version: 66.11
glider: 170
mission: 10
dive: 112
start: 11 24 112 6 22 14
data:
$ID,170
$MISSION,10
$DIVE,112
$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,-143228.09
$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,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,91
$R_STBD_OVSHOOT,49
$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
$GPS1,241112,061259,2022.362,11956.461,57,0.9,57,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-74.2
$GPS2,241112,062147,2022.354,11956.301,15,0.9,15,-2.7
$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,135.3,152656,-14.9,-8.684,-17.18
$D_GRID,3312
$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,-170.3,0.0,0.0,0,70,0.00,0.00,-47.80,0.000,2,0.000,0.000,134,2635,1813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.51,-170.3,3.0,-2.2,8,155,11.05,2.12,-62.67,0.000,4,0.241,0.045,2879,1214,3465,0,0,0,0,0,0,25.65,26.13,26.39
$GC,229,-0.43,-170.3,28.7,-27.3,35,235,0.12,2.15,0.00,0.000,6,0.179,0.047,2911,2578,3465,0,0,0,0,0,0,25.97,26.13,28.83
$GC,433,-0.37,-170.3,79.0,-20.3,49,439,0.00,1.75,0.00,0.000,4,0.000,0.055,2908,3703,3465,0,0,0,0,0,0,28.83,26.24,28.83
$GC,470,-0.31,-170.3,82.8,-18.8,50,478,0.15,1.58,0.00,0.000,6,0.138,0.024,2953,2605,3465,0,0,0,0,0,0,26.17,26.36,28.83
$GC,656,-0.31,-170.3,109.3,-12.5,60,661,0.00,2.03,0.00,0.000,4,0.000,0.026,2953,1200,3465,0,0,0,0,0,0,28.83,26.42,28.83
$GC,679,-0.32,-170.3,111.4,-11.6,61,684,0.00,2.17,0.00,0.000,6,0.000,0.040,2953,2618,3465,0,0,0,0,0,0,28.83,26.36,28.83
$GC,883,-0.35,-170.3,126.4,-7.3,71,888,0.00,1.67,0.00,0.000,4,0.000,0.054,2953,3693,3466,0,0,0,0,0,0,28.83,26.40,28.83
$GC,917,-0.39,-170.3,128.3,-7.7,72,922,0.00,1.58,0.00,0.000,6,0.000,0.024,2953,2557,3466,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1111,-0.43,-170.3,141.1,-5.8,82,1113,0.12,0.00,0.00,0.000,6,0.083,0.000,2878,2557,3466,0,0,0,0,0,0,26.55,28.83,28.83
$GC,1290,-0.41,-170.3,161.5,-12.1,91,1292,0.12,0.00,0.00,0.000,6,0.150,0.000,2916,2554,3466,0,0,0,0,0,0,26.43,28.83,28.83
$GC,1469,-0.42,-170.3,180.2,-10.3,100,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2554,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1650,-0.44,-170.3,198.1,-9.4,109,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2554,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1830,-0.47,-170.3,213.3,-8.3,118,1836,0.00,1.88,0.00,0.000,4,0.000,0.025,2917,1238,3465,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1859,-0.50,-170.3,215.3,-8.3,119,1864,0.00,2.08,0.00,0.000,6,0.000,0.040,2916,2602,3465,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2059,-0.54,-170.3,228.7,-6.2,129,2061,0.12,0.00,0.00,0.000,6,0.086,0.000,2840,2603,3464,0,0,0,0,0,0,26.65,28.83,28.83
$GC,2237,-0.52,-170.3,249.6,-11.9,138,2238,0.15,0.00,0.00,0.000,6,0.142,0.000,2887,2603,3463,0,0,0,0,0,0,26.48,28.83,28.83
$GC,2418,-0.53,-170.3,264.3,-7.9,147,2423,0.00,1.98,0.00,0.000,4,0.000,0.025,2888,1236,3463,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2470,-0.55,-170.3,268.0,-8.1,149,2475,0.00,2.08,0.00,0.000,6,0.000,0.040,2888,2600,3463,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2783,-0.58,-170.3,294.7,-8.0,165,2788,0.00,1.98,0.00,0.000,4,0.000,0.024,2888,1229,3461,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2836,-0.60,-170.3,298.3,-8.2,167,2842,0.00,2.10,0.00,0.000,6,0.000,0.039,2888,2608,3461,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3150,-0.62,-170.3,323.5,-7.7,183,3156,0.12,1.98,0.00,0.000,4,0.087,0.022,2809,1232,3459,0,0,0,0,0,0,26.68,26.67,28.83
$GC,3223,-0.62,-170.3,331.3,-11.2,186,3229,0.15,2.10,0.00,0.000,6,0.149,0.041,2852,2606,3458,0,0,0,0,0,0,26.46,26.60,28.83
$GC,3536,-0.62,-170.3,366.7,-10.8,202,3542,0.00,1.70,0.00,0.000,4,0.000,0.055,2852,3700,3455,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3593,-0.62,-170.3,371.2,-10.6,204,3600,0.00,1.52,0.00,0.000,6,0.000,0.027,2853,2621,3455,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3899,-0.62,-170.3,403.8,-10.4,220,3904,0.00,2.00,0.00,0.000,4,0.000,0.025,2853,1210,3452,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4018,-0.62,-170.3,414.3,-10.2,225,4024,0.00,2.12,0.00,0.000,6,0.000,0.040,2853,2598,3453,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4322,-0.62,-170.3,444.8,-9.5,241,4327,0.00,2.03,0.00,0.000,4,0.000,0.025,2853,1209,3449,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4394,-0.62,-170.3,450.7,-9.5,244,4400,0.00,2.15,0.00,0.000,6,0.000,0.041,2853,2611,3449,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4708,-0.62,-170.3,481.0,-9.7,260,4713,0.00,2.03,0.00,0.000,4,0.000,0.025,2853,1212,3447,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4800,-0.63,-170.3,489.0,-9.7,264,4805,0.00,2.15,0.00,0.000,6,0.000,0.041,2852,2613,3446,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5112,-0.63,-170.3,521.8,-10.1,280,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2613,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5414,-0.63,-170.3,550.7,-9.3,295,5419,0.00,2.03,0.00,0.000,4,0.000,0.026,2851,1218,3443,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5487,-0.64,-170.3,556.8,-9.5,298,5492,0.00,2.12,0.00,0.000,6,0.000,0.040,2852,2602,3442,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5799,-0.65,-170.3,587.0,-9.4,314,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2602,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6111,-0.66,-170.3,614.2,-8.6,327,6116,0.00,2.00,0.00,0.000,4,0.000,0.026,2852,1221,3439,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6220,-0.67,-170.3,622.5,-8.7,330,6226,0.00,2.12,0.00,0.000,6,0.000,0.041,2852,2601,3438,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6540,-0.68,-170.3,650.0,-8.2,341,6546,0.00,2.00,0.00,0.000,4,0.000,0.026,2853,1222,3436,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6588,-0.70,-170.3,652.8,-8.3,342,6593,0.00,2.12,0.00,0.000,6,0.000,0.041,2852,2603,3435,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6907,-0.71,-170.3,678.3,-7.4,353,6913,0.00,2.00,0.00,0.000,4,0.000,0.025,2853,1222,3434,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6950,-0.72,-170.3,680.9,-7.5,354,6957,0.10,2.10,0.00,0.000,6,0.114,0.041,2800,2600,3434,0,0,0,0,0,0,26.57,26.60,28.83
$GC,7276,-0.70,-170.3,716.5,-11.2,365,7281,0.00,1.73,0.00,0.000,4,0.000,0.057,2800,3700,3433,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7309,-0.67,-170.3,720.6,-11.4,366,7315,0.12,1.58,0.00,0.000,6,0.149,0.031,2836,2621,3433,0,0,0,0,0,0,26.47,26.71,28.83
$GC,7643,-0.67,-170.3,752.1,-9.5,377,7648,0.00,2.05,0.00,0.000,4,0.000,0.026,2836,1190,3431,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7720,-0.67,-170.3,758.0,-9.6,379,7725,0.00,2.17,0.00,0.000,6,0.000,0.041,2836,2602,3431,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8037,-0.67,-170.3,789.9,-9.7,390,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2600,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8338,-0.67,-170.3,818.6,-9.6,400,8339,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2600,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8637,-0.67,-170.3,846.2,-9.2,410,8642,0.00,2.05,0.00,0.000,4,0.000,0.027,2836,1201,3428,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8709,-0.67,-170.3,852.0,-9.2,412,8715,0.00,2.17,0.00,0.000,6,0.000,0.041,2836,2608,3428,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9032,-0.67,-170.3,882.1,-9.0,423,9037,0.00,2.08,0.00,0.000,4,0.000,0.027,2836,1202,3426,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9074,-0.67,-170.3,885.2,-9.0,424,9079,0.00,2.17,0.00,0.000,6,0.000,0.041,2836,2610,3426,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9399,-0.67,-170.3,913.9,-8.6,435,9404,0.00,2.08,0.00,0.000,4,0.000,0.027,2836,1202,3425,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9426,-0.67,-170.3,913.9,-8.6,435,9432,0.00,2.17,0.00,0.000,6,0.000,0.042,2836,2607,3425,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9734,-0.68,-170.3,942.3,-8.5,446,9739,0.00,2.08,0.00,0.000,4,0.000,0.028,2836,1203,3424,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9771,-0.69,-170.3,945.4,-8.5,447,9778,0.00,2.17,0.00,0.000,6,0.000,0.042,2836,2609,3424,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10101,-0.70,-170.3,974.3,-8.7,458,10107,0.00,2.08,0.00,0.000,4,0.000,0.028,2836,1195,3423,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10149,-0.71,-170.3,977.4,-8.8,459,10155,0.00,2.17,0.00,0.000,6,0.000,0.041,2836,2600,3423,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,10285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10285,begin apogee
$GC,10291,-0.15,0.0,990.9,-8.8,464,10439,0.45,0.00,138.20,1.491,6,0.109,0.000,2997,2107,2768,0,0,0,0,0,0,26.41,28.83,23.89
$STATE,10441,end apogee,CONTROL_FINISHED_OK
$STATE,10441,begin climb
$GC,10443,0.51,170.3,997.9,0.0,469,10607,0.57,2.33,152.35,1.450,4,0.052,0.034,3227,751,2072,0,0,0,0,0,0,24.95,23.99,23.15
$GC,10624,0.45,188.0,988.4,8.1,475,10651,0.12,2.30,17.23,1.318,6,0.146,0.036,3195,2124,1999,0,0,0,0,0,0,24.28,24.37,23.33
$GC,10951,0.43,188.0,953.5,10.7,486,10956,0.00,2.33,0.00,0.000,4,0.000,0.051,3194,3539,1990,0,0,0,0,0,0,28.83,25.57,28.83
$GC,11008,0.40,188.0,949.5,11.0,487,11016,0.00,2.17,0.00,0.000,6,0.000,0.028,3201,2130,1989,0,0,0,0,0,0,28.83,25.76,28.83
$GC,11315,0.37,188.0,912.8,10.9,498,11321,0.12,2.12,0.00,0.000,4,0.161,0.033,3170,730,1987,0,0,0,0,0,0,25.94,26.07,28.83
$GC,11379,0.35,188.0,907.2,9.8,500,11384,0.00,2.17,0.00,0.000,6,0.000,0.036,3169,2126,1986,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11713,0.35,188.0,877.5,9.2,511,11718,0.00,2.22,0.00,0.000,4,0.000,0.052,3170,3532,1987,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,20177,end climb,SURFACE_DEPTH_REACHED
$STATE,20178,begin surface coast
$FINISH,1.4,1.009137
$STATE,20199,end surface coast,CONTROL_FINISHED_OK
$STATE,20199,begin surface
$SM_CCo,20277,0.00,0.000,0,0,468,564.44
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$TT8_MAMPS,0.025466,0.025466
$HUMID,49.40
$INTERNAL_PRESSURE,9.47851
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,3977120
$24V_AH,23.1,24.458
$10V_AH,10.0,10.034
$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
$DEVICE_SECS,23.350,206.050,625.100,0.000,0.000,0.000,0.000,341.900,0.000,0.000,16.883,3101.522,13815.093,802.452,2750.762,323.613,0.000,2487.126,0.000,2278.231,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.348,0.000,0.000,0.000
$MEM,323752
$DATA_FILE_SIZE,33404,922
$CAP_FILE_SIZE,244432,0
$CFSIZE,260034560,240517120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.342,262.1,1
$GPS,241112,120122,2019.909,11955.146,35,0.8,35,-2.7