version: 66.11
glider: 170
mission: 10
dive: 31
start: 11 9 112 19 38 15
data:
$ID,170
$MISSION,10
$DIVE,31
$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,300
$T_MISSION,320
$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,250
$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,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,-142817.58
$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,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,53
$R_STBD_OVSHOOT,26
$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
$GPS1,091112,193122,2137.914,12021.412,36,0.8,36,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-77.3
$GPS2,091112,193747,2137.779,12021.456,16,1.1,16,-3.0
$SPEED_LIMITS,0.191,0.356
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$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,23.3,59272,-15.1,-11.000,-17.16
$D_GRID,1328
$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,-0.59,-243.3,0.0,0.0,0,107,0.00,0.00,-84.97,0.000,2,0.000,0.000,138,3416,2408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.59,-243.3,3.2,-2.8,15,159,11.20,0.50,-31.65,0.000,4,0.251,0.137,2914,3704,3762,0,0,0,0,0,0,26.05,26.25,26.55
$GC,387,-0.59,-243.3,99.2,-37.3,43,392,0.00,0.43,0.00,0.000,6,0.000,0.039,2915,3398,3763,0,0,0,0,0,0,28.83,26.47,28.83
$GC,590,-0.59,-243.3,150.5,-23.3,53,595,0.00,2.05,0.00,0.000,4,0.000,0.024,2915,1970,3763,0,0,0,0,0,0,28.83,26.56,28.83
$GC,682,-0.59,-243.3,159.7,-10.7,57,687,0.00,2.35,0.00,0.000,6,0.000,0.061,2915,3429,3763,0,0,0,0,0,0,28.83,26.48,28.83
$GC,875,-0.59,-243.3,181.7,-12.1,67,881,0.00,0.43,0.00,0.000,4,0.000,0.070,2915,3711,3763,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1083,-0.59,-243.3,203.4,-10.4,77,1088,0.00,0.35,0.00,0.000,6,0.000,0.043,2915,3449,3764,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1283,-0.59,-243.3,221.9,-8.4,87,1288,0.00,2.10,0.00,0.000,4,0.000,0.024,2915,1963,3763,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1327,-0.59,-243.3,225.3,-7.8,89,1332,0.00,2.38,0.00,0.000,6,0.000,0.061,2915,3437,3764,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1530,-0.59,-243.3,238.6,-6.2,99,1535,0.00,0.40,0.00,0.000,4,0.000,0.071,2915,3704,3764,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1688,-0.59,-243.3,247.8,-6.9,106,1694,0.00,0.35,0.00,0.000,6,0.000,0.043,2915,3442,3763,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1873,-0.59,-243.3,261.0,-7.0,116,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,3442,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2174,-0.59,-243.3,284.0,-8.0,131,2180,0.00,2.10,0.00,0.000,4,0.000,0.025,2915,1979,3761,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2213,-0.59,-243.3,285.7,-7.9,132,2220,0.00,2.35,0.00,0.000,6,0.000,0.061,2915,3448,3761,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2518,-0.59,-243.3,313.9,-9.3,148,2523,0.00,0.38,0.00,0.000,4,0.000,0.073,2915,3699,3760,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2735,-0.59,-243.3,333.3,-9.9,158,2742,0.00,0.38,0.00,0.000,6,0.000,0.042,2915,3422,3759,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3040,-0.59,-243.3,369.2,-11.7,174,3046,0.00,2.08,0.00,0.000,4,0.000,0.024,2915,1941,3757,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3112,-0.59,-243.3,376.2,-11.4,177,3118,0.00,2.35,0.00,0.000,6,0.000,0.061,2915,3431,3756,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3425,-0.59,-243.3,413.9,-11.8,193,3431,0.00,2.12,0.00,0.000,4,0.000,0.026,2915,1956,3755,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3472,-0.59,-243.3,418.8,-11.8,195,3478,0.00,2.33,0.00,0.000,6,0.000,0.061,2915,3423,3754,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3791,-0.59,-243.3,451.0,-9.6,211,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,3423,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4092,-0.59,-243.3,478.7,-9.5,226,4098,0.00,2.10,0.00,0.000,4,0.000,0.025,2915,1953,3751,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4136,-0.59,-243.3,483.1,-9.8,228,4142,0.00,2.35,0.00,0.000,6,0.000,0.062,2915,3419,3751,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4459,-0.59,-243.3,517.2,-10.8,244,4465,0.00,2.10,0.00,0.000,4,0.000,0.026,2915,1940,3749,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4497,-0.59,-243.3,519.8,-10.9,245,4504,0.00,2.33,0.00,0.000,6,0.000,0.057,2914,3410,3748,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4803,-0.59,-243.3,552.5,-10.3,261,4808,0.00,0.43,0.00,0.000,4,0.000,0.067,2915,3697,3745,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4935,-0.59,-243.3,564.6,-10.0,267,4941,0.00,0.40,0.00,0.000,6,0.000,0.044,2915,3415,3746,0,0,0,0,0,0,28.83,26.81,28.83
$GC,5248,-0.59,-243.3,597.2,-10.2,283,5254,0.00,2.08,0.00,0.000,4,0.000,0.028,2914,1938,3745,0,0,0,0,0,0,28.83,26.84,28.83
$GC,5307,-0.59,-243.3,601.6,-10.3,285,5314,0.00,2.33,0.00,0.000,6,0.000,0.057,2915,3407,3744,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5613,-0.59,-243.3,633.4,-10.2,296,5618,0.00,2.10,0.00,0.000,4,0.000,0.028,2915,1945,3742,0,0,0,0,0,0,28.83,26.84,28.83
$GC,5680,-0.59,-243.3,640.2,-10.5,298,5685,0.00,2.30,0.00,0.000,6,0.000,0.058,2915,3397,3742,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6009,-0.59,-243.3,675.3,-10.8,309,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,3398,3740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6308,-0.59,-243.3,707.2,-10.3,319,6313,0.00,2.08,0.00,0.000,4,0.000,0.029,2915,1954,3738,0,0,0,0,0,0,28.83,26.84,28.83
$GC,6371,-0.59,-243.3,713.6,-10.3,321,6377,0.00,2.28,0.00,0.000,6,0.000,0.058,2915,3381,3738,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6706,-0.59,-243.3,749.5,-11.2,332,6711,0.00,2.05,0.00,0.000,4,0.000,0.030,2915,1956,3736,0,0,0,0,0,0,28.83,26.84,28.83
$GC,6754,-0.59,-243.3,753.3,-11.2,333,6760,0.00,2.22,0.00,0.000,6,0.000,0.058,2915,3360,3735,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7073,-0.59,-243.3,790.7,-11.1,344,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,3362,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7373,-0.59,-243.3,820.0,-9.5,354,7378,0.00,2.03,0.00,0.000,4,0.000,0.030,2915,1956,3732,0,0,0,0,0,0,28.83,26.84,28.83
$GC,7415,-0.59,-243.3,823.1,-9.4,355,7420,0.00,2.25,0.00,0.000,6,0.000,0.060,2915,3370,3731,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7740,-0.59,-243.3,852.7,-9.2,366,7746,0.00,0.50,0.00,0.000,4,0.000,0.068,2915,3697,3730,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7888,-0.59,-243.3,864.2,-9.1,370,7894,0.00,0.47,0.00,0.000,6,0.000,0.044,2915,3375,3730,0,0,0,0,0,0,28.83,26.82,28.83
$GC,8194,-0.59,-243.3,895.0,-9.7,381,8196,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,3375,3728,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8254,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8254,begin apogee
$GC,8260,-0.15,0.0,901.0,-9.9,383,8464,0.38,0.00,196.18,1.408,4,0.070,0.000,3069,2985,2768,0,0,0,0,0,0,26.78,28.83,23.86
$STATE,8466,end apogee,CONTROL_FINISHED_OK
$STATE,8466,begin climb
$GC,8468,0.59,243.3,912.5,0.0,390,8688,0.62,2.22,210.25,1.363,4,0.050,0.028,3316,1563,1775,0,0,0,0,0,0,24.89,24.92,23.71
$GC,8719,0.59,243.3,879.5,21.7,398,8725,0.00,2.47,0.00,0.000,6,0.000,0.057,3316,3009,1772,0,0,0,0,0,0,28.83,24.98,28.83
$GC,9038,0.59,243.3,771.4,34.3,409,9043,0.00,2.20,0.00,0.000,4,0.000,0.030,3325,1569,1769,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9260,0.59,243.3,713.9,25.3,416,9266,0.00,2.30,0.00,0.000,6,0.000,0.057,3325,2997,1766,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9584,0.59,243.3,610.5,32.8,427,9589,0.00,2.15,0.00,0.000,4,0.000,0.030,3335,1572,1766,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9626,0.59,243.3,600.0,33.1,428,9632,0.12,2.28,0.00,0.000,6,0.200,0.057,3306,2995,1765,0,0,0,0,0,0,26.22,26.34,28.83
$GC,9949,0.59,243.3,499.7,31.2,444,9954,0.00,2.12,0.00,0.000,4,0.000,0.031,3318,1581,1765,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10041,0.59,243.3,479.6,24.2,448,10047,0.00,2.20,0.00,0.000,6,0.000,0.056,3320,2969,1764,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10355,0.59,243.3,383.8,30.8,464,10356,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2971,1765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10656,0.59,243.3,299.4,28.3,479,10657,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2969,1764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10955,0.59,243.3,215.4,25.2,494,10960,0.00,2.05,0.00,0.000,4,0.000,0.029,3324,1570,1764,0,0,0,0,0,0,28.83,26.64,28.83
$GC,11068,0.59,243.3,193.3,20.7,499,11074,0.00,2.20,0.00,0.000,6,0.000,0.054,3324,2958,1763,0,0,0,0,0,0,28.83,26.60,28.83
$GC,11261,0.59,243.3,150.3,20.6,509,11267,0.00,2.05,0.00,0.000,4,0.000,0.029,3324,1582,1764,0,0,0,0,0,0,28.83,26.66,28.83
$GC,11495,0.68,389.7,129.9,6.6,520,11616,0.00,2.10,114.22,0.848,6,0.000,0.052,3325,2919,1179,0,0,0,0,0,0,28.83,26.63,24.60
$GC,11809,0.68,389.7,79.4,16.2,536,11815,0.00,1.27,0.00,0.000,4,0.000,0.058,3324,3702,1175,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11913,0.68,389.7,54.6,25.5,541,11918,0.00,1.20,0.00,0.000,6,0.000,0.029,3324,2907,1175,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12100,0.68,389.7,15.7,20.1,563,12106,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2907,1175,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12166,end climb,SURFACE_DEPTH_REACHED
$STATE,12167,begin surface coast
$FINISH,1.5,1.022169
$STATE,12183,end surface coast,CONTROL_FINISHED_OK
$STATE,12183,begin surface
$SM_CCo,12201,24.55,0.061,0,0,933,450.13
$SM_GC,2.40,8.35,0.85,24.55,0.054,0.064,0.061,139,3403,933,-9.24,-0.65,450.13,0,0,0,0,0,0,26.24,26.27,26.25
$IRIDIUM_FIX,2127.21,12035.57,091112,161642
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.04
$INTERNAL_PRESSURE,9.50781
$TCM_TEMP,23.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,901.0,12.8
$SC_FREEKB,4008224
$24V_AH,23.7,6.723
$10V_AH,9.8,2.704
$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,20.675,88.025,520.650,24.550,0.000,0.000,0.000,238.200,2.500,0.000,17.717,2080.182,7750.319,625.506,1963.520,196.874,0.000,1808.960,0.000,1624.264,0.000,20.014,0.000
$DEVICE_MAMPS,250.920,136.935,1408.365,61.200,0.000,0.000,0.000,127.755,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12190.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.448,0.000,0.000,0.000
$MEM,324496
$DATA_FILE_SIZE,20098,579
$CAP_FILE_SIZE,147770,0
$CFSIZE,260034560,248193024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.915,195.8,1
$GPS,091112,230304,2137.781,12021.946,23,1.1,23,-3.0