version: 66.11
glider: 170
mission: 10
dive: 27
start: 11 9 112 4 5 38
data:
$ID,170
$MISSION,10
$DIVE,27
$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,-142812.58
$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,51
$R_STBD_OVSHOOT,25
$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
$GPS1,091112,035852,2135.878,12024.261,35,0.9,35,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-75.8
$GPS2,091112,040511,2135.734,12024.297,15,1.1,15,-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,308.8,45180,-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,-194.6,0.0,0.0,0,105,0.00,0.00,-84.10,0.000,2,0.000,0.000,134,3399,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.48,-194.6,3.1,-1.7,15,152,11.18,0.50,-26.85,0.000,4,0.246,0.139,2946,3697,3566,0,0,0,0,0,0,26.07,26.25,26.55
$GC,380,-0.16,-194.6,82.0,-33.8,43,387,0.32,0.43,0.00,0.000,6,0.164,0.039,3048,3392,3566,0,0,0,0,0,0,26.29,26.48,28.83
$GC,567,-0.43,-194.6,107.6,-5.4,53,573,0.20,2.03,0.00,0.000,4,0.090,0.024,2968,1949,3567,0,0,0,0,0,0,26.46,26.55,28.83
$GC,800,-0.74,-194.6,128.2,-10.1,64,806,0.28,2.40,0.00,0.000,6,0.067,0.060,2853,3447,3567,0,0,0,0,0,0,26.55,26.53,28.83
$GC,996,-0.44,-194.6,166.2,-28.4,74,1002,0.35,2.12,0.00,0.000,4,0.169,0.023,2961,1951,3568,0,0,0,0,0,0,26.47,26.66,28.83
$GC,1014,-0.14,-194.6,166.2,-28.4,74,1022,0.30,2.40,0.00,0.000,6,0.118,0.063,3061,3442,3568,0,0,0,0,0,0,26.52,26.55,28.83
$GC,1201,-0.49,-194.6,183.5,-7.9,84,1207,0.28,0.40,0.00,0.000,4,0.083,0.065,2946,3702,3569,0,0,0,0,0,0,26.61,26.60,28.83
$GC,1434,-0.83,-194.6,203.8,-9.6,95,1440,0.25,0.28,0.00,0.000,6,0.089,0.047,2846,3487,3569,0,0,0,0,0,0,26.61,26.71,28.83
$GC,1629,-0.72,-194.6,226.5,-13.6,105,1636,0.12,0.35,0.00,0.000,4,0.175,0.063,2886,3704,3570,0,0,0,0,0,0,26.57,26.65,28.83
$GC,1863,-0.68,-194.6,256.4,-13.3,116,1868,0.00,0.32,0.00,0.000,6,0.000,0.044,2886,3458,3569,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2175,-0.68,-194.6,291.4,-9.8,132,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,3457,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2477,-0.68,-194.6,316.8,-7.6,147,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,3457,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2777,-0.71,-194.6,337.7,-7.6,162,2783,0.00,2.12,0.00,0.000,4,0.000,0.024,2886,1943,3566,0,0,0,0,0,0,28.83,26.81,28.83
$GC,2810,-0.75,-194.6,339.5,-7.8,163,2815,0.00,2.42,0.00,0.000,6,0.000,0.058,2886,3466,3566,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3123,-0.79,-194.6,368.8,-9.1,179,3129,0.00,0.35,0.00,0.000,4,0.000,0.075,2886,3701,3563,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3328,-0.85,-194.6,386.4,-8.7,189,3334,0.10,0.32,0.00,0.000,6,0.053,0.045,2810,3470,3563,0,0,0,0,0,0,26.77,26.80,28.83
$GC,3652,-0.66,-194.6,445.9,-18.6,205,3658,0.25,0.38,0.00,0.000,4,0.159,0.067,2890,3701,3560,0,0,0,0,0,0,26.65,26.74,28.83
$GC,3806,-0.74,-194.6,458.1,-6.6,212,3811,0.00,0.28,0.00,0.000,6,0.000,0.049,2890,3495,3559,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4119,-0.84,-194.6,477.9,-6.0,228,4121,0.15,0.00,0.00,0.000,6,0.077,0.000,2806,3494,3558,0,0,0,0,0,0,26.82,28.83,28.83
$GC,4419,-0.67,-194.6,523.5,-15.6,243,4421,0.28,0.00,0.00,0.000,6,0.164,0.000,2888,3495,3555,0,0,0,0,0,0,26.65,28.83,28.83
$GC,4721,-0.77,-194.6,542.4,-5.1,258,4727,0.00,2.20,0.00,0.000,4,0.000,0.025,2888,1947,3553,0,0,0,0,0,0,28.83,26.84,28.83
$GC,4745,-0.88,-194.6,543.6,-5.0,259,4752,0.17,2.50,0.00,0.000,6,0.083,0.063,2810,3494,3553,0,0,0,0,0,0,26.77,26.74,28.83
$GC,5070,-0.74,-194.6,586.9,-14.7,275,5076,0.17,0.30,0.00,0.000,4,0.164,0.069,2865,3698,3552,0,0,0,0,0,0,26.67,26.76,28.83
$GC,5305,-0.76,-194.6,607.9,-8.9,285,5310,0.00,0.25,0.00,0.000,6,0.000,0.050,2865,3507,3551,0,0,0,0,0,0,28.83,26.84,28.83
$GC,5620,-0.80,-194.6,633.9,-7.4,296,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,3508,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5918,-0.84,-194.6,660.8,-9.6,306,5924,0.00,2.22,0.00,0.000,4,0.000,0.028,2865,1957,3546,0,0,0,0,0,0,28.83,26.86,28.83
$GC,5952,-0.89,-194.6,663.8,-9.5,307,5958,0.12,2.45,0.00,0.000,6,0.099,0.061,2796,3492,3546,0,0,0,0,0,0,26.78,26.75,28.83
$GC,6287,-0.73,-194.6,721.1,-17.9,318,6292,0.22,0.30,0.00,0.000,4,0.162,0.065,2867,3698,3544,0,0,0,0,0,0,26.67,26.77,28.83
$GC,6395,-0.70,-194.6,732.1,-13.1,321,6400,0.00,0.30,0.00,0.000,6,0.000,0.049,2867,3490,3544,0,0,0,0,0,0,28.83,26.83,28.83
$GC,6714,-0.75,-194.6,762.0,-8.9,332,6720,0.00,2.20,0.00,0.000,4,0.000,0.029,2867,1952,3542,0,0,0,0,0,0,28.83,26.86,28.83
$GC,6751,-0.83,-194.6,765.0,-8.8,333,6757,0.00,2.45,0.00,0.000,6,0.000,0.061,2867,3483,3542,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7081,-0.90,-194.6,795.9,-9.3,344,7087,0.12,0.32,0.00,0.000,4,0.092,0.066,2792,3702,3540,0,0,0,0,0,0,26.83,26.77,28.83
$STATE,7118,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7118,begin apogee
$GC,7124,-0.12,0.0,800.5,-10.0,345,7286,0.85,0.00,155.43,1.332,4,0.154,0.000,3066,2999,2769,0,0,0,0,0,0,26.66,28.83,23.99
$STATE,7287,end apogee,CONTROL_FINISHED_OK
$STATE,7288,begin climb
$GC,7289,0.48,194.6,810.6,0.0,350,7466,0.52,2.22,166.62,1.298,4,0.050,0.029,3276,1572,1973,0,0,0,0,0,0,24.98,24.99,23.87
$GC,7533,0.22,194.6,793.2,15.1,358,7541,0.32,2.40,0.00,0.000,6,0.164,0.055,3186,3006,1968,0,0,0,0,0,0,25.26,25.35,28.83
$GC,7841,0.05,194.6,741.7,15.5,369,7846,0.17,1.12,0.00,0.000,4,0.169,0.059,3132,3695,1964,0,0,0,0,0,0,25.97,26.05,28.83
$GC,7864,-0.13,194.6,741.7,15.5,369,7870,0.17,1.08,0.00,0.000,6,0.127,0.034,3073,3000,1964,0,0,0,0,0,0,26.01,26.13,28.83
$GC,8180,0.07,334.7,721.5,4.8,380,8305,0.15,1.27,116.18,1.262,4,0.080,0.067,3161,3701,1403,0,0,0,0,0,0,26.36,24.72,23.99
$GC,8372,-0.00,334.7,697.8,13.9,386,8377,0.15,1.08,0.00,0.000,6,0.124,0.033,3112,3019,1400,0,0,0,0,0,0,25.37,25.49,28.83
$GC,8697,0.16,391.4,671.3,7.4,397,8750,0.15,1.23,47.40,1.222,4,0.077,0.067,3188,3696,1173,0,0,0,0,0,0,26.15,25.10,24.37
$GC,8767,0.21,391.4,662.9,10.3,399,8772,0.00,1.08,0.00,0.000,6,0.000,0.034,3190,3026,1171,0,0,0,0,0,0,28.83,25.34,28.83
$GC,9091,0.13,391.4,603.8,18.2,410,9097,0.12,2.15,0.00,0.000,4,0.168,0.028,3159,1574,1168,0,0,0,0,0,0,26.01,26.12,28.83
$GC,9169,0.19,391.4,596.6,13.3,413,9176,0.00,2.30,0.00,0.000,6,0.000,0.051,3159,3005,1168,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9475,0.58,391.4,567.8,9.6,429,9481,0.35,2.12,0.00,0.000,4,0.063,0.026,3314,1583,1167,0,0,0,0,0,0,26.36,26.39,28.83
$GC,9503,0.91,391.4,565.1,10.0,430,9509,0.25,2.22,0.00,0.000,6,0.063,0.053,3430,2975,1167,0,0,0,0,0,0,26.36,26.33,28.83
$GC,9822,0.30,391.4,398.4,55.3,446,9829,0.75,2.08,0.00,0.000,4,0.202,0.027,3224,1577,1166,0,0,0,0,0,0,26.30,26.49,28.83
$GC,9871,-0.15,391.4,380.6,48.4,448,9877,0.50,2.20,0.00,0.000,6,0.131,0.054,3065,2956,1166,0,0,0,0,0,0,26.37,26.44,28.83
$GC,10190,0.20,391.4,344.9,11.0,464,10195,0.28,1.20,0.00,0.000,4,0.093,0.062,3171,3731,1165,0,0,0,0,0,0,26.49,26.50,28.83
$GC,10337,0.52,391.4,330.7,9.2,471,10344,0.25,1.17,0.00,0.000,6,0.057,0.035,3284,2960,1165,0,0,0,0,0,0,26.55,26.60,28.83
$GC,10657,0.22,391.4,256.2,29.8,487,10662,0.32,1.20,0.00,0.000,4,0.167,0.060,3182,3709,1165,0,0,0,0,0,0,26.47,26.57,28.83
$GC,10704,-0.04,391.4,245.1,27.7,489,10710,0.25,1.12,0.00,0.000,6,0.123,0.033,3100,2954,1165,0,0,0,0,0,0,26.51,26.64,28.83
$GC,10904,0.42,404.5,229.7,8.8,499,10924,0.38,2.05,11.18,0.881,4,0.070,0.028,3255,1567,1119,0,0,0,0,0,0,26.61,26.44,25.74
$GC,10936,0.81,404.5,227.8,9.2,500,10942,0.35,1.95,0.00,0.000,6,0.116,0.047,3372,2813,1118,0,0,0,0,0,0,26.34,26.40,28.83
$GC,11131,0.40,404.5,165.0,37.3,510,11138,0.43,1.40,0.00,0.000,4,0.181,0.056,3243,3709,1118,0,0,0,0,0,0,26.35,26.46,28.83
$GC,11365,0.33,404.5,116.8,14.7,521,11370,0.00,1.33,0.00,0.000,6,0.000,0.028,3245,2819,1118,0,0,0,0,0,0,28.83,26.59,28.83
$GC,11559,0.37,404.5,94.9,9.5,531,11564,0.00,1.45,0.00,0.000,4,0.000,0.062,3245,3703,1118,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11643,0.46,480.7,89.2,6.8,535,11711,0.00,1.33,61.92,0.814,6,0.000,0.031,3245,2825,808,0,0,0,0,0,0,28.83,26.64,25.06
$GC,11904,0.83,480.7,72.6,11.1,548,11910,0.35,1.42,0.00,0.000,4,0.088,0.057,3379,3699,805,0,0,0,0,0,0,26.04,26.06,28.83
$GC,11948,1.11,480.7,67.3,12.1,550,11954,0.20,1.33,0.00,0.000,6,0.042,0.028,3499,2821,805,0,0,0,0,0,0,26.16,26.19,28.83
$STATE,12114,end climb,SURFACE_DEPTH_REACHED
$STATE,12114,begin surface coast
$FINISH,1.1,1.022111
$STATE,12120,end surface coast,CONTROL_FINISHED_OK
$STATE,12120,begin surface
$SM_CCo,12199,0.00,0.000,0,0,804,482.01
$SM_GC,2.24,8.75,1.00,0.00,0.048,0.067,0.000,137,3401,804,-9.25,-0.65,482.01,0,0,0,0,0,0,26.22,26.24,28.83
$IRIDIUM_FIX,2127.21,12025.23,091112,000034
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.94
$INTERNAL_PRESSURE,9.47851
$TCM_TEMP,23.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,800.5,11.9
$SC_FREEKB,4009760
$24V_AH,23.9,5.845
$10V_AH,9.8,2.363
$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,30.900,76.175,558.725,0.000,0.000,0.000,0.000,236.300,2.000,0.000,16.248,2133.127,7649.618,629.935,1976.781,190.621,0.000,1818.725,0.000,1639.928,0.000,16.376,0.000
$DEVICE_MAMPS,245.565,139.230,1331.865,0.000,0.000,0.000,0.000,126.225,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12140.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.371,0.000,0.000,0.000
$MEM,323240
$DATA_FILE_SIZE,20116,569
$CAP_FILE_SIZE,160634,0
$CFSIZE,260034560,248541184
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.216,153.4,1
$GPS,091112,073005,2135.552,12023.480,31,0.8,31,-3.0