version: 66.11
glider: 170
mission: 10
dive: 17
start: 11 7 112 17 46 57
data:
$ID,170
$MISSION,10
$DIVE,17
$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,330
$T_MISSION,350
$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,51479
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-06
$HEADING,10
$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,-141942.94
$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,3110
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,3400
$C_ROLL_CLIMB,3000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,75
$R_STBD_OVSHOOT,29
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,50
$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
$GPS1,071112,173754,2145.966,12026.495,20,1.6,20,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-78.1
$GPS2,071112,174631,2145.755,12026.400,21,1.8,22,-3.1
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,HEADING
$TGT_LATLONG,2156.390,12028.422
$TGT_RADIUS,1852.000
$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,13.1,20000,-15.6,-10.000,-17.73
$D_GRID,862
$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,19,-0.51,-194.6,0.0,0.0,0,110,0.00,0.00,-88.43,0.000,2,0.000,0.000,131,3404,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.51,-194.6,3.2,-1.6,16,156,11.23,0.45,-22.50,0.000,4,0.246,0.145,2937,3691,3566,0,0,0,0,0,0,26.01,26.21,26.50
$GC,384,-0.15,-194.6,100.2,-38.2,43,390,0.38,0.38,0.00,0.000,6,0.173,0.043,3051,3422,3565,0,0,0,0,0,0,26.27,26.45,28.83
$GC,589,-0.56,-194.6,124.6,-9.1,53,595,0.32,2.08,0.00,0.000,4,0.105,0.024,2941,1939,3566,0,0,0,0,0,0,26.44,26.55,28.83
$GC,823,-0.87,-194.6,143.5,-8.6,64,829,0.30,2.45,0.00,0.000,6,0.090,0.058,2832,3498,3565,0,0,0,0,0,0,26.52,26.55,28.83
$GC,1018,-0.54,-194.6,187.0,-30.8,74,1024,0.32,2.22,0.00,0.000,4,0.185,0.024,2929,1922,3565,0,0,0,0,0,0,26.48,26.68,28.83
$GC,1067,-0.38,-194.6,194.5,-24.3,76,1073,0.17,2.55,0.00,0.000,6,0.125,0.058,2987,3528,3566,0,0,0,0,0,0,26.55,26.59,28.83
$GC,1267,-0.72,-194.6,208.6,-9.1,86,1273,0.28,0.22,0.00,0.000,4,0.083,0.060,2873,3689,3566,0,0,0,0,0,0,26.64,26.65,28.83
$GC,1331,-0.98,-194.6,213.9,-8.5,89,1336,0.17,0.22,0.00,0.000,6,0.050,0.052,2778,3514,3566,0,0,0,0,0,0,26.67,26.72,28.83
$GC,1536,-0.65,-194.6,263.5,-27.8,99,1541,0.38,0.28,0.00,0.000,4,0.178,0.063,2891,3693,3566,0,0,0,0,0,0,26.56,26.67,28.83
$GC,1588,-0.42,-194.6,272.2,-22.8,101,1594,0.22,0.15,0.00,0.000,6,0.121,0.067,2973,3562,3566,0,0,0,0,0,0,26.60,26.75,28.83
$GC,1902,-0.79,-194.6,302.0,-10.5,117,1904,0.32,0.00,0.00,0.000,6,0.080,0.000,2848,3562,3565,0,0,0,0,0,0,26.70,28.83,28.83
$GC,2203,-0.70,-194.6,328.9,-12.0,132,2208,0.12,2.30,0.00,0.000,4,0.173,0.023,2888,1963,3565,0,0,0,0,0,0,26.65,26.80,28.83
$GC,2282,-0.74,-194.6,333.2,-8.0,135,2288,0.00,2.55,0.00,0.000,6,0.000,0.062,2888,3559,3563,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2587,-0.79,-194.6,359.2,-9.1,151,2592,0.00,2.33,0.00,0.000,4,0.000,0.026,2888,1960,3562,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2614,-0.85,-194.6,361.3,-9.1,152,2620,0.15,2.53,0.00,0.000,6,0.085,0.061,2814,3558,3562,0,0,0,0,0,0,26.76,26.73,28.83
$GC,2933,-0.66,-194.6,419.0,-20.1,168,2939,0.25,0.20,0.00,0.000,4,0.171,0.065,2891,3700,3559,0,0,0,0,0,0,26.65,26.77,28.83
$GC,3166,-0.76,-194.6,442.7,-9.2,179,3171,0.00,0.15,0.00,0.000,6,0.000,0.066,2892,3571,3558,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3479,-0.86,-194.6,470.2,-8.7,195,3485,0.15,0.20,0.00,0.000,4,0.083,0.063,2805,3697,3556,0,0,0,0,0,0,26.82,26.80,28.83
$GC,3646,-0.69,-194.6,499.0,-19.4,203,3652,0.22,0.15,0.00,0.000,6,0.157,0.067,2879,3573,3555,0,0,0,0,0,0,26.68,26.86,28.83
$GC,3965,-0.76,-194.6,524.9,-5.9,219,3970,0.00,2.33,0.00,0.000,4,0.000,0.028,2880,1975,3552,0,0,0,0,0,0,28.83,26.84,28.83
$GC,4038,-0.88,-194.6,528.1,-5.2,222,4044,0.15,2.55,0.00,0.000,6,0.086,0.066,2806,3555,3552,0,0,0,0,0,0,26.80,26.76,28.83
$GC,4351,-0.74,-194.6,573.3,-16.7,238,4353,0.22,0.00,0.00,0.000,6,0.172,0.000,2871,3555,3550,0,0,0,0,0,0,26.68,28.83,28.83
$GC,4657,-0.80,-194.6,600.4,-8.7,253,4662,0.00,2.30,0.00,0.000,4,0.000,0.028,2872,1973,3547,0,0,0,0,0,0,28.83,26.84,28.83
$GC,4685,-0.86,-194.6,600.4,-8.7,253,4692,0.12,2.53,0.00,0.000,6,0.096,0.066,2809,3539,3547,0,0,0,0,0,0,26.79,26.76,28.83
$GC,4991,-0.75,-194.6,648.2,-15.4,264,4993,0.20,0.00,0.00,0.000,6,0.165,0.000,2866,3539,3545,0,0,0,0,0,0,26.70,28.83,28.83
$GC,5292,-0.81,-194.6,676.8,-8.4,274,5297,0.00,2.30,0.00,0.000,4,0.000,0.029,2866,1978,3543,0,0,0,0,0,0,28.83,26.84,28.83
$GC,5344,-0.90,-194.6,679.2,-7.7,275,5350,0.12,2.50,0.00,0.000,6,0.096,0.063,2801,3533,3542,0,0,0,0,0,0,26.81,26.77,28.83
$GC,5659,-0.77,-194.6,726.3,-15.0,286,5665,0.17,0.22,0.00,0.000,4,0.177,0.067,2855,3688,3540,0,0,0,0,0,0,26.70,26.79,28.83
$GC,5892,-1.09,-194.6,733.3,0.0,293,5898,0.22,0.22,0.00,0.000,6,0.066,0.056,2755,3517,3539,0,0,0,0,0,0,26.80,26.86,28.83
$STATE,5964,end dive,NO_VERTICAL_VELOCITY
$STATE,5964,begin apogee
$GC,5969,-0.12,0.0,733.3,0.0,296,6131,0.80,0.00,153.60,1.270,4,0.063,0.000,3075,2998,2768,0,0,0,0,0,0,26.80,28.83,24.11
$STATE,6132,end apogee,CONTROL_FINISHED_OK
$STATE,6132,begin climb
$GC,6134,0.51,194.6,733.1,0.0,301,6311,0.55,2.22,165.20,1.229,4,0.047,0.029,3296,1571,1972,0,0,0,0,0,0,25.08,25.08,24.05
$GC,6383,0.24,194.6,706.1,18.7,309,6391,0.38,2.35,0.00,0.000,6,0.165,0.058,3190,2993,1967,0,0,0,0,0,0,25.44,25.53,28.83
$GC,6690,0.09,194.6,651.3,15.6,320,6696,0.15,2.10,0.00,0.000,4,0.175,0.027,3154,1587,1963,0,0,0,0,0,0,26.09,26.23,28.83
$GC,6823,0.09,197.7,638.9,9.9,324,6828,0.00,2.30,0.00,0.000,6,0.000,0.057,3154,3027,1963,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7147,0.03,197.7,598.3,12.5,335,7153,0.12,1.08,0.00,0.000,4,0.165,0.059,3113,3698,1962,0,0,0,0,0,0,26.38,26.44,28.83
$GC,7264,0.03,197.7,586.6,11.1,340,7271,0.00,1.00,0.00,0.000,6,0.000,0.034,3114,3038,1961,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7571,0.08,197.7,550.6,11.1,356,7576,0.00,2.15,0.00,0.000,4,0.000,0.029,3119,1580,1959,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7597,0.15,197.7,548.2,10.7,357,7603,0.12,2.33,0.00,0.000,6,0.097,0.055,3180,3037,1958,0,0,0,0,0,0,26.58,26.55,28.83
$GC,7916,0.04,197.7,496.2,16.3,373,7922,0.17,1.05,0.00,0.000,4,0.159,0.060,3124,3695,1958,0,0,0,0,0,0,26.53,26.61,28.83
$GC,7988,-0.01,197.7,487.3,14.3,376,7994,0.00,0.98,0.00,0.000,6,0.000,0.034,3128,3046,1958,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8302,0.06,277.3,459.5,7.3,392,8375,0.00,1.15,65.93,1.103,4,0.000,0.067,3128,3699,1637,0,0,0,0,0,0,28.83,25.34,24.67
$GC,8413,0.16,347.8,451.8,7.6,397,8476,0.00,1.00,58.45,1.069,6,0.000,0.036,3131,3063,1351,0,0,0,0,0,0,28.83,25.70,24.33
$GC,8785,0.41,495.1,430.8,4.9,416,8919,0.28,2.40,122.85,1.047,4,0.067,0.030,3267,1583,750,0,0,0,0,0,0,26.13,24.91,24.19
$GC,8927,0.21,495.1,398.8,27.3,423,8933,0.30,2.50,0.00,0.000,6,0.144,0.051,3181,3060,749,0,0,0,0,0,0,25.02,25.10,28.83
$GC,9250,0.29,495.1,352.8,12.9,439,9256,0.00,1.02,0.00,0.000,4,0.000,0.060,3181,3695,744,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9282,0.36,495.1,349.9,13.2,440,9288,0.10,0.98,0.00,0.000,6,0.058,0.035,3246,3063,744,0,0,0,0,0,0,26.14,26.18,28.83
$GC,9596,0.17,495.1,254.8,31.3,456,9602,0.25,2.20,0.00,0.000,4,0.156,0.028,3174,1584,742,0,0,0,0,0,0,26.25,26.39,28.83
$GC,9668,0.21,495.1,244.8,19.3,459,9674,0.00,2.28,0.00,0.000,6,0.000,0.047,3173,3041,742,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9862,0.60,495.1,222.6,12.1,469,9864,0.35,0.00,0.00,0.000,6,0.085,0.000,3305,3041,741,0,0,0,0,0,0,26.43,28.83,28.83
$GC,10041,0.88,495.1,203.9,11.0,478,10047,0.22,2.15,0.00,0.000,4,0.084,0.026,3402,1566,741,0,0,0,0,0,0,26.50,26.53,28.83
$GC,10054,1.16,495.1,203.9,11.0,478,10060,0.22,2.30,0.00,0.000,6,0.072,0.051,3502,3021,740,0,0,0,0,0,0,26.53,26.49,28.83
$GC,10249,0.64,495.1,105.3,50.0,488,10255,0.62,2.15,0.00,0.000,4,0.192,0.027,3332,1572,740,0,0,0,0,0,0,26.39,26.59,28.83
$GC,10353,0.64,495.1,83.7,15.8,493,10359,0.00,2.17,0.00,0.000,6,0.000,0.054,3333,2949,739,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10548,0.51,495.1,46.3,21.9,503,10553,0.15,1.17,0.00,0.000,4,0.152,0.057,3282,3690,740,0,0,0,0,0,0,26.51,26.57,28.83
$GC,10632,0.47,495.1,31.7,17.5,511,10637,0.00,1.12,0.00,0.000,6,0.000,0.030,3282,2938,739,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10821,0.54,495.1,6.4,10.2,544,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2938,740,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10853,end climb,SURFACE_DEPTH_REACHED
$STATE,10853,begin surface coast
$FINISH,1.4,1.022177
$STATE,10874,end surface coast,CONTROL_FINISHED_OK
$STATE,10874,begin surface
$SM_CCo,10952,0.00,0.000,0,0,740,497.71
$SM_GC,2.19,7.95,0.77,0.00,0.040,0.061,0.000,133,3403,740,-9.25,-0.82,497.71,0,0,0,0,0,0,26.60,26.63,28.83
$IRIDIUM_FIX,2138.81,12027.58,071112,171717
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.18
$INTERNAL_PRESSURE,9.48828
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,4013600
$24V_AH,24.0,3.718
$10V_AH,10.2,1.527
$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,28.975,80.050,566.025,0.000,0.000,0.000,0.000,302.825,1.750,0.000,22.954,1847.659,6890.079,633.194,1914.606,184.898,0.000,1826.008,0.000,1507.927,0.000,16.103,0.000
$DEVICE_MAMPS,246.330,144.585,1269.900,0.000,0.000,0.000,0.000,129.285,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10894.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.047,0.000,0.000,0.000
$MEM,324544
$DATA_FILE_SIZE,20110,554
$CAP_FILE_SIZE,151639,0
$CFSIZE,260034560,249368576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071112,205034,2145.892,12026.928,28,1.3,28,-3.1