version: 66.11
glider: 170
mission: 10
dive: 56
start: 11 12 112 4 52 44
data:
$ID,170
$MISSION,10
$DIVE,56
$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,566.39771
$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,-143158.09
$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,69
$R_STBD_OVSHOOT,45
$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
$GPS1,121112,043823,2136.178,12032.244,37,1.8,37,-3.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-70.9
$GPS2,121112,045216,2135.926,12032.503,38,0.9,38,-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,334.7,58381,-14.3,-10.312,-16.49
$D_GRID,1417
$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,-0.42,-243.3,0.0,0.0,0,103,0.00,0.00,-80.90,0.000,2,0.000,0.000,141,2625,2271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.42,-243.3,3.3,-3.3,14,161,10.95,1.75,-37.22,0.000,4,0.247,0.077,2897,3684,3763,0,0,0,0,0,0,26.20,26.39,26.70
$GC,353,-0.42,-243.3,74.1,-35.1,43,360,0.00,1.60,0.00,0.000,6,0.000,0.024,2897,2565,3763,0,0,0,0,0,0,28.83,26.55,28.83
$GC,552,-0.42,-243.3,125.1,-24.0,53,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2562,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,733,-0.42,-243.3,150.7,-11.7,62,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2562,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,912,-0.42,-243.3,169.9,-9.4,71,917,0.00,1.92,0.00,0.000,4,0.000,0.033,2898,1242,3763,0,0,0,0,0,0,28.83,26.65,28.83
$GC,984,-0.42,-243.3,174.1,-7.2,74,991,0.00,2.05,0.00,0.000,6,0.000,0.044,2898,2594,3763,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1178,-0.42,-243.3,189.4,-9.0,84,1183,0.00,1.73,0.00,0.000,4,0.000,0.060,2898,3694,3763,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1235,-0.42,-243.3,193.9,-10.0,86,1242,0.00,1.55,0.00,0.000,6,0.000,0.025,2898,2616,3762,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1421,-0.42,-243.3,212.7,-9.0,96,1427,0.00,2.03,0.00,0.000,4,0.000,0.032,2898,1224,3762,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1454,-0.42,-243.3,214.7,-8.6,97,1459,0.00,2.12,0.00,0.000,6,0.000,0.044,2898,2608,3762,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1647,-0.42,-243.3,227.7,-6.1,107,1653,0.00,2.03,0.00,0.000,4,0.000,0.033,2898,1228,3761,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1700,-0.42,-243.3,230.4,-6.3,109,1705,0.00,2.12,0.00,0.000,6,0.000,0.047,2898,2605,3761,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1893,-0.42,-243.3,242.4,-5.6,119,1898,0.00,1.67,0.00,0.000,4,0.000,0.054,2898,3707,3760,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1925,-0.42,-243.3,243.6,-5.4,120,1931,0.00,1.58,0.00,0.000,6,0.000,0.024,2898,2575,3760,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2118,-0.42,-243.3,254.6,-5.4,130,2124,0.00,1.92,0.00,0.000,4,0.000,0.028,2898,1245,3758,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2161,-0.42,-243.3,257.2,-5.7,132,2167,0.00,2.10,0.00,0.000,6,0.000,0.048,2898,2601,3758,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2484,-0.42,-243.3,278.5,-6.9,148,2490,0.00,1.70,0.00,0.000,4,0.000,0.054,2898,3694,3756,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2517,-0.42,-243.3,280.0,-6.8,149,2523,0.00,1.52,0.00,0.000,6,0.000,0.028,2898,2596,3756,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2831,-0.42,-243.3,301.7,-6.6,165,2836,0.00,1.92,0.00,0.000,4,0.000,0.029,2898,1249,3753,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2868,-0.42,-243.3,303.2,-6.7,166,2876,0.00,2.12,0.00,0.000,6,0.000,0.051,2898,2610,3753,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3174,-0.42,-243.3,324.9,-7.2,182,3180,0.00,1.70,0.00,0.000,4,0.000,0.057,2898,3708,3750,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3227,-0.42,-243.3,327.6,-6.6,184,3232,0.00,1.55,0.00,0.000,6,0.000,0.024,2898,2594,3750,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3539,-0.42,-243.3,356.7,-11.6,200,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2594,3747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3841,-0.42,-243.3,388.9,-8.4,215,3846,0.00,1.98,0.00,0.000,4,0.000,0.029,2898,1230,3746,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3938,-0.42,-243.3,396.6,-9.1,219,3945,0.00,2.12,0.00,0.000,6,0.000,0.043,2898,2624,3745,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4244,-0.42,-243.3,423.3,-10.1,235,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2624,3744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4545,-0.42,-243.3,459.0,-12.1,250,4550,0.00,2.05,0.00,0.000,4,0.000,0.031,2898,1231,3741,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4622,-0.42,-243.3,466.1,-11.4,253,4629,0.00,2.10,0.00,0.000,6,0.000,0.044,2898,2605,3741,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4928,-0.42,-243.3,497.6,-9.3,269,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2605,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5229,-0.42,-243.3,524.3,-9.1,284,5234,0.00,1.67,0.00,0.000,4,0.000,0.053,2898,3690,3738,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5295,-0.42,-243.3,530.2,-9.1,287,5301,0.00,1.55,0.00,0.000,6,0.000,0.028,2898,2624,3737,0,0,0,0,0,0,28.83,26.82,28.83
$STATE,5517,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5517,begin apogee
$GC,5522,-0.11,0.0,552.1,-10.3,298,5718,0.28,0.00,187.82,1.124,6,0.077,0.000,3013,1940,2768,0,0,0,0,0,0,26.74,28.83,24.25
$STATE,5720,end apogee,CONTROL_FINISHED_OK
$STATE,5720,begin climb
$GC,5722,0.42,243.3,567.1,0.0,308,5934,0.43,2.40,201.88,1.090,4,0.066,0.047,3176,3360,1776,0,0,0,0,0,0,25.12,24.83,24.12
$GC,5994,0.44,293.9,554.3,8.9,321,6046,0.00,2.12,42.83,1.058,6,0.000,0.027,3175,1976,1570,0,0,0,0,0,0,28.83,25.50,24.27
$GC,6359,0.44,293.9,509.9,11.6,340,6364,0.00,2.22,0.00,0.000,4,0.000,0.053,3176,3351,1564,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6422,0.44,293.9,502.1,12.3,343,6427,0.00,2.12,0.00,0.000,6,0.000,0.031,3176,1958,1564,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6744,0.48,409.9,473.9,7.0,359,6850,0.00,2.40,96.45,1.063,4,0.000,0.054,3175,3349,1096,0,0,0,0,0,0,28.83,25.06,24.36
$GC,6883,0.54,545.6,465.7,6.5,365,7011,0.12,2.20,119.65,1.040,6,0.091,0.031,3231,1931,544,0,0,0,0,0,0,25.49,25.51,24.20
$GC,7310,0.54,545.6,419.7,11.0,387,7315,0.00,2.30,0.00,0.000,4,0.000,0.047,3233,3365,542,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7366,0.54,545.6,414.4,11.3,389,7373,0.00,2.15,0.00,0.000,6,0.000,0.027,3234,1945,541,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7672,0.54,545.6,376.3,11.0,405,7678,0.00,2.22,0.00,0.000,4,0.000,0.047,3234,3365,541,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7699,0.54,545.6,373.7,11.1,406,7704,0.00,2.12,0.00,0.000,6,0.000,0.027,3237,1948,541,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8017,0.54,545.6,337.1,10.8,422,8022,0.00,2.22,0.00,0.000,4,0.000,0.047,3237,3362,540,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8054,0.54,545.6,334.6,10.7,423,8061,0.00,2.10,0.00,0.000,6,0.000,0.028,3237,1943,540,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8359,0.54,545.6,300.3,11.3,439,8365,0.00,2.22,0.00,0.000,4,0.000,0.047,3237,3361,540,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8397,0.54,545.6,297.6,11.4,440,8404,0.00,2.10,0.00,0.000,6,0.000,0.028,3239,1948,540,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8703,0.54,545.6,260.4,12.4,456,8704,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1948,540,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9004,0.54,545.6,223.0,12.7,471,9009,0.00,2.20,0.00,0.000,4,0.000,0.047,3239,3358,540,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9050,0.54,545.6,216.9,13.4,473,9055,0.00,2.08,0.00,0.000,6,0.000,0.027,3239,1948,540,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9248,0.55,573.1,194.9,9.5,483,9268,0.00,0.00,18.12,0.864,6,0.000,0.000,3239,1948,460,0,0,0,0,0,0,28.83,28.83,25.61
$GC,9448,0.63,774.9,183.4,4.6,493,9455,0.00,2.22,0.00,0.000,4,0.000,0.045,3239,3362,459,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9472,0.71,985.1,182.3,4.4,494,9478,0.00,2.12,0.00,0.000,6,0.000,0.027,3239,1939,458,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9677,0.79,1176.6,173.2,4.9,504,9683,0.12,2.22,0.00,0.000,4,0.099,0.044,3309,3363,459,0,0,0,0,0,0,26.54,26.50,28.83
$GC,9709,0.86,1348.1,171.5,5.4,505,9715,0.00,2.08,0.00,0.000,6,0.000,0.027,3309,1952,458,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9902,0.86,1348.1,140.7,16.5,515,9907,0.00,2.10,0.00,0.000,4,0.000,0.038,3309,553,459,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9974,0.86,1348.1,132.1,14.6,518,9980,0.00,2.10,0.00,0.000,6,0.000,0.031,3309,1957,458,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10168,0.86,1348.1,104.3,13.9,528,10173,0.00,2.17,0.00,0.000,4,0.000,0.047,3309,3364,458,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10285,0.86,1348.1,92.2,11.2,533,10292,0.00,2.10,0.00,0.000,6,0.000,0.026,3309,1938,459,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10471,0.92,1492.7,78.4,6.2,543,10477,0.00,2.20,0.00,0.000,4,0.000,0.045,3309,3362,459,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10509,0.97,1635.8,76.9,6.3,544,10516,0.12,2.08,0.00,0.000,6,0.099,0.026,3381,1936,460,0,0,0,0,0,0,26.63,26.67,28.83
$GC,10695,0.97,1635.8,47.7,16.4,554,10700,0.00,2.05,0.00,0.000,4,0.000,0.037,3381,555,459,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10759,0.97,1635.8,38.9,12.6,560,10764,0.00,2.10,0.00,0.000,6,0.000,0.031,3381,1968,459,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10947,0.97,1635.8,11.6,13.6,587,10954,0.00,2.10,0.00,0.000,4,0.000,0.047,3381,3358,459,0,0,0,0,0,0,28.83,26.65,28.83
$GC,11013,0.99,1669.4,3.1,9.4,599,11019,0.00,2.08,0.00,0.000,6,0.000,0.027,3381,1952,459,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,11024,end climb,SURFACE_DEPTH_REACHED
$STATE,11024,begin surface coast
$FINISH,1.3,1.009845
$STATE,11051,end surface coast,CONTROL_FINISHED_OK
$STATE,11051,begin surface
$SM_CCo,11129,0.00,0.000,0,0,459,566.89
$SM_GC,2.25,8.30,1.02,0.00,0.049,0.052,0.000,136,2591,459,-9.04,-1.24,566.89,0,0,0,0,0,0,26.56,26.65,28.83
$IRIDIUM_FIX,2127.21,12032.40,121112,040400
$TT8_MAMPS,0.025466,0.025466
$HUMID,54.33
$INTERNAL_PRESSURE,9.51758
$TCM_TEMP,24.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,552.1,10.9
$SC_FREEKB,3998624
$24V_AH,24.1,10.911
$10V_AH,10.1,4.281
$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,20.325,115.050,666.750,0.000,0.000,0.000,0.000,397.325,1.000,0.000,39.312,1839.471,7229.897,733.795,1956.632,202.361,0.000,2030.730,0.000,1424.589,0.000,11.385,0.000
$DEVICE_MAMPS,247.095,77.265,1123.785,0.000,0.000,0.000,0.000,126.225,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11079.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.849,0.000,0.000,0.000
$MEM,323248
$DATA_FILE_SIZE,23427,606
$CAP_FILE_SIZE,149110,0
$CFSIZE,260034560,246509568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.470,154.0,1
$GPS,121112,075914,2136.037,12031.637,23,0.7,25,-3.0