version: 66.11
glider: 170
mission: 10
dive: 26
start: 11 9 112 0 54 35
data:
$ID,170
$MISSION,10
$DIVE,26
$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,360
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-06
$HEADING,-1
$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,1
$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,-142811.33
$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,50
$R_STBD_OVSHOOT,16
$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
$GPS1,091112,004703,2135.599,12024.205,31,1.9,31,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-76.9
$GPS2,091112,005408,2135.417,12024.179,19,1.0,19,-3.0
$SPEED_LIMITS,0.159,0.303
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$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,312.8,45219,-14.6,-9.167,-16.81
$D_GRID,1339
$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,-0.48,-194.6,0.0,0.0,0,111,0.00,0.00,-89.57,0.000,2,0.000,0.000,136,3407,2454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.48,-194.6,3.1,-2.0,16,157,11.25,0.43,-24.95,0.000,4,0.245,0.136,2950,3705,3562,0,0,0,0,0,0,25.94,26.14,26.44
$GC,386,-0.19,-194.6,81.6,-31.9,44,393,0.30,0.43,0.00,0.000,6,0.164,0.041,3042,3403,3561,0,0,0,0,0,0,26.21,26.37,28.83
$GC,573,-0.30,-194.6,108.5,-5.9,54,578,0.00,0.50,0.00,0.000,4,0.000,0.067,3042,3709,3562,0,0,0,0,0,0,28.83,26.39,28.83
$GC,697,-0.56,-194.6,117.3,-8.6,60,703,0.28,0.45,0.00,0.000,6,0.066,0.039,2928,3392,3562,0,0,0,0,0,0,26.44,26.50,28.83
$GC,902,-0.93,-194.6,136.2,-8.2,70,908,0.30,2.03,0.00,0.000,4,0.099,0.025,2815,1983,3562,0,0,0,0,0,0,26.46,26.54,28.83
$GC,1000,-0.93,-194.6,146.2,-11.8,74,1008,0.00,2.30,0.00,0.000,6,0.000,0.063,2815,3409,3562,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1186,-0.56,-194.6,201.2,-28.9,84,1192,0.38,0.45,0.00,0.000,4,0.192,0.068,2926,3698,3563,0,0,0,0,0,0,26.42,26.53,28.83
$GC,1420,-0.63,-194.6,226.2,-7.3,95,1426,0.00,0.38,0.00,0.000,6,0.000,0.042,2926,3422,3564,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1615,-0.75,-194.6,239.5,-5.9,105,1621,0.12,0.45,0.00,0.000,4,0.089,0.064,2846,3698,3564,0,0,0,0,0,0,26.67,26.60,28.83
$GC,1848,-0.53,-194.6,278.1,-20.1,116,1854,0.25,0.35,0.00,0.000,6,0.152,0.043,2930,3439,3564,0,0,0,0,0,0,26.54,26.70,28.83
$GC,2162,-0.67,-194.6,301.8,-6.4,132,2168,0.12,0.43,0.00,0.000,4,0.088,0.066,2852,3700,3564,0,0,0,0,0,0,26.72,26.65,28.83
$GC,2240,-0.67,-194.6,310.3,-11.7,135,2247,0.10,0.35,0.00,0.000,6,0.145,0.044,2888,3440,3563,0,0,0,0,0,0,26.58,26.73,28.83
$GC,2547,-0.69,-194.6,344.3,-9.6,151,2552,0.00,2.10,0.00,0.000,4,0.000,0.026,2888,1963,3562,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2579,-0.73,-194.6,346.6,-9.5,152,2584,0.00,2.38,0.00,0.000,6,0.000,0.063,2888,3450,3561,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2892,-0.78,-194.6,372.4,-7.2,168,2898,0.00,0.38,0.00,0.000,4,0.000,0.073,2889,3702,3560,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3062,-0.82,-194.6,387.6,-9.8,176,3068,0.10,0.35,0.00,0.000,6,0.051,0.044,2812,3443,3559,0,0,0,0,0,0,26.74,26.77,28.83
$GC,3381,-0.64,-194.6,448.1,-18.9,192,3386,0.28,0.43,0.00,0.000,4,0.164,0.067,2900,3701,3556,0,0,0,0,0,0,26.63,26.71,28.83
$GC,3524,-0.75,-194.6,463.5,-9.0,199,3529,0.00,0.35,0.00,0.000,6,0.000,0.044,2900,3451,3555,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3848,-0.87,-194.6,486.8,-6.6,215,3853,0.15,0.40,0.00,0.000,4,0.082,0.067,2809,3695,3553,0,0,0,0,0,0,26.79,26.72,28.83
$GC,3926,-0.81,-194.6,495.6,-12.0,218,3933,0.10,0.32,0.00,0.000,6,0.145,0.045,2844,3456,3552,0,0,0,0,0,0,26.65,26.81,28.83
$GC,4232,-0.75,-194.6,534.0,-10.2,234,4237,0.00,2.15,0.00,0.000,4,0.000,0.024,2845,1940,3551,0,0,0,0,0,0,28.83,26.83,28.83
$GC,4258,-0.71,-194.6,536.1,-9.8,235,4264,0.12,2.45,0.00,0.000,6,0.169,0.060,2879,3472,3551,0,0,0,0,0,0,26.66,26.72,28.83
$GC,4577,-0.76,-194.6,558.1,-7.2,251,4583,0.00,0.35,0.00,0.000,4,0.000,0.073,2879,3707,3548,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4768,-0.82,-194.6,572.2,-7.7,260,4774,0.08,0.32,0.00,0.000,6,0.060,0.046,2817,3480,3547,0,0,0,0,0,0,26.76,26.81,28.83
$GC,5087,-0.70,-194.6,619.4,-14.9,274,5093,0.20,2.17,0.00,0.000,4,0.164,0.026,2881,1947,3544,0,0,0,0,0,0,26.67,26.84,28.83
$GC,5124,-0.64,-194.6,623.2,-13.9,275,5131,0.00,2.42,0.00,0.000,6,0.000,0.061,2880,3463,3544,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5455,-0.72,-194.6,648.3,-7.2,286,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,3463,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5755,-0.81,-194.6,666.0,-5.6,296,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,3463,3540,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6054,-0.90,-194.6,682.2,-5.5,306,6056,0.17,0.00,0.00,0.000,6,0.076,0.000,2792,3463,3539,0,0,0,0,0,0,26.81,28.83,28.83
$STATE,6205,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6205,begin apogee
$GC,6211,-0.12,0.0,702.6,-14.8,311,6373,0.85,0.00,152.50,1.261,4,0.152,0.000,3067,3009,2768,0,0,0,0,0,0,26.66,28.83,24.05
$STATE,6375,end apogee,CONTROL_FINISHED_OK
$STATE,6375,begin climb
$GC,6377,0.48,194.6,708.6,0.0,316,6554,0.52,2.25,164.85,1.224,4,0.050,0.028,3277,1562,1973,0,0,0,0,0,0,25.03,25.05,23.93
$GC,6661,0.25,194.6,674.0,19.2,326,6668,0.30,2.40,0.00,0.000,6,0.164,0.057,3194,3008,1966,0,0,0,0,0,0,25.45,25.54,28.83
$GC,6992,0.07,194.6,620.8,15.2,337,6998,0.17,1.12,0.00,0.000,4,0.170,0.059,3140,3699,1964,0,0,0,0,0,0,26.03,26.11,28.83
$GC,7040,-0.10,194.6,615.9,14.8,338,7045,0.17,1.08,0.00,0.000,6,0.125,0.033,3083,2995,1963,0,0,0,0,0,0,26.09,26.22,28.83
$GC,7360,0.10,347.7,599.2,4.3,349,7494,0.15,1.23,125.53,1.180,4,0.078,0.063,3171,3696,1350,0,0,0,0,0,0,26.39,24.75,24.06
$GC,7516,0.02,347.7,582.9,12.7,356,7523,0.17,1.10,0.00,0.000,6,0.128,0.034,3121,3015,1346,0,0,0,0,0,0,25.08,25.20,28.83
$GC,7822,0.23,456.2,561.0,5.7,372,7918,0.17,1.25,90.38,1.146,4,0.076,0.063,3203,3698,908,0,0,0,0,0,0,26.08,24.77,24.08
$GC,7947,0.11,456.2,540.7,18.6,378,7952,0.17,1.10,0.00,0.000,6,0.132,0.034,3149,3018,906,0,0,0,0,0,0,25.10,25.23,28.83
$GC,8271,0.30,533.4,513.8,6.7,394,8351,0.15,2.33,67.57,1.115,4,0.082,0.030,3227,1583,594,0,0,0,0,0,0,26.07,24.96,24.24
$GC,8397,0.24,533.4,491.6,21.0,400,8403,0.15,2.40,0.00,0.000,6,0.128,0.054,3183,3018,593,0,0,0,0,0,0,25.34,25.38,28.83
$GC,8716,0.27,533.4,451.9,13.5,416,8722,0.00,1.12,0.00,0.000,4,0.000,0.062,3183,3706,591,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8749,0.30,533.4,448.5,13.8,417,8754,0.00,1.08,0.00,0.000,6,0.000,0.035,3186,3014,590,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9061,0.30,533.4,402.0,13.8,433,9066,0.00,2.12,0.00,0.000,4,0.000,0.028,3186,1560,589,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9094,0.34,533.4,399.4,13.3,434,9099,0.00,2.33,0.00,0.000,6,0.000,0.052,3186,3015,589,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9407,0.48,533.4,373.1,9.3,450,9413,0.20,1.10,0.00,0.000,4,0.072,0.060,3287,3696,589,0,0,0,0,0,0,26.46,26.41,28.83
$GC,9434,0.56,533.4,369.9,10.3,451,9440,0.00,1.08,0.00,0.000,6,0.000,0.034,3293,2987,589,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9753,0.27,533.4,246.7,38.7,467,9759,0.30,2.08,0.00,0.000,4,0.169,0.028,3209,1570,589,0,0,0,0,0,0,26.40,26.55,28.83
$GC,9817,0.22,533.4,233.2,25.1,470,9822,0.00,2.30,0.00,0.000,6,0.000,0.052,3210,3014,588,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10022,0.61,533.4,208.3,14.5,480,10027,0.25,2.12,0.00,0.000,4,0.107,0.025,3305,1566,588,0,0,0,0,0,0,26.50,26.60,28.83
$GC,10039,1.01,533.4,208.3,14.5,480,10047,0.38,2.22,0.00,0.000,6,0.093,0.051,3440,2973,588,0,0,0,0,0,0,26.50,26.53,28.83
$GC,10227,0.58,533.4,124.8,47.1,490,10233,0.45,1.15,0.00,0.000,4,0.183,0.070,3305,3703,587,0,0,0,0,0,0,26.43,26.53,28.83
$GC,10346,0.40,533.4,98.7,21.3,495,10354,0.20,1.02,0.00,0.000,6,0.132,0.034,3238,3016,587,0,0,0,0,0,0,26.49,26.63,28.83
$GC,10533,0.79,533.4,79.6,10.6,505,10539,0.32,2.08,0.00,0.000,4,0.082,0.025,3369,1582,587,0,0,0,0,0,0,26.58,26.65,28.83
$GC,10751,1.17,533.4,56.8,11.8,515,10759,0.32,2.17,0.00,0.000,6,0.072,0.049,3497,2976,587,0,0,0,0,0,0,26.60,26.60,28.83
$STATE,10900,end climb,SURFACE_DEPTH_REACHED
$STATE,10901,begin surface coast
$FINISH,1.4,1.022122
$STATE,10906,end surface coast,CONTROL_FINISHED_OK
$STATE,10906,begin surface
$SM_CCo,10985,0.00,0.000,0,0,586,535.24
$SM_GC,2.14,8.68,0.68,0.00,0.052,0.059,0.000,136,3397,586,-9.25,-0.96,535.24,0,0,0,0,0,0,26.56,26.61,28.83
$IRIDIUM_FIX,2124.90,12029.22,081112,202004
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.63
$INTERNAL_PRESSURE,9.43945
$TCM_TEMP,22.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,702.6,12.3
$SC_FREEKB,4010144
$24V_AH,23.9,5.643
$10V_AH,9.9,2.283
$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,28.400,66.700,600.825,0.000,0.000,0.000,0.000,268.075,1.500,0.000,19.896,1940.508,6729.825,655.896,1897.607,182.911,0.000,1835.041,0.000,1525.687,0.000,13.884,0.000
$DEVICE_MAMPS,244.800,136.170,1260.720,0.000,0.000,0.000,0.000,129.285,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10930.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.519,0.000,0.000,0.000
$MEM,323236
$DATA_FILE_SIZE,20078,534
$CAP_FILE_SIZE,149277,0
$CFSIZE,260034560,248639488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.216,131.4,1
$GPS,091112,035852,2135.878,12024.261,35,0.9,35,-3.0