version: 66.11
glider: 170
mission: 10
dive: 104
start: 11 22 112 6 57 57
data:
$ID,170
$MISSION,10
$DIVE,104
$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,-143218.09
$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,63
$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
$GPS1,221112,064952,2039.698,12001.172,37,0.7,37,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-77.0
$GPS2,221112,065730,2039.608,12001.062,14,1.8,14,-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,156.7,184484,-14.9,-8.684,-17.18
$D_GRID,3508
$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,-0.56,-170.3,0.0,0.0,0,90,0.00,0.00,-67.85,0.000,2,0.000,0.000,135,2608,1963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.56,-170.3,3.0,-1.9,12,170,11.02,1.75,-57.05,0.000,4,0.244,0.076,2853,3676,3464,0,0,0,0,0,0,25.77,26.08,26.42
$GC,291,-0.46,-170.3,44.1,-30.4,42,297,0.12,1.60,0.00,0.000,6,0.179,0.023,2886,2555,3464,0,0,0,0,0,0,26.06,26.29,28.83
$GC,496,-0.37,-170.3,100.8,-26.3,53,501,0.12,1.90,0.00,0.000,4,0.172,0.024,2928,1225,3464,0,0,0,0,0,0,26.21,26.37,28.83
$GC,628,-0.37,-170.3,116.9,-11.4,59,634,0.00,2.12,0.00,0.000,6,0.000,0.043,2927,2601,3464,0,0,0,0,0,0,28.83,26.37,28.83
$GC,822,-0.37,-170.3,136.9,-10.4,69,827,0.00,1.70,0.00,0.000,4,0.000,0.052,2928,3698,3464,0,0,0,0,0,0,28.83,26.41,28.83
$GC,858,-0.37,-170.3,139.3,-10.5,70,865,0.00,1.58,0.00,0.000,6,0.000,0.024,2928,2564,3465,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1045,-0.37,-170.3,159.3,-10.6,80,1051,0.00,1.90,0.00,0.000,4,0.000,0.026,2928,1237,3465,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1102,-0.39,-170.3,163.0,-9.0,82,1109,0.00,2.08,0.00,0.000,6,0.000,0.041,2928,2610,3465,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1290,-0.41,-170.3,178.0,-8.0,92,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2610,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1469,-0.43,-170.3,192.3,-7.7,101,1474,0.00,2.00,0.00,0.000,4,0.000,0.030,2928,1245,3464,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1516,-0.46,-170.3,195.6,-7.6,103,1522,0.12,2.08,0.00,0.000,6,0.088,0.040,2860,2611,3464,0,0,0,0,0,0,26.54,26.54,28.83
$GC,1716,-0.44,-170.3,221.5,-13.2,113,1722,0.12,1.65,0.00,0.000,4,0.161,0.049,2903,3699,3465,0,0,0,0,0,0,26.46,26.54,28.83
$GC,1753,-0.42,-170.3,224.6,-13.1,114,1760,0.00,1.52,0.00,0.000,6,0.000,0.026,2903,2589,3464,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1940,-0.44,-170.3,244.4,-10.4,124,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2587,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2120,-0.46,-170.3,260.1,-8.0,133,2125,0.00,1.90,0.00,0.000,4,0.000,0.026,2903,1246,3464,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2164,-0.49,-170.3,263.6,-7.8,135,2170,0.00,2.05,0.00,0.000,6,0.000,0.040,2904,2604,3463,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2488,-0.51,-170.3,285.8,-6.8,151,2494,0.00,1.98,0.00,0.000,4,0.000,0.025,2903,1240,3462,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2593,-0.55,-170.3,293.3,-7.6,156,2600,0.12,2.05,0.00,0.000,6,0.088,0.038,2833,2601,3461,0,0,0,0,0,0,26.62,26.61,28.83
$GC,2918,-0.52,-170.3,328.9,-11.7,172,2924,0.12,1.70,0.00,0.000,4,0.155,0.050,2876,3715,3459,0,0,0,0,0,0,26.53,26.60,28.83
$GC,2956,-0.51,-170.3,331.5,-11.4,173,2963,0.00,1.58,0.00,0.000,6,0.000,0.027,2877,2614,3459,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3262,-0.52,-170.3,358.3,-8.7,189,3268,0.00,1.98,0.00,0.000,4,0.000,0.026,2877,1224,3457,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3401,-0.54,-170.3,368.8,-8.4,195,3407,0.00,2.08,0.00,0.000,6,0.000,0.040,2877,2599,3457,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3706,-0.56,-170.3,396.8,-8.8,211,3711,0.00,2.00,0.00,0.000,4,0.000,0.025,2877,1221,3454,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3779,-0.58,-170.3,402.3,-8.6,214,3784,0.00,2.10,0.00,0.000,6,0.000,0.041,2877,2611,3454,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4092,-0.60,-170.3,428.8,-7.9,230,4098,0.00,1.67,0.00,0.000,4,0.000,0.053,2877,3690,3451,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4145,-0.63,-170.3,432.1,-7.7,232,4151,0.12,1.55,0.00,0.000,6,0.086,0.028,2805,2611,3451,0,0,0,0,0,0,26.65,26.72,28.83
$GC,4458,-0.59,-170.3,471.5,-12.2,248,4464,0.12,1.70,0.00,0.000,4,0.169,0.052,2847,3698,3449,0,0,0,0,0,0,26.53,26.61,28.83
$GC,4492,-0.56,-170.3,473.9,-11.4,249,4497,0.00,1.58,0.00,0.000,6,0.000,0.028,2847,2596,3449,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4805,-0.56,-170.3,500.4,-7.9,265,4810,0.00,2.00,0.00,0.000,4,0.000,0.026,2847,1210,3447,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4877,-0.56,-170.3,505.3,-7.7,268,4883,0.00,2.12,0.00,0.000,6,0.000,0.041,2847,2611,3446,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5191,-0.56,-170.3,530.1,-7.8,284,5196,0.00,2.05,0.00,0.000,4,0.000,0.026,2847,1203,3444,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5217,-0.56,-170.3,532.0,-7.9,285,5223,0.00,2.12,0.00,0.000,6,0.000,0.041,2847,2602,3444,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5535,-0.56,-170.3,558.7,-8.1,301,5541,0.00,2.05,0.00,0.000,4,0.000,0.025,2847,1202,3442,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5599,-0.56,-170.3,564.5,-9.0,304,5605,0.00,2.15,0.00,0.000,6,0.000,0.041,2847,2610,3441,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5922,-0.56,-170.3,596.4,-10.4,320,5927,0.00,2.05,0.00,0.000,4,0.000,0.026,2847,1214,3439,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5960,-0.57,-170.3,598.6,-10.2,321,5966,0.00,2.12,0.00,0.000,6,0.000,0.041,2847,2610,3439,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6266,-0.57,-170.3,626.8,-8.8,332,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2610,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6566,-0.58,-170.3,652.7,-8.5,342,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2610,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6866,-0.58,-170.3,677.7,-8.0,352,6872,0.00,2.05,0.00,0.000,4,0.000,0.026,2847,1217,3433,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6909,-0.59,-170.3,680.5,-8.1,353,6914,0.00,2.12,0.00,0.000,6,0.000,0.041,2847,2612,3434,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7234,-0.60,-170.3,705.0,-7.0,364,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2613,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7533,-0.61,-170.3,725.3,-6.8,374,7538,0.00,2.08,0.00,0.000,4,0.000,0.027,2847,1208,3431,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7601,-0.62,-170.3,729.8,-6.9,376,7606,0.00,2.12,0.00,0.000,6,0.000,0.041,2847,2601,3432,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7931,-0.64,-170.3,752.8,-7.1,387,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2601,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8229,-0.65,-170.3,775.8,-7.9,397,8230,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2601,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8530,-0.66,-170.3,799.6,-7.8,407,8536,0.00,2.05,0.00,0.000,4,0.000,0.027,2847,1207,3426,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8588,-0.67,-170.3,802.2,-7.8,408,8595,0.00,2.12,0.00,0.000,6,0.000,0.042,2847,2601,3426,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8895,-0.68,-170.3,826.9,-7.4,419,8900,0.00,2.05,0.00,0.000,4,0.000,0.027,2847,1211,3425,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8924,-0.70,-170.3,826.9,-7.4,419,8931,0.00,2.12,0.00,0.000,6,0.000,0.042,2847,2601,3425,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9230,-0.71,-170.3,851.5,-7.4,430,9236,0.12,2.03,0.00,0.000,4,0.093,0.025,2779,1217,3424,0,0,0,0,0,0,26.70,26.68,28.83
$GC,9258,-0.72,-170.3,851.5,-7.4,430,9266,0.00,2.15,0.00,0.000,6,0.000,0.043,2778,2611,3424,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9564,-0.69,-170.3,893.1,-12.5,441,9570,0.12,2.08,0.00,0.000,4,0.180,0.025,2819,1209,3422,0,0,0,0,0,0,26.46,26.67,28.83
$GC,9628,-0.66,-170.3,899.8,-11.6,443,9633,0.00,2.12,0.00,0.000,6,0.000,0.043,2819,2597,3422,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9962,-0.66,-170.3,930.3,-8.9,454,9963,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2597,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10262,-0.66,-170.3,955.7,-8.3,464,10263,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2597,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10561,-0.66,-170.3,980.4,-8.3,474,10567,0.00,2.05,0.00,0.000,4,0.000,0.028,2819,1213,3420,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10609,-0.66,-170.3,983.2,-8.5,475,10615,0.00,2.15,0.00,0.000,6,0.000,0.043,2819,2614,3420,0,0,0,0,0,0,28.83,26.59,28.83
$STATE,10686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10686,begin apogee
$GC,10692,-0.17,0.0,990.7,-8.2,478,10839,0.47,0.00,137.50,1.490,6,0.117,0.000,2985,2128,2767,0,0,0,0,0,0,26.43,28.83,23.91
$STATE,10841,end apogee,CONTROL_FINISHED_OK
$STATE,10841,begin climb
$GC,10843,0.56,170.3,994.9,0.0,483,11001,0.65,0.00,152.23,1.450,6,0.056,0.000,3229,2127,2074,0,0,0,0,0,0,24.96,28.83,23.30
$GC,11288,0.51,170.3,941.8,14.3,498,11294,0.00,2.15,0.00,0.000,4,0.000,0.034,3239,739,2062,0,0,0,0,0,0,28.83,25.63,28.83
$GC,11311,0.46,170.3,941.8,14.3,498,11317,0.17,2.20,0.00,0.000,6,0.144,0.037,3189,2126,2062,0,0,0,0,0,0,25.53,25.66,28.83
$GC,11626,0.44,170.3,903.2,10.7,509,11632,0.00,2.28,0.00,0.000,4,0.000,0.051,3189,3538,2061,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11664,0.41,170.3,899.4,10.8,510,11670,0.00,2.12,0.00,0.000,6,0.000,0.028,3197,2125,2061,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11994,0.37,170.3,864.5,10.2,521,11999,0.12,2.12,0.00,0.000,4,0.164,0.033,3158,721,2058,0,0,0,0,0,0,26.14,26.27,28.83
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$STATE,21107,end climb,SURFACE_DEPTH_REACHED
$STATE,21107,begin surface coast
$FINISH,1.5,1.009566
$STATE,21145,end surface coast,CONTROL_FINISHED_OK
$STATE,21145,begin surface
$SM_CCo,21223,0.00,0.000,0,0,911,455.77
$SM_GC,2.53,8.25,0.73,0.00,0.050,0.044,0.000,136,2606,911,-9.04,-1.19,455.77,0,0,0,0,0,0,26.28,26.42,28.83
$IRIDIUM_FIX,2031.77,12000.13,221112,010126
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.20
$INTERNAL_PRESSURE,9.55664
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,3980192
$24V_AH,23.3,22.758
$10V_AH,10.1,9.069
$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,22.625,219.400,528.175,0.000,0.000,0.000,0.000,276.775,0.000,0.000,15.960,3305.743,14447.231,784.013,2797.874,336.543,0.000,2444.057,0.000,2388.878,0.000,0.544,0.000
$DEVICE_MAMPS,244.035,75.735,1490.220,0.000,0.000,0.000,0.000,134.640,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21169.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.134,0.000,0.000,0.000
$MEM,323740
$DATA_FILE_SIZE,36757,972
$CAP_FILE_SIZE,258567,0
$CFSIZE,260034560,241451008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.216,276.9,1
$GPS,221112,125252,2037.354,11959.867,35,0.8,36,-2.8