version: 66.12
glider: 170
mission: 11
dive: 7
start: 5 1 114 21 42 13
data:
$ID,170
$MISSION,11
$DIVE,7
$N_DIVES,7
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,4
$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,50
$T_MISSION,65
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51404
$MASS_COMP,0
$NAV_MODE,0
$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,711.18201
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-144821.42
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,2790
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$PITCH_ADJ_DBAND,3
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1931
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3050
$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
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,146.94
$AH0_10V,97.260002
$MINV_24V,21.5
$MINV_10V,8.8000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.958393
$PRESSURE_SLOPE,0.0001165368
$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,4
$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,0.0042923521
$SEABIRD_T_H,0.00062393176
$SEABIRD_T_I,2.3083565e-05
$SEABIRD_T_J,2.4373064e-06
$SEABIRD_C_G,-9.7949886
$SEABIRD_C_H,1.0814518
$SEABIRD_C_I,-0.00099028531
$SEABIRD_C_J,0.00015507228
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,010514,213648,4743.445,-12225.088,10,0.8,11,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-73.8
$GPS2,010514,214147,4743.376,-12225.129,19,1.1,20,16.6
$SPEED_LIMITS,0.173,0.276
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$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,18.5,279,-28.5,-10.000,-30.00,859
$D_GRID,179
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_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,17,begin dive
$GC,20,-0.97,-56.1,137,2117,611,315,0.0,0.0,0,167,0.00,0.00,-144.02,0.000,16386,0.000,0.000,138,2117,3247,3262,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,172,-0.99,-95.8,137,2117,3262,3233,3.0,-5.3,27,196,10.15,2.28,-4.90,0.000,18948,0.269,0.055,2462,673,3441,3455,3428,0,0,0,0,0,0,25.40,25.88,26.20
$GC,215,-0.96,-95.8,2461,673,3454,3429,12.7,-20.5,34,221,0.00,2.25,0.00,0.000,1030,0.000,0.054,2462,2087,3441,3455,3428,0,0,0,0,0,0,28.83,25.82,28.83
$GC,350,-0.95,-95.8,2461,2088,3455,3428,44.2,-23.9,52,355,0.00,2.35,0.00,0.000,260,0.000,0.065,2462,3520,3442,3455,3429,0,0,0,0,0,0,28.83,25.87,28.83
$GC,585,-0.93,-95.8,2461,3521,3455,3429,99.6,-24.0,64,590,0.00,2.20,0.00,0.000,1030,0.000,0.034,2461,2074,3441,3455,3428,0,0,0,0,0,0,28.83,26.10,28.83
$GC,719,-0.92,-95.8,2461,2071,3455,3428,128.9,-19.5,71,725,0.12,2.38,0.00,0.000,2308,0.207,0.063,2494,3513,3441,3455,3428,0,0,0,0,0,0,25.86,26.01,28.83
$STATE,841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,841,begin apogee
$GC,851,-0.17,0.0,2495,1937,3454,3428,152.0,-18.4,77,937,0.77,0.00,79.78,0.656,10246,0.179,0.000,2724,1934,3046,3125,2967,0,0,0,0,0,0,25.71,28.83,24.40
$STATE,938,end apogee,CONTROL_FINISHED_OK
$STATE,941,begin climb
$GC,944,0.99,95.8,2724,1934,3122,2965,157.0,0.0,81,1038,1.10,2.35,83.45,0.633,10756,0.086,0.047,3115,527,2650,2763,2538,0,0,0,0,0,0,25.11,24.74,24.06
$GC,1129,0.97,95.8,3115,526,2758,2532,131.8,18.8,91,1134,0.00,2.28,0.00,0.000,1030,0.000,0.047,3116,1943,2645,2758,2532,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1273,0.95,95.8,3115,1943,2758,2528,103.1,20.0,98,1279,0.00,2.30,0.00,0.000,260,0.000,0.058,3116,3346,2643,2758,2528,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1332,0.93,95.8,3115,3346,2756,2526,94.2,19.9,100,1339,0.15,2.22,0.00,0.000,5126,0.218,0.041,3094,1936,2641,2757,2526,0,0,0,0,0,0,25.44,25.72,28.83
$GC,1458,0.91,95.8,3094,1933,2757,2525,68.1,17.9,107,1463,0.00,2.22,0.00,0.000,516,0.000,0.048,3104,507,2641,2757,2525,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1491,0.90,95.8,3104,508,2757,2524,64.6,16.7,108,1496,0.00,2.25,0.00,0.000,1030,0.000,0.047,3104,1938,2640,2757,2524,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1625,0.88,95.8,3104,1939,2756,2524,42.7,14.8,117,1631,0.12,2.22,0.00,0.000,4612,0.210,0.045,3082,511,2640,2757,2524,0,0,0,0,0,0,25.70,25.91,28.83
$GC,1650,0.87,95.8,3082,510,2756,2524,38.9,15.4,119,1655,0.00,2.22,0.00,0.000,1030,0.000,0.047,3082,1934,2640,2756,2524,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1780,0.85,95.8,3082,1934,2754,2523,20.0,15.0,134,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1933,2639,2756,2523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1911,0.84,95.8,3082,1933,2756,2523,3.3,12.7,159,1918,0.00,2.22,0.00,0.000,516,0.000,0.050,3093,518,2639,2756,2523,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,1923,end climb,SURFACE_DEPTH_REACHED
$STATE,1923,begin surface coast
$FINISH,1.0,1.021143
$STATE,1949,end surface coast,CONTROL_FINISHED_OK
$STATE,1950,begin surface
$SM_CCo,1973,238.75,0.066,0,0,459,635.33
$SM_CCo,2216,-0.15,0.000,0,0,461,635.33
$SM_CCo,2220,0.35,0.086,0,0,460,635.33
$SM_GC,1.15,8.68,2.55,0.35,0.106,0.047,0.086,133,2111,460,-8.26,-0.57,635.33,0,0,0,0,0,0,25.95,26.03,25.74
$IRIDIUM_FIX,4726.11,-12220.67,010514,202020
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.48
$INTERNAL_PRESSURE,8.96091
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,4017312
$24V_AH,24.1,0.553
$10V_AH,10.2,0.836
$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,21.100,36.775,163.225,239.100,0.000,0.000,0.000,153.900,0.000,0.000,20.810,511.295,734.123,521.223,600.830,165.815,0.000,972.795,0.000,429.299,0.000,0.538,0.000
$DEVICE_MAMPS,268.515,65.025,655.605,85.680,0.000,0.000,0.000,113.220,420.000,0.000,29.210,12.460,2.190,12.460,37.180,43.920,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1946.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.084,0.000,0.000,0.000
$MEM,322732
$DATA_FILE_SIZE,3491,166
$CAP_FILE_SIZE,49654,0
$CFSIZE,260034560,252530688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010514,222012,4743.231,-12224.952,14,1.1,15,16.6