version: 66.11
glider: 170
mission: 10
dive: 189
start: 12 12 112 16 44 28
data:
$ID,170
$MISSION,10
$DIVE,189
$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,-143329.75
$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,61
$R_STBD_OVSHOOT,40
$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
$GPS1,121212,163604,1836.867,12031.386,26,1.1,26,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-73.4
$GPS2,121212,164400,1837.166,12031.385,19,1.2,19,-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,194.0,4978,-14.9,-8.684,-17.18
$D_GRID,344
$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,20,-0.51,-170.3,0.0,0.0,0,86,0.00,0.00,-63.58,0.000,2,0.000,0.000,142,2623,1889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.51,-170.3,3.0,-2.6,11,155,11.27,2.15,-46.83,0.000,4,0.244,0.047,2884,1195,3465,0,0,0,0,0,0,25.71,26.24,26.60
$GC,259,-0.46,-170.3,34.1,-21.5,38,265,0.00,2.17,0.00,0.000,6,0.000,0.044,2884,2601,3463,0,0,0,0,0,0,28.83,26.28,28.83
$GC,455,-0.42,-170.3,72.4,-21.8,52,460,0.10,1.67,0.00,0.000,4,0.186,0.048,2910,3701,3464,0,0,0,0,0,0,26.33,26.34,28.83
$GC,528,-0.38,-170.3,82.4,-16.0,55,533,0.00,1.60,0.00,0.000,6,0.000,0.023,2910,2545,3464,0,0,0,0,0,0,28.83,26.55,28.83
$GC,721,-0.38,-170.3,105.4,-9.6,65,727,0.00,1.92,0.00,0.000,4,0.000,0.025,2910,1182,3464,0,0,0,0,0,0,28.83,26.51,28.83
$GC,794,-0.38,-170.3,112.6,-11.3,68,799,0.00,2.15,0.00,0.000,6,0.000,0.037,2910,2608,3464,0,0,0,0,0,0,28.83,26.44,28.83
$GC,988,-0.38,-170.3,135.7,-11.8,78,993,0.00,1.67,0.00,0.000,4,0.000,0.051,2911,3693,3464,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1065,-0.39,-170.3,141.4,-9.8,81,1073,0.00,1.60,0.00,0.000,6,0.000,0.024,2910,2534,3464,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1251,-0.40,-170.3,158.0,-8.7,91,1256,0.00,1.90,0.00,0.000,4,0.000,0.026,2910,1183,3464,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1284,-0.41,-170.3,159.9,-8.5,92,1291,0.00,2.15,0.00,0.000,6,0.000,0.040,2910,2608,3464,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1479,-0.42,-170.3,177.4,-9.2,102,1484,0.00,2.08,0.00,0.000,4,0.000,0.028,2910,1195,3464,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1506,-0.44,-170.3,179.5,-9.4,103,1512,0.00,2.15,0.00,0.000,6,0.000,0.042,2910,2599,3463,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1707,-0.45,-170.3,196.7,-8.4,113,1713,0.00,1.70,0.00,0.000,4,0.000,0.051,2910,3697,3463,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1760,-0.47,-170.3,200.3,-8.0,115,1765,0.00,1.60,0.00,0.000,6,0.000,0.024,2910,2547,3463,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1955,-0.49,-170.3,216.4,-7.6,125,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2546,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2134,-0.52,-170.3,229.7,-7.1,134,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2546,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2314,-0.54,-170.3,240.7,-5.9,143,2320,0.12,1.95,0.00,0.000,4,0.096,0.026,2838,1185,3460,0,0,0,0,0,0,26.63,26.55,28.83
$GC,2372,-0.55,-170.3,244.9,-7.6,145,2380,0.12,2.17,0.00,0.000,6,0.155,0.044,2874,2597,3459,0,0,0,0,0,0,26.28,26.45,28.83
$GC,2560,-0.56,-170.3,263.3,-9.1,155,2566,0.00,2.05,0.00,0.000,4,0.000,0.028,2874,1191,3458,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2588,-0.57,-170.3,265.7,-9.1,156,2594,0.00,2.17,0.00,0.000,6,0.000,0.044,2874,2605,3458,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2907,-0.57,-170.3,294.5,-9.3,172,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2605,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3208,-0.58,-170.3,320.2,-7.7,187,3213,0.00,2.10,0.00,0.000,4,0.000,0.029,2874,1191,3454,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3296,-0.59,-170.3,326.1,-7.0,191,3301,0.00,2.17,0.00,0.000,6,0.000,0.045,2874,2610,3453,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,3553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3553,begin apogee
$GC,3559,-0.15,0.0,345.0,-7.5,204,3695,0.35,0.00,130.05,0.970,6,0.106,0.000,2998,2087,2769,0,0,0,0,0,0,26.29,28.83,24.58
$STATE,3697,end apogee,CONTROL_FINISHED_OK
$STATE,3697,begin climb
$GC,3699,0.51,170.3,348.9,0.0,211,3849,0.57,2.12,138.40,0.942,4,0.066,0.037,3226,761,2071,0,0,0,0,0,0,25.44,25.23,24.46
$GC,3892,0.49,170.3,338.9,9.0,220,3899,0.00,2.12,0.00,0.000,6,0.000,0.038,3226,2124,2067,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4198,0.47,170.3,305.6,10.3,236,4204,0.00,2.10,0.00,0.000,4,0.000,0.037,3226,758,2064,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4246,0.45,170.3,301.0,10.5,238,4251,0.00,2.10,0.00,0.000,6,0.000,0.038,3226,2126,2062,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4565,0.43,170.3,269.0,11.4,254,4567,0.12,0.00,0.00,0.000,6,0.151,0.000,3189,2127,2061,0,0,0,0,0,0,26.33,28.83,28.83
$GC,4866,0.45,205.8,243.9,7.5,269,4899,0.00,2.28,27.67,0.894,4,0.000,0.048,3189,3531,1929,0,0,0,0,0,0,28.83,26.02,25.22
$GC,4952,0.45,224.2,237.1,8.1,273,4976,0.00,2.08,16.10,0.852,6,0.000,0.027,3189,2149,1854,0,0,0,0,0,0,28.83,26.17,25.08
$GC,5170,0.48,256.8,219.3,7.6,284,5203,0.00,2.20,26.75,0.874,4,0.000,0.035,3189,715,1720,0,0,0,0,0,0,28.83,25.89,25.10
$GC,5267,0.52,302.2,213.4,7.1,288,5311,0.00,2.20,37.12,0.871,6,0.000,0.038,3189,2131,1536,0,0,0,0,0,0,28.83,26.04,24.87
$GC,5491,0.58,371.0,197.4,6.3,300,5557,0.12,2.30,55.30,0.864,4,0.086,0.049,3272,3531,1254,0,0,0,0,0,0,26.26,25.53,24.82
$GC,5599,0.57,371.0,185.4,12.1,305,5605,0.15,2.17,0.00,0.000,6,0.135,0.028,3226,2122,1252,0,0,0,0,0,0,25.74,25.89,28.83
$GC,5800,0.58,371.0,165.9,9.6,315,5806,0.00,2.12,0.00,0.000,4,0.000,0.034,3226,708,1250,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5853,0.61,371.0,161.9,9.2,317,5858,0.00,2.17,0.00,0.000,6,0.000,0.039,3226,2123,1249,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6048,0.64,398.0,145.7,7.8,327,6076,0.00,2.20,22.12,0.812,4,0.000,0.047,3226,3531,1144,0,0,0,0,0,0,28.83,26.04,25.28
$GC,6118,0.70,455.6,141.4,6.7,330,6174,0.15,2.15,47.75,0.823,6,0.076,0.024,3311,2092,912,0,0,0,0,0,0,26.15,26.19,24.89
$GC,6371,0.70,455.6,103.9,13.7,343,6377,0.12,2.03,0.00,0.000,4,0.137,0.034,3268,732,906,0,0,0,0,0,0,26.10,26.17,28.83
$GC,6435,0.72,455.6,98.1,10.2,346,6441,0.00,2.10,0.00,0.000,6,0.000,0.032,3268,2136,906,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6641,0.76,486.2,84.1,7.6,356,6674,0.00,2.22,25.50,0.770,4,0.000,0.046,3268,3522,785,0,0,0,0,0,0,28.83,26.01,25.27
$GC,6716,0.79,486.2,77.8,9.6,359,6723,0.12,2.10,0.00,0.000,6,0.086,0.025,3338,2121,784,0,0,0,0,0,0,26.11,26.16,28.83
$GC,6903,0.79,486.2,53.4,14.0,369,6908,0.12,2.20,0.00,0.000,4,0.139,0.044,3293,3524,783,0,0,0,0,0,0,26.22,26.24,28.83
$GC,6950,0.80,486.2,48.2,13.8,371,6957,0.00,2.10,0.00,0.000,6,0.000,0.026,3293,2112,782,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7137,0.89,587.8,36.0,5.2,390,7210,0.12,2.20,66.72,0.740,4,0.090,0.037,3368,720,461,0,0,0,0,0,0,26.48,25.68,25.01
$GC,7299,0.95,613.0,21.7,7.8,409,7307,0.00,2.15,0.00,0.000,6,0.000,0.035,3368,2123,460,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7494,1.01,679.9,8.6,6.4,446,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2128,459,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7570,end climb,SURFACE_DEPTH_REACHED
$STATE,7570,begin surface coast
$FINISH,1.6,1.020867
$STATE,7599,end surface coast,CONTROL_FINISHED_OK
$STATE,7599,begin surface
$SM_CCo,7677,0.00,0.000,0,0,459,566.64
$SM_GC,2.32,8.35,0.73,0.00,0.047,0.041,0.000,143,2607,459,-9.05,-1.13,566.64,0,0,0,0,0,0,26.11,26.34,28.83
$IRIDIUM_FIX,1830.49,12032.08,121212,141414
$TT8_MAMPS,0.025466,0.025466
$HUMID,54.48
$INTERNAL_PRESSURE,9.55664
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3947552
$24V_AH,24.5,41.642
$10V_AH,10.0,19.179
$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,21.950,88.025,593.500,0.000,0.000,0.000,0.000,297.350,0.000,0.000,20.961,1429.486,4386.400,632.186,1508.591,202.301,0.000,1654.964,0.000,1113.245,0.000,0.544,0.000
$DEVICE_MAMPS,244.035,51.255,970.020,0.000,0.000,0.000,0.000,128.520,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7632.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.832,0.000,0.000,0.000
$MEM,337816
$DATA_FILE_SIZE,16774,466
$CAP_FILE_SIZE,121355,0
$CFSIZE,260034560,231591936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.359, 30.4,1
$GPS,121212,185319,1837.452,12031.873,17,1.5,17,-2.4