version: 66.11
glider: 170
mission: 10
dive: 188
start: 12 12 112 14 39 11
data:
$ID,170
$MISSION,10
$DIVE,188
$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,380
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,3
$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,-143328.5
$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,3050
$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,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,80
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2769
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$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
$GPS1,121212,142749,1836.156,12030.812,28,1.6,28,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-67.8
$GPS2,121212,143842,1836.491,12030.772,17,1.7,17,-2.4
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$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,151.0,4067,-14.9,-8.684,-17.18
$D_GRID,301
$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,20,-0.51,-170.3,0.0,0.0,0,87,0.00,0.00,-64.38,0.000,2,0.000,0.000,134,2613,1908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.51,-170.3,3.1,-2.1,11,157,11.15,2.12,-49.67,0.000,4,0.240,0.039,2880,1195,3465,0,0,0,0,0,0,25.62,26.25,26.55
$GC,235,-0.46,-170.3,27.0,-21.0,36,243,0.00,2.17,0.00,0.000,6,0.000,0.044,2880,2592,3466,0,0,0,0,0,0,28.83,26.19,28.83
$GC,422,-0.41,-170.3,66.4,-20.3,51,428,0.12,1.70,0.00,0.000,4,0.165,0.053,2919,3695,3466,0,0,0,0,0,0,26.18,26.26,28.83
$GC,506,-0.40,-170.3,78.9,-14.6,55,511,0.00,1.58,0.00,0.000,6,0.000,0.022,2919,2581,3466,0,0,0,0,0,0,28.83,26.51,28.83
$GC,709,-0.40,-170.3,98.0,-9.3,65,715,0.00,1.98,0.00,0.000,4,0.000,0.028,2919,1207,3466,0,0,0,0,0,0,28.83,26.46,28.83
$GC,747,-0.40,-170.3,100.7,-10.3,66,753,0.00,2.12,0.00,0.000,6,0.000,0.041,2919,2607,3466,0,0,0,0,0,0,28.83,26.37,28.83
$GC,933,-0.40,-170.3,122.1,-10.8,76,938,0.00,1.70,0.00,0.000,4,0.000,0.053,2919,3686,3466,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1058,-0.42,-170.3,134.4,-9.9,82,1063,0.00,1.52,0.00,0.000,6,0.000,0.022,2919,2569,3465,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1263,-0.44,-170.3,149.3,-6.8,92,1268,0.00,1.88,0.00,0.000,4,0.000,0.027,2919,1246,3466,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1322,-0.45,-170.3,152.8,-7.4,94,1328,0.00,2.08,0.00,0.000,6,0.000,0.040,2919,2607,3466,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1508,-0.48,-170.3,168.6,-7.8,104,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2608,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1686,-0.50,-170.3,181.3,-7.0,113,1692,0.00,1.67,0.00,0.000,4,0.000,0.052,2919,3691,3465,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1740,-0.53,-170.3,184.1,-6.7,115,1746,0.12,1.52,0.00,0.000,6,0.088,0.024,2837,2585,3464,0,0,0,0,0,0,26.51,26.63,28.83
$GC,1936,-0.51,-170.3,207.5,-13.0,125,1942,0.12,1.92,0.00,0.000,4,0.148,0.023,2880,1235,3464,0,0,0,0,0,0,26.40,26.55,28.83
$GC,2000,-0.51,-170.3,214.0,-10.5,128,2006,0.00,2.10,0.00,0.000,6,0.000,0.041,2880,2611,3464,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2205,-0.52,-170.3,230.6,-8.5,138,2210,0.00,2.00,0.00,0.000,4,0.000,0.028,2880,1243,3463,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2233,-0.53,-170.3,232.6,-8.4,139,2238,0.00,2.08,0.00,0.000,6,0.000,0.041,2880,2600,3462,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2432,-0.54,-170.3,247.6,-7.5,149,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2600,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2612,-0.55,-170.3,261.5,-7.8,158,2617,0.00,1.98,0.00,0.000,4,0.000,0.025,2880,1238,3460,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2670,-0.57,-170.3,265.1,-7.9,160,2677,0.00,2.08,0.00,0.000,6,0.000,0.041,2880,2603,3460,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2976,-0.58,-170.3,291.7,-8.2,176,2981,0.00,1.98,0.00,0.000,4,0.000,0.024,2880,1245,3457,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3043,-0.59,-170.3,296.9,-8.2,179,3049,0.00,2.08,0.00,0.000,6,0.000,0.041,2880,2612,3457,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,3100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3101,begin apogee
$GC,3106,-0.15,0.0,301.6,-7.5,182,3244,0.32,0.00,129.85,0.932,6,0.106,0.000,2997,2120,2769,0,0,0,0,0,0,26.27,28.83,24.58
$STATE,3246,end apogee,CONTROL_FINISHED_OK
$STATE,3246,begin climb
$GC,3248,0.51,170.3,305.6,0.0,189,3398,0.57,2.12,137.85,0.907,4,0.070,0.033,3213,776,2071,0,0,0,0,0,0,25.42,25.19,24.44
$GC,3460,0.51,187.5,295.4,8.1,199,3481,0.00,2.10,14.90,0.827,6,0.000,0.035,3213,2125,2003,0,0,0,0,0,0,28.83,25.70,24.71
$GC,3788,0.50,187.5,263.2,9.5,216,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2126,1997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4090,0.49,187.5,233.7,9.3,231,4095,0.00,2.03,0.00,0.000,4,0.000,0.031,3213,770,1994,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4153,0.50,205.5,228.6,8.1,234,4174,0.00,2.03,14.77,0.831,6,0.000,0.034,3213,2124,1931,0,0,0,0,0,0,28.83,26.38,25.29
$GC,4355,0.53,282.6,215.8,6.1,244,4422,0.00,2.25,62.08,0.878,4,0.000,0.045,3213,3522,1614,0,0,0,0,0,0,28.83,25.53,24.82
$GC,4462,0.55,327.1,208.5,7.2,249,4505,0.00,2.05,36.12,0.848,6,0.000,0.024,3213,2168,1435,0,0,0,0,0,0,28.83,25.89,24.77
$GC,4698,0.57,327.1,187.0,9.4,261,4703,0.00,2.15,0.00,0.000,4,0.000,0.032,3213,718,1428,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4730,0.59,327.1,184.9,9.4,262,4736,0.00,2.15,0.00,0.000,6,0.000,0.033,3213,2129,1428,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4926,0.61,332.6,167.9,8.5,272,4936,0.10,2.17,4.80,0.615,4,0.104,0.045,3274,3535,1413,0,0,0,0,0,0,26.41,26.25,25.21
$GC,4974,0.62,332.6,162.7,9.6,274,4979,0.12,2.10,0.00,0.000,6,0.151,0.025,3245,2112,1412,0,0,0,0,0,0,26.13,26.34,28.83
$GC,5175,0.63,332.6,141.2,10.4,284,5180,0.00,2.05,0.00,0.000,4,0.000,0.034,3244,729,1411,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5252,0.64,332.6,135.5,9.2,287,5258,0.00,2.10,0.00,0.000,6,0.000,0.033,3244,2124,1411,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5438,0.68,393.9,121.5,6.6,297,5498,0.00,2.28,49.83,0.813,4,0.000,0.047,3244,3529,1161,0,0,0,0,0,0,28.83,25.75,25.03
$GC,5551,0.73,435.8,114.0,7.3,302,5595,0.12,2.10,34.83,0.786,6,0.085,0.024,3322,2105,991,0,0,0,0,0,0,25.98,26.04,24.87
$GC,5783,0.73,435.8,84.8,12.0,314,5789,0.12,2.05,0.00,0.000,4,0.135,0.031,3285,736,987,0,0,0,0,0,0,26.09,26.15,28.83
$GC,5890,0.79,490.0,77.2,6.8,319,5941,0.00,2.10,44.78,0.766,6,0.000,0.031,3282,2132,770,0,0,0,0,0,0,28.83,26.24,25.02
$GC,6129,0.84,531.8,61.1,7.3,331,6174,0.12,2.25,35.78,0.743,4,0.089,0.047,3367,3520,601,0,0,0,0,0,0,26.25,25.75,25.05
$GC,6247,0.84,531.8,50.3,11.0,336,6254,0.15,2.08,0.00,0.000,6,0.133,0.024,3321,2133,599,0,0,0,0,0,0,25.89,26.08,28.83
$GC,6433,0.90,578.1,34.7,7.1,355,6465,0.00,0.00,30.15,0.718,6,0.000,0.000,3321,2128,461,0,0,0,0,0,0,28.83,28.83,25.19
$GC,6643,0.98,633.9,22.7,6.8,379,6651,0.12,2.22,0.00,0.000,4,0.091,0.045,3396,3535,459,0,0,0,0,0,0,26.28,26.15,28.83
$GC,6695,0.99,633.9,17.1,11.3,388,6702,0.00,2.10,0.00,0.000,6,0.000,0.025,3398,2116,459,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,6839,end climb,SURFACE_DEPTH_REACHED
$STATE,6839,begin surface coast
$FINISH,1.4,1.012342
$STATE,6872,end surface coast,CONTROL_FINISHED_OK
$STATE,6872,begin surface
$SM_CCo,6950,0.00,0.000,0,0,458,566.89
$SM_GC,2.24,8.62,0.77,0.00,0.060,0.044,0.000,143,2610,458,-9.06,-1.02,566.89,0,0,0,0,0,0,26.12,26.35,28.83
$IRIDIUM_FIX,1828.22,12028.97,121212,141438
$TT8_MAMPS,0.025466,0.025466
$HUMID,53.50
$INTERNAL_PRESSURE,9.55664
$TCM_TEMP,23.70
$XPDR_PINGS,1
$SC_FREEKB,3947936
$24V_AH,24.4,41.484
$10V_AH,10.1,19.105
$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,21.925,82.150,595.725,0.000,0.000,0.000,0.000,411.800,0.250,0.000,19.240,1333.861,3879.044,630.550,1555.763,208.085,0.000,1736.275,0.000,1057.211,0.000,0.545,0.000
$DEVICE_MAMPS,240.210,52.785,931.770,0.000,0.000,0.000,0.000,121.635,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6905.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.226,0.000,0.000,0.000
$MEM,337824
$DATA_FILE_SIZE,16798,422
$CAP_FILE_SIZE,117027,0
$CFSIZE,260034560,231673856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.319,  9.3,1
$GPS,121212,163604,1836.867,12031.386,26,1.1,26,-2.4