version: 66.11
glider: 170
mission: 10
dive: 107
start: 11 23 112 0 45 56
data:
$ID,170
$MISSION,10
$DIVE,107
$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,-143221.84
$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,0.0070000002
$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,76
$R_STBD_OVSHOOT,43
$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
$GPS1,231112,003736,2032.952,11958.653,34,1.0,35,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-77.8
$GPS2,231112,004529,2032.919,11958.456,19,1.0,19,-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,136.9,172108,-14.9,-8.684,-17.18
$D_GRID,3341
$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,-0.51,-170.3,0.0,0.0,0,100,0.00,0.00,-78.15,0.000,2,0.000,0.000,136,2615,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.51,-170.3,3.1,-1.1,14,153,10.95,1.73,-30.35,0.000,4,0.239,0.075,2880,3684,3464,0,0,0,0,0,0,25.78,26.07,26.43
$GC,276,-0.42,-170.3,44.4,-27.2,39,281,0.12,1.58,0.00,0.000,6,0.170,0.024,2914,2598,3464,0,0,0,0,0,0,26.08,26.29,28.83
$GC,480,-0.37,-170.3,89.0,-18.7,50,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2594,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,659,-0.36,-170.3,117.3,-13.5,59,664,0.00,2.03,0.00,0.000,4,0.000,0.025,2914,1194,3464,0,0,0,0,0,0,28.83,26.45,28.83
$GC,731,-0.36,-170.3,123.9,-10.6,62,737,0.00,2.15,0.00,0.000,6,0.000,0.041,2915,2594,3465,0,0,0,0,0,0,28.83,26.41,28.83
$GC,925,-0.37,-170.3,141.2,-8.5,72,931,0.00,2.05,0.00,0.000,4,0.000,0.031,2915,1202,3465,0,0,0,0,0,0,28.83,26.51,28.83
$GC,970,-0.38,-170.3,145.0,-8.7,74,976,0.00,2.12,0.00,0.000,6,0.000,0.041,2914,2606,3466,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1176,-0.39,-170.3,162.7,-8.7,84,1181,0.00,2.05,0.00,0.000,4,0.000,0.025,2915,1199,3465,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1207,-0.40,-170.3,164.8,-8.7,85,1213,0.00,2.12,0.00,0.000,6,0.000,0.039,2915,2600,3465,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1401,-0.42,-170.3,181.3,-8.3,95,1406,0.00,2.03,0.00,0.000,4,0.000,0.026,2915,1203,3465,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1444,-0.44,-170.3,184.9,-8.2,97,1449,0.00,2.12,0.00,0.000,6,0.000,0.038,2915,2604,3465,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1649,-0.46,-170.3,202.1,-8.4,107,1654,0.00,2.05,0.00,0.000,4,0.000,0.027,2914,1199,3464,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1676,-0.48,-170.3,204.2,-8.4,108,1682,0.00,2.15,0.00,0.000,6,0.000,0.039,2915,2612,3464,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1877,-0.51,-170.3,220.5,-7.9,118,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2613,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2056,-0.54,-170.3,234.4,-7.3,127,2061,0.12,1.67,0.00,0.000,4,0.092,0.049,2838,3700,3464,0,0,0,0,0,0,26.65,26.56,28.83
$GC,2113,-0.55,-170.3,238.9,-8.8,129,2122,0.08,1.60,0.00,0.000,6,0.132,0.025,2868,2568,3463,0,0,0,0,0,0,26.48,26.70,28.83
$GC,2301,-0.53,-170.3,262.3,-11.1,139,2306,0.00,1.77,0.00,0.000,4,0.000,0.052,2867,3695,3462,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2333,-0.53,-170.3,265.2,-11.2,140,2338,0.00,1.52,0.00,0.000,6,0.000,0.026,2868,2600,3462,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2646,-0.53,-170.3,297.8,-9.4,156,2651,0.00,1.95,0.00,0.000,4,0.000,0.025,2868,1231,3461,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2718,-0.53,-170.3,303.1,-8.4,159,2723,0.00,2.10,0.00,0.000,6,0.000,0.041,2868,2604,3461,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3031,-0.53,-170.3,333.1,-8.8,175,3037,0.00,1.67,0.00,0.000,4,0.000,0.051,2868,3690,3459,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3059,-0.53,-170.3,335.1,-8.8,176,3064,0.00,1.52,0.00,0.000,6,0.000,0.027,2867,2598,3459,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3377,-0.54,-170.3,361.4,-7.7,192,3382,0.00,1.95,0.00,0.000,4,0.000,0.025,2868,1238,3456,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3505,-0.56,-170.3,370.7,-7.4,198,3511,0.00,2.08,0.00,0.000,6,0.000,0.041,2868,2604,3456,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3824,-0.57,-170.3,394.8,-8.3,214,3829,0.00,1.67,0.00,0.000,4,0.000,0.051,2867,3687,3454,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3871,-0.59,-170.3,398.4,-8.4,216,3876,0.00,1.52,0.00,0.000,6,0.000,0.028,2868,2621,3453,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4190,-0.60,-170.3,424.9,-8.5,232,4195,0.00,2.05,0.00,0.000,4,0.000,0.026,2868,1202,3451,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4224,-0.61,-170.3,426.6,-7.9,233,4229,0.00,2.15,0.00,0.000,6,0.000,0.041,2867,2606,3451,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4537,-0.63,-170.3,449.8,-6.7,249,4543,0.00,2.03,0.00,0.000,4,0.000,0.026,2868,1207,3448,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4596,-0.65,-170.3,453.1,-7.1,251,4603,0.00,2.12,0.00,0.000,6,0.000,0.041,2867,2603,3448,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4901,-0.66,-170.3,476.6,-7.2,267,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2603,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5203,-0.68,-170.3,498.9,-7.8,282,5209,0.12,2.03,0.00,0.000,4,0.096,0.024,2795,1205,3444,0,0,0,0,0,0,26.70,26.69,28.83
$GC,5267,-0.67,-170.3,506.4,-10.8,285,5273,0.12,2.17,0.00,0.000,6,0.162,0.041,2831,2612,3444,0,0,0,0,0,0,26.48,26.62,28.83
$GC,5591,-0.66,-170.3,541.9,-11.0,301,5596,0.00,2.05,0.00,0.000,4,0.000,0.026,2831,1203,3442,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5718,-0.66,-170.3,555.1,-10.4,307,5724,0.00,2.15,0.00,0.000,6,0.000,0.041,2831,2599,3442,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6037,-0.65,-170.3,591.3,-11.5,323,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2600,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6357,-0.65,-170.3,626.2,-10.5,335,6363,0.00,2.03,0.00,0.000,4,0.000,0.026,2831,1214,3440,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6409,-0.65,-170.3,629.6,-10.5,336,6414,0.00,2.15,0.00,0.000,6,0.000,0.042,2831,2608,3438,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6721,-0.65,-170.3,660.7,-9.2,347,6727,0.00,2.05,0.00,0.000,4,0.000,0.026,2832,1214,3436,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6794,-0.65,-170.3,666.5,-9.3,349,6800,0.00,2.15,0.00,0.000,6,0.000,0.041,2832,2610,3436,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7118,-0.65,-170.3,694.6,-8.1,360,7124,0.00,2.03,0.00,0.000,4,0.000,0.026,2831,1217,3434,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7176,-0.65,-170.3,697.4,-8.1,361,7183,0.00,2.15,0.00,0.000,6,0.000,0.041,2831,2612,3434,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7481,-0.65,-170.3,724.0,-8.1,372,7487,0.00,2.08,0.00,0.000,4,0.000,0.027,2832,1204,3432,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7519,-0.65,-170.3,726.8,-8.2,373,7524,0.00,2.15,0.00,0.000,6,0.000,0.042,2834,2598,3432,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7848,-0.65,-170.3,754.8,-8.3,384,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2599,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8147,-0.65,-170.3,778.5,-7.9,394,8153,0.00,2.05,0.00,0.000,4,0.000,0.027,2832,1208,3430,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8190,-0.65,-170.3,781.2,-7.9,395,8196,0.00,2.15,0.00,0.000,6,0.000,0.042,2831,2600,3430,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8515,-0.65,-170.3,806.9,-7.8,406,8520,0.00,2.03,0.00,0.000,4,0.000,0.027,2831,1213,3429,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8581,-0.65,-170.3,812.0,-7.9,408,8587,0.00,2.15,0.00,0.000,6,0.000,0.042,2831,2603,3428,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8910,-0.65,-170.3,837.9,-8.0,419,8915,0.00,2.05,0.00,0.000,4,0.000,0.027,2831,1214,3427,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8932,-0.65,-170.3,837.9,-8.0,419,8937,0.00,2.15,0.00,0.000,6,0.000,0.042,2832,2602,3427,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9246,-0.65,-170.3,864.7,-7.9,430,9251,0.00,2.05,0.00,0.000,4,0.000,0.027,2831,1213,3425,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9273,-0.65,-170.3,864.7,-7.9,430,9280,0.00,2.15,0.00,0.000,6,0.000,0.043,2832,2608,3425,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9579,-0.65,-170.3,890.5,-7.5,441,9585,0.00,2.05,0.00,0.000,4,0.000,0.028,2831,1215,3425,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9637,-0.65,-170.3,893.1,-7.5,442,9644,0.00,2.15,0.00,0.000,6,0.000,0.043,2831,2602,3424,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9943,-0.65,-170.3,919.9,-8.4,453,9949,0.00,2.05,0.00,0.000,4,0.000,0.026,2831,1213,3423,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9971,-0.65,-170.3,919.9,-8.4,453,9978,0.00,2.15,0.00,0.000,6,0.000,0.043,2831,2612,3423,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10276,-0.65,-170.3,948.3,-8.5,464,10282,0.00,2.08,0.00,0.000,4,0.000,0.028,2831,1214,3422,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10311,-0.66,-170.3,951.2,-8.6,465,10316,0.00,2.17,0.00,0.000,6,0.000,0.043,2831,2608,3422,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10645,-0.66,-170.3,979.6,-8.6,476,10650,0.00,2.05,0.00,0.000,4,0.000,0.028,2831,1214,3421,0,0,0,0,0,0,28.83,26.66,28.83
$GC,10687,-0.67,-170.3,982.6,-8.7,477,10693,0.00,2.15,0.00,0.000,6,0.000,0.043,2831,2605,3421,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,10768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10768,begin apogee
$GC,10774,-0.15,0.0,990.6,-8.8,480,10922,0.47,0.00,138.43,1.485,6,0.115,0.000,2999,2126,2767,0,0,0,0,0,0,26.41,28.83,23.91
$STATE,10924,end apogee,CONTROL_FINISHED_OK
$STATE,10924,begin climb
$GC,10925,0.51,170.3,996.5,0.0,485,11089,0.57,2.53,153.80,1.445,4,0.049,0.050,3226,3522,2071,0,0,0,0,0,0,24.96,24.06,23.25
$GC,11106,0.43,170.3,983.9,10.2,491,11112,0.15,2.28,0.00,0.000,6,0.161,0.027,3190,2142,2069,0,0,0,0,0,0,24.34,24.47,28.83
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$STATE,20597,end climb,SURFACE_DEPTH_REACHED
$STATE,20597,begin surface coast
$FINISH,1.6,1.008444
$STATE,20638,end surface coast,CONTROL_FINISHED_OK
$STATE,20639,begin surface
$SM_CCo,20717,0.00,0.000,0,0,829,475.88
$SM_GC,2.60,8.20,0.73,0.00,0.047,0.044,0.000,138,2612,829,-9.06,-1.10,475.88,0,0,0,0,0,0,26.29,26.41,28.83
$IRIDIUM_FIX,2027.17,11957.83,221112,181808
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.81
$INTERNAL_PRESSURE,9.51758
$TCM_TEMP,24.80
$XPDR_PINGS,1
$SC_FREEKB,3979040
$24V_AH,23.2,23.397
$10V_AH,10.0,9.432
$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,22.075,226.050,542.700,0.000,0.000,0.000,0.000,283.850,0.250,0.000,20.562,3245.984,14043.257,793.047,2762.919,333.483,0.000,2430.975,0.000,2338.530,0.000,0.545,0.000
$DEVICE_MAMPS,239.445,74.970,1484.865,0.000,0.000,0.000,0.000,134.640,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20666.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.183,0.000,0.000,0.000
$MEM,323760
$DATA_FILE_SIZE,36669,947
$CAP_FILE_SIZE,253055,0
$CFSIZE,260034560,241098752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.179,267.5,1
$GPS,231112,063229,2030.898,11958.777,39,0.8,40,-2.8