version: 66.11
glider: 170
mission: 10
dive: 48
start: 11 11 112 3 35 10
data:
$ID,170
$MISSION,10
$DIVE,48
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,140
$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,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,9
$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,-143148.09
$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,2600
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,69
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$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
$GPS1,111112,033054,2140.012,12034.742,17,1.0,17,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-73.4
$GPS2,111112,033442,2139.923,12034.832,17,1.7,17,-3.1
$SPEED_LIMITS,0.173,0.345
$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,327.0,60650,-14.0,-10.000,-16.19
$D_GRID,465
$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,-0.56,-243.3,0.0,0.0,0,95,0.00,0.00,-74.45,0.000,2,0.000,0.000,128,2643,2552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.56,-243.3,3.3,-3.5,13,142,10.82,1.55,-25.70,0.000,4,0.246,0.071,2872,3660,3761,0,0,0,0,0,0,26.41,26.59,26.89
$GC,315,-0.56,-243.3,58.5,-25.7,39,321,0.00,1.52,0.00,0.000,6,0.000,0.023,2872,2569,3761,0,0,0,0,0,0,28.83,26.74,28.83
$GC,509,-0.56,-243.3,105.0,-20.0,49,514,0.00,1.67,0.00,0.000,4,0.000,0.055,2872,3654,3760,0,0,0,0,0,0,28.83,26.70,28.83
$GC,531,-0.56,-243.3,108.9,-18.7,50,536,0.00,1.50,0.00,0.000,6,0.000,0.024,2873,2599,3761,0,0,0,0,0,0,28.83,26.77,28.83
$GC,734,-0.56,-243.3,138.0,-13.0,60,740,0.00,2.00,0.00,0.000,4,0.000,0.036,2873,1218,3761,0,0,0,0,0,0,28.83,26.76,28.83
$GC,802,-0.56,-243.3,145.9,-12.7,63,807,0.00,1.98,0.00,0.000,6,0.000,0.042,2873,2537,3760,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1000,-0.56,-243.3,172.5,-13.4,73,1005,0.00,1.73,0.00,0.000,4,0.000,0.061,2873,3661,3760,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1118,-0.56,-243.3,185.2,-12.1,78,1126,0.00,1.50,0.00,0.000,6,0.000,0.025,2873,2621,3760,0,0,0,0,0,0,28.83,26.84,28.83
$GC,1303,-0.56,-243.3,206.2,-9.8,88,1309,0.00,2.08,0.00,0.000,4,0.000,0.039,2873,1208,3761,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1361,-0.56,-243.3,210.4,-9.6,90,1368,0.00,2.03,0.00,0.000,6,0.000,0.042,2873,2548,3759,0,0,0,0,0,0,28.83,26.76,28.83
$GC,1547,-0.56,-243.3,230.0,-9.9,100,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2551,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1726,-0.56,-243.3,249.1,-10.4,109,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2549,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1907,-0.56,-243.3,265.4,-8.5,118,1912,0.00,1.70,0.00,0.000,4,0.000,0.064,2873,3648,3755,0,0,0,0,0,0,28.83,26.75,28.83
$GC,1959,-0.56,-243.3,268.8,-8.2,120,1964,0.00,1.52,0.00,0.000,6,0.000,0.026,2873,2582,3755,0,0,0,0,0,0,28.83,26.84,28.83
$GC,2272,-0.56,-243.3,293.2,-8.2,136,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2582,3752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2573,-0.56,-243.3,316.9,-6.8,151,2578,0.00,2.00,0.00,0.000,4,0.000,0.035,2873,1203,3750,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2616,-0.56,-243.3,319.9,-6.6,153,2622,0.00,2.10,0.00,0.000,6,0.000,0.045,2873,2572,3749,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2939,-0.56,-243.3,342.5,-6.6,169,2945,0.00,1.75,0.00,0.000,4,0.000,0.058,2873,3685,3746,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3038,-0.56,-243.3,348.2,-6.9,173,3045,0.00,1.55,0.00,0.000,6,0.000,0.028,2873,2622,3745,0,0,0,0,0,0,28.83,26.82,28.83
$STATE,3200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3200,begin apogee
$GC,3206,-0.15,0.0,360.9,-7.0,182,3392,0.38,0.00,179.65,0.972,4,0.109,0.000,3008,1865,2769,0,0,0,0,0,0,26.73,28.83,24.75
$STATE,3393,end apogee,CONTROL_FINISHED_OK
$STATE,3393,begin climb
$GC,3395,0.56,243.3,369.7,0.0,191,3597,0.65,2.35,192.48,0.942,4,0.071,0.048,3244,3318,1776,0,0,0,0,0,0,25.51,25.50,24.70
$GC,3765,0.56,243.3,329.1,15.3,210,3770,0.00,2.12,0.00,0.000,6,0.000,0.037,3253,1933,1770,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4088,0.56,243.3,285.4,12.5,226,4094,0.00,2.20,0.00,0.000,4,0.000,0.056,3253,3315,1767,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4321,0.56,243.3,255.3,13.6,237,4326,0.00,2.12,0.00,0.000,6,0.000,0.035,3254,1899,1766,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4634,0.56,243.3,218.3,11.4,253,4639,0.00,2.10,0.00,0.000,4,0.000,0.039,3254,495,1765,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4736,0.56,243.3,206.5,11.2,258,4741,0.00,2.10,0.00,0.000,6,0.000,0.037,3254,1896,1764,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4939,0.56,243.3,185.5,10.0,268,4945,0.00,2.15,0.00,0.000,4,0.000,0.047,3253,3301,1764,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5042,0.56,243.3,172.4,13.0,273,5048,0.00,2.08,0.00,0.000,6,0.000,0.033,3254,1911,1764,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5247,0.56,243.3,148.1,11.7,283,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1911,1763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5426,0.57,258.8,130.1,9.6,292,5446,0.00,2.15,12.07,0.778,4,0.000,0.040,3254,504,1712,0,0,0,0,0,0,28.83,26.54,25.92
$GC,5525,0.60,322.2,123.2,8.3,296,5584,0.00,2.10,50.65,0.815,6,0.000,0.037,3254,1904,1453,0,0,0,0,0,0,28.83,26.61,25.29
$GC,5771,0.67,423.4,102.1,7.2,309,5856,0.00,2.17,78.60,0.784,4,0.000,0.037,3255,508,1042,0,0,0,0,0,0,28.83,25.58,25.00
$GC,5923,0.75,557.4,92.7,6.3,316,6041,0.15,2.17,109.50,0.760,6,0.120,0.031,3307,1936,495,0,0,0,0,0,0,25.98,26.03,24.84
$GC,6239,0.75,557.4,57.9,14.3,332,6244,0.00,2.15,0.00,0.000,4,0.000,0.050,3307,3311,494,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6472,0.75,557.4,27.7,12.1,352,6478,0.00,2.00,0.00,0.000,6,0.000,0.028,3307,1975,495,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6662,0.75,557.4,7.1,11.7,386,6669,0.00,2.20,0.00,0.000,4,0.000,0.042,3307,497,495,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6681,0.75,557.4,4.3,13.2,389,6688,0.00,2.17,0.00,0.000,6,0.000,0.032,3308,1951,495,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,6692,end climb,SURFACE_DEPTH_REACHED
$STATE,6693,begin surface coast
$FINISH,1.2,1.009000
$STATE,6715,end surface coast,CONTROL_FINISHED_OK
$STATE,6715,begin surface
$SM_CCo,6793,0.00,0.000,0,0,495,557.81
$SM_GC,1.99,8.18,1.02,0.00,0.052,0.056,0.000,139,2598,495,-9.10,-0.90,557.81,0,0,0,0,0,0,26.46,26.55,28.83
$IRIDIUM_FIX,2129.53,12033.57,111112,030300
$TT8_MAMPS,0.025466,0.025466
$HUMID,60.47
$INTERNAL_PRESSURE,9.625
$TCM_TEMP,23.70
$XPDR_PINGS,5
$SC_FREEKB,4001696
$24V_AH,24.7,9.255
$10V_AH,10.4,3.610
$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,20.175,64.725,622.950,0.000,0.000,0.000,0.000,0.000,1.250,0.000,18.369,1312.722,3699.334,612.693,1146.508,100.399,0.000,1304.208,0.000,1090.931,0.000,0.546,0.000
$DEVICE_MAMPS,246.330,82.620,971.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6692.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.462,0.000,0.000,0.000
$MEM,323280
$DATA_FILE_SIZE,13483,395
$CAP_FILE_SIZE,108207,0
$CFSIZE,260034560,247250944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.579,137.3,1
$GPS,111112,052934,2139.285,12035.389,34,1.0,35,-3.0