version: 66.11
glider: 170
mission: 10
dive: 52
start: 11 11 112 14 46 20
data:
$ID,170
$MISSION,10
$DIVE,52
$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,-143153.09
$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,83
$R_STBD_OVSHOOT,34
$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
$GPS1,111112,143904,2138.915,12032.290,34,1.2,35,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-72.1
$GPS2,111112,144553,2138.790,12032.404,16,2.0,16,-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,315.6,56914,-14.3,-10.312,-16.49
$D_GRID,681
$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,-82.97,0.000,2,0.000,0.000,137,2612,2298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.57,-243.3,3.2,-3.1,15,162,11.10,1.75,-34.30,0.000,4,0.250,0.076,2869,3683,3762,0,0,0,0,0,0,25.97,26.20,26.51
$GC,368,-0.57,-243.3,84.9,-31.0,43,374,0.00,1.55,0.00,0.000,6,0.000,0.024,2870,2614,3763,0,0,0,0,0,0,28.83,26.46,28.83
$GC,567,-0.57,-243.3,127.7,-20.1,53,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2610,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,747,-0.57,-243.3,155.7,-14.5,62,752,0.00,1.70,0.00,0.000,4,0.000,0.056,2871,3697,3763,0,0,0,0,0,0,28.83,26.49,28.83
$GC,790,-0.57,-243.3,160.5,-12.2,64,795,0.00,1.60,0.00,0.000,6,0.000,0.025,2870,2565,3762,0,0,0,0,0,0,28.83,26.58,28.83
$GC,993,-0.57,-243.3,180.9,-10.4,74,998,0.00,1.92,0.00,0.000,4,0.000,0.030,2870,1231,3763,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1036,-0.57,-243.3,184.9,-9.8,76,1041,0.00,2.12,0.00,0.000,6,0.000,0.043,2870,2611,3762,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1240,-0.57,-243.3,203.2,-9.4,86,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2611,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1418,-0.57,-243.3,222.6,-11.0,95,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2611,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1599,-0.57,-243.3,241.1,-9.6,104,1605,0.00,1.70,0.00,0.000,4,0.000,0.054,2870,3697,3761,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1666,-0.57,-243.3,246.3,-8.3,107,1671,0.00,1.55,0.00,0.000,6,0.000,0.025,2870,2582,3761,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1865,-0.57,-243.3,263.9,-9.2,117,1870,0.00,1.77,0.00,0.000,4,0.000,0.057,2870,3697,3760,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1903,-0.57,-243.3,266.1,-9.3,118,1909,0.00,1.55,0.00,0.000,6,0.000,0.025,2870,2594,3760,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2209,-0.57,-243.3,296.0,-9.1,134,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2593,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2509,-0.57,-243.3,319.8,-7.0,149,2515,0.00,1.75,0.00,0.000,4,0.000,0.054,2870,3688,3756,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2614,-0.57,-243.3,327.2,-7.0,154,2621,0.00,1.55,0.00,0.000,6,0.000,0.025,2870,2617,3755,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2939,-0.57,-243.3,350.8,-7.4,170,2944,0.00,2.03,0.00,0.000,4,0.000,0.026,2870,1191,3752,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2972,-0.57,-243.3,352.7,-7.5,171,2977,0.00,2.17,0.00,0.000,6,0.000,0.042,2871,2617,3753,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3285,-0.57,-243.3,378.6,-7.7,187,3290,0.00,1.67,0.00,0.000,4,0.000,0.055,2870,3699,3751,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3317,-0.57,-243.3,380.2,-7.6,188,3323,0.00,1.58,0.00,0.000,6,0.000,0.028,2870,2593,3750,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3631,-0.57,-243.3,402.9,-7.3,204,3636,0.00,1.98,0.00,0.000,4,0.000,0.026,2870,1214,3748,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3658,-0.57,-243.3,404.6,-7.4,205,3663,0.00,2.12,0.00,0.000,6,0.000,0.041,2870,2610,3748,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3976,-0.57,-243.3,431.5,-8.8,221,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2610,3746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4277,-0.57,-243.3,460.9,-10.2,236,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2610,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4576,-0.57,-243.3,490.9,-9.6,251,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2610,3743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4878,-0.57,-243.3,521.0,-10.1,266,4883,0.00,2.05,0.00,0.000,4,0.000,0.026,2870,1202,3740,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4910,-0.57,-243.3,523.6,-10.0,267,4915,0.00,2.15,0.00,0.000,6,0.000,0.041,2870,2612,3741,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5223,-0.57,-243.3,550.0,-8.9,283,5229,0.00,2.05,0.00,0.000,4,0.000,0.028,2870,1208,3739,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5247,-0.57,-243.3,552.3,-9.3,284,5253,0.00,2.12,0.00,0.000,6,0.000,0.041,2869,2593,3739,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5571,-0.57,-243.3,571.9,-6.5,300,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2593,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5872,-0.57,-243.3,580.9,0.1,315,5877,0.00,2.03,0.00,0.000,4,0.000,0.028,2870,1213,3736,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,5953,end dive,NO_VERTICAL_VELOCITY
$STATE,5953,begin apogee
$GC,5959,-0.15,0.0,581.1,0.0,319,6155,0.38,0.00,187.02,1.154,4,0.093,0.000,3013,1907,2767,0,0,0,0,0,0,26.70,28.83,24.20
$STATE,6157,end apogee,CONTROL_FINISHED_OK
$STATE,6157,begin climb
$GC,6159,0.57,243.3,580.0,0.0,329,6370,0.65,2.30,200.38,1.123,4,0.069,0.050,3247,3294,1776,0,0,0,0,0,0,25.10,25.10,24.05
$GC,6449,0.69,441.9,574.7,4.7,343,6622,0.00,2.12,164.60,1.111,6,0.000,0.027,3256,1921,967,0,0,0,0,0,0,28.83,25.53,23.98
$GC,6920,0.69,441.9,529.0,22.3,367,6921,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1920,962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7220,0.69,441.9,470.8,22.1,382,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1920,962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7521,0.69,441.9,407.8,20.3,397,7526,0.00,2.17,0.00,0.000,4,0.000,0.051,3256,3297,959,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7563,0.69,441.9,398.9,20.2,399,7568,0.00,2.05,0.00,0.000,6,0.000,0.028,3256,1940,959,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7886,0.69,441.9,337.5,17.6,415,7891,0.00,2.17,0.00,0.000,4,0.000,0.041,3256,496,959,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7938,0.69,441.9,330.6,16.8,417,7943,0.00,2.17,0.00,0.000,6,0.000,0.035,3256,1929,959,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8251,0.69,441.9,280.2,15.0,433,8257,0.00,2.15,0.00,0.000,4,0.000,0.047,3256,3313,958,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8358,0.69,441.9,264.6,14.9,438,8364,0.00,2.03,0.00,0.000,6,0.000,0.028,3256,1957,958,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8676,0.69,441.9,216.6,14.9,454,8681,0.00,2.20,0.00,0.000,4,0.000,0.041,3257,504,958,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8693,0.69,441.9,216.6,14.9,454,8699,0.00,2.20,0.00,0.000,6,0.000,0.035,3255,1962,959,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8879,0.69,441.9,190.0,12.1,464,8885,0.00,2.08,0.00,0.000,4,0.000,0.047,3256,3314,959,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8952,0.69,441.9,181.2,13.4,467,8957,0.00,1.95,0.00,0.000,6,0.000,0.028,3256,1991,959,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9145,0.69,441.9,154.4,12.1,477,9150,0.00,2.25,0.00,0.000,4,0.000,0.039,3256,491,959,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9217,0.71,483.8,149.2,9.1,480,9257,0.00,2.17,35.17,0.864,6,0.000,0.034,3256,1951,795,0,0,0,0,0,0,28.83,26.65,25.35
$GC,9450,0.73,512.1,127.2,9.5,492,9485,0.12,2.20,24.75,0.827,4,0.095,0.047,3323,3305,680,0,0,0,0,0,0,26.32,25.87,25.22
$GC,9612,0.73,512.1,103.6,13.4,500,9618,0.00,2.03,0.00,0.000,6,0.000,0.027,3324,1972,678,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9815,0.73,512.1,81.4,11.4,510,9821,0.00,2.22,0.00,0.000,4,0.000,0.038,3324,500,678,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9882,0.73,512.1,75.1,10.5,513,9888,0.00,2.20,0.00,0.000,6,0.000,0.032,3324,1958,678,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10081,0.75,541.8,57.1,9.5,523,10115,0.00,2.15,25.90,0.754,4,0.000,0.047,3324,3304,559,0,0,0,0,0,0,28.83,26.03,25.41
$GC,10177,0.76,562.3,48.1,9.7,528,10204,0.00,2.08,19.33,0.724,6,0.000,0.025,3324,1916,476,0,0,0,0,0,0,28.83,26.19,25.27
$GC,10383,0.81,649.9,33.3,7.8,549,10393,0.00,0.00,5.22,0.564,6,0.000,0.000,3324,1916,460,0,0,0,0,0,0,28.83,28.83,25.50
$GC,10573,0.86,724.4,16.4,8.2,576,10580,0.00,2.17,0.00,0.000,4,0.000,0.044,3327,3309,459,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10628,0.93,844.4,12.3,6.9,586,10636,0.10,2.03,0.00,0.000,6,0.111,0.025,3382,1941,459,0,0,0,0,0,0,26.33,26.38,28.83
$STATE,10703,end climb,SURFACE_DEPTH_REACHED
$STATE,10704,begin surface coast
$FINISH,1.8,1.021987
$STATE,10725,end surface coast,CONTROL_FINISHED_OK
$STATE,10725,begin surface
$SM_CCo,10804,0.00,0.000,0,0,459,566.64
$SM_GC,2.19,8.65,1.05,0.00,0.067,0.050,0.000,138,2602,459,-9.10,-1.16,566.64,0,0,0,0,0,0,26.30,26.39,28.83
$IRIDIUM_FIX,2129.53,12036.75,111112,101001
$TT8_MAMPS,0.025466,0.025466
$HUMID,53.46
$INTERNAL_PRESSURE,9.52734
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,4000160
$24V_AH,24.0,10.019
$10V_AH,9.9,3.927
$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,21.000,91.700,662.375,0.000,0.000,0.000,0.000,244.175,0.000,0.000,17.044,1817.093,6755.326,695.183,1756.798,188.863,0.000,1814.147,0.000,1407.805,0.000,0.544,0.000
$DEVICE_MAMPS,250.155,75.735,1153.620,0.000,0.000,0.000,0.000,134.640,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10754.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.052,0.000,0.000,0.000
$MEM,323308
$DATA_FILE_SIZE,23393,604
$CAP_FILE_SIZE,139069,0
$CFSIZE,260034560,246894592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.382,122.4,1
$GPS,111112,174719,2138.734,12032.980,18,1.5,19,-3.0