version: 66.11
glider: 170
mission: 10
dive: 551
start: 2 24 113 6 11 11
data:
$ID,170
$MISSION,10
$DIVE,551
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,210
$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,60
$T_MISSION,75
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51760
$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,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,-144009.55
$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,3035
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2160
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2853
$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,21.5
$MINV_10V,8.8000002
$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
$GPS1,240213,060434,2154.119,11950.077,23,0.9,23,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-70.2
$GPS2,240213,061042,2154.135,11949.990,13,1.0,14,-3.0
$SPEED_LIMITS,0.202,0.329
$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,118.0,24139,-17.7,-11.667,-19.50
$D_GRID,1182
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.67,-194.6,0.0,0.0,0,94,0.00,0.00,-69.45,0.000,2,0.000,0.000,138,2516,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.67,-194.6,3.1,-1.6,12,176,11.38,2.17,-57.05,0.000,4,0.242,0.048,2812,1118,3648,0,0,0,0,0,0,25.01,25.90,26.54
$GC,203,-0.67,-194.6,11.7,-13.8,29,210,0.00,2.15,0.00,0.000,6,0.000,0.040,2812,2499,3647,0,0,0,0,0,0,28.83,25.89,28.83
$GC,338,-0.67,-194.6,32.5,-13.9,50,344,0.00,1.90,0.00,0.000,4,0.000,0.055,2812,3690,3647,0,0,0,0,0,0,28.83,25.72,28.83
$GC,357,-0.67,-194.6,34.2,-13.1,51,364,0.00,1.77,0.00,0.000,6,0.000,0.026,2812,2512,3647,0,0,0,0,0,0,28.83,26.10,28.83
$GC,497,-0.67,-194.6,53.4,-13.3,64,503,0.00,2.08,0.00,0.000,4,0.000,0.030,2813,1080,3647,0,0,0,0,0,0,28.83,26.04,28.83
$GC,562,-0.67,-194.6,63.0,-13.9,67,568,0.00,2.15,0.00,0.000,6,0.000,0.039,2812,2468,3647,0,0,0,0,0,0,28.83,25.86,28.83
$GC,708,-0.67,-194.6,82.2,-13.1,74,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2468,3647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,827,-0.70,-194.6,96.8,-11.9,80,833,0.00,2.05,0.00,0.000,4,0.000,0.029,2813,1079,3647,0,0,0,0,0,0,28.83,26.06,28.83
$GC,881,-0.73,-194.6,102.3,-11.8,82,887,0.00,2.08,0.00,0.000,6,0.000,0.038,2813,2434,3647,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1017,-0.80,-194.6,117.3,-9.9,89,1023,0.12,2.00,0.00,0.000,4,0.093,0.051,2737,3692,3648,0,0,0,0,0,0,26.30,25.75,28.83
$GC,1046,-0.87,-194.6,120.1,-9.8,90,1051,0.00,1.88,0.00,0.000,6,0.000,0.023,2737,2372,3648,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1186,-0.83,-194.6,137.9,-12.4,97,1192,0.00,1.88,0.00,0.000,4,0.000,0.030,2737,1090,3648,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1240,-0.80,-194.6,144.0,-12.9,99,1247,0.15,2.00,0.00,0.000,6,0.158,0.041,2779,2397,3648,0,0,0,0,0,0,25.56,25.89,28.83
$GC,1376,-0.84,-194.6,159.1,-10.2,106,1382,0.00,2.03,0.00,0.000,4,0.000,0.048,2779,3694,3648,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1457,-0.88,-194.6,165.9,-10.3,109,1463,0.00,1.85,0.00,0.000,6,0.000,0.023,2781,2384,3648,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1582,-0.92,-194.6,179.5,-9.8,116,1588,0.12,1.88,0.00,0.000,4,0.085,0.027,2705,1082,3648,0,0,0,0,0,0,26.32,26.05,28.83
$GC,1671,-0.89,-194.6,190.4,-12.7,120,1678,0.15,2.00,0.00,0.000,6,0.158,0.040,2745,2376,3648,0,0,0,0,0,0,25.56,25.90,28.83
$GC,1817,-0.89,-194.6,206.8,-10.7,127,1823,0.00,2.05,0.00,0.000,4,0.000,0.049,2745,3698,3648,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1852,-0.89,-194.6,209.5,-10.7,128,1858,0.00,1.98,0.00,0.000,6,0.000,0.023,2746,2322,3648,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,1863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1863,begin apogee
$GC,1870,-0.17,0.0,212.4,-11.0,129,2030,0.70,0.12,150.25,0.830,4,0.116,0.063,2979,2225,2852,0,0,0,0,0,0,25.34,25.43,24.41
$STATE,2031,end apogee,CONTROL_FINISHED_OK
$STATE,2032,begin climb
$GC,2036,0.67,194.6,224.6,0.0,137,2201,0.70,0.10,156.68,0.824,6,0.056,0.074,3253,2077,2056,0,0,0,0,0,0,25.57,25.90,24.41
$GC,2334,0.70,288.8,211.0,7.9,152,2418,0.00,2.08,74.82,0.807,4,0.000,0.037,3253,750,1673,0,0,0,0,0,0,28.83,25.65,24.47
$GC,2526,0.84,410.3,198.0,6.8,161,2636,0.15,2.25,98.35,0.802,6,0.076,0.037,3336,2222,1179,0,0,0,0,0,0,25.96,25.95,24.46
$GC,2755,0.91,448.8,175.1,10.1,173,2795,0.00,2.33,32.85,0.773,4,0.000,0.036,3336,745,1022,0,0,0,0,0,0,28.83,25.79,24.54
$GC,2935,1.05,499.6,158.4,9.6,181,2986,0.10,2.10,44.05,0.774,6,0.106,0.034,3394,2130,815,0,0,0,0,0,0,25.94,26.00,24.54
$GC,3125,1.09,499.6,135.2,11.7,191,3131,0.00,2.08,0.00,0.000,4,0.000,0.034,3393,750,813,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3210,1.16,509.1,125.6,11.3,195,3225,0.00,2.00,9.15,0.667,6,0.000,0.035,3394,2064,777,0,0,0,0,0,0,28.83,26.01,24.68
$GC,3356,1.25,509.1,108.2,11.9,202,3362,0.12,2.33,0.00,0.000,4,0.091,0.044,3476,3569,775,0,0,0,0,0,0,26.27,25.92,28.83
$GC,3421,1.25,509.1,97.6,15.0,205,3427,0.17,2.25,0.00,0.000,6,0.145,0.025,3434,2071,773,0,0,0,0,0,0,25.70,26.10,28.83
$GC,3568,1.30,537.6,80.4,10.5,212,3601,0.00,2.40,25.75,0.727,4,0.000,0.044,3434,3561,660,0,0,0,0,0,0,28.83,25.83,24.63
$GC,3653,1.35,577.7,72.0,10.1,216,3696,0.12,2.30,35.12,0.729,6,0.085,0.025,3502,2014,496,0,0,0,0,0,0,26.00,26.08,24.56
$GC,3826,1.31,577.7,48.2,14.0,225,3832,0.12,2.45,0.00,0.000,4,0.155,0.041,3461,3570,495,0,0,0,0,0,0,25.96,25.91,28.83
$GC,3915,1.29,577.7,36.3,13.6,233,3920,0.00,2.38,0.00,0.000,6,0.000,0.025,3470,1982,495,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4046,1.29,577.7,17.8,13.0,250,4053,0.00,1.83,0.00,0.000,4,0.000,0.037,3475,747,495,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4119,1.29,577.7,8.4,13.7,263,4126,0.00,1.85,0.00,0.000,6,0.000,0.034,3475,1967,495,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,4157,end climb,SURFACE_DEPTH_REACHED
$STATE,4157,begin surface coast
$FINISH,1.5,1.022682
$STATE,4181,end surface coast,CONTROL_FINISHED_OK
$STATE,4181,begin surface
$SM_CCo,4263,0.00,0.000,0,0,494,578.66
$SM_GC,2.41,8.60,0.82,0.00,0.037,0.044,0.000,118,2511,494,-9.02,-0.99,578.66,0,0,0,0,0,0,25.94,26.03,28.83
$IRIDIUM_FIX,2145.77,11951.32,240213,040439
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.07
$INTERNAL_PRESSURE,9.55664
$TCM_TEMP,23.10
$XPDR_PINGS,3
$SC_FREEKB,3808896
$24V_AH,24.4,123.261
$10V_AH,9.8,57.676
$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,22.725,67.725,627.025,0.000,0.000,0.000,0.000,175.100,0.750,0.000,15.639,896.498,1786.324,635.237,1009.173,306.647,0.000,1394.939,0.000,794.383,0.000,0.545,0.000
$DEVICE_MAMPS,241.740,74.205,830.025,0.000,0.000,0.000,0.000,117.045,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4184.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.179,0.000,0.000,0.000
$MEM,324856
$DATA_FILE_SIZE,10144,274
$CAP_FILE_SIZE,86211,0
$CFSIZE,260034560,191889408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.338,299.6,1
$GPS,240213,072311,2154.454,11949.463,15,1.2,15,-3.0