version: 66.11
glider: 170
mission: 10
dive: 36
start: 11 10 112 9 1 14
data:
$ID,170
$MISSION,10
$DIVE,36
$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,300
$T_MISSION,320
$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,250
$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,-142823.92
$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,3060
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,23
$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
$GPS1,101112,085354,2137.351,12022.832,37,1.0,37,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-78.5
$GPS2,101112,090047,2137.256,12022.853,19,1.1,19,-3.0
$SPEED_LIMITS,0.191,0.356
$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,15.9,59270,-15.1,-11.000,-17.16
$D_GRID,1303
$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,-0.59,-243.3,0.0,0.0,0,106,0.00,0.00,-84.57,0.000,2,0.000,0.000,135,3406,2461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.59,-243.3,3.1,-1.6,15,159,11.07,0.47,-29.15,0.000,4,0.250,0.142,2863,3698,3763,0,0,0,0,0,0,25.95,26.15,26.44
$GC,382,-0.59,-243.3,113.2,-46.0,40,389,0.00,0.43,0.00,0.000,6,0.000,0.040,2863,3393,3763,0,0,0,0,0,0,28.83,26.39,28.83
$GC,568,-0.59,-243.3,178.3,-26.2,50,573,0.00,2.05,0.00,0.000,4,0.000,0.024,2863,1971,3764,0,0,0,0,0,0,28.83,26.50,28.83
$GC,695,-0.59,-243.3,197.4,-12.5,56,701,0.00,2.35,0.00,0.000,6,0.000,0.062,2863,3425,3763,0,0,0,0,0,0,28.83,26.44,28.83
$GC,894,-0.59,-243.3,238.7,-22.1,66,900,0.00,0.43,0.00,0.000,4,0.000,0.076,2863,3698,3764,0,0,0,0,0,0,28.83,26.51,28.83
$GC,931,-0.59,-243.3,242.9,-20.6,67,938,0.00,0.38,0.00,0.000,6,0.000,0.041,2864,3414,3764,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1118,-0.59,-243.3,275.3,-15.7,77,1123,0.00,0.47,0.00,0.000,4,0.000,0.073,2863,3700,3765,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1351,-0.59,-243.3,312.6,-16.5,88,1356,0.00,0.28,0.00,0.000,6,0.000,0.047,2863,3489,3764,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1663,-0.59,-243.3,360.3,-14.6,104,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,3488,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1965,-0.59,-243.3,408.1,-17.2,119,1970,0.00,0.35,0.00,0.000,4,0.000,0.077,2863,3701,3760,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2196,-0.59,-243.3,442.9,-14.5,130,2201,0.00,0.25,0.00,0.000,6,0.000,0.050,2866,3505,3759,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2509,-0.59,-243.3,482.3,-10.5,146,2514,0.00,0.32,0.00,0.000,4,0.000,0.075,2865,3705,3756,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2581,-0.59,-243.3,488.4,-9.8,149,2587,0.00,0.25,0.00,0.000,6,0.000,0.049,2864,3508,3756,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2895,-0.59,-243.3,516.4,-8.6,165,2900,0.00,0.32,0.00,0.000,4,0.000,0.077,2863,3709,3754,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2999,-0.59,-243.3,526.1,-9.5,170,3004,0.00,0.25,0.00,0.000,6,0.000,0.050,2863,3515,3752,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3322,-0.59,-243.3,558.6,-10.2,186,3328,0.00,2.22,0.00,0.000,4,0.000,0.026,2864,1951,3750,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3355,-0.59,-243.3,561.1,-10.4,187,3360,0.00,2.50,0.00,0.000,6,0.000,0.060,2864,3515,3750,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3668,-0.59,-243.3,591.5,-9.4,203,3673,0.00,0.28,0.00,0.000,4,0.000,0.079,2863,3704,3747,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3735,-0.59,-243.3,597.7,-9.8,206,3740,0.00,0.25,0.00,0.000,6,0.000,0.050,2864,3511,3748,0,0,0,0,0,0,28.83,26.80,28.83
$GC,4044,-0.59,-243.3,627.7,-9.3,217,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,3511,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4343,-0.59,-243.3,654.4,-8.7,227,4349,0.00,2.22,0.00,0.000,4,0.000,0.027,2864,1954,3743,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4380,-0.59,-243.3,657.0,-8.5,228,4385,0.00,2.50,0.00,0.000,6,0.000,0.061,2866,3512,3743,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4709,-0.59,-243.3,683.2,-7.9,239,4714,0.00,0.28,0.00,0.000,4,0.000,0.079,2863,3702,3741,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4842,-0.59,-243.3,692.9,-7.8,243,4847,0.00,0.25,0.00,0.000,6,0.000,0.052,2863,3517,3740,0,0,0,0,0,0,28.83,26.81,28.83
$GC,5167,-0.59,-243.3,721.7,-8.6,254,5172,0.00,2.22,0.00,0.000,4,0.000,0.029,2863,1967,3739,0,0,0,0,0,0,28.83,26.83,28.83
$GC,5194,-0.59,-243.3,721.7,-8.6,254,5201,0.00,2.47,0.00,0.000,6,0.000,0.062,2864,3509,3737,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5501,-0.59,-243.3,748.6,-8.4,265,5506,0.00,0.28,0.00,0.000,4,0.000,0.080,2863,3700,3736,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5543,-0.59,-243.3,751.4,-8.6,266,5548,0.00,0.25,0.00,0.000,6,0.000,0.053,2864,3516,3735,0,0,0,0,0,0,28.83,26.81,28.83
$GC,5867,-0.59,-243.3,773.5,-4.3,277,5872,0.00,2.22,0.00,0.000,4,0.000,0.028,2864,1970,3733,0,0,0,0,0,0,28.83,26.84,28.83
$GC,5909,-0.59,-243.3,773.9,-3.1,278,5914,0.00,2.42,0.00,0.000,6,0.000,0.060,2864,3484,3733,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,6110,end dive,NO_VERTICAL_VELOCITY
$STATE,6110,begin apogee
$GC,6116,-0.15,0.0,773.1,0.0,285,6316,0.40,0.00,193.15,1.302,4,0.116,0.000,3006,3014,2767,0,0,0,0,0,0,26.70,28.83,24.00
$STATE,6318,end apogee,CONTROL_FINISHED_OK
$STATE,6318,begin climb
$GC,6320,0.59,243.3,766.9,0.0,291,6533,0.65,0.00,205.62,1.252,6,0.046,0.000,3269,3014,1776,0,0,0,0,0,0,24.93,28.83,23.84
$GC,6832,0.59,243.3,642.8,25.3,309,6837,0.00,2.17,0.00,0.000,4,0.000,0.028,3279,1568,1768,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6858,0.59,243.3,642.8,25.3,309,6866,0.00,2.33,0.00,0.000,6,0.000,0.054,3280,2991,1767,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7175,0.59,243.3,542.0,29.8,323,7177,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2991,1766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7476,0.59,243.3,463.4,25.5,338,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2991,1765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7776,0.59,243.3,390.7,23.2,353,7782,0.00,2.12,0.00,0.000,4,0.000,0.029,3290,1569,1765,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7799,0.59,243.3,385.2,23.0,354,7806,0.15,2.28,0.00,0.000,6,0.182,0.056,3251,2983,1764,0,0,0,0,0,0,26.34,26.45,28.83
$GC,8123,0.59,243.3,314.2,22.9,370,8128,0.00,1.15,0.00,0.000,4,0.000,0.060,3251,3698,1764,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8306,0.59,243.3,270.6,23.0,379,8311,0.00,1.05,0.00,0.000,6,0.000,0.034,3256,3007,1764,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8628,0.59,243.3,208.3,18.5,395,8634,0.00,2.08,0.00,0.000,4,0.000,0.028,3266,1566,1764,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8735,0.59,243.3,193.2,14.1,400,8741,0.00,2.25,0.00,0.000,6,0.000,0.057,3266,2989,1763,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8933,0.59,243.3,162.3,13.0,410,8938,0.00,2.10,0.00,0.000,4,0.000,0.028,3268,1565,1763,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9085,0.61,276.8,147.3,10.0,417,9120,0.00,2.17,26.67,0.855,6,0.000,0.055,3268,2941,1638,0,0,0,0,0,0,28.83,26.61,25.56
$GC,9318,0.61,276.8,119.7,13.0,429,9324,0.00,1.20,0.00,0.000,4,0.000,0.058,3268,3694,1635,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9386,0.61,276.8,110.9,13.8,432,9391,0.00,1.17,0.00,0.000,6,0.000,0.031,3268,2906,1635,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9584,0.71,437.0,97.6,6.2,442,9719,0.00,1.38,125.22,0.796,4,0.000,0.063,3268,3691,986,0,0,0,0,0,0,28.83,25.13,24.59
$GC,9786,0.71,437.0,77.7,12.0,452,9791,0.00,1.17,0.00,0.000,6,0.000,0.031,3268,2927,985,0,0,0,0,0,0,28.83,25.69,28.83
$GC,9990,0.73,473.0,56.0,9.9,462,10024,0.00,1.35,29.12,0.730,4,0.000,0.061,3268,3705,840,0,0,0,0,0,0,28.83,25.65,25.14
$GC,10056,0.75,509.8,49.9,9.9,465,10093,0.00,1.15,31.55,0.717,6,0.000,0.030,3268,2942,689,0,0,0,0,0,0,28.83,25.85,24.92
$GC,10272,0.84,650.6,32.4,6.7,487,10315,0.17,0.00,40.35,0.700,6,0.074,0.000,3361,2942,460,0,0,0,0,0,0,26.01,28.83,25.02
$STATE,10426,end climb,SURFACE_DEPTH_REACHED
$STATE,10426,begin surface coast
$FINISH,1.7,1.022126
$STATE,10437,end surface coast,CONTROL_FINISHED_OK
$STATE,10437,begin surface
$SM_CCo,10516,0.00,0.000,0,0,458,566.89
$SM_GC,2.08,8.50,0.80,0.00,0.049,0.068,0.000,135,3396,458,-9.10,-0.82,566.89,0,0,0,0,0,0,25.88,25.89,28.83
$IRIDIUM_FIX,2131.85,12020.06,101112,040457
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.57
$INTERNAL_PRESSURE,9.51758
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,4006304
$24V_AH,23.8,7.614
$10V_AH,10.2,3.029
$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,20.950,57.625,651.700,0.000,0.000,0.000,0.000,257.750,1.500,0.000,20.315,1760.521,6530.138,677.589,1786.652,174.121,0.000,1801.466,0.000,1427.978,0.000,11.917,0.000
$DEVICE_MAMPS,250.155,141.525,1302.030,0.000,0.000,0.000,0.000,129.285,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10468.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.398,0.000,0.000,0.000
$MEM,324292
$DATA_FILE_SIZE,20118,514
$CAP_FILE_SIZE,129768,0
$CFSIZE,260034560,247869440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.111,194.1,1
$GPS,101112,115724,2138.127,12023.096,17,1.3,18,-3.0