version: 66.11
glider: 170
mission: 10
dive: 19
start: 11 7 112 22 40 4
data:
$ID,170
$MISSION,10
$DIVE,19
$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,-141945.53
$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,67
$R_STBD_OVSHOOT,26
$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
$GPS1,071112,223401,2145.235,12027.703,18,1.1,18,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-77.3
$GPS2,071112,223941,2145.021,12027.762,15,1.1,16,-3.1
$SPEED_LIMITS,0.173,0.275
$TGT_NAME,HEADING
$TGT_LATLONG,2155.656,12029.783
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.54,-146.0,0.0,0.0,0,89,0.00,0.00,-67.57,0.000,2,0.000,0.000,133,3410,2399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.54,-146.0,3.1,-2.5,12,134,11.23,0.47,-23.77,0.000,4,0.249,0.138,2931,3701,3367,0,0,0,0,0,0,26.10,26.29,26.59
$GC,362,-0.21,-146.0,90.6,-36.8,41,367,0.32,0.40,0.00,0.000,6,0.179,0.041,3030,3410,3367,0,0,0,0,0,0,26.33,26.53,28.83
$GC,567,-0.35,-146.0,118.2,-7.4,51,572,0.12,0.45,0.00,0.000,4,0.089,0.060,2951,3694,3368,0,0,0,0,0,0,26.60,26.53,28.83
$GC,743,-0.35,-146.0,141.1,-14.4,59,751,0.10,0.40,0.00,0.000,6,0.132,0.041,2988,3397,3369,0,0,0,0,0,0,26.51,26.65,28.83
$GC,931,-0.68,-146.0,156.6,-7.3,69,934,0.28,0.00,0.00,0.000,6,0.056,0.000,2853,3397,3370,0,0,0,0,0,0,26.67,28.83,28.83
$GC,1110,-0.51,-146.0,185.8,-21.2,78,1116,0.28,2.00,0.00,0.000,4,0.161,0.022,2942,1942,3370,0,0,0,0,0,0,26.55,26.71,28.83
$GC,1159,-0.48,-146.0,189.7,-13.9,80,1164,0.00,2.33,0.00,0.000,6,0.000,0.058,2942,3415,3370,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1358,-0.64,-146.0,196.2,-3.0,90,1364,0.12,0.43,0.00,0.000,4,0.087,0.057,2862,3702,3370,0,0,0,0,0,0,26.74,26.68,28.83
$GC,1411,-0.70,-146.0,200.0,-5.9,92,1417,0.00,0.40,0.00,0.000,6,0.000,0.041,2862,3403,3370,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1604,-0.63,-146.0,229.8,-13.5,102,1606,0.15,0.00,0.00,0.000,6,0.176,0.000,2904,3403,3370,0,0,0,0,0,0,26.62,28.83,28.83
$GC,1784,-0.68,-146.0,248.7,-10.7,111,1789,0.00,0.47,0.00,0.000,4,0.000,0.064,2904,3704,3370,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1856,-0.74,-146.0,256.1,-11.6,114,1862,0.08,0.32,0.00,0.000,6,0.060,0.045,2847,3466,3369,0,0,0,0,0,0,26.74,26.79,28.83
$GC,2170,-0.65,-146.0,312.3,-18.6,130,2175,0.15,2.12,0.00,0.000,4,0.180,0.024,2893,1958,3369,0,0,0,0,0,0,26.65,26.80,28.83
$GC,2227,-0.65,-146.0,318.5,-17.3,132,2234,0.00,2.38,0.00,0.000,6,0.000,0.062,2893,3449,3368,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2534,-0.71,-146.0,352.4,-12.0,148,2539,0.00,0.38,0.00,0.000,4,0.000,0.070,2893,3702,3367,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,2634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2634,begin apogee
$GC,2641,-0.12,0.0,360.2,-6.8,153,2762,0.50,0.00,112.20,0.949,4,0.116,0.000,3071,2985,2768,0,0,0,0,0,0,26.70,28.83,24.66
$STATE,2763,end apogee,CONTROL_FINISHED_OK
$STATE,2763,begin climb
$GC,2765,0.54,146.0,361.5,0.0,159,2891,0.55,0.00,119.03,0.929,6,0.044,0.000,3303,2985,2172,0,0,0,0,0,0,25.44,28.83,24.47
$GC,3200,0.22,146.0,286.3,21.3,181,3206,0.38,1.12,0.00,0.000,4,0.174,0.057,3189,3700,2161,0,0,0,0,0,0,26.13,26.22,28.83
$GC,3233,-0.07,146.0,281.5,20.8,182,3239,0.30,1.05,0.00,0.000,6,0.135,0.030,3092,2991,2160,0,0,0,0,0,0,26.19,26.33,28.83
$GC,3547,0.18,256.5,263.2,4.9,198,3641,0.17,1.23,85.38,0.889,4,0.073,0.061,3188,3701,1723,0,0,0,0,0,0,26.52,25.33,24.76
$GC,3684,0.14,256.5,249.4,12.8,204,3691,0.08,1.08,0.00,0.000,6,0.139,0.029,3161,2983,1718,0,0,0,0,0,0,25.63,25.78,28.83
$GC,3871,0.22,256.5,226.7,10.3,214,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2983,1716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4050,0.31,256.5,207.8,10.4,223,4055,0.12,1.17,0.00,0.000,4,0.089,0.057,3245,3700,1714,0,0,0,0,0,0,26.41,26.35,28.83
$GC,4107,0.31,256.5,200.5,13.3,225,4114,0.10,1.02,0.00,0.000,6,0.151,0.031,3216,3010,1714,0,0,0,0,0,0,26.30,26.45,28.83
$GC,4294,0.26,256.5,167.8,14.6,235,4300,0.00,2.08,0.00,0.000,4,0.000,0.029,3216,1591,1713,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4398,0.37,279.9,157.6,8.9,240,4422,0.00,2.15,18.15,0.802,6,0.000,0.054,3216,2947,1628,0,0,0,0,0,0,28.83,26.51,25.66
$GC,4619,0.42,279.9,130.2,12.2,251,4624,0.00,2.03,0.00,0.000,4,0.000,0.029,3216,1586,1623,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4723,0.65,348.2,122.8,6.9,256,4787,0.28,2.10,54.20,0.798,6,0.060,0.054,3349,2921,1348,0,0,0,0,0,0,26.51,26.46,25.17
$GC,4985,0.48,348.2,74.5,20.3,269,4991,0.25,1.98,0.00,0.000,4,0.159,0.027,3279,1590,1342,0,0,0,0,0,0,26.12,26.25,28.83
$GC,5069,0.54,348.2,64.4,11.8,273,5074,0.00,2.15,0.00,0.000,6,0.000,0.055,3279,2942,1341,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5263,0.57,348.2,43.9,11.0,285,5268,0.00,1.20,0.00,0.000,4,0.000,0.058,3279,3701,1341,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5315,0.57,348.2,36.4,14.4,290,5320,0.00,1.15,0.00,0.000,6,0.000,0.030,3282,2918,1341,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5504,0.60,348.2,13.0,12.3,317,5510,0.00,1.27,0.00,0.000,4,0.000,0.061,3282,3701,1341,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5537,0.60,348.2,8.7,13.6,323,5544,0.00,1.10,0.00,0.000,6,0.000,0.031,3282,2943,1341,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,5589,end climb,SURFACE_DEPTH_REACHED
$STATE,5589,begin surface coast
$FINISH,1.4,1.022121
$STATE,5616,end surface coast,CONTROL_FINISHED_OK
$STATE,5616,begin surface
$SM_CCo,5634,40.40,0.057,0,0,932,450.13
$SM_GC,2.34,8.15,0.77,40.40,0.054,0.067,0.057,131,3403,932,-9.26,-0.82,450.13,0,0,0,0,0,0,26.52,26.55,26.52
$IRIDIUM_FIX,2138.81,12005.70,071112,202059
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.48
$INTERNAL_PRESSURE,9.61524
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,4012832
$24V_AH,24.5,3.938
$10V_AH,10.2,1.638
$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,23.700,38.250,388.950,40.400,0.000,0.000,0.000,207.600,0.000,0.000,17.563,1067.495,3206.392,472.146,1155.991,122.559,0.000,1231.132,0.000,876.974,0.000,0.544,0.000
$DEVICE_MAMPS,248.625,137.700,949.365,57.375,0.000,0.000,0.000,124.695,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5630.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.539,0.000,0.000,0.000
$MEM,324544
$DATA_FILE_SIZE,13442,338
$CAP_FILE_SIZE,92561,0
$CFSIZE,260034560,249290752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081112,001536,2144.539,12028.498,19,1.2,20,-3.1