version: 66.11
glider: 170
mission: 10
dive: 38
start: 11 10 112 15 36 56
data:
$ID,170
$MISSION,10
$DIVE,38
$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,-142826.42
$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,57
$R_STBD_OVSHOOT,19
$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
$GPS1,101112,152929,2138.748,12024.580,41,1.1,41,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-80.7
$GPS2,101112,153629,2138.602,12024.689,19,1.2,19,-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,12.9,55858,-15.1,-11.000,-17.16
$D_GRID,903
$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,-243.3,0.0,0.0,0,94,0.00,0.00,-72.30,0.000,2,0.000,0.000,129,3399,2490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.59,-243.3,3.2,-1.5,13,140,11.10,0.52,-27.12,0.000,4,0.250,0.135,2860,3709,3764,0,0,0,0,0,0,25.97,26.17,26.47
$GC,347,-0.59,-243.3,104.9,-44.0,37,352,0.00,0.43,0.00,0.000,6,0.000,0.041,2861,3410,3765,0,0,0,0,0,0,28.83,26.40,28.83
$GC,545,-0.59,-243.3,161.7,-22.9,47,551,0.00,2.08,0.00,0.000,4,0.000,0.024,2861,1921,3765,0,0,0,0,0,0,28.83,26.50,28.83
$GC,622,-0.59,-243.3,172.3,-18.0,50,630,0.00,2.42,0.00,0.000,6,0.000,0.063,2861,3435,3765,0,0,0,0,0,0,28.83,26.43,28.83
$GC,809,-0.59,-243.3,209.2,-20.8,60,814,0.00,0.40,0.00,0.000,4,0.000,0.073,2861,3699,3766,0,0,0,0,0,0,28.83,26.51,28.83
$GC,951,-0.59,-243.3,237.9,-18.1,67,956,0.00,0.35,0.00,0.000,6,0.000,0.042,2861,3441,3766,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1153,-0.59,-243.3,272.5,-16.2,77,1159,0.00,2.08,0.00,0.000,4,0.000,0.024,2861,1966,3766,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1176,-0.59,-243.3,275.9,-15.6,78,1181,0.00,2.40,0.00,0.000,6,0.000,0.064,2861,3457,3766,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1498,-0.59,-243.3,321.2,-15.3,94,1503,0.00,0.38,0.00,0.000,4,0.000,0.073,2861,3705,3766,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1731,-0.59,-243.3,356.7,-16.4,105,1737,0.00,0.32,0.00,0.000,6,0.000,0.044,2861,3467,3765,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2045,-0.59,-243.3,398.0,-11.1,121,2050,0.00,0.38,0.00,0.000,4,0.000,0.076,2861,3701,3763,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2232,-0.59,-243.3,415.8,-9.6,130,2237,0.00,0.30,0.00,0.000,6,0.000,0.045,2861,3477,3762,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2549,-0.59,-243.3,444.4,-9.8,146,2555,0.00,0.35,0.00,0.000,4,0.000,0.075,2861,3697,3759,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2587,-0.59,-243.3,447.0,-10.3,147,2594,0.00,0.30,0.00,0.000,6,0.000,0.047,2861,3481,3758,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2893,-0.59,-243.3,483.3,-11.3,163,2898,0.00,2.15,0.00,0.000,4,0.000,0.025,2861,1961,3757,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2919,-0.59,-243.3,485.9,-11.3,164,2926,0.00,2.45,0.00,0.000,6,0.000,0.067,2861,3470,3756,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3238,-0.59,-243.3,522.7,-11.1,180,3243,0.00,0.35,0.00,0.000,4,0.000,0.074,2861,3704,3754,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3471,-0.59,-243.3,546.8,-10.5,191,3476,0.00,0.30,0.00,0.000,6,0.000,0.047,2861,3483,3752,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3785,-0.59,-243.3,570.6,-6.4,207,3790,0.00,0.35,0.00,0.000,4,0.000,0.076,2861,3699,3750,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3898,-0.59,-243.3,577.3,-6.4,212,3903,0.00,0.30,0.00,0.000,6,0.000,0.047,2861,3488,3749,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4210,-0.59,-243.3,599.6,-7.2,228,4216,0.00,2.17,0.00,0.000,4,0.000,0.028,2861,1949,3747,0,0,0,0,0,0,28.83,26.83,28.83
$GC,4244,-0.59,-243.3,601.8,-6.9,230,4250,0.00,2.45,0.00,0.000,6,0.000,0.060,2861,3474,3747,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4579,-0.59,-243.3,629.4,-9.1,241,4584,0.00,0.35,0.00,0.000,4,0.000,0.076,2861,3705,3745,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4781,-0.59,-243.3,647.4,-9.8,247,4785,0.00,0.30,0.00,0.000,6,0.000,0.046,2861,3490,3743,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5095,-0.59,-243.3,674.1,-6.8,258,5100,0.00,0.35,0.00,0.000,4,0.000,0.074,2861,3707,3742,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5158,-0.59,-243.3,677.9,-6.1,260,5163,0.00,0.30,0.00,0.000,6,0.000,0.047,2861,3504,3742,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5492,-0.59,-243.3,697.2,-5.9,271,5497,0.00,2.20,0.00,0.000,4,0.000,0.030,2861,1963,3740,0,0,0,0,0,0,28.83,26.84,28.83
$GC,5514,-0.59,-243.3,697.2,-5.9,271,5519,0.00,2.45,0.00,0.000,6,0.000,0.060,2861,3491,3739,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5828,-0.59,-243.3,719.2,-7.7,282,5834,0.00,0.32,0.00,0.000,4,0.000,0.076,2862,3708,3737,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5995,-0.59,-243.3,732.8,-9.0,287,6000,0.00,0.30,0.00,0.000,6,0.000,0.049,2861,3499,3737,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6314,-0.59,-243.3,763.5,-9.2,298,6320,0.00,2.22,0.00,0.000,4,0.000,0.029,2861,1960,3735,0,0,0,0,0,0,28.83,26.84,28.83
$GC,6351,-0.59,-243.3,766.7,-9.2,299,6356,0.00,2.42,0.00,0.000,6,0.000,0.060,2861,3473,3735,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6680,-0.59,-243.3,794.2,-8.4,310,6686,0.00,0.35,0.00,0.000,4,0.000,0.075,2860,3705,3734,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6792,-0.59,-243.3,801.3,-7.7,313,6797,0.00,0.32,0.00,0.000,6,0.000,0.048,2861,3484,3733,0,0,0,0,0,0,28.83,26.81,28.83
$GC,7111,-0.59,-243.3,820.6,-5.2,324,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,3484,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7409,-0.59,-243.3,836.3,-5.6,334,7414,0.00,0.35,0.00,0.000,4,0.000,0.076,2861,3701,3730,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7488,-0.59,-243.3,839.8,-5.7,336,7493,0.00,0.30,0.00,0.000,6,0.000,0.050,2861,3495,3730,0,0,0,0,0,0,28.83,26.81,28.83
$GC,7807,-0.59,-243.3,859.8,-6.0,347,7812,0.00,2.22,0.00,0.000,4,0.000,0.030,2861,1955,3728,0,0,0,0,0,0,28.83,26.84,28.83
$GC,7840,-0.59,-243.3,862.6,-6.8,348,7847,0.00,2.45,0.00,0.000,6,0.000,0.061,2861,3473,3727,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8175,-0.59,-243.3,881.1,-4.2,359,8182,0.00,0.35,0.00,0.000,4,0.000,0.076,2861,3704,3727,0,0,0,0,0,0,28.83,26.75,28.83
$GC,8338,-0.59,-243.3,889.6,-5.6,364,8344,0.00,0.32,0.00,0.000,6,0.000,0.047,2861,3483,3727,0,0,0,0,0,0,28.83,26.82,28.83
$STATE,8600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8600,begin apogee
$GC,8605,-0.15,0.0,903.9,-5.8,373,8807,0.43,0.00,195.48,1.415,4,0.107,0.000,3014,3020,2770,0,0,0,0,0,0,26.70,28.83,23.82
$STATE,8808,end apogee,CONTROL_FINISHED_OK
$STATE,8808,begin climb
$GC,8810,0.59,243.3,909.8,0.0,379,9032,0.68,2.30,211.25,1.368,4,0.047,0.029,3270,1564,1776,0,0,0,0,0,0,24.84,24.85,23.61
$GC,9245,0.59,243.3,837.7,21.8,394,9250,0.00,2.40,0.00,0.000,6,0.000,0.056,3270,3006,1768,0,0,0,0,0,0,28.83,25.59,28.83
$GC,9569,0.59,243.3,746.2,26.7,405,9574,0.00,2.17,0.00,0.000,4,0.000,0.029,3280,1569,1767,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9782,0.59,243.3,704.8,18.0,412,9787,0.00,2.33,0.00,0.000,6,0.000,0.057,3281,3006,1766,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10116,0.59,243.3,614.5,29.2,423,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,3006,1766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10416,0.59,243.3,525.6,30.2,437,10421,0.00,2.15,0.00,0.000,4,0.000,0.029,3292,1566,1766,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10488,0.59,243.3,509.0,27.4,440,10494,0.15,2.30,0.00,0.000,6,0.180,0.057,3253,2998,1765,0,0,0,0,0,0,26.33,26.43,28.83
$GC,10802,0.59,243.3,432.0,23.0,456,10803,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2998,1765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11103,0.59,243.3,366.5,21.2,471,11108,0.00,2.15,0.00,0.000,4,0.000,0.029,3263,1548,1766,0,0,0,0,0,0,28.83,26.59,28.83
$GC,11155,0.59,243.3,358.3,20.2,473,11160,0.00,2.30,0.00,0.000,6,0.000,0.057,3264,2998,1764,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11468,0.59,243.3,289.6,23.2,489,11474,0.00,1.12,0.00,0.000,4,0.000,0.062,3265,3697,1764,0,0,0,0,0,0,28.83,26.58,28.83
$GC,11560,0.59,243.3,268.8,24.8,493,11565,0.00,1.05,0.00,0.000,6,0.000,0.034,3270,3000,1765,0,0,0,0,0,0,28.83,26.65,28.83
$GC,11873,0.59,243.3,195.5,22.6,509,11878,0.00,2.08,0.00,0.000,4,0.000,0.029,3280,1568,1764,0,0,0,0,0,0,28.83,26.66,28.83
$GC,12096,0.59,243.3,161.9,14.7,520,12101,0.00,2.28,0.00,0.000,6,0.000,0.054,3280,2995,1764,0,0,0,0,0,0,28.83,26.61,28.83
$GC,12300,0.59,243.3,126.6,15.8,530,12306,0.00,2.10,0.00,0.000,4,0.000,0.029,3284,1566,1765,0,0,0,0,0,0,28.83,26.67,28.83
$GC,12384,0.60,250.9,117.4,10.8,534,12396,0.12,2.22,6.12,0.711,6,0.161,0.054,3249,2974,1746,0,0,0,0,0,0,26.54,26.63,25.89
$GC,12589,0.64,321.8,97.7,8.9,544,12654,0.00,2.12,57.67,0.829,4,0.000,0.028,3254,1580,1455,0,0,0,0,0,0,28.83,25.70,25.07
$GC,12762,0.71,438.0,83.5,7.5,552,12863,0.10,2.12,91.55,0.793,6,0.106,0.052,3309,2907,982,0,0,0,0,0,0,25.95,25.95,24.53
$GC,13046,0.71,438.0,42.6,15.8,568,13052,0.00,1.30,0.00,0.000,4,0.000,0.058,3309,3700,978,0,0,0,0,0,0,28.83,25.85,28.83
$GC,13102,0.71,438.0,33.3,17.7,573,13109,0.00,1.20,0.00,0.000,6,0.000,0.030,3310,2906,978,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,13283,end climb,SURFACE_DEPTH_REACHED
$STATE,13283,begin surface coast
$FINISH,1.5,1.022129
$STATE,13300,end surface coast,CONTROL_FINISHED_OK
$STATE,13300,begin surface
$SM_CCo,13318,4.53,0.065,0,0,933,450.13
$SM_GC,3.04,8.30,0.85,4.53,0.049,0.063,0.065,136,3396,933,-9.09,-0.79,450.13,0,0,0,0,0,0,26.12,26.13,26.14
$IRIDIUM_FIX,2129.53,12021.23,101112,111145
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.23
$INTERNAL_PRESSURE,9.48828
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,4005536
$24V_AH,23.6,8.007
$10V_AH,10.0,3.197
$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,20.875,78.375,562.075,4.525,0.000,0.000,0.000,266.550,3.000,0.000,19.919,2340.533,8310.176,629.301,2258.796,208.275,0.000,1959.034,0.000,1868.431,0.000,25.899,0.000
$DEVICE_MAMPS,250.155,135.405,1415.250,65.025,0.000,0.000,0.000,128.520,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13329.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.706,0.000,0.000,0.000
$MEM,324228
$DATA_FILE_SIZE,23414,608
$CAP_FILE_SIZE,160364,0
$CFSIZE,260034560,247668736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.099, 61.1,1
$GPS,101112,192004,2140.533,12026.182,25,0.8,25,-3.0