version: 66.11
glider: 170
mission: 10
dive: 207
start: 12 16 112 18 49 26
data:
$ID,170
$MISSION,10
$DIVE,207
$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,-4
$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,-143353.75
$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,66
$R_STBD_OVSHOOT,46
$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
$GPS1,161212,183952,1910.173,11959.721,38,0.8,38,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-76.4
$GPS2,161212,184859,1910.106,11959.715,14,1.0,14,-2.5
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,W2A
$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,10.7,286864,-14.9,-8.684,-17.18
$D_GRID,3892
$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,-170.3,0.0,0.0,0,79,0.00,0.00,-56.20,0.000,2,0.000,0.000,129,2621,1853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.51,-170.3,3.0,-1.3,10,155,11.40,1.75,-53.72,0.000,4,0.243,0.079,2882,3672,3464,0,0,0,0,0,0,25.42,25.91,26.46
$GC,189,-0.42,-170.3,20.6,-35.7,28,197,0.12,1.58,0.00,0.000,6,0.176,0.027,2915,2604,3465,0,0,0,0,0,0,25.82,26.15,28.83
$GC,396,-0.41,-170.3,56.7,-9.5,46,401,0.00,2.10,0.00,0.000,4,0.000,0.031,2915,1195,3465,0,0,0,0,0,0,28.83,26.21,28.83
$GC,428,-0.40,-170.3,59.5,-10.0,47,434,0.00,2.17,0.00,0.000,6,0.000,0.047,2915,2583,3465,0,0,0,0,0,0,28.83,26.13,28.83
$GC,622,-0.41,-170.3,83.6,-11.1,57,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2584,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,803,-0.42,-170.3,96.6,-8.7,66,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2584,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,982,-0.43,-170.3,124.5,-14.4,75,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2584,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1163,-0.45,-170.3,137.5,-7.2,84,1168,0.00,2.10,0.00,0.000,4,0.000,0.036,2915,1206,3466,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1236,-0.47,-170.3,142.6,-7.8,87,1242,0.00,2.20,0.00,0.000,6,0.000,0.052,2915,2604,3465,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1432,-0.49,-170.3,156.9,-5.7,97,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2605,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1610,-0.51,-170.3,164.9,-4.5,106,1616,0.00,2.12,0.00,0.000,4,0.000,0.037,2915,1214,3465,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1655,-0.54,-170.3,167.2,-4.8,108,1662,0.12,2.20,0.00,0.000,6,0.088,0.056,2848,2603,3465,0,0,0,0,0,0,26.29,26.20,28.83
$GC,1862,-0.52,-170.3,188.5,-11.8,118,1864,0.12,0.00,0.00,0.000,6,0.147,0.000,2885,2603,3464,0,0,0,0,0,0,26.38,28.83,28.83
$GC,2040,-0.53,-170.3,213.0,-13.9,127,2045,0.00,2.12,0.00,0.000,4,0.000,0.038,2885,1214,3463,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2107,-0.54,-170.3,220.7,-12.6,130,2113,0.00,2.20,0.00,0.000,6,0.000,0.050,2885,2619,3463,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2306,-0.55,-170.3,244.8,-13.4,140,2311,0.00,1.67,0.00,0.000,4,0.000,0.053,2883,3690,3462,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2333,-0.56,-170.3,248.1,-13.8,141,2340,0.00,1.62,0.00,0.000,6,0.000,0.026,2883,2554,3463,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2534,-0.58,-170.3,270.3,-8.7,151,2540,0.00,1.90,0.00,0.000,4,0.000,0.028,2883,1245,3461,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2593,-0.59,-170.3,273.5,-7.5,153,2600,0.00,2.10,0.00,0.000,6,0.000,0.044,2882,2610,3461,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,2858,end dive,NO_VERTICAL_VELOCITY
$STATE,2858,begin apogee
$GC,2863,-0.15,0.0,278.1,0.0,167,3000,0.32,0.00,131.02,0.908,6,0.104,0.000,2999,2118,2769,0,0,0,0,0,0,26.19,28.83,24.44
$STATE,3002,end apogee,CONTROL_FINISHED_OK
$STATE,3002,begin climb
$GC,3004,0.51,170.3,276.5,0.0,174,3154,0.57,2.17,138.18,0.884,4,0.067,0.037,3216,779,2072,0,0,0,0,0,0,25.33,24.98,24.18
$GC,3196,0.50,170.3,265.2,9.1,183,3204,0.00,2.12,0.00,0.000,6,0.000,0.040,3217,2125,2068,0,0,0,0,0,0,28.83,25.41,28.83
$GC,3502,0.53,282.9,241.9,4.8,199,3602,0.00,2.33,89.10,0.868,4,0.000,0.049,3217,3526,1615,0,0,0,0,0,0,28.83,25.32,24.53
$GC,3679,0.56,354.9,233.4,6.2,207,3745,0.00,2.08,58.30,0.854,6,0.000,0.025,3222,2160,1322,0,0,0,0,0,0,28.83,25.89,24.48
$GC,3926,0.57,354.9,210.6,9.1,220,3931,0.00,2.17,0.00,0.000,4,0.000,0.036,3226,713,1317,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3969,0.59,354.9,206.8,8.7,222,3975,0.00,2.17,0.00,0.000,6,0.000,0.035,3226,2129,1317,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4174,0.60,354.9,186.3,11.7,232,4179,0.00,2.20,0.00,0.000,4,0.000,0.048,3226,3533,1316,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4221,0.62,354.9,180.2,12.7,234,4226,0.00,2.10,0.00,0.000,6,0.000,0.025,3226,2113,1316,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4420,0.63,354.9,153.5,13.3,244,4425,0.00,2.08,0.00,0.000,4,0.000,0.036,3226,722,1315,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4467,0.65,354.9,147.8,13.3,246,4473,0.00,2.10,0.00,0.000,6,0.000,0.035,3226,2122,1315,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4667,0.67,354.9,125.1,9.7,256,4673,0.12,2.17,0.00,0.000,4,0.092,0.047,3306,3530,1315,0,0,0,0,0,0,26.49,26.29,28.83
$GC,4735,0.66,354.9,115.6,13.2,259,4741,0.15,2.08,0.00,0.000,6,0.145,0.026,3265,2128,1315,0,0,0,0,0,0,26.16,26.44,28.83
$GC,4937,0.65,354.9,92.7,11.5,269,4942,0.00,2.10,0.00,0.000,4,0.000,0.036,3268,706,1314,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5042,0.67,354.9,80.4,11.4,274,5047,0.00,2.15,0.00,0.000,6,0.000,0.036,3268,2125,1314,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5245,0.67,354.9,59.4,11.2,284,5250,0.00,2.17,0.00,0.000,4,0.000,0.049,3267,3530,1314,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5288,0.67,354.9,54.3,11.9,286,5294,0.00,2.10,0.00,0.000,6,0.000,0.026,3268,2101,1314,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5482,0.77,547.2,46.2,2.1,301,5647,0.00,2.42,157.25,0.758,4,0.000,0.045,3268,3534,537,0,0,0,0,0,0,28.83,25.33,24.62
$GC,5781,0.85,547.2,21.2,12.1,333,5789,0.15,2.12,0.00,0.000,6,0.093,0.024,3325,2103,534,0,0,0,0,0,0,25.90,26.03,28.83
$STATE,5946,end climb,SURFACE_DEPTH_REACHED
$STATE,5946,begin surface coast
$FINISH,1.4,1.021196
$STATE,5973,end surface coast,CONTROL_FINISHED_OK
$STATE,5974,begin surface
$SM_CCo,6052,0.00,0.000,0,0,532,548.49
$SM_GC,2.37,8.27,0.80,0.00,0.045,0.040,0.000,136,2611,532,-9.07,-0.99,548.49,0,0,0,0,0,0,25.98,26.20,28.83
$IRIDIUM_FIX,1900.10,11956.01,161212,121217
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.59
$INTERNAL_PRESSURE,9.47851
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,3940608
$24V_AH,24.2,45.604
$10V_AH,9.9,21.214
$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,21.375,68.150,573.850,0.000,0.000,0.000,0.000,348.675,0.000,0.000,16.281,1111.296,3367.500,591.251,1337.632,179.245,0.000,1547.558,0.000,897.115,0.000,0.542,0.000
$DEVICE_MAMPS,242.505,78.795,908.055,0.000,0.000,0.000,0.000,133.875,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6011.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.816,0.000,0.000,0.000
$MEM,323744
$DATA_FILE_SIZE,13504,370
$CAP_FILE_SIZE,97511,0
$CFSIZE,260034560,229531648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.130,128.8,1
$GPS,161212,203112,1910.913,12000.089,17,1.2,17,-2.5