version: 66.11
glider: 170
mission: 10
dive: 21
start: 11 8 112 4 47 1
data:
$ID,170
$MISSION,10
$DIVE,21
$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,-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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-06
$HEADING,270
$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,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,-142805.08
$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,59
$R_STBD_OVSHOOT,23
$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
$GPS1,081112,044211,2134.763,12030.790,16,1.1,16,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-77.5
$GPS2,081112,044617,2134.623,12030.785,20,1.4,20,-3.0
$SPEED_LIMITS,0.173,0.345
$TGT_NAME,HEADING
$TGT_LATLONG,2134.623,12019.172
$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,273.0,20000,-14.0,-10.000,-16.19
$D_GRID,1586
$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,-0.50,-243.3,0.0,0.0,0,111,0.00,0.00,-89.35,0.000,2,0.000,0.000,133,3392,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.50,-243.3,3.2,-3.9,16,152,10.80,0.52,-21.30,0.000,4,0.239,0.124,2943,3712,3764,0,0,0,0,0,0,26.47,26.65,26.93
$GC,159,0.19,-243.3,19.1,-36.7,23,166,0.70,0.43,0.00,0.000,6,0.169,0.040,3161,3397,3764,0,0,0,0,0,0,26.53,26.71,28.83
$GC,349,-0.15,-243.3,40.0,-10.1,43,355,0.25,0.47,0.00,0.000,4,0.077,0.059,3051,3700,3764,0,0,0,0,0,0,26.73,26.70,28.83
$GC,438,-0.47,-243.3,48.8,-11.6,51,444,0.22,0.00,0.00,0.000,6,0.083,0.000,2951,3699,3764,0,0,0,0,0,0,26.74,28.83,28.83
$GC,623,-0.77,-243.3,69.9,-11.3,61,629,0.22,2.47,0.00,0.000,4,0.080,0.024,2848,1951,3764,0,0,0,0,0,0,26.78,26.83,28.83
$GC,681,-0.92,-243.3,75.8,-12.8,63,687,0.00,2.78,0.00,0.000,6,0.000,0.060,2847,3704,3763,0,0,0,0,0,0,28.83,26.74,28.83
$GC,867,-0.51,-243.3,147.4,-35.4,73,872,0.30,0.00,0.00,0.000,4,0.194,0.000,2937,3704,3763,0,0,0,0,0,0,26.66,28.83,28.83
$GC,1099,-0.63,-243.3,175.8,-5.3,84,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,3704,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1291,-0.77,-243.3,186.2,-4.9,94,1293,0.20,0.00,0.00,0.000,6,0.070,0.000,2835,3704,3763,0,0,0,0,0,0,26.84,28.83,28.83
$GC,1471,-0.45,-243.3,230.8,-29.6,103,1473,0.43,0.00,0.00,0.000,6,0.165,0.000,2964,3704,3763,0,0,0,0,0,0,26.70,28.83,28.83
$GC,1651,-0.83,-243.3,249.3,-10.4,112,1656,0.30,0.00,0.00,0.000,4,0.086,0.000,2843,3704,3762,0,0,0,0,0,0,26.79,28.83,28.83
$GC,1775,-0.98,-243.3,260.7,-8.5,118,1780,0.10,0.00,0.00,0.000,6,0.100,0.000,2766,3704,3761,0,0,0,0,0,0,26.88,28.83,28.83
$GC,2098,-0.55,-243.3,357.8,-33.3,134,2104,0.52,2.50,0.00,0.000,4,0.185,0.024,2927,1966,3759,0,0,0,0,0,0,26.71,26.88,28.83
$GC,2162,-0.48,-243.3,365.9,-17.8,137,2167,0.00,2.75,0.00,0.000,6,0.000,0.060,2927,3697,3759,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2485,-0.81,-243.3,397.8,-11.6,153,2487,0.22,0.00,0.00,0.000,6,0.092,0.000,2840,3697,3755,0,0,0,0,0,0,26.81,28.83,28.83
$GC,2786,-1.13,-243.3,427.4,-9.7,168,2788,0.28,0.00,0.00,0.000,6,0.085,0.000,2733,3697,3752,0,0,0,0,0,0,26.82,28.83,28.83
$GC,3085,-0.73,-243.3,514.9,-32.9,183,3091,0.45,2.50,0.00,0.000,4,0.192,0.024,2866,1975,3749,0,0,0,0,0,0,26.70,26.89,28.83
$GC,3153,-0.62,-243.3,525.1,-19.9,186,3159,0.15,2.75,0.00,0.000,6,0.138,0.063,2916,3698,3748,0,0,0,0,0,0,26.77,26.80,28.83
$GC,3472,-0.96,-243.3,559.0,-12.1,202,3478,0.30,2.53,0.00,0.000,4,0.086,0.027,2794,1948,3745,0,0,0,0,0,0,26.82,26.88,28.83
$GC,3516,-1.22,-243.3,563.9,-11.7,204,3522,0.22,2.80,0.00,0.000,6,0.066,0.063,2684,3693,3745,0,0,0,0,0,0,26.86,26.80,28.83
$GC,3849,-0.73,-243.3,683.1,-37.1,217,3852,0.68,0.00,0.00,0.000,6,0.203,0.000,2875,3691,3742,0,0,0,0,0,0,26.67,28.83,28.83
$GC,4151,-0.84,-243.3,713.8,-7.4,227,4157,0.12,2.50,0.00,0.000,4,0.090,0.028,2796,1953,3739,0,0,0,0,0,0,26.88,26.88,28.83
$GC,4215,-0.91,-243.3,720.7,-9.0,229,4220,0.00,2.83,0.00,0.000,6,0.000,0.067,2795,3694,3738,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4550,-0.76,-243.3,774.7,-16.1,240,4555,0.20,2.53,0.00,0.000,4,0.161,0.028,2861,1984,3734,0,0,0,0,0,0,26.73,26.87,28.83
$GC,4597,-0.67,-243.3,778.6,-14.7,241,4603,0.12,2.72,0.00,0.000,6,0.146,0.067,2902,3672,3734,0,0,0,0,0,0,26.77,26.80,28.83
$GC,4918,-1.01,-243.3,806.0,-9.4,252,4924,0.30,2.50,0.00,0.000,4,0.087,0.028,2782,1949,3731,0,0,0,0,0,0,26.81,26.89,28.83
$GC,4956,-1.31,-243.3,809.1,-9.1,253,4962,0.25,2.72,0.00,0.000,6,0.063,0.067,2662,3643,3730,0,0,0,0,0,0,26.85,26.80,28.83
$GC,5285,-0.82,-243.3,912.6,-33.3,264,5291,0.62,0.08,0.00,0.000,4,0.211,0.091,2839,3702,3727,0,0,0,0,0,0,26.67,26.77,28.83
$GC,5503,-0.85,-243.3,936.1,-8.4,271,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,3702,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5831,-0.88,-243.3,964.6,-8.8,282,5837,0.00,2.53,0.00,0.000,4,0.000,0.028,2839,1963,3723,0,0,0,0,0,0,28.83,26.90,28.83
$GC,5909,-0.95,-243.3,970.2,-8.9,284,5915,0.10,2.70,0.00,0.000,6,0.109,0.067,2790,3633,3722,0,0,0,0,0,0,26.82,26.81,28.83
$STATE,6046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6046,begin apogee
$GC,6052,-0.12,0.0,990.5,-14.7,289,6252,0.82,0.00,193.77,1.447,4,0.143,0.000,3062,3004,2768,0,0,0,0,0,0,26.72,28.83,24.18
$STATE,6253,end apogee,CONTROL_FINISHED_OK
$STATE,6253,begin climb
$GC,6255,0.50,243.3,1001.4,0.0,295,6473,0.55,2.22,208.85,1.409,4,0.049,0.028,3285,1562,1777,0,0,0,0,0,0,25.20,25.22,24.13
$GC,6592,0.27,243.3,954.3,19.8,307,6598,0.30,2.38,0.00,0.000,6,0.168,0.058,3201,2997,1770,0,0,0,0,0,0,25.79,25.89,28.83
$GC,6926,0.07,243.3,891.8,18.8,318,6932,0.20,2.10,0.00,0.000,4,0.164,0.028,3146,1570,1767,0,0,0,0,0,0,26.29,26.44,28.83
$GC,7058,0.07,243.3,879.0,10.1,322,7064,0.00,2.30,0.00,0.000,6,0.000,0.056,3146,3008,1765,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7383,0.00,243.3,837.0,13.0,333,7388,0.12,1.10,0.00,0.000,4,0.158,0.060,3105,3695,1765,0,0,0,0,0,0,26.53,26.58,28.83
$GC,7470,-0.04,243.3,830.1,11.8,335,7477,0.00,1.02,0.00,0.000,6,0.000,0.034,3105,3008,1764,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7778,0.04,285.1,800.5,8.8,346,7820,0.00,1.20,34.92,1.321,4,0.000,0.068,3105,3701,1605,0,0,0,0,0,0,28.83,25.76,24.98
$GC,7858,0.10,317.6,794.8,9.1,348,7892,0.08,1.02,28.65,1.287,6,0.063,0.033,3165,3023,1474,0,0,0,0,0,0,25.98,26.04,24.63
$GC,8200,0.04,317.6,741.1,15.7,360,8202,0.15,0.00,0.00,0.000,6,0.150,0.000,3122,3024,1468,0,0,0,0,0,0,26.25,28.83,28.83
$GC,8502,0.13,357.7,713.1,8.9,370,8539,0.00,1.20,33.70,1.268,4,0.000,0.068,3122,3703,1309,0,0,0,0,0,0,28.83,25.67,24.92
$GC,8582,0.23,394.4,707.7,9.0,372,8623,0.15,1.02,32.10,1.243,6,0.046,0.033,3207,3029,1162,0,0,0,0,0,0,25.94,25.97,24.57
$GC,8922,0.05,394.4,631.1,23.2,384,8928,0.25,2.12,0.00,0.000,4,0.147,0.027,3132,1570,1156,0,0,0,0,0,0,26.18,26.31,28.83
$GC,8980,-0.05,394.4,626.1,21.4,385,8988,0.12,2.30,0.00,0.000,6,0.102,0.051,3088,3016,1155,0,0,0,0,0,0,26.30,26.32,28.83
$GC,9287,0.30,394.4,592.4,11.3,397,9293,0.32,1.10,0.00,0.000,4,0.093,0.061,3210,3700,1154,0,0,0,0,0,0,26.47,26.48,28.83
$GC,9405,0.63,405.5,581.8,9.7,402,9421,0.25,1.00,9.93,1.079,6,0.057,0.036,3324,3034,1115,0,0,0,0,0,0,26.55,26.59,25.53
$GC,9734,0.21,405.5,461.0,40.9,419,9740,0.45,2.12,0.00,0.000,4,0.178,0.028,3196,1567,1113,0,0,0,0,0,0,26.39,26.55,28.83
$GC,9819,0.15,405.5,445.2,18.2,423,9825,0.12,2.30,0.00,0.000,6,0.132,0.056,3158,3006,1112,0,0,0,0,0,0,26.48,26.52,28.83
$GC,10143,0.25,446.9,419.3,8.9,439,10183,0.00,1.17,34.45,1.084,4,0.000,0.063,3158,3702,947,0,0,0,0,0,0,28.83,25.86,25.17
$GC,10261,0.36,478.8,409.9,9.1,444,10296,0.15,1.08,27.92,1.050,6,0.050,0.035,3241,2998,817,0,0,0,0,0,0,26.12,26.15,24.89
$GC,10609,0.15,478.8,319.6,28.7,462,10614,0.25,2.08,0.00,0.000,4,0.150,0.028,3171,1582,812,0,0,0,0,0,0,26.19,26.33,28.83
$GC,10677,0.17,478.8,311.1,17.2,465,10682,0.00,2.17,0.00,0.000,6,0.000,0.048,3171,2971,812,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10995,0.50,478.8,275.6,12.9,481,11001,0.28,1.15,0.00,0.000,4,0.096,0.060,3277,3691,811,0,0,0,0,0,0,26.47,26.48,28.83
$GC,11228,0.78,478.8,249.4,11.3,492,11234,0.20,1.08,0.00,0.000,6,0.079,0.033,3362,2971,811,0,0,0,0,0,0,26.53,26.63,28.83
$GC,11423,0.42,478.8,186.7,38.0,502,11425,0.40,0.00,0.00,0.000,6,0.174,0.000,3245,2971,811,0,0,0,0,0,0,26.47,28.83,28.83
$GC,11602,0.38,478.8,153.7,15.6,511,11607,0.00,1.17,0.00,0.000,4,0.000,0.061,3245,3696,810,0,0,0,0,0,0,28.83,26.62,28.83
$GC,11706,0.34,478.8,137.0,15.7,516,11711,0.00,1.02,0.00,0.000,6,0.000,0.034,3246,3017,810,0,0,0,0,0,0,28.83,26.70,28.83
$GC,11911,0.48,499.4,115.2,9.4,526,11930,0.00,0.00,17.05,0.811,6,0.000,0.000,3247,3016,733,0,0,0,0,0,0,28.83,28.83,25.76
$GC,12110,0.80,703.4,104.1,4.4,536,12178,0.32,2.22,58.08,0.805,4,0.061,0.029,3393,1582,459,0,0,0,0,0,0,26.51,25.69,25.08
$GC,12216,0.63,703.4,82.0,25.5,541,12222,0.28,2.35,0.00,0.000,6,0.134,0.055,3309,3022,459,0,0,0,0,0,0,25.77,25.84,28.83
$GC,12416,0.57,703.4,46.8,18.5,551,12417,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,3022,458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12596,0.52,703.4,16.5,18.8,574,12603,0.12,2.15,0.00,0.000,4,0.155,0.029,3268,1586,458,0,0,0,0,0,0,26.30,26.39,28.83
$GC,12620,0.56,703.4,12.7,15.2,578,12627,0.00,2.28,0.00,0.000,6,0.000,0.055,3268,3009,458,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,12733,end climb,SURFACE_DEPTH_REACHED
$STATE,12733,begin surface coast
$FINISH,1.3,0.998383
$STATE,12755,end surface coast,CONTROL_FINISHED_OK
$STATE,12755,begin surface
$SM_CCo,12832,0.00,0.000,0,0,458,566.89
$SM_GC,2.05,7.97,0.65,0.00,0.042,0.060,0.000,135,3414,458,-9.24,-0.57,566.89,0,0,0,0,0,0,26.42,26.45,28.83
$IRIDIUM_FIX,2124.90,12030.40,081112,040423
$TT8_MAMPS,0.025466,0.025466
$HUMID,56.61
$INTERNAL_PRESSURE,9.52734
$TCM_TEMP,24.40
$XPDR_PINGS,20
$SC_FREEKB,4012064
$24V_AH,24.1,4.427
$10V_AH,10.2,1.846
$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,31.950,91.650,679.425,0.000,0.000,0.000,0.000,0.000,7.500,0.000,21.520,2033.006,8254.024,712.119,1743.041,187.616,0.000,1701.995,0.000,1664.993,0.000,20.710,0.000
$DEVICE_MAMPS,238.680,123.930,1447.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12735.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.971,0.000,0.000,0.000
$MEM,323616
$DATA_FILE_SIZE,23402,604
$CAP_FILE_SIZE,275430,0
$CFSIZE,260034560,248987648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081112,082204,2133.221,12028.631,35,0.9,35,-3.0