version: 66.11
glider: 170
mission: 10
dive: 53
start: 11 11 112 17 54 15
data:
$ID,170
$MISSION,10
$DIVE,53
$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,320
$T_MISSION,340
$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,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,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,-143154.34
$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,3040
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$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,2600
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2769
$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,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
$GPS1,111112,174719,2138.734,12032.980,18,1.5,19,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-69.7
$GPS2,111112,175347,2138.545,12033.130,16,0.9,16,-3.0
$SPEED_LIMITS,0.179,0.348
$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,307.5,58228,-14.3,-10.312,-16.49
$D_GRID,600
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.42,-243.3,0.0,0.0,0,96,0.00,0.00,-74.38,0.000,2,0.000,0.000,137,2615,2108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.42,-243.3,3.1,-3.8,13,160,11.52,2.15,-43.50,0.000,4,0.259,0.042,2901,1185,3764,0,0,0,0,0,0,26.01,26.29,26.54
$GC,192,-0.42,-243.3,19.0,-23.9,29,198,0.00,2.20,0.00,0.000,6,0.000,0.047,2901,2591,3765,0,0,0,0,0,0,28.83,26.27,28.83
$GC,391,-0.42,-243.3,74.7,-30.0,47,397,0.00,1.75,0.00,0.000,4,0.000,0.060,2901,3701,3763,0,0,0,0,0,0,28.83,26.39,28.83
$GC,515,-0.42,-243.3,100.6,-18.6,53,521,0.00,1.62,0.00,0.000,6,0.000,0.024,2901,2574,3764,0,0,0,0,0,0,28.83,26.54,28.83
$GC,719,-0.42,-243.3,126.5,-11.1,63,724,0.00,1.98,0.00,0.000,4,0.000,0.035,2901,1197,3764,0,0,0,0,0,0,28.83,26.56,28.83
$GC,766,-0.42,-243.3,131.3,-10.9,65,771,0.00,2.17,0.00,0.000,6,0.000,0.043,2900,2614,3764,0,0,0,0,0,0,28.83,26.53,28.83
$GC,963,-0.42,-243.3,153.7,-11.3,75,968,0.00,1.67,0.00,0.000,4,0.000,0.060,2901,3697,3764,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1092,-0.42,-243.3,165.0,-8.6,81,1097,0.00,1.60,0.00,0.000,6,0.000,0.024,2901,2588,3765,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1289,-0.42,-243.3,178.7,-6.6,91,1295,0.00,2.00,0.00,0.000,4,0.000,0.030,2902,1207,3764,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1326,-0.42,-243.3,180.3,-6.9,92,1333,0.00,2.15,0.00,0.000,6,0.000,0.044,2901,2610,3765,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1512,-0.42,-243.3,193.5,-6.4,102,1518,0.00,1.70,0.00,0.000,4,0.000,0.060,2901,3695,3764,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1556,-0.42,-243.3,196.2,-6.2,104,1562,0.00,1.58,0.00,0.000,6,0.000,0.025,2901,2575,3764,0,0,0,0,0,0,28.83,26.73,28.83
$GC,1761,-0.42,-243.3,211.5,-9.2,114,1767,0.00,1.95,0.00,0.000,4,0.000,0.032,2901,1235,3763,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1914,-0.42,-243.3,227.8,-11.9,121,1919,0.00,2.10,0.00,0.000,6,0.000,0.044,2901,2605,3762,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2107,-0.42,-243.3,257.6,-14.8,131,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2605,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2408,-0.42,-243.3,287.2,-7.1,146,2414,0.00,2.00,0.00,0.000,4,0.000,0.031,2901,1239,3760,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2466,-0.42,-243.3,290.4,-7.4,148,2472,0.00,2.08,0.00,0.000,6,0.000,0.044,2901,2609,3760,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2771,-0.42,-243.3,318.4,-11.9,164,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2609,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3072,-0.42,-243.3,352.5,-9.6,179,3078,0.00,2.05,0.00,0.000,4,0.000,0.034,2901,1232,3756,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3257,-0.42,-243.3,369.2,-8.5,188,3263,0.00,2.12,0.00,0.000,6,0.000,0.047,2901,2610,3755,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3580,-0.42,-243.3,408.4,-14.4,204,3585,0.00,2.03,0.00,0.000,4,0.000,0.035,2901,1243,3752,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3672,-0.42,-243.3,424.5,-19.5,208,3678,0.00,2.05,0.00,0.000,6,0.000,0.040,2901,2612,3752,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3985,-0.42,-243.3,478.6,-15.2,224,3991,0.00,1.65,0.00,0.000,4,0.000,0.053,2902,3687,3750,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4078,-0.42,-243.3,490.2,-14.0,228,4083,0.00,1.55,0.00,0.000,6,0.000,0.027,2901,2602,3750,0,0,0,0,0,0,28.83,26.81,28.83
$GC,4391,-0.42,-243.3,514.1,-4.7,244,4396,0.00,2.00,0.00,0.000,4,0.000,0.026,2902,1208,3747,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4423,-0.42,-243.3,516.1,-5.3,245,4428,0.00,2.10,0.00,0.000,6,0.000,0.037,2901,2599,3747,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4736,-0.42,-243.3,542.6,-6.6,261,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2599,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5037,-0.42,-243.3,567.4,-9.3,276,5042,0.00,2.03,0.00,0.000,4,0.000,0.028,2901,1210,3743,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5209,-0.42,-243.3,586.0,-12.1,284,5215,0.00,2.12,0.00,0.000,6,0.000,0.040,2902,2607,3743,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,5322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5322,begin apogee
$GC,5328,-0.11,0.0,603.0,-14.7,290,5522,0.25,0.00,187.75,1.170,6,0.071,0.000,3016,1927,2769,0,0,0,0,0,0,26.76,28.83,24.20
$STATE,5524,end apogee,CONTROL_FINISHED_OK
$STATE,5524,begin climb
$GC,5526,0.42,243.3,626.8,0.0,296,5737,0.43,2.20,201.52,1.146,4,0.053,0.036,3190,584,1776,0,0,0,0,0,0,25.10,24.82,24.07
$GC,5775,0.46,348.1,622.9,7.3,305,5870,0.00,2.20,87.88,1.126,6,0.000,0.039,3190,1946,1349,0,0,0,0,0,0,28.83,25.32,24.06
$GC,6188,0.46,348.1,570.2,17.2,322,6194,0.00,2.12,0.00,0.000,4,0.000,0.041,3190,585,1344,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6291,0.46,348.1,549.6,19.9,327,6297,0.00,2.15,0.00,0.000,6,0.000,0.042,3190,1962,1343,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6615,0.46,348.1,485.5,18.8,343,6620,0.00,2.20,0.00,0.000,4,0.000,0.048,3190,3373,1343,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6767,0.46,348.1,462.0,14.9,350,6773,0.00,2.10,0.00,0.000,6,0.000,0.028,3190,1968,1342,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7080,0.46,348.1,426.2,11.1,366,7085,0.00,2.20,0.00,0.000,4,0.000,0.048,3191,3372,1341,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7112,0.46,348.1,424.0,10.6,367,7118,0.00,2.10,0.00,0.000,6,0.000,0.028,3190,1951,1342,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7426,0.52,511.6,399.2,5.7,383,7572,0.00,2.38,139.10,1.047,4,0.000,0.053,3190,3357,682,0,0,0,0,0,0,28.83,25.00,24.32
$GC,7595,0.60,704.2,391.0,4.8,391,7651,0.12,2.22,48.45,1.001,6,0.093,0.029,3248,1934,460,0,0,0,0,0,0,25.36,25.40,24.32
$GC,7950,0.60,704.2,346.4,12.5,409,7955,0.00,2.30,0.00,0.000,4,0.000,0.047,3247,3367,457,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7973,0.60,704.2,343.5,12.6,410,7979,0.00,2.15,0.00,0.000,6,0.000,0.028,3252,1955,457,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8296,0.60,704.2,299.9,11.3,426,8301,0.00,2.15,0.00,0.000,4,0.000,0.040,3252,543,457,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8348,0.60,711.6,296.0,10.1,428,8354,0.00,2.15,0.00,0.000,6,0.000,0.034,3253,1958,456,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8662,0.60,711.6,256.5,14.8,444,8667,0.00,2.17,0.00,0.000,4,0.000,0.048,3253,3357,456,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8768,0.60,711.6,241.4,14.4,449,8774,0.00,2.10,0.00,0.000,6,0.000,0.028,3253,1946,457,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8966,0.60,711.6,213.3,14.0,459,8971,0.00,2.08,0.00,0.000,4,0.000,0.038,3253,557,456,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8998,0.60,711.6,210.4,13.5,460,9004,0.00,2.10,0.00,0.000,6,0.000,0.034,3253,1952,456,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9191,0.60,711.6,186.6,11.9,470,9197,0.00,2.15,0.00,0.000,4,0.000,0.047,3253,3358,457,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9284,0.60,711.6,176.0,12.9,474,9289,0.00,2.10,0.00,0.000,6,0.000,0.027,3252,1939,457,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9476,0.60,711.6,153.1,10.5,484,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1938,457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9657,0.64,813.3,138.0,7.4,493,9662,0.00,2.22,0.00,0.000,4,0.000,0.045,3253,3365,456,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9694,0.69,919.4,136.2,7.3,494,9702,0.00,2.10,0.00,0.000,6,0.000,0.027,3252,1943,457,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9880,0.75,1085.6,122.8,5.6,504,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1943,456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10060,0.82,1243.7,113.7,5.8,513,10066,0.12,2.17,0.00,0.000,4,0.141,0.043,3299,3361,457,0,0,0,0,0,0,26.60,26.64,28.83
$GC,10107,0.83,1279.3,108.7,9.3,515,10113,0.00,2.10,0.00,0.000,6,0.000,0.026,3300,1939,457,0,0,0,0,0,0,28.83,26.69,28.83
$GC,10306,0.83,1279.3,82.4,13.6,525,10311,0.00,2.08,0.00,0.000,4,0.000,0.037,3299,540,456,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10363,0.83,1279.3,77.4,12.0,527,10370,0.00,2.10,0.00,0.000,6,0.000,0.031,3300,1959,456,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10549,0.83,1279.3,54.2,11.8,537,10554,0.00,2.12,0.00,0.000,4,0.000,0.046,3300,3354,457,0,0,0,0,0,0,28.83,26.66,28.83
$GC,10691,0.83,1279.3,36.8,12.8,549,10697,0.00,2.08,0.00,0.000,6,0.000,0.025,3300,1939,457,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10881,0.83,1279.3,11.4,11.8,577,10887,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,1939,457,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10952,end climb,SURFACE_DEPTH_REACHED
$STATE,10952,begin surface coast
$FINISH,1.4,1.021930
$STATE,10974,end surface coast,CONTROL_FINISHED_OK
$STATE,10974,begin surface
$SM_CCo,11051,0.00,0.000,0,0,456,567.13
$SM_GC,2.13,8.00,1.02,0.00,0.044,0.047,0.000,135,2587,456,-9.02,-1.44,567.13,0,0,0,0,0,0,26.66,26.67,28.83
$IRIDIUM_FIX,2129.53,12033.57,111112,141443
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.65
$INTERNAL_PRESSURE,9.48828
$TCM_TEMP,23.20
$XPDR_PINGS,1
$SC_FREEKB,3999776
$24V_AH,24.1,10.236
$10V_AH,10.1,4.011
$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,20.450,112.675,664.700,0.000,0.000,0.000,0.000,230.875,1.000,0.000,17.712,1983.124,6650.026,747.776,1873.130,188.643,0.000,1900.065,0.000,1535.615,0.000,6.467,0.000
$DEVICE_MAMPS,258.570,60.435,1170.450,0.000,0.000,0.000,0.000,136.170,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11005.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.007,0.000,0.000,0.000
$MEM,323236
$DATA_FILE_SIZE,23465,595
$CAP_FILE_SIZE,144747,0
$CFSIZE,260034560,246804480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.835,130.1,1
$GPS,111112,205936,2137.211,12033.281,33,0.9,34,-3.0