version: 66.11
glider: 170
mission: 10
dive: 30
start: 11 9 112 16 22 53
data:
$ID,170
$MISSION,10
$DIVE,30
$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,-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,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,-142816.33
$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,56
$R_STBD_OVSHOOT,24
$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
$GPS1,091112,161505,2137.207,12020.783,31,1.0,31,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-76.9
$GPS2,091112,162225,2137.063,12020.838,19,1.1,19,-3.0
$SPEED_LIMITS,0.159,0.303
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$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,7.6,60911,-14.6,-9.167,-16.81
$D_GRID,1643
$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,-0.48,-194.6,0.0,0.0,0,106,0.00,0.00,-85.00,0.000,2,0.000,0.000,137,3411,2389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.48,-194.6,3.1,-1.9,15,158,11.30,0.47,-28.85,0.000,4,0.246,0.143,2947,3701,3564,0,0,0,0,0,0,25.89,26.10,26.40
$GC,387,-0.17,-194.6,83.4,-30.6,45,393,0.32,0.43,0.00,0.000,6,0.164,0.039,3048,3399,3565,0,0,0,0,0,0,26.18,26.36,28.83
$GC,592,-0.37,-194.6,104.8,-4.6,55,597,0.15,0.47,0.00,0.000,4,0.083,0.063,2974,3691,3565,0,0,0,0,0,0,26.41,26.38,28.83
$GC,825,-0.69,-194.6,124.5,-8.9,66,831,0.20,0.40,0.00,0.000,6,0.061,0.041,2879,3395,3565,0,0,0,0,0,0,26.47,26.52,28.83
$GC,1020,-0.82,-194.6,145.0,-9.7,76,1026,0.00,0.47,0.00,0.000,4,0.000,0.068,2879,3690,3566,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1053,-0.92,-194.6,147.3,-9.6,77,1058,0.15,0.45,0.00,0.000,6,0.051,0.038,2794,3362,3566,0,0,0,0,0,0,26.55,26.58,28.83
$GC,1248,-0.54,-194.6,198.6,-26.6,87,1253,0.43,0.55,0.00,0.000,4,0.173,0.060,2926,3702,3566,0,0,0,0,0,0,26.44,26.55,28.83
$GC,1372,-0.57,-194.6,214.8,-10.1,93,1377,0.00,0.45,0.00,0.000,6,0.000,0.038,2927,3379,3567,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1577,-0.67,-194.6,231.9,-8.6,103,1582,0.10,0.52,0.00,0.000,4,0.103,0.063,2865,3702,3567,0,0,0,0,0,0,26.66,26.59,28.83
$GC,1670,-0.61,-194.6,243.8,-14.0,107,1677,0.12,0.40,0.00,0.000,6,0.139,0.040,2909,3402,3567,0,0,0,0,0,0,26.53,26.68,28.83
$GC,1867,-0.66,-194.6,264.4,-8.7,117,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,3401,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2166,-0.74,-194.6,286.4,-6.1,132,2173,0.12,2.03,0.00,0.000,4,0.095,0.023,2836,1960,3566,0,0,0,0,0,0,26.71,26.72,28.83
$GC,2220,-0.77,-194.6,290.5,-7.6,134,2227,0.00,2.33,0.00,0.000,6,0.000,0.061,2836,3413,3566,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2535,-0.61,-194.6,343.4,-17.5,150,2540,0.22,0.45,0.00,0.000,4,0.163,0.064,2909,3708,3564,0,0,0,0,0,0,26.60,26.68,28.83
$GC,2768,-0.71,-194.6,364.8,-8.7,161,2773,0.00,0.40,0.00,0.000,6,0.000,0.041,2909,3413,3563,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3081,-0.82,-194.6,389.2,-6.7,177,3088,0.15,2.05,0.00,0.000,4,0.081,0.024,2819,1949,3560,0,0,0,0,0,0,26.76,26.79,28.83
$GC,3111,-0.90,-194.6,391.6,-7.4,178,3116,0.00,2.33,0.00,0.000,6,0.000,0.063,2818,3410,3560,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3429,-0.72,-194.6,442.4,-15.9,194,3435,0.17,0.45,0.00,0.000,4,0.179,0.065,2874,3704,3558,0,0,0,0,0,0,26.62,26.72,28.83
$GC,3662,-0.72,-194.6,466.5,-10.3,205,3667,0.00,0.40,0.00,0.000,6,0.000,0.041,2874,3413,3557,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3975,-0.72,-194.6,495.6,-7.9,221,3980,0.00,0.47,0.00,0.000,4,0.000,0.074,2874,3700,3554,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4153,-0.75,-194.6,506.1,-6.2,229,4160,0.00,0.38,0.00,0.000,6,0.000,0.042,2874,3427,3552,0,0,0,0,0,0,28.83,26.80,28.83
$GC,4459,-0.78,-194.6,529.6,-8.3,245,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,3427,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4761,-0.81,-194.6,555.4,-8.9,260,4767,0.00,0.45,0.00,0.000,4,0.000,0.071,2874,3705,3550,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4893,-0.85,-194.6,566.8,-8.8,266,4899,0.08,0.38,0.00,0.000,6,0.057,0.044,2809,3435,3549,0,0,0,0,0,0,26.77,26.80,28.83
$GC,5217,-0.71,-194.6,615.0,-14.1,281,5219,0.25,0.00,0.00,0.000,6,0.155,0.000,2884,3435,3546,0,0,0,0,0,0,26.66,28.83,28.83
$GC,5519,-0.79,-194.6,634.7,-6.5,291,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,3435,3545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5818,-0.88,-194.6,655.3,-7.0,301,5819,0.17,0.00,0.00,0.000,6,0.074,0.000,2793,3435,3543,0,0,0,0,0,0,26.81,28.83,28.83
$GC,6122,-0.71,-194.6,703.3,-16.7,311,6128,0.25,0.43,0.00,0.000,4,0.164,0.065,2874,3698,3541,0,0,0,0,0,0,26.67,26.76,28.83
$GC,6226,-0.67,-194.6,713.9,-12.0,314,6232,0.00,0.35,0.00,0.000,6,0.000,0.047,2874,3453,3540,0,0,0,0,0,0,28.83,26.81,28.83
$GC,6551,-0.74,-194.6,739.8,-7.3,325,6557,0.00,2.15,0.00,0.000,4,0.000,0.029,2874,1946,3538,0,0,0,0,0,0,28.83,26.85,28.83
$GC,6589,-0.83,-194.6,742.3,-7.3,326,6595,0.00,2.38,0.00,0.000,6,0.000,0.060,2874,3446,3538,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,6710,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6710,begin apogee
$GC,6716,-0.12,0.0,750.6,-6.7,330,6878,0.55,0.00,154.38,1.292,4,0.107,0.000,3070,2996,2769,0,0,0,0,0,0,26.71,28.83,24.03
$STATE,6879,end apogee,CONTROL_FINISHED_OK
$STATE,6879,begin climb
$GC,6881,0.48,194.6,755.3,0.0,335,7053,0.50,0.00,165.98,1.251,6,0.045,0.000,3279,2996,1975,0,0,0,0,0,0,24.98,28.83,23.90
$GC,7372,0.11,194.6,650.7,26.8,352,7378,0.43,1.20,0.00,0.000,4,0.172,0.062,3152,3704,1965,0,0,0,0,0,0,25.86,25.96,28.83
$GC,7445,-0.16,194.6,638.3,23.0,354,7451,0.28,1.08,0.00,0.000,6,0.129,0.035,3064,3011,1964,0,0,0,0,0,0,25.98,26.12,28.83
$GC,7771,0.09,379.0,622.8,3.4,365,7931,0.17,1.27,152.40,1.190,4,0.074,0.062,3162,3706,1223,0,0,0,0,0,0,26.34,24.70,24.00
$GC,7995,0.04,379.0,597.8,12.7,373,8000,0.10,1.12,0.00,0.000,6,0.126,0.034,3127,3008,1221,0,0,0,0,0,0,25.32,25.44,28.83
$GC,8318,0.24,494.6,577.6,5.5,389,8425,0.17,2.25,100.18,1.156,4,0.073,0.027,3214,1572,751,0,0,0,0,0,0,26.11,24.81,24.06
$GC,8447,0.13,494.6,556.5,19.7,395,8453,0.20,2.42,0.00,0.000,6,0.129,0.053,3156,3021,750,0,0,0,0,0,0,25.06,25.11,28.83
$GC,8766,0.30,544.1,528.1,7.6,411,8820,0.12,1.20,45.35,1.115,4,0.092,0.061,3225,3706,550,0,0,0,0,0,0,26.05,25.13,24.44
$GC,8858,0.26,544.1,513.1,18.4,415,8864,0.08,1.08,0.00,0.000,6,0.145,0.031,3201,3019,549,0,0,0,0,0,0,25.37,25.51,28.83
$GC,9172,0.17,544.1,437.8,23.4,431,9178,0.12,2.15,0.00,0.000,4,0.164,0.027,3163,1580,547,0,0,0,0,0,0,26.00,26.11,28.83
$GC,9245,0.27,544.1,429.1,16.1,434,9251,0.12,2.25,0.00,0.000,6,0.181,0.047,3195,3006,548,0,0,0,0,0,0,26.04,26.13,28.83
$GC,9559,0.56,544.1,386.1,12.9,450,9566,0.22,2.10,0.00,0.000,4,0.082,0.025,3295,1573,547,0,0,0,0,0,0,26.33,26.38,28.83
$GC,9653,0.95,544.1,374.6,13.5,454,9659,0.35,2.25,0.00,0.000,6,0.090,0.041,3421,3014,547,0,0,0,0,0,0,26.32,26.36,28.83
$GC,9967,0.46,544.1,207.0,56.5,470,9974,0.55,2.12,0.00,0.000,4,0.194,0.028,3271,1588,547,0,0,0,0,0,0,26.30,26.48,28.83
$GC,10021,0.12,544.1,188.6,48.7,472,10027,0.38,2.17,0.00,0.000,6,0.118,0.056,3147,2962,547,0,0,0,0,0,0,26.39,26.44,28.83
$GC,10217,0.52,544.1,165.1,12.4,482,10222,0.32,2.03,0.00,0.000,4,0.076,0.025,3279,1558,546,0,0,0,0,0,0,26.49,26.55,28.83
$GC,10350,0.87,544.1,150.0,11.8,488,10357,0.32,2.17,0.00,0.000,6,0.103,0.053,3393,2941,545,0,0,0,0,0,0,26.46,26.50,28.83
$GC,10546,0.57,544.1,96.1,35.7,498,10552,0.30,1.20,0.00,0.000,4,0.163,0.060,3299,3706,546,0,0,0,0,0,0,26.44,26.53,28.83
$GC,10604,0.34,544.1,83.8,30.0,500,10612,0.22,1.20,0.00,0.000,6,0.125,0.033,3224,2902,546,0,0,0,0,0,0,26.48,26.60,28.83
$GC,10791,0.68,544.1,64.7,9.6,510,10797,0.25,1.27,0.00,0.000,4,0.069,0.057,3339,3699,546,0,0,0,0,0,0,26.59,26.55,28.83
$GC,11026,1.04,544.1,35.1,12.1,527,11032,0.25,1.48,0.00,0.000,6,0.086,0.026,3450,2679,546,0,0,0,0,0,0,26.55,26.67,28.83
$STATE,11152,end climb,SURFACE_DEPTH_REACHED
$STATE,11152,begin surface coast
$FINISH,1.4,1.022180
$STATE,11159,end surface coast,CONTROL_FINISHED_OK
$STATE,11159,begin surface
$SM_CCo,11237,0.00,0.000,0,0,545,545.55
$SM_GC,2.19,8.45,1.20,0.00,0.046,0.060,0.000,139,3403,545,-9.24,-0.76,545.55,0,0,0,0,0,0,26.55,26.59,28.83
$IRIDIUM_FIX,2127.21,12022.06,091112,111133
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.60
$INTERNAL_PRESSURE,9.44921
$TCM_TEMP,23.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,750.6,11.8
$SC_FREEKB,4008608
$24V_AH,23.9,6.529
$10V_AH,10.0,2.624
$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,28.675,57.925,618.275,0.000,0.000,0.000,0.000,281.450,2.250,0.000,19.976,1999.415,6878.114,670.128,1924.295,202.371,0.000,1858.205,0.000,1541.365,0.000,17.388,0.000
$DEVICE_MAMPS,246.330,143.055,1292.085,0.000,0.000,0.000,0.000,127.755,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11185.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.859,0.000,0.000,0.000
$MEM,324480
$DATA_FILE_SIZE,20128,547
$CAP_FILE_SIZE,150734,0
$CFSIZE,260034560,248279040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.174,197.2,1
$GPS,091112,193122,2137.914,12021.412,36,0.8,36,-3.0