$GC,4266,-0.70,-194.6,556.4,-17.2,236,4272,0.22,0.45,0.00,0.000,4,0.170,0.068,2879,3694,3553,0,0,0,0,0,0,26.69,26.79,28.83
$GC,4399,-0.76,-194.6,567.6,-7.6,242,4404,0.00,0.35,0.00,0.000,6,0.000,0.045,2879,3441,3552,0,0,0,0,0,0,28.83,26.85,28.83
$GC,4713,-0.84,-194.6,590.4,-6.9,258,4715,0.12,0.00,0.00,0.000,6,0.099,0.000,2810,3441,3550,0,0,0,0,0,0,26.84,28.83,28.83
$GC,5033,-0.71,-194.6,630.1,-11.1,270,5039,0.20,0.43,0.00,0.000,4,0.168,0.065,2873,3704,3548,0,0,0,0,0,0,26.70,26.79,28.83
$GC,5266,-0.76,-194.6,644.4,-9.3,277,5271,0.00,0.35,0.00,0.000,6,0.000,0.047,2873,3458,3547,0,0,0,0,0,0,28.83,26.86,28.83
$GC,5581,-0.80,-194.6,666.0,-6.8,288,5586,0.00,0.40,0.00,0.000,4,0.000,0.073,2873,3708,3545,0,0,0,0,0,0,28.83,26.80,28.83
$GC,5763,-0.89,-194.6,685.3,-10.6,294,5769,0.10,0.35,0.00,0.000,6,0.054,0.047,2808,3471,3544,0,0,0,0,0,0,26.84,26.86,28.83
$STATE,5885,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5885,begin apogee
$GC,5891,-0.12,0.0,705.6,-16.8,298,6051,0.80,0.00,153.02,1.248,4,0.149,0.000,3068,2997,2768,0,0,0,0,0,0,26.70,28.83,24.15
$STATE,6053,end apogee,CONTROL_FINISHED_OK
$STATE,6053,begin climb
$GC,6055,0.51,194.6,715.8,0.0,303,6227,0.55,2.20,163.48,1.211,4,0.049,0.028,3289,1589,1975,0,0,0,0,0,0,25.10,25.11,24.07
$GC,6455,0.28,194.6,667.7,16.8,316,6462,0.30,2.33,0.00,0.000,6,0.179,0.058,3208,3007,1965,0,0,0,0,0,0,25.87,25.98,28.83
$GC,6762,0.10,194.6,612.5,17.1,327,6768,0.20,1.12,0.00,0.000,4,0.164,0.059,3145,3703,1964,0,0,0,0,0,0,26.22,26.31,28.83
$GC,6955,0.02,194.6,587.2,13.3,335,6961,0.08,1.10,0.00,0.000,6,0.151,0.032,3120,2968,1963,0,0,0,0,0,0,26.34,26.48,28.83
$GC,7269,0.11,288.2,563.1,6.8,351,7349,0.00,1.33,75.18,1.150,4,0.000,0.067,3120,3701,1594,0,0,0,0,0,0,28.83,25.13,24.44
$GC,7481,0.22,354.0,548.7,7.7,361,7541,0.15,1.05,54.35,1.118,6,0.047,0.031,3204,3013,1325,0,0,0,0,0,0,25.91,25.95,24.37
$GC,7854,0.13,354.0,484.3,17.6,380,7860,0.15,2.10,0.00,0.000,4,0.155,0.028,3159,1590,1320,0,0,0,0,0,0,26.07,26.18,28.83
$GC,7927,0.19,354.0,478.4,11.2,383,7933,0.00,2.25,0.00,0.000,6,0.000,0.054,3159,2987,1319,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8241,0.27,368.7,449.8,9.5,399,8261,0.12,1.15,12.40,0.998,4,0.093,0.060,3232,3696,1264,0,0,0,0,0,0,26.46,26.15,25.46
$GC,8367,0.09,368.7,424.8,22.4,405,8373,0.28,1.08,0.00,0.000,6,0.134,0.033,3146,2986,1263,0,0,0,0,0,0,26.18,26.33,28.83
$GC,8686,0.26,429.7,393.3,7.9,421,8740,0.12,0.00,50.15,1.034,6,0.091,0.000,3215,2986,1017,0,0,0,0,0,0,26.49,28.83,24.84
$GC,9027,0.18,429.7,320.4,21.2,438,9033,0.12,1.20,0.00,0.000,4,0.157,0.065,3174,3696,1012,0,0,0,0,0,0,26.10,26.17,28.83
$GC,9060,0.11,429.7,315.4,21.3,439,9066,0.08,1.05,0.00,0.000,6,0.133,0.031,3147,2989,1012,0,0,0,0,0,0,26.15,26.29,28.83
$GC,9374,0.46,429.7,279.9,13.2,455,9380,0.30,2.03,0.00,0.000,4,0.086,0.025,3265,1582,1011,0,0,0,0,0,0,26.39,26.45,28.83
$GC,9473,0.81,429.7,269.6,12.2,459,9480,0.30,2.20,0.00,0.000,6,0.117,0.051,3366,2984,1011,0,0,0,0,0,0,26.39,26.44,28.83
$GC,9778,0.44,429.7,157.2,37.9,475,9784,0.35,2.05,0.00,0.000,4,0.181,0.028,3271,1587,1010,0,0,0,0,0,0,26.39,26.58,28.83
$GC,9878,0.41,429.7,143.0,16.4,479,9884,0.00,2.10,0.00,0.000,6,0.000,0.054,3271,2911,1010,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10062,0.38,429.7,113.3,16.0,489,10067,0.12,1.25,0.00,0.000,4,0.153,0.057,3227,3696,1010,0,0,0,0,0,0,26.53,26.58,28.83
$GC,10215,0.52,454.1,98.1,9.2,496,10240,0.10,1.10,19.92,0.796,6,0.057,0.034,3291,2960,917,0,0,0,0,0,0,26.64,26.67,25.70
$GC,10428,0.56,454.1,73.5,11.0,507,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,2960,914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10608,0.58,454.1,49.6,13.7,516,10613,0.00,1.20,0.00,0.000,4,0.000,0.065,3291,3690,914,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10644,0.58,454.1,45.4,13.3,519,10651,0.00,1.10,0.00,0.000,6,0.000,0.028,3294,2943,914,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10831,0.58,454.1,17.9,14.3,542,10837,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2941,914,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10942,end climb,SURFACE_DEPTH_REACHED
$STATE,10942,begin surface coast
$FINISH,1.3,1.014100
$STATE,10969,end surface coast,CONTROL_FINISHED_OK
$STATE,10969,begin surface
$SM_CCo,11047,0.00,0.000,0,0,913,455.03
$SM_GC,2.11,8.15,0.77,0.00,0.051,0.061,0.000,132,3407,913,-9.26,-0.76,455.03,0,0,0,0,0,0,26.53,26.58,28.83
$IRIDIUM_FIX,2136.49,12021.23,071112,080831
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.67
$INTERNAL_PRESSURE,9.53711
$TCM_TEMP,24.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.3,123.5
$SC_FREEKB,4014368
$24V_AH,24.1,3.337
$10V_AH,10.0,1.371
$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,26.750,44.300,528.500,0.000,0.000,0.000,0.000,211.975,1.000,0.000,17.176,1976.475,6726.432,576.530,1948.853,174.210,0.000,1711.582,0.000,1638.234,0.000,9.410,0.000
$DEVICE_MAMPS,248.625,143.055,1248.480,0.000,0.000,0.000,0.000,126.990,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10983.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.181,0.000,0.000,0.000
$MEM,324588
$DATA_FILE_SIZE,20078,569
$CAP_FILE_SIZE,147876,0
$CFSIZE,260034560,249548800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071112,142337,2145.580,12026.223,39,2.0,39,-3.1