version: 66.11
glider: 170
mission: 10
dive: 98
start: 11 20 112 20 18 31
data:
$ID,170
$MISSION,10
$DIVE,98
$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,-7
$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,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,-143210.59
$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,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$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,68
$R_STBD_OVSHOOT,34
$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
$GPS1,201112,201105,2055.757,12002.233,35,0.9,35,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-73.9
$GPS2,201112,201805,2055.828,12002.062,14,1.3,14,-2.8
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,150.0,214543,-14.9,-8.684,-17.18
$D_GRID,3540
$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,-0.56,-170.3,0.0,0.0,0,91,0.00,0.00,-68.65,0.000,2,0.000,0.000,136,2619,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.56,-170.3,3.0,-2.5,12,167,10.85,2.15,-55.78,0.000,4,0.242,0.044,2849,1203,3466,0,0,0,0,0,0,25.84,26.20,26.47
$GC,246,-0.47,-170.3,29.1,-28.5,37,254,0.12,2.17,0.00,0.000,6,0.183,0.047,2881,2599,3466,0,0,0,0,0,0,26.08,26.20,28.83
$GC,433,-0.37,-170.3,82.4,-30.6,51,439,0.12,1.73,0.00,0.000,4,0.185,0.057,2918,3705,3466,0,0,0,0,0,0,26.19,26.30,28.83
$GC,500,-0.28,-170.3,100.8,-28.9,54,506,0.00,1.62,0.00,0.000,6,0.000,0.024,2918,2553,3467,0,0,0,0,0,0,28.83,26.42,28.83
$GC,699,-0.24,-170.3,141.7,-14.9,64,706,0.12,1.88,0.00,0.000,4,0.153,0.023,2961,1225,3466,0,0,0,0,0,0,26.35,26.48,28.83
$GC,790,-0.26,-170.3,150.3,-10.0,68,795,0.00,2.10,0.00,0.000,6,0.000,0.038,2961,2618,3466,0,0,0,0,0,0,28.83,26.45,28.83
$GC,990,-0.29,-170.3,166.1,-6.6,78,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2619,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1168,-0.34,-170.3,176.2,-5.8,87,1173,0.00,2.05,0.00,0.000,4,0.000,0.030,2961,1234,3467,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1206,-0.38,-170.3,177.8,-6.3,88,1214,0.15,2.10,0.00,0.000,6,0.077,0.044,2878,2598,3467,0,0,0,0,0,0,26.55,26.51,28.83
$GC,1392,-0.37,-170.3,202.4,-12.6,98,1398,0.12,1.67,0.00,0.000,4,0.146,0.052,2922,3692,3467,0,0,0,0,0,0,26.47,26.52,28.83
$GC,1450,-0.37,-170.3,206.1,-10.0,100,1456,0.00,1.52,0.00,0.000,6,0.000,0.024,2922,2630,3466,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1638,-0.39,-170.3,218.3,-7.9,110,1644,0.00,2.03,0.00,0.000,4,0.000,0.028,2922,1202,3467,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1716,-0.43,-170.3,224.5,-9.5,113,1723,0.00,2.15,0.00,0.000,6,0.000,0.039,2922,2617,3467,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1904,-0.46,-170.3,239.9,-6.4,123,1909,0.00,1.65,0.00,0.000,4,0.000,0.052,2922,3702,3466,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1941,-0.50,-170.3,241.3,-5.9,124,1949,0.12,1.60,0.00,0.000,6,0.093,0.024,2848,2549,3466,0,0,0,0,0,0,26.60,26.69,28.83
$GC,2128,-0.46,-170.3,263.3,-13.2,134,2134,0.12,1.92,0.00,0.000,4,0.158,0.023,2891,1195,3465,0,0,0,0,0,0,26.51,26.65,28.83
$GC,2172,-0.45,-170.3,268.5,-12.5,136,2177,0.00,2.15,0.00,0.000,6,0.000,0.040,2891,2602,3465,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2496,-0.46,-170.3,299.6,-8.1,152,2501,0.00,2.08,0.00,0.000,4,0.000,0.031,2891,1188,3464,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2528,-0.47,-170.3,301.3,-7.6,153,2533,0.00,2.15,0.00,0.000,6,0.000,0.039,2891,2603,3464,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2842,-0.49,-170.3,326.5,-8.4,169,2848,0.00,2.03,0.00,0.000,4,0.000,0.024,2891,1192,3463,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2967,-0.51,-170.3,337.1,-8.4,175,2973,0.00,2.15,0.00,0.000,6,0.000,0.039,2891,2612,3463,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3291,-0.54,-170.3,366.4,-9.0,191,3296,0.00,2.08,0.00,0.000,4,0.000,0.026,2891,1188,3461,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3378,-0.57,-170.3,372.4,-7.3,195,3385,0.10,2.15,0.00,0.000,6,0.102,0.039,2834,2602,3460,0,0,0,0,0,0,26.63,26.64,28.83
$GC,3698,-0.55,-170.3,403.4,-9.5,211,3703,0.00,1.70,0.00,0.000,4,0.000,0.052,2833,3687,3457,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3847,-0.54,-170.3,417.3,-9.4,218,3853,0.12,1.58,0.00,0.000,6,0.144,0.027,2872,2565,3456,0,0,0,0,0,0,26.55,26.74,28.83
$GC,4166,-0.55,-170.3,442.4,-9.3,234,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2563,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4467,-0.57,-170.3,465.5,-7.2,249,4473,0.00,1.92,0.00,0.000,4,0.000,0.027,2873,1225,3453,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4491,-0.58,-170.3,467.3,-7.3,250,4497,0.00,2.10,0.00,0.000,6,0.000,0.041,2873,2600,3453,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4815,-0.60,-170.3,495.1,-8.3,266,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2601,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5117,-0.62,-170.3,515.7,-6.4,281,5122,0.00,2.00,0.00,0.000,4,0.000,0.026,2873,1232,3449,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5160,-0.64,-170.3,518.7,-6.6,283,5166,0.12,2.10,0.00,0.000,6,0.092,0.041,2809,2608,3449,0,0,0,0,0,0,26.65,26.65,28.83
$GC,5484,-0.61,-170.3,558.4,-13.0,299,5490,0.12,2.03,0.00,0.000,4,0.154,0.024,2851,1222,3446,0,0,0,0,0,0,26.55,26.70,28.83
$GC,5511,-0.59,-170.3,561.1,-12.6,300,5517,0.00,2.12,0.00,0.000,6,0.000,0.041,2851,2610,3446,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5829,-0.59,-170.3,587.6,-7.3,316,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2610,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6130,-0.59,-170.3,612.0,-8.7,329,6135,0.00,2.03,0.00,0.000,4,0.000,0.027,2851,1228,3443,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6177,-0.60,-170.3,614.9,-8.7,330,6183,0.00,2.10,0.00,0.000,6,0.000,0.041,2851,2599,3443,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6497,-0.61,-170.3,642.3,-8.1,341,6502,0.00,1.98,0.00,0.000,4,0.000,0.027,2851,1235,3441,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6539,-0.62,-170.3,645.0,-8.1,342,6544,0.00,2.10,0.00,0.000,6,0.000,0.041,2851,2603,3441,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6864,-0.63,-170.3,674.6,-9.7,353,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2603,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7162,-0.64,-170.3,701.5,-8.7,363,7168,0.00,2.03,0.00,0.000,4,0.000,0.026,2851,1221,3438,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7199,-0.65,-170.3,704.3,-8.5,364,7204,0.00,2.12,0.00,0.000,6,0.000,0.041,2851,2604,3438,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7529,-0.66,-170.3,728.9,-7.1,375,7534,0.00,2.03,0.00,0.000,4,0.000,0.030,2851,1222,3436,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7582,-0.68,-170.3,731.3,-7.1,376,7587,0.00,2.12,0.00,0.000,6,0.000,0.041,2851,2606,3436,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7896,-0.69,-170.3,754.5,-7.5,387,7902,0.10,2.03,0.00,0.000,4,0.113,0.025,2795,1231,3435,0,0,0,0,0,0,26.72,26.70,28.83
$GC,7924,-0.70,-170.3,754.5,-7.5,387,7932,0.00,2.12,0.00,0.000,6,0.000,0.042,2795,2610,3434,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8230,-0.68,-170.3,794.3,-12.1,398,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2610,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8531,-0.65,-170.3,828.5,-11.1,408,8537,0.12,1.67,0.00,0.000,4,0.163,0.054,2837,3691,3431,0,0,0,0,0,0,26.53,26.62,28.83
$GC,8603,-0.64,-170.3,834.2,-10.0,410,8609,0.00,1.55,0.00,0.000,6,0.000,0.031,2837,2634,3431,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8928,-0.64,-170.3,859.5,-7.2,421,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2634,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9227,-0.65,-170.3,880.2,-6.8,431,9232,0.00,2.08,0.00,0.000,4,0.000,0.028,2837,1198,3429,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9335,-0.66,-170.3,886.4,-6.6,434,9341,0.00,2.17,0.00,0.000,6,0.000,0.041,2837,2610,3428,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9656,-0.67,-170.3,907.3,-6.3,445,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2610,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9955,-0.68,-170.3,928.4,-7.4,455,9960,0.00,2.10,0.00,0.000,4,0.000,0.028,2837,1188,3426,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10023,-0.69,-170.3,933.4,-7.8,457,10029,0.00,2.17,0.00,0.000,6,0.000,0.041,2837,2600,3426,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10354,-0.70,-170.3,960.8,-8.2,468,10359,0.00,2.08,0.00,0.000,4,0.000,0.028,2837,1196,3424,0,0,0,0,0,0,28.83,26.69,28.83
$GC,10396,-0.71,-170.3,963.5,-8.2,469,10401,0.00,2.17,0.00,0.000,6,0.000,0.042,2837,2605,3424,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10721,-0.72,-170.3,989.6,-7.8,480,10726,0.00,2.08,0.00,0.000,4,0.000,0.028,2836,1200,3424,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,10752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10752,begin apogee
$GC,10758,-0.17,0.0,992.6,-8.0,481,10906,0.40,0.00,138.30,1.489,6,0.108,0.000,2981,2127,2769,0,0,0,0,0,0,26.49,28.83,23.93
$STATE,10907,end apogee,CONTROL_FINISHED_OK
$STATE,10907,begin climb
$GC,10909,0.56,170.3,998.6,0.0,486,11069,0.68,2.42,153.05,1.451,4,0.056,0.048,3227,3526,2072,0,0,0,0,0,0,24.96,24.20,23.39
$GC,11092,0.49,170.3,986.1,9.7,492,11098,0.15,2.25,0.00,0.000,6,0.158,0.028,3197,2133,2068,0,0,0,0,0,0,24.51,24.65,28.83
$GC,11421,0.46,170.3,948.1,11.0,503,11426,0.00,2.20,0.00,0.000,4,0.000,0.035,3201,718,2060,0,0,0,0,0,0,28.83,25.78,28.83
$GC,11549,0.43,170.3,934.7,10.8,507,11554,0.00,2.20,0.00,0.000,6,0.000,0.037,3201,2123,2059,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11878,0.40,170.3,891.8,13.4,518,11884,0.12,2.22,0.00,0.000,4,0.157,0.049,3161,3535,2059,0,0,0,0,0,0,26.08,26.16,28.83
$GC,11973,0.37,170.3,879.0,13.5,521,11979,0.00,2.15,0.00,0.000,6,0.000,0.027,3168,2108,2058,0,0,0,0,0,0,28.83,26.30,28.83
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$STATE,20102,end climb,SURFACE_DEPTH_REACHED
$STATE,20102,begin surface coast
$FINISH,1.5,0.998269
$STATE,20125,end surface coast,CONTROL_FINISHED_OK
$STATE,20125,begin surface
$SM_CCo,20203,0.00,0.000,0,0,458,566.89
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$IRIDIUM_FIX,2050.21,12005.59,201112,141422
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.84
$INTERNAL_PRESSURE,9.45898
$TCM_TEMP,24.50
$XPDR_PINGS,2
$SC_FREEKB,3982496
$24V_AH,23.4,21.489
$10V_AH,10.0,8.358
$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
$DEVICE_SECS,23.400,212.225,627.875,0.000,0.000,0.000,0.000,254.350,0.500,0.000,15.794,3118.677,13669.461,874.855,2626.165,323.481,0.000,2439.678,0.000,2251.869,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20138.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.718,0.000,0.000,0.000
$MEM,324336
$DATA_FILE_SIZE,33381,903
$CAP_FILE_SIZE,246852,0
$CFSIZE,260034560,242159616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,257.8,1
$GPS,211112,015628,2053.277,12003.044,38,0.9,38,-2.8