version: 66.11
glider: 170
mission: 10
dive: 18
start: 11 7 112 20 57 22
data:
$ID,170
$MISSION,10
$DIVE,18
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,140
$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,150
$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,-141944.19
$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,46
$R_STBD_OVSHOOT,28
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$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
$GPS1,071112,205034,2145.892,12026.928,28,1.3,28,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-77.1
$GPS2,071112,205659,2145.697,12027.017,17,1.2,18,-3.1
$SPEED_LIMITS,0.173,0.275
$TGT_NAME,HEADING
$TGT_LATLONG,2156.332,12029.038
$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,-18.0,-10.000,-19.96
$D_GRID,862
$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,-0.54,-146.0,0.0,0.0,0,99,0.00,0.00,-77.72,0.000,2,0.000,0.000,132,3404,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.54,-146.0,3.1,-2.0,14,143,11.18,0.47,-21.83,0.000,4,0.248,0.142,2930,3695,3366,0,0,0,0,0,0,26.09,26.29,26.58
$GC,370,-0.23,-146.0,94.8,-40.7,41,377,0.32,0.43,0.00,0.000,6,0.174,0.042,3029,3399,3367,0,0,0,0,0,0,26.32,26.49,28.83
$GC,558,-0.46,-146.0,125.1,-4.3,51,563,0.17,0.47,0.00,0.000,4,0.078,0.062,2944,3693,3368,0,0,0,0,0,0,26.54,26.51,28.83
$GC,606,-0.65,-146.0,127.9,-4.5,53,611,0.10,0.43,0.00,0.000,6,0.054,0.041,2878,3386,3368,0,0,0,0,0,0,26.55,26.58,28.83
$GC,805,-0.47,-146.0,165.6,-18.0,63,811,0.25,2.00,0.00,0.000,4,0.168,0.023,2954,1941,3369,0,0,0,0,0,0,26.48,26.63,28.83
$GC,858,-0.43,-146.0,171.0,-14.9,65,863,0.00,2.30,0.00,0.000,6,0.000,0.060,2955,3381,3369,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1053,-0.60,-146.0,188.8,-8.9,75,1058,0.12,0.50,0.00,0.000,4,0.089,0.061,2874,3706,3370,0,0,0,0,0,0,26.68,26.61,28.83
$GC,1185,-0.48,-146.0,207.3,-16.1,81,1191,0.22,0.43,0.00,0.000,6,0.144,0.040,2950,3395,3371,0,0,0,0,0,0,26.55,26.71,28.83
$GC,1380,-0.66,-146.0,219.9,-4.9,91,1382,0.15,0.00,0.00,0.000,6,0.079,0.000,2872,3396,3371,0,0,0,0,0,0,26.72,28.83,28.83
$GC,1559,-0.61,-146.0,241.0,-12.9,100,1564,0.12,0.50,0.00,0.000,4,0.177,0.064,2913,3704,3371,0,0,0,0,0,0,26.60,26.67,28.83
$GC,1737,-0.68,-146.0,256.4,-9.0,108,1743,0.00,0.35,0.00,0.000,6,0.000,0.044,2913,3445,3370,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2043,-0.78,-146.0,283.3,-8.1,124,2048,0.12,2.10,0.00,0.000,4,0.093,0.024,2838,1960,3369,0,0,0,0,0,0,26.78,26.79,28.83
$GC,2076,-0.85,-146.0,285.6,-8.6,125,2081,0.00,2.35,0.00,0.000,6,0.000,0.061,2837,3434,3369,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2389,-0.74,-146.0,337.9,-16.8,141,2394,0.12,0.40,0.00,0.000,4,0.192,0.068,2875,3697,3368,0,0,0,0,0,0,26.64,26.73,28.83
$STATE,2570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2570,begin apogee
$GC,2576,-0.12,0.0,360.6,-11.1,150,2693,0.55,0.00,112.40,0.956,4,0.132,0.000,3063,2982,2769,0,0,0,0,0,0,26.67,28.83,24.60
$STATE,2696,end apogee,CONTROL_FINISHED_OK
$STATE,2696,begin climb
$GC,2697,0.54,146.0,363.8,0.0,156,2828,0.60,2.10,119.85,0.936,4,0.044,0.024,3310,1585,2171,0,0,0,0,0,0,25.34,25.37,24.38
$GC,2960,0.33,146.0,336.5,17.4,169,2966,0.32,2.28,0.00,0.000,6,0.165,0.054,3217,3005,2163,0,0,0,0,0,0,25.73,25.84,28.83
$GC,3279,0.19,146.0,292.0,12.2,185,3285,0.12,1.10,0.00,0.000,4,0.176,0.058,3179,3690,2160,0,0,0,0,0,0,26.20,26.28,28.83
$GC,3467,0.08,146.0,272.3,10.5,194,3473,0.12,0.95,0.00,0.000,6,0.142,0.031,3141,3033,2158,0,0,0,0,0,0,26.33,26.48,28.83
$GC,3786,0.15,180.4,247.4,8.4,210,3819,0.00,2.15,26.48,0.874,4,0.000,0.028,3144,1565,2031,0,0,0,0,0,0,28.83,26.10,25.47
$GC,3901,0.34,239.6,239.7,7.3,215,3956,0.22,2.28,47.55,0.874,6,0.066,0.053,3254,2999,1791,0,0,0,0,0,0,26.24,26.20,24.93
$GC,4149,0.16,239.6,192.1,22.8,228,4155,0.28,2.10,0.00,0.000,4,0.153,0.031,3174,1611,1784,0,0,0,0,0,0,26.01,26.13,28.83
$GC,4238,0.25,239.6,181.6,12.1,232,4243,0.00,2.12,0.00,0.000,6,0.000,0.056,3176,2934,1781,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4437,0.39,295.1,165.2,7.5,242,4485,0.15,1.30,42.80,0.828,4,0.081,0.060,3262,3706,1565,0,0,0,0,0,0,26.42,25.70,25.15
$GC,4499,0.36,295.1,156.9,11.8,245,4504,0.10,1.15,0.00,0.000,6,0.149,0.029,3233,2952,1563,0,0,0,0,0,0,25.70,25.84,28.83
$GC,4703,0.38,295.1,128.0,12.5,255,4709,0.00,2.00,0.00,0.000,4,0.000,0.027,3239,1585,1559,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4835,0.61,378.1,119.4,6.2,261,4908,0.20,2.17,64.30,0.791,6,0.069,0.052,3335,2954,1227,0,0,0,0,0,0,26.34,26.31,24.94
$GC,5086,0.50,378.1,73.2,19.4,274,5092,0.17,2.05,0.00,0.000,4,0.157,0.028,3282,1588,1223,0,0,0,0,0,0,25.98,26.10,28.83
$GC,5180,0.59,378.1,64.6,10.1,278,5185,0.00,2.17,0.00,0.000,6,0.000,0.056,3283,2948,1221,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5374,0.63,378.1,44.4,10.6,290,5379,0.00,1.20,0.00,0.000,4,0.000,0.060,3283,3699,1221,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5436,0.63,378.1,34.6,16.9,296,5442,0.00,1.10,0.00,0.000,6,0.000,0.029,3284,2959,1221,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5625,0.69,378.1,15.1,10.1,323,5632,0.12,1.23,0.00,0.000,4,0.090,0.064,3366,3701,1222,0,0,0,0,0,0,26.52,26.46,28.83
$GC,5655,0.55,378.1,9.5,19.6,328,5662,0.22,1.10,0.00,0.000,6,0.153,0.028,3295,2955,1221,0,0,0,0,0,0,26.39,26.54,28.83
$STATE,5682,end climb,SURFACE_DEPTH_REACHED
$STATE,5682,begin surface coast
$FINISH,1.2,1.012028
$STATE,5694,end surface coast,CONTROL_FINISHED_OK
$STATE,5695,begin surface
$SM_CCo,5713,28.67,0.057,0,0,933,450.13
$SM_GC,2.00,8.23,0.77,28.67,0.055,0.064,0.057,134,3410,933,-9.26,-0.57,450.13,0,0,0,0,0,0,26.43,26.48,26.45
$IRIDIUM_FIX,2136.49,12024.40,071112,171728
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.73
$INTERNAL_PRESSURE,9.5957
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,4013216
$24V_AH,24.4,3.832
$10V_AH,10.1,1.583
$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,24.325,45.100,413.375,28.675,0.000,0.000,0.000,235.975,0.000,0.000,18.569,1144.517,3085.714,482.803,1286.515,128.768,0.000,1314.498,0.000,974.432,0.000,0.543,0.000
$DEVICE_MAMPS,247.860,141.525,956.250,57.375,0.000,0.000,0.000,128.520,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5711.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.687,0.000,0.000,0.000
$MEM,324508
$DATA_FILE_SIZE,13448,335
$CAP_FILE_SIZE,97229,0
$CFSIZE,260034560,249348096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071112,223401,2145.235,12027.703,18,1.1,18,-3.1