version: 66.11
glider: 170
mission: 10
dive: 101
start: 11 21 112 13 34 33
data:
$ID,170
$MISSION,10
$DIVE,101
$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,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,-143214.34
$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,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,79
$R_STBD_OVSHOOT,42
$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
$GPS1,211112,132705,2047.714,12002.362,30,0.9,31,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-75.0
$GPS2,211112,133406,2047.683,12002.195,14,1.6,14,-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,163.5,199466,-14.9,-8.684,-17.18
$D_GRID,3623
$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,18,begin dive
$GC,20,-0.56,-170.3,0.0,0.0,0,95,0.00,0.00,-72.75,0.000,2,0.000,0.000,139,2616,2101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.56,-170.3,3.0,-1.9,13,159,10.88,2.12,-44.12,0.000,4,0.240,0.041,2856,1210,3464,0,0,0,0,0,0,25.81,26.15,26.41
$GC,212,-0.47,-170.3,24.0,-28.0,33,219,0.12,2.15,0.00,0.000,6,0.191,0.047,2888,2585,3465,0,0,0,0,0,0,25.99,26.13,28.83
$GC,408,-0.37,-170.3,81.8,-30.0,48,413,0.12,1.75,0.00,0.000,4,0.197,0.053,2925,3700,3464,0,0,0,0,0,0,26.14,26.27,28.83
$GC,480,-0.29,-170.3,98.5,-27.6,51,485,0.00,1.60,0.00,0.000,6,0.000,0.023,2925,2549,3464,0,0,0,0,0,0,28.83,26.42,28.83
$GC,673,-0.28,-170.3,129.9,-13.2,61,678,0.00,1.95,0.00,0.000,4,0.000,0.027,2925,1198,3465,0,0,0,0,0,0,28.83,26.44,28.83
$GC,759,-0.29,-170.3,137.8,-9.3,65,765,0.00,2.15,0.00,0.000,6,0.000,0.044,2925,2607,3465,0,0,0,0,0,0,28.83,26.41,28.83
$GC,957,-0.29,-170.3,160.6,-12.4,75,962,0.00,2.05,0.00,0.000,4,0.000,0.030,2925,1215,3465,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1000,-0.29,-170.3,165.2,-11.5,77,1005,0.00,2.15,0.00,0.000,6,0.000,0.047,2925,2598,3465,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1204,-0.30,-170.3,182.3,-8.6,87,1211,0.00,1.70,0.00,0.000,4,0.000,0.053,2925,3700,3465,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1243,-0.32,-170.3,184.3,-8.4,88,1250,0.00,1.58,0.00,0.000,6,0.000,0.024,2925,2559,3464,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1429,-0.35,-170.3,198.8,-7.0,98,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2559,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1609,-0.39,-170.3,210.9,-7.3,107,1614,0.00,1.85,0.00,0.000,4,0.000,0.026,2924,1245,3465,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1667,-0.42,-170.3,214.5,-7.9,109,1674,0.00,2.08,0.00,0.000,6,0.000,0.039,2925,2620,3466,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1854,-0.46,-170.3,228.6,-6.3,119,1859,0.00,2.03,0.00,0.000,4,0.000,0.028,2925,1236,3465,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1921,-0.49,-170.3,232.8,-6.5,122,1928,0.15,2.05,0.00,0.000,6,0.077,0.040,2848,2600,3464,0,0,0,0,0,0,26.59,26.58,28.83
$GC,2122,-0.46,-170.3,259.1,-13.2,132,2129,0.12,1.98,0.00,0.000,4,0.151,0.023,2891,1239,3464,0,0,0,0,0,0,26.50,26.64,28.83
$GC,2156,-0.44,-170.3,261.9,-12.2,133,2161,0.00,2.05,0.00,0.000,6,0.000,0.041,2891,2599,3464,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2469,-0.46,-170.3,290.7,-8.6,149,2474,0.00,1.67,0.00,0.000,4,0.000,0.051,2891,3690,3463,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2607,-0.48,-170.3,301.0,-8.0,155,2613,0.00,1.50,0.00,0.000,6,0.000,0.027,2891,2582,3462,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2913,-0.50,-170.3,324.4,-7.0,171,2918,0.00,1.90,0.00,0.000,4,0.000,0.025,2891,1252,3461,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2996,-0.53,-170.3,330.4,-7.2,175,3001,0.00,2.08,0.00,0.000,6,0.000,0.040,2891,2608,3461,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3320,-0.55,-170.3,354.6,-7.6,191,3325,0.00,1.98,0.00,0.000,4,0.000,0.026,2891,1250,3458,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3372,-0.58,-170.3,358.0,-7.6,193,3378,0.12,2.05,0.00,0.000,6,0.091,0.040,2823,2611,3458,0,0,0,0,0,0,26.63,26.63,28.83
$GC,3685,-0.55,-170.3,396.5,-12.7,209,3687,0.12,0.00,0.00,0.000,6,0.150,0.000,2860,2611,3456,0,0,0,0,0,0,26.55,28.83,28.83
$GC,3987,-0.55,-170.3,426.7,-9.2,224,3992,0.00,1.98,0.00,0.000,4,0.000,0.025,2860,1241,3455,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4013,-0.55,-170.3,428.9,-9.1,225,4019,0.00,2.05,0.00,0.000,6,0.000,0.040,2860,2600,3454,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4332,-0.55,-170.3,451.9,-7.0,241,4337,0.00,1.98,0.00,0.000,4,0.000,0.025,2860,1245,3452,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4451,-0.56,-170.3,459.4,-7.4,246,4457,0.00,2.05,0.00,0.000,6,0.000,0.041,2860,2601,3452,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4756,-0.57,-170.3,483.1,-7.1,262,4761,0.00,1.95,0.00,0.000,4,0.000,0.025,2860,1249,3450,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4788,-0.58,-170.3,484.8,-7.2,263,4793,0.00,2.08,0.00,0.000,6,0.000,0.041,2860,2606,3450,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5101,-0.59,-170.3,509.2,-8.4,279,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2607,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5402,-0.61,-170.3,533.4,-8.1,294,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2607,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5702,-0.62,-170.3,561.8,-9.6,309,5707,0.00,2.00,0.00,0.000,4,0.000,0.026,2860,1241,3443,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5740,-0.62,-170.3,564.2,-10.0,310,5746,0.00,2.08,0.00,0.000,6,0.000,0.041,2860,2608,3443,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6046,-0.64,-170.3,595.7,-9.7,326,6051,0.00,2.00,0.00,0.000,4,0.000,0.026,2860,1242,3442,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6123,-0.65,-170.3,601.8,-9.6,329,6129,0.00,2.08,0.00,0.000,6,0.000,0.041,2860,2609,3441,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6444,-0.67,-170.3,628.9,-7.9,340,6450,0.12,1.98,0.00,0.000,4,0.093,0.024,2786,1250,3439,0,0,0,0,0,0,26.71,26.70,28.83
$GC,6509,-0.67,-170.3,636.6,-9.9,342,6515,0.12,2.10,0.00,0.000,6,0.173,0.042,2820,2606,3439,0,0,0,0,0,0,26.48,26.63,28.83
$GC,6843,-0.66,-170.3,672.8,-10.0,353,6848,0.00,1.67,0.00,0.000,4,0.000,0.055,2820,3695,3437,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6886,-0.64,-170.3,675.9,-9.8,354,6891,0.00,1.50,0.00,0.000,6,0.000,0.030,2820,2653,3437,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7210,-0.63,-170.3,704.6,-8.4,365,7215,0.00,2.05,0.00,0.000,4,0.000,0.027,2819,1242,3436,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7314,-0.62,-170.3,712.7,-8.5,368,7319,0.00,2.10,0.00,0.000,6,0.000,0.041,2820,2610,3436,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7639,-0.61,-170.3,743.9,-10.1,379,7644,0.00,2.00,0.00,0.000,4,0.000,0.027,2820,1248,3434,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7672,-0.60,-170.3,747.4,-10.2,380,7677,0.00,2.08,0.00,0.000,6,0.000,0.042,2820,2602,3434,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8006,-0.59,-170.3,780.9,-9.6,391,8011,0.00,2.00,0.00,0.000,4,0.000,0.026,2820,1239,3433,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8082,-0.59,-170.3,786.5,-9.1,393,8087,0.00,2.08,0.00,0.000,6,0.000,0.041,2820,2603,3432,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8401,-0.58,-170.3,814.5,-8.9,404,8403,0.12,0.00,0.00,0.000,6,0.158,0.000,2858,2603,3431,0,0,0,0,0,0,26.55,28.83,28.83
$GC,8702,-0.60,-170.3,836.5,-7.6,414,8707,0.00,1.98,0.00,0.000,4,0.000,0.025,2858,1242,3430,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8749,-0.62,-170.3,839.0,-7.5,415,8754,0.00,2.08,0.00,0.000,6,0.000,0.041,2858,2604,3429,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9069,-0.65,-170.3,861.9,-6.3,426,9074,0.00,2.00,0.00,0.000,4,0.000,0.026,2858,1242,3427,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9122,-0.67,-170.3,864.1,-6.3,427,9128,0.10,2.08,0.00,0.000,6,0.108,0.041,2808,2603,3428,0,0,0,0,0,0,26.60,26.62,28.83
$GC,9437,-0.65,-170.3,894.4,-9.8,438,9438,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2604,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9735,-0.64,-170.3,925.8,-10.8,448,9740,0.00,2.00,0.00,0.000,4,0.000,0.026,2809,1244,3426,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9763,-0.63,-170.3,925.8,-10.8,448,9770,0.00,2.08,0.00,0.000,6,0.000,0.043,2807,2600,3426,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10068,-0.61,-170.3,963.6,-11.2,459,10074,0.12,1.98,0.00,0.000,4,0.168,0.025,2849,1247,3424,0,0,0,0,0,0,26.51,26.68,28.83
$GC,10103,-0.60,-170.3,966.7,-10.9,460,10108,0.00,2.08,0.00,0.000,6,0.000,0.043,2850,2604,3424,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,10404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10405,begin apogee
$GC,10410,-0.17,0.0,990.3,-7.5,470,10558,0.38,0.00,138.18,1.481,6,0.107,0.000,2984,2162,2768,0,0,0,0,0,0,26.49,28.83,23.94
$STATE,10559,end apogee,CONTROL_FINISHED_OK
$STATE,10559,begin climb
$GC,10561,0.56,170.3,995.9,0.0,475,10718,0.65,0.00,152.45,1.444,6,0.052,0.000,3236,2162,2074,0,0,0,0,0,0,24.98,28.83,23.37
$GC,11006,0.51,170.3,943.2,15.0,490,11012,0.12,2.25,0.00,0.000,4,0.167,0.048,3197,3534,2063,0,0,0,0,0,0,25.54,25.63,28.83
$GC,11041,0.45,170.3,938.2,15.0,491,11046,0.00,2.08,0.00,0.000,6,0.000,0.028,3206,2170,2062,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11376,0.41,170.3,896.4,12.3,502,11382,0.12,2.17,0.00,0.000,4,0.169,0.033,3175,735,2060,0,0,0,0,0,0,25.98,26.10,28.83
$GC,11459,0.39,170.3,889.9,11.0,504,11464,0.00,2.15,0.00,0.000,6,0.000,0.035,3175,2126,2059,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11774,0.37,170.3,857.9,9.7,515,11779,0.00,2.22,0.00,0.000,4,0.000,0.051,3175,3525,2059,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11831,0.35,170.3,854.1,10.0,516,11839,0.00,2.10,0.00,0.000,6,0.000,0.027,3182,2133,2059,0,0,0,0,0,0,28.83,26.38,28.83
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$STATE,20240,end climb,SURFACE_DEPTH_REACHED
$STATE,20240,begin surface coast
$FINISH,1.4,1.021517
$STATE,20262,end surface coast,CONTROL_FINISHED_OK
$STATE,20262,begin surface
$SM_CCo,20340,0.00,0.000,0,0,726,501.15
$SM_GC,2.40,8.25,0.80,0.00,0.045,0.041,0.000,139,2613,726,-9.02,-0.96,501.15,0,0,0,0,0,0,26.17,26.28,28.83
$IRIDIUM_FIX,2043.29,11959.28,211112,070729
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.96
$INTERNAL_PRESSURE,9.51758
$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,3981344
$24V_AH,23.4,22.136
$10V_AH,10.1,8.707
$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,22.775,198.575,577.575,0.000,0.000,0.000,0.000,244.700,0.000,0.000,15.979,3177.094,13789.067,809.465,2652.313,322.868,0.000,2357.271,0.000,2280.971,0.000,0.544,0.000
$DEVICE_MAMPS,240.210,55.080,1481.040,0.000,0.000,0.000,0.000,136.935,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20282.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.966,0.000,0.000,0.000
$MEM,323760
$DATA_FILE_SIZE,33406,926
$CAP_FILE_SIZE,244960,0
$CFSIZE,260034560,241823744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.162,254.3,1
$GPS,211112,191435,2044.568,12001.383,25,1.0,26,-2.8