version: 66.11
glider: 170
mission: 10
dive: 187
start: 12 12 112 12 1 4
data:
$ID,170
$MISSION,10
$DIVE,187
$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,380
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,3
$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,-143327.25
$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,3050
$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,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,55
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$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
$GPS1,121212,115134,1835.865,12030.017,31,1.0,31,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-70.2
$GPS2,121212,120036,1836.072,12029.952,16,1.3,16,-2.4
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$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,111.2,4295,-14.9,-8.684,-17.18
$D_GRID,403
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.51,-170.3,0.0,0.0,0,80,0.00,0.00,-57.62,0.000,2,0.000,0.000,138,2625,1860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.51,-170.3,3.1,-1.2,10,150,11.15,0.00,-52.62,0.000,6,0.238,0.000,2881,2625,3465,0,0,0,0,0,0,25.51,28.83,26.46
$GC,350,-0.45,-170.3,59.7,-22.1,44,356,0.00,1.70,0.00,0.000,4,0.000,0.060,2881,3670,3465,0,0,0,0,0,0,28.83,26.07,28.83
$GC,423,-0.41,-170.3,71.8,-18.9,47,429,0.12,1.58,0.00,0.000,6,0.149,0.024,2918,2574,3465,0,0,0,0,0,0,26.06,26.36,28.83
$GC,618,-0.40,-170.3,96.1,-12.9,57,624,0.00,1.95,0.00,0.000,4,0.000,0.026,2918,1211,3466,0,0,0,0,0,0,28.83,26.37,28.83
$GC,636,-0.39,-170.3,96.1,-12.9,57,643,0.00,2.12,0.00,0.000,6,0.000,0.043,2918,2585,3466,0,0,0,0,0,0,28.83,26.25,28.83
$GC,821,-0.39,-170.3,116.9,-9.0,67,826,0.00,1.73,0.00,0.000,4,0.000,0.052,2918,3698,3466,0,0,0,0,0,0,28.83,26.28,28.83
$GC,860,-0.39,-170.3,119.1,-8.8,68,866,0.00,1.58,0.00,0.000,6,0.000,0.024,2918,2559,3465,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1045,-0.40,-170.3,138.7,-10.2,78,1050,0.00,1.83,0.00,0.000,4,0.000,0.058,2920,3690,3466,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1092,-0.41,-170.3,142.5,-9.5,80,1098,0.00,1.52,0.00,0.000,6,0.000,0.024,2918,2628,3466,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1293,-0.42,-170.3,158.1,-7.2,90,1299,0.00,2.05,0.00,0.000,4,0.000,0.027,2918,1205,3465,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1346,-0.44,-170.3,161.1,-6.8,92,1351,0.00,2.15,0.00,0.000,6,0.000,0.040,2918,2611,3465,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1542,-0.47,-170.3,175.5,-7.4,102,1547,0.00,1.65,0.00,0.000,4,0.000,0.053,2918,3692,3465,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1609,-0.50,-170.3,180.2,-7.3,105,1614,0.00,1.60,0.00,0.000,6,0.000,0.025,2918,2559,3465,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1809,-0.53,-170.3,194.0,-6.6,115,1815,0.12,1.90,0.00,0.000,4,0.085,0.024,2834,1232,3464,0,0,0,0,0,0,26.60,26.51,28.83
$GC,1873,-0.54,-170.3,200.4,-8.7,118,1879,0.15,2.10,0.00,0.000,6,0.142,0.041,2879,2604,3464,0,0,0,0,0,0,26.17,26.38,28.83
$GC,2080,-0.55,-170.3,217.7,-8.2,128,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2604,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2258,-0.56,-170.3,232.5,-8.3,137,2263,0.00,1.98,0.00,0.000,4,0.000,0.026,2880,1239,3463,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2282,-0.57,-170.3,234.5,-8.2,138,2288,0.00,2.10,0.00,0.000,6,0.000,0.041,2880,2610,3462,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2489,-0.58,-170.3,251.7,-8.2,148,2494,0.00,1.98,0.00,0.000,4,0.000,0.025,2880,1241,3461,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2536,-0.59,-170.3,255.2,-7.8,150,2541,0.00,2.10,0.00,0.000,6,0.000,0.040,2878,2612,3461,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2854,-0.61,-170.3,280.6,-8.2,166,2860,0.00,1.98,0.00,0.000,4,0.000,0.025,2880,1242,3459,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2878,-0.62,-170.3,282.7,-8.1,167,2884,0.00,2.10,0.00,0.000,6,0.000,0.041,2879,2613,3458,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3203,-0.63,-170.3,309.4,-8.6,183,3208,0.00,2.00,0.00,0.000,4,0.000,0.025,2880,1232,3455,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3266,-0.65,-170.3,314.8,-8.7,186,3272,0.12,2.12,0.00,0.000,6,0.097,0.041,2810,2610,3455,0,0,0,0,0,0,26.37,26.39,28.83
$GC,3590,-0.63,-170.3,358.1,-13.9,202,3591,0.12,0.00,0.00,0.000,6,0.154,0.000,2846,2610,3452,0,0,0,0,0,0,26.39,28.83,28.83
$GC,3891,-0.63,-170.3,391.7,-10.6,217,3896,0.00,2.00,0.00,0.000,4,0.000,0.025,2847,1232,3451,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3963,-0.63,-170.3,398.2,-10.3,220,3968,0.00,2.12,0.00,0.000,6,0.000,0.041,2845,2612,3450,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,4014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4014,begin apogee
$GC,4020,-0.15,0.0,404.2,-9.6,223,4158,0.43,0.00,132.02,1.020,6,0.111,0.000,2997,2129,2769,0,0,0,0,0,0,26.11,28.83,24.37
$STATE,4159,end apogee,CONTROL_FINISHED_OK
$STATE,4160,begin climb
$GC,4162,0.51,170.3,409.3,0.0,230,4312,0.57,2.12,140.88,0.993,4,0.067,0.031,3213,778,2073,0,0,0,0,0,0,25.27,24.87,24.08
$GC,4405,0.50,170.3,395.6,9.1,242,4410,0.00,2.10,0.00,0.000,6,0.000,0.034,3214,2121,2065,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4723,0.48,170.3,363.0,11.4,258,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2122,2063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5024,0.47,170.3,331.6,9.5,273,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2122,2062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5325,0.46,170.3,303.9,9.1,288,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2122,2060,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5625,0.44,170.3,275.0,9.6,303,5630,0.00,2.20,0.00,0.000,4,0.000,0.048,3214,3533,2059,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5663,0.43,170.3,272.3,9.7,304,5671,0.12,2.03,0.00,0.000,6,0.155,0.026,3185,2159,2059,0,0,0,0,0,0,26.20,26.50,28.83
$GC,5969,0.44,204.9,246.2,7.5,320,6002,0.00,2.12,27.10,0.919,4,0.000,0.031,3187,737,1932,0,0,0,0,0,0,28.83,26.04,25.15
$GC,6091,0.47,231.6,236.7,7.8,326,6120,0.00,2.12,22.83,0.895,6,0.000,0.034,3187,2129,1823,0,0,0,0,0,0,28.83,26.10,24.96
$GC,6313,0.48,231.6,216.9,9.0,337,6318,0.00,2.17,0.00,0.000,4,0.000,0.047,3187,3526,1818,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6357,0.49,231.6,212.6,9.3,339,6362,0.00,2.10,0.00,0.000,6,0.000,0.025,3187,2114,1817,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6562,0.52,275.6,195.9,7.2,349,6604,0.00,2.12,35.45,0.892,4,0.000,0.033,3188,727,1644,0,0,0,0,0,0,28.83,25.79,24.98
$GC,6647,0.56,316.0,189.9,7.3,353,6687,0.12,2.15,33.67,0.873,6,0.088,0.033,3259,2125,1480,0,0,0,0,0,0,25.90,25.90,24.77
$GC,6885,0.55,316.0,160.2,11.7,365,6891,0.12,2.20,0.00,0.000,4,0.143,0.045,3214,3531,1475,0,0,0,0,0,0,25.99,26.01,28.83
$GC,6984,0.57,316.0,151.7,10.1,369,6991,0.00,2.12,0.00,0.000,6,0.000,0.026,3214,2090,1474,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7170,0.61,362.5,136.4,7.1,379,7214,0.00,2.05,37.22,0.847,4,0.000,0.031,3214,745,1290,0,0,0,0,0,0,28.83,25.78,24.99
$GC,7237,0.67,440.3,132.7,6.0,382,7306,0.15,2.12,63.55,0.834,6,0.076,0.031,3294,2127,974,0,0,0,0,0,0,25.87,25.86,24.65
$GC,7486,0.67,440.3,103.8,11.1,394,7492,0.00,2.22,0.00,0.000,4,0.000,0.046,3295,3534,969,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7539,0.67,440.3,98.6,11.4,396,7544,0.00,2.10,0.00,0.000,6,0.000,0.024,3297,2135,969,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7733,0.68,440.3,76.4,10.1,406,7738,0.00,2.10,0.00,0.000,4,0.000,0.032,3296,728,968,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7810,0.71,451.0,71.2,8.3,409,7827,0.00,2.10,9.55,0.706,6,0.000,0.031,3296,2128,929,0,0,0,0,0,0,28.83,26.26,25.29
$GC,8023,0.76,502.6,54.9,6.9,420,8074,0.00,2.25,43.33,0.765,4,0.000,0.046,3296,3517,719,0,0,0,0,0,0,28.83,25.72,25.02
$GC,8114,0.78,502.6,47.0,9.0,425,8120,0.00,2.12,0.00,0.000,6,0.000,0.024,3296,2094,718,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8309,0.87,605.1,32.8,5.2,444,8360,0.10,0.00,48.15,0.732,6,0.106,0.000,3364,2093,460,0,0,0,0,0,0,26.27,28.83,24.96
$GC,8541,0.96,734.4,10.8,4.3,482,8547,0.00,2.03,0.00,0.000,4,0.000,0.032,3363,737,458,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8591,1.01,734.4,6.6,9.8,491,8598,0.00,2.08,0.00,0.000,6,0.000,0.028,3364,2140,459,0,0,0,0,0,0,28.83,26.16,28.83
$STATE,8628,end climb,SURFACE_DEPTH_REACHED
$STATE,8628,begin surface coast
$FINISH,1.6,1.020931
$STATE,8661,end surface coast,CONTROL_FINISHED_OK
$STATE,8661,begin surface
$SM_CCo,8740,0.00,0.000,0,0,458,566.89
$SM_GC,2.37,8.43,0.70,0.00,0.048,0.046,0.000,135,2600,458,-9.06,-1.30,566.89,0,0,0,0,0,0,26.03,26.20,28.83
$IRIDIUM_FIX,1835.04,12021.94,121212,050555
$TT8_MAMPS,0.025466,0.025466
$HUMID,52.83
$INTERNAL_PRESSURE,9.49804
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3948320
$24V_AH,24.1,41.327
$10V_AH,9.8,19.032
$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,21.850,94.025,593.750,0.000,0.000,0.000,0.000,335.350,0.000,0.000,19.035,1567.788,5192.807,640.388,1640.098,228.413,0.000,1739.060,0.000,1201.836,0.000,0.544,0.000
$DEVICE_MAMPS,237.915,60.435,1019.745,0.000,0.000,0.000,0.000,133.875,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8704.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.401,0.000,0.000,0.000
$MEM,337800
$DATA_FILE_SIZE,16800,504
$CAP_FILE_SIZE,132427,0
$CFSIZE,260034560,231739392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.137,321.9,1
$GPS,121212,142749,1836.156,12030.812,28,1.6,28,-2.4