version: 66.11
glider: 170
mission: 10
dive: 61
start: 11 13 112 5 19 57
data:
$ID,170
$MISSION,10
$DIVE,61
$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,-143164.34
$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,67
$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
$GPS1,131112,051228,2135.336,12030.324,37,0.8,37,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-75.4
$GPS2,131112,051930,2135.236,12030.457,22,1.0,22,-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,337.0,55424,-14.3,-10.312,-16.49
$D_GRID,1425
$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,-243.3,0.0,0.0,0,99,0.00,0.00,-78.03,0.000,2,0.000,0.000,140,2613,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.42,-243.3,3.1,-1.7,14,158,11.25,1.80,-38.72,0.000,4,0.252,0.078,2896,3690,3763,0,0,0,0,0,0,25.96,26.18,26.49
$GC,290,-0.42,-243.3,54.2,-31.7,40,295,0.00,1.60,0.00,0.000,6,0.000,0.024,2896,2585,3763,0,0,0,0,0,0,28.83,26.38,28.83
$GC,488,-0.42,-243.3,111.2,-22.8,50,493,0.00,2.00,0.00,0.000,4,0.000,0.031,2896,1202,3762,0,0,0,0,0,0,28.83,26.43,28.83
$GC,514,-0.42,-243.3,115.3,-19.9,51,519,0.00,2.17,0.00,0.000,6,0.000,0.047,2896,2592,3764,0,0,0,0,0,0,28.83,26.39,28.83
$GC,712,-0.42,-243.3,138.1,-8.4,61,717,0.00,1.77,0.00,0.000,4,0.000,0.067,2896,3694,3763,0,0,0,0,0,0,28.83,26.45,28.83
$GC,739,-0.42,-243.3,140.6,-8.9,62,744,0.00,1.58,0.00,0.000,6,0.000,0.024,2896,2579,3762,0,0,0,0,0,0,28.83,26.54,28.83
$GC,936,-0.42,-243.3,167.2,-14.9,72,941,0.00,1.80,0.00,0.000,4,0.000,0.064,2896,3690,3763,0,0,0,0,0,0,28.83,26.48,28.83
$GC,959,-0.42,-243.3,171.1,-15.8,73,964,0.00,1.55,0.00,0.000,6,0.000,0.025,2896,2601,3762,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1162,-0.42,-243.3,200.7,-12.5,83,1168,0.00,2.00,0.00,0.000,4,0.000,0.034,2897,1238,3762,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1226,-0.42,-243.3,206.4,-9.1,86,1232,0.00,2.12,0.00,0.000,6,0.000,0.047,2896,2610,3763,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1430,-0.42,-243.3,216.8,-5.2,96,1435,0.00,1.73,0.00,0.000,4,0.000,0.069,2896,3690,3762,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1453,-0.42,-243.3,218.2,-5.3,97,1459,0.00,1.58,0.00,0.000,6,0.000,0.041,2896,2593,3762,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1657,-0.42,-243.3,229.1,-5.0,107,1662,0.00,2.03,0.00,0.000,4,0.000,0.037,2896,1217,3762,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1708,-0.42,-243.3,231.4,-5.3,109,1715,0.00,2.15,0.00,0.000,6,0.000,0.049,2896,2598,3761,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1902,-0.42,-243.3,245.5,-7.8,119,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2598,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2082,-0.42,-243.3,260.4,-7.9,128,2088,0.00,2.05,0.00,0.000,4,0.000,0.034,2896,1232,3761,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2115,-0.42,-243.3,262.3,-7.8,129,2120,0.00,2.12,0.00,0.000,6,0.000,0.051,2896,2604,3760,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2428,-0.42,-243.3,281.3,-4.6,145,2433,0.00,2.05,0.00,0.000,4,0.000,0.035,2896,1242,3758,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2460,-0.42,-243.3,282.4,-4.6,146,2466,0.00,2.10,0.00,0.000,6,0.000,0.048,2896,2611,3758,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2774,-0.42,-243.3,297.3,-5.3,162,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2611,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3075,-0.42,-243.3,312.6,-5.1,177,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2611,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3375,-0.42,-243.3,330.9,-6.5,192,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2613,3752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3675,-0.42,-243.3,353.4,-7.7,207,3680,0.00,1.67,0.00,0.000,4,0.000,0.055,2896,3690,3749,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3701,-0.42,-243.3,355.1,-7.7,208,3708,0.00,1.55,0.00,0.000,6,0.000,0.030,2896,2615,3750,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4021,-0.42,-243.3,383.7,-10.3,224,4026,0.00,2.03,0.00,0.000,4,0.000,0.029,2896,1207,3747,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4253,-0.42,-243.3,409.8,-12.8,235,4259,0.00,2.15,0.00,0.000,6,0.000,0.043,2896,2611,3746,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4566,-0.42,-243.3,450.0,-11.4,251,4571,0.00,2.05,0.00,0.000,4,0.000,0.028,2896,1202,3745,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4609,-0.42,-243.3,454.6,-10.9,253,4615,0.00,2.12,0.00,0.000,6,0.000,0.041,2896,2611,3745,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4932,-0.42,-243.3,484.4,-7.2,269,4938,0.00,1.65,0.00,0.000,4,0.000,0.054,2896,3695,3742,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5005,-0.42,-243.3,488.1,-6.1,272,5010,0.00,1.60,0.00,0.000,6,0.000,0.028,2896,2565,3742,0,0,0,0,0,0,28.83,26.80,28.83
$GC,5318,-0.42,-243.3,507.4,-7.7,288,5323,0.00,1.95,0.00,0.000,4,0.000,0.029,2896,1222,3740,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5405,-0.42,-243.3,515.5,-9.8,292,5410,0.00,2.10,0.00,0.000,6,0.000,0.041,2896,2610,3740,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5722,-0.42,-243.3,551.7,-10.9,308,5728,0.00,2.03,0.00,0.000,4,0.000,0.028,2896,1232,3739,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5774,-0.42,-243.3,556.2,-10.7,310,5780,0.00,2.08,0.00,0.000,6,0.000,0.041,2896,2605,3738,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6087,-0.42,-243.3,588.0,-9.9,326,6093,0.00,2.00,0.00,0.000,4,0.000,0.029,2896,1234,3736,0,0,0,0,0,0,28.83,26.76,28.83
$GC,6176,-0.42,-243.3,596.4,-10.0,330,6181,0.00,2.08,0.00,0.000,6,0.000,0.041,2895,2608,3736,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6484,-0.42,-243.3,631.1,-11.6,341,6489,0.00,2.03,0.00,0.000,4,0.000,0.029,2896,1234,3735,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6531,-0.42,-243.3,635.1,-11.5,342,6536,0.00,2.10,0.00,0.000,6,0.000,0.042,2896,2603,3734,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6849,-0.42,-243.3,674.9,-12.3,353,6854,0.00,2.03,0.00,0.000,4,0.000,0.028,2896,1227,3732,0,0,0,0,0,0,28.83,26.76,28.83
$GC,6926,-0.42,-243.3,681.8,-11.6,355,6931,0.00,2.10,0.00,0.000,6,0.000,0.041,2895,2602,3731,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7244,-0.42,-243.3,720.6,-11.8,366,7249,0.00,1.67,0.00,0.000,4,0.000,0.054,2896,3698,3730,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7280,-0.42,-243.3,724.3,-11.7,367,7286,0.00,1.58,0.00,0.000,6,0.000,0.031,2896,2621,3730,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7609,-0.42,-243.3,759.0,-10.0,378,7614,0.00,2.05,0.00,0.000,4,0.000,0.028,2896,1196,3728,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7727,-0.42,-243.3,768.9,-10.5,381,7733,0.00,2.12,0.00,0.000,6,0.000,0.041,2896,2600,3727,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8032,-0.42,-243.3,804.4,-10.4,392,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2600,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8332,-0.42,-243.3,837.8,-11.2,402,8333,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2600,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8632,-0.42,-243.3,870.9,-11.2,412,8637,0.00,2.05,0.00,0.000,4,0.000,0.029,2896,1193,3722,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8768,-0.42,-243.3,884.5,-11.0,416,8774,0.00,2.17,0.00,0.000,6,0.000,0.043,2896,2607,3722,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9086,-0.42,-243.3,922.6,-12.0,427,9092,0.00,2.08,0.00,0.000,4,0.000,0.030,2896,1202,3720,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9163,-0.42,-243.3,930.6,-12.4,429,9169,0.00,2.15,0.00,0.000,6,0.000,0.043,2896,2599,3720,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9482,-0.42,-243.3,972.2,-12.6,440,9487,0.00,2.08,0.00,0.000,4,0.000,0.029,2896,1196,3719,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9584,-0.42,-243.3,982.9,-11.8,443,9589,0.00,2.15,0.00,0.000,6,0.000,0.042,2896,2611,3719,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,9665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9665,begin apogee
$GC,9671,-0.11,0.0,992.8,-10.9,446,9877,0.28,0.00,196.88,1.471,6,0.072,0.000,3018,1937,2767,0,0,0,0,0,0,26.74,28.83,23.80
$STATE,9879,end apogee,CONTROL_FINISHED_OK
$STATE,9879,begin climb
$GC,9881,0.42,243.3,1004.2,0.0,453,10107,0.43,2.50,215.02,1.427,4,0.053,0.050,3187,3346,1776,0,0,0,0,0,0,24.87,24.25,23.41
$GC,10149,0.42,243.3,978.1,13.6,462,10155,0.00,2.22,0.00,0.000,6,0.000,0.028,3190,1971,1775,0,0,0,0,0,0,28.83,24.88,28.83
$GC,10483,0.42,243.3,928.1,15.3,473,10488,0.00,2.25,0.00,0.000,4,0.000,0.048,3190,3357,1769,0,0,0,0,0,0,28.83,25.81,28.83
$GC,10520,0.42,243.3,922.7,15.5,474,10525,0.00,2.17,0.00,0.000,6,0.000,0.029,3198,1950,1769,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10849,0.42,243.3,869.5,16.2,485,10854,0.00,2.28,0.00,0.000,4,0.000,0.049,3198,3364,1768,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10891,0.42,243.3,863.7,16.5,486,10897,0.00,2.17,0.00,0.000,6,0.000,0.029,3199,1937,1767,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11215,0.42,243.3,810.0,15.9,497,11221,0.00,2.28,0.00,0.000,4,0.000,0.048,3201,3362,1767,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11248,0.42,243.3,804.4,16.1,498,11254,0.00,2.15,0.00,0.000,6,0.000,0.029,3201,1949,1766,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11583,0.42,243.3,755.7,13.6,509,11589,0.00,2.22,0.00,0.000,4,0.000,0.048,3201,3371,1766,0,0,0,0,0,0,28.83,26.43,28.83
$GC,11616,0.42,243.3,750.7,13.6,510,11622,0.00,2.12,0.00,0.000,6,0.000,0.030,3201,1953,1766,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11951,0.43,285.5,714.3,9.1,521,11993,0.00,2.30,36.62,1.274,4,0.000,0.047,3201,3366,1604,0,0,0,0,0,0,28.83,25.58,24.75
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$STATE,17544,end climb,SURFACE_DEPTH_REACHED
$STATE,17544,begin surface coast
$FINISH,1.3,1.021807
$STATE,17567,end surface coast,CONTROL_FINISHED_OK
$STATE,17567,begin surface
$SM_CCo,17645,0.00,0.000,0,0,457,567.13
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$IRIDIUM_FIX,2127.21,12030.40,131112,000020
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.50
$INTERNAL_PRESSURE,9.45898
$TCM_TEMP,23.20
$XPDR_PINGS,1
$SC_FREEKB,3996704
$24V_AH,23.4,12.253
$10V_AH,10.3,4.837
$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,20.550,187.050,701.325,0.000,0.000,0.000,0.000,245.500,0.250,0.000,22.898,2785.813,11669.812,839.024,2501.896,264.324,0.000,2351.495,0.000,2124.479,0.000,0.543,0.000
$DEVICE_MAMPS,251.685,78.030,1471.095,0.000,0.000,0.000,0.000,136.170,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17586.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.155,0.000,0.000,0.000
$MEM,323264
$DATA_FILE_SIZE,30024,814
$CAP_FILE_SIZE,208201,0
$CFSIZE,260034560,245940224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.694,150.4,1
$GPS,131112,101504,2135.837,12029.109,25,1.1,25,-3.0