version: 66.11
glider: 170
mission: 10
dive: 50
start: 11 11 112 7 38 33
data:
$ID,170
$MISSION,10
$DIVE,50
$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,320
$T_MISSION,340
$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,-143150.59
$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,58
$R_STBD_OVSHOOT,40
$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
$GPS1,111112,073200,2138.479,12035.097,27,0.7,27,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-70.6
$GPS2,111112,073806,2138.268,12035.083,18,1.9,18,-3.0
$SPEED_LIMITS,0.179,0.348
$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,329.7,61623,-14.3,-10.312,-16.49
$D_GRID,591
$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,-0.57,-243.3,0.0,0.0,0,104,0.00,0.00,-82.47,0.000,2,0.000,0.000,137,2600,2372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.57,-243.3,3.2,-3.1,14,157,11.12,1.75,-32.17,0.000,4,0.253,0.069,2872,3686,3763,0,0,0,0,0,0,26.15,26.38,26.68
$GC,364,-0.57,-243.3,73.4,-28.0,42,369,0.00,1.60,0.00,0.000,6,0.000,0.025,2872,2538,3763,0,0,0,0,0,0,28.83,26.61,28.83
$GC,557,-0.57,-243.3,119.8,-19.6,52,563,0.00,1.77,0.00,0.000,4,0.000,0.052,2872,3685,3763,0,0,0,0,0,0,28.83,26.58,28.83
$GC,634,-0.57,-243.3,130.9,-17.8,55,641,0.00,1.58,0.00,0.000,6,0.000,0.024,2873,2551,3762,0,0,0,0,0,0,28.83,26.70,28.83
$GC,820,-0.57,-243.3,156.6,-11.8,65,825,0.00,1.88,0.00,0.000,4,0.000,0.026,2873,1223,3764,0,0,0,0,0,0,28.83,26.69,28.83
$GC,898,-0.57,-243.3,162.9,-10.4,68,904,0.00,2.12,0.00,0.000,6,0.000,0.041,2873,2624,3764,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1083,-0.57,-243.3,183.3,-9.7,78,1088,0.00,1.62,0.00,0.000,4,0.000,0.053,2872,3699,3764,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1136,-0.57,-243.3,187.6,-10.0,80,1141,0.00,1.50,0.00,0.000,6,0.000,0.024,2873,2631,3764,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1329,-0.57,-243.3,209.6,-12.0,90,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2627,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1509,-0.57,-243.3,230.9,-11.3,99,1514,0.00,1.65,0.00,0.000,4,0.000,0.054,2873,3696,3763,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1581,-0.57,-243.3,237.4,-10.6,102,1586,0.00,1.48,0.00,0.000,6,0.000,0.025,2873,2644,3762,0,0,0,0,0,0,28.83,26.80,28.83
$GC,1774,-0.57,-243.3,256.4,-9.7,112,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2641,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2075,-0.57,-243.3,285.9,-10.8,127,2080,0.00,2.00,0.00,0.000,4,0.000,0.028,2873,1228,3760,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2107,-0.57,-243.3,288.7,-10.9,128,2112,0.00,2.15,0.00,0.000,6,0.000,0.042,2873,2651,3760,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2420,-0.57,-243.3,318.5,-7.9,144,2426,0.00,1.60,0.00,0.000,4,0.000,0.056,2873,3689,3758,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2477,-0.57,-243.3,321.5,-7.2,146,2484,0.00,1.48,0.00,0.000,6,0.000,0.025,2873,2648,3758,0,0,0,0,0,0,28.83,26.83,28.83
$GC,2783,-0.57,-243.3,342.5,-6.1,162,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2647,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3084,-0.57,-243.3,365.4,-8.5,177,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2647,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3385,-0.57,-243.3,389.4,-8.0,192,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2645,3752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3685,-0.57,-243.3,415.2,-8.6,207,3691,0.00,2.03,0.00,0.000,4,0.000,0.026,2873,1225,3750,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3717,-0.57,-243.3,417.4,-8.6,208,3723,0.00,2.17,0.00,0.000,6,0.000,0.042,2873,2652,3750,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4030,-0.57,-243.3,443.4,-7.9,224,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2653,3747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4332,-0.57,-243.3,468.9,-8.9,239,4337,0.00,2.08,0.00,0.000,4,0.000,0.028,2873,1231,3745,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4364,-0.57,-243.3,471.1,-8.9,240,4370,0.00,2.17,0.00,0.000,6,0.000,0.042,2873,2655,3745,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4678,-0.57,-243.3,495.5,-6.6,256,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2655,3744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4978,-0.57,-243.3,514.6,-5.9,271,4984,0.00,2.10,0.00,0.000,4,0.000,0.029,2873,1227,3742,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5026,-0.57,-243.3,517.1,-5.7,273,5032,0.00,2.15,0.00,0.000,6,0.000,0.043,2873,2647,3742,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5344,-0.57,-243.3,531.5,-4.8,289,5350,0.00,2.08,0.00,0.000,4,0.000,0.026,2873,1222,3739,0,0,0,0,0,0,28.83,26.80,28.83
$GC,5378,-0.57,-243.3,532.6,-4.7,290,5383,0.00,2.15,0.00,0.000,6,0.000,0.042,2873,2628,3739,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5691,-0.57,-243.3,546.7,-5.4,306,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2628,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5993,-0.57,-243.3,564.1,-5.9,321,5998,0.00,2.05,0.00,0.000,4,0.000,0.028,2873,1216,3737,0,0,0,0,0,0,28.83,26.80,28.83
$GC,6039,-0.57,-243.3,566.9,-6.1,323,6045,0.00,2.15,0.00,0.000,6,0.000,0.043,2873,2619,3736,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6358,-0.57,-243.3,587.6,-6.4,339,6364,0.00,2.05,0.00,0.000,4,0.000,0.028,2873,1220,3734,0,0,0,0,0,0,28.83,26.79,28.83
$GC,6406,-0.57,-243.3,590.8,-7.1,341,6411,0.00,2.10,0.00,0.000,6,0.000,0.042,2873,2608,3734,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,6422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6422,begin apogee
$GC,6428,-0.15,0.0,592.4,-7.3,342,6623,0.38,0.00,187.07,1.167,4,0.104,0.000,3010,1914,2768,0,0,0,0,0,0,26.70,28.83,24.25
$STATE,6625,end apogee,CONTROL_FINISHED_OK
$STATE,6625,begin climb
$GC,6627,0.57,243.3,602.8,0.0,350,6838,0.65,2.22,200.48,1.137,4,0.061,0.035,3246,507,1775,0,0,0,0,0,0,25.18,25.19,24.17
$GC,6850,0.57,243.3,587.1,12.2,360,6855,0.00,2.25,0.00,0.000,6,0.000,0.037,3246,1905,1773,0,0,0,0,0,0,28.83,25.16,28.83
$GC,7168,0.57,243.3,547.5,12.0,376,7174,0.00,2.22,0.00,0.000,4,0.000,0.050,3246,3310,1768,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7306,0.57,243.3,529.2,14.9,382,7312,0.00,2.03,0.00,0.000,6,0.000,0.029,3254,1954,1767,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7612,0.57,243.3,481.7,16.1,398,7613,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1954,1767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7913,0.57,243.3,431.2,16.6,413,7918,0.00,2.17,0.00,0.000,4,0.000,0.051,3254,3319,1765,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7950,0.57,243.3,427.3,16.6,414,7957,0.00,2.05,0.00,0.000,6,0.000,0.031,3255,1959,1766,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8256,0.57,243.3,375.5,16.1,430,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1960,1765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8556,0.57,243.3,333.5,12.7,445,8563,0.00,2.12,0.00,0.000,4,0.000,0.050,3255,3308,1764,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8609,0.57,243.3,327.5,12.9,447,8615,0.00,2.00,0.00,0.000,6,0.000,0.029,3256,1953,1764,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8922,0.57,243.3,287.8,12.3,463,8927,0.00,2.15,0.00,0.000,4,0.000,0.050,3256,3316,1764,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8974,0.57,243.3,281.9,13.1,465,8979,0.00,2.00,0.00,0.000,6,0.000,0.028,3258,1968,1764,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9287,0.57,243.3,239.8,13.5,481,9292,0.00,2.10,0.00,0.000,4,0.000,0.048,3258,3316,1764,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9309,0.57,243.3,236.4,14.0,482,9314,0.00,2.00,0.00,0.000,6,0.000,0.028,3265,1966,1764,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9512,0.57,243.3,207.5,13.5,492,9517,0.00,2.10,0.00,0.000,4,0.000,0.047,3265,3318,1764,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9544,0.57,243.3,204.0,14.0,493,9549,0.00,2.03,0.00,0.000,6,0.000,0.028,3269,1948,1764,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9737,0.57,243.3,173.8,13.5,503,9738,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1949,1764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9917,0.60,292.4,154.2,8.9,512,9962,0.00,2.20,39.15,0.868,4,0.000,0.038,3269,505,1574,0,0,0,0,0,0,28.83,26.03,25.35
$GC,10061,0.64,359.6,142.4,8.4,519,10122,0.00,2.22,53.60,0.842,6,0.000,0.034,3269,1960,1302,0,0,0,0,0,0,28.83,26.22,24.86
$GC,10300,0.68,423.5,121.9,8.5,531,10361,0.00,2.35,51.05,0.813,4,0.000,0.038,3269,505,1040,0,0,0,0,0,0,28.83,25.46,24.84
$GC,10453,0.76,556.6,112.0,6.5,538,10575,0.10,2.35,111.32,0.792,6,0.111,0.031,3320,2036,499,0,0,0,0,0,0,25.88,25.91,24.55
$GC,10768,0.76,563.0,77.9,10.1,554,10782,0.00,2.05,7.03,0.642,4,0.000,0.047,3320,3312,472,0,0,0,0,0,0,28.83,25.90,25.29
$GC,10840,0.79,613.1,72.6,8.9,557,10851,0.00,1.95,4.25,0.525,6,0.000,0.027,3320,2017,460,0,0,0,0,0,0,28.83,26.08,25.35
$GC,11031,0.88,757.4,60.6,6.2,567,11033,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2017,460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11210,0.94,864.3,47.9,7.3,577,11212,0.12,0.00,0.00,0.000,6,0.096,0.000,3393,2017,460,0,0,0,0,0,0,26.39,28.83,28.83
$GC,11390,0.94,864.3,19.2,16.2,598,11397,0.12,2.00,0.05,0.168,4,0.153,0.044,3351,3314,460,0,0,0,0,0,0,26.36,26.41,26.30
$GC,11415,0.94,864.3,15.2,16.6,602,11422,0.00,1.92,0.00,0.000,6,0.000,0.028,3351,2024,460,0,0,0,0,0,0,28.83,26.47,28.83
$STATE,11517,end climb,SURFACE_DEPTH_REACHED
$STATE,11518,begin surface coast
$FINISH,1.8,1.021884
$STATE,11539,end surface coast,CONTROL_FINISHED_OK
$STATE,11539,begin surface
$SM_CCo,11618,0.00,0.000,0,0,459,566.64
$SM_GC,2.11,8.43,0.93,0.00,0.060,0.043,0.000,141,2627,459,-9.09,-0.79,566.64,0,0,0,0,0,0,26.39,26.51,28.83
$IRIDIUM_FIX,2129.53,12036.75,111112,050551
$TT8_MAMPS,0.025466,0.025466
$HUMID,55.55
$INTERNAL_PRESSURE,9.54687
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,4000928
$24V_AH,24.2,9.610
$10V_AH,10.1,3.755
$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,20.925,97.875,654.000,0.000,0.000,0.000,0.000,218.050,0.000,0.000,20.455,1878.825,7477.089,694.044,1747.880,194.057,0.000,1800.438,0.000,1435.066,0.000,0.544,0.000
$DEVICE_MAMPS,253.215,68.850,1166.625,0.000,0.000,0.000,0.000,128.520,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11564.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.235,0.000,0.000,0.000
$MEM,323204
$DATA_FILE_SIZE,23392,626
$CAP_FILE_SIZE,144473,0
$CFSIZE,260034560,247062528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.208,220.0,1
$GPS,111112,105328,2138.724,12033.069,40,0.9,40,-3.0