version: 66.11
glider: 170
mission: 10
dive: 116
start: 11 25 112 6 13 22
data:
$ID,170
$MISSION,10
$DIVE,116
$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,-143233.09
$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,65
$R_STBD_OVSHOOT,51
$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
$GPS1,251112,060458,2015.148,11955.691,39,0.8,40,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-71.5
$GPS2,251112,061254,2015.188,11955.595,15,0.8,16,-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,149.1,139462,-14.9,-8.684,-17.18
$D_GRID,3385
$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,-170.3,0.0,0.0,0,92,0.00,0.00,-70.50,0.000,2,0.000,0.000,136,2623,2050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.51,-170.3,3.2,-2.2,12,156,11.15,2.15,-39.97,0.000,4,0.243,0.044,2881,1209,3466,0,0,0,0,0,0,25.72,26.10,26.38
$GC,243,-0.42,-170.3,35.8,-27.0,35,251,0.12,2.17,0.00,0.000,6,0.179,0.051,2914,2571,3466,0,0,0,0,0,0,25.98,26.11,28.83
$GC,441,-0.36,-170.3,83.4,-21.5,48,446,0.00,1.75,0.00,0.000,4,0.000,0.056,2914,3701,3466,0,0,0,0,0,0,28.83,26.24,28.83
$GC,493,-0.30,-170.3,92.1,-20.5,50,499,0.15,1.62,0.00,0.000,6,0.151,0.024,2958,2578,3466,0,0,0,0,0,0,26.16,26.41,28.83
$GC,688,-0.31,-170.3,113.9,-9.9,60,694,0.00,2.00,0.00,0.000,4,0.000,0.030,2958,1214,3466,0,0,0,0,0,0,28.83,26.40,28.83
$GC,736,-0.32,-170.3,118.0,-9.4,62,741,0.00,2.20,0.00,0.000,6,0.000,0.051,2958,2607,3466,0,0,0,0,0,0,28.83,26.33,28.83
$GC,935,-0.35,-170.3,135.2,-9.0,72,940,0.00,2.08,0.00,0.000,4,0.000,0.033,2958,1226,3466,0,0,0,0,0,0,28.83,26.44,28.83
$GC,967,-0.38,-170.3,137.3,-8.8,73,972,0.00,2.17,0.00,0.000,6,0.000,0.052,2958,2606,3467,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1160,-0.42,-170.3,152.7,-7.1,83,1166,0.12,1.70,0.00,0.000,4,0.084,0.053,2878,3709,3467,0,0,0,0,0,0,26.55,26.44,28.83
$GC,1238,-0.42,-170.3,159.4,-9.5,86,1246,0.12,1.60,0.00,0.000,6,0.145,0.023,2917,2582,3466,0,0,0,0,0,0,26.37,26.59,28.83
$GC,1425,-0.43,-170.3,177.3,-8.1,96,1430,0.00,1.95,0.00,0.000,4,0.000,0.031,2917,1229,3466,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1520,-0.45,-170.3,183.8,-7.7,100,1525,0.00,2.12,0.00,0.000,6,0.000,0.049,2918,2613,3466,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1714,-0.47,-170.3,199.8,-8.5,110,1720,0.00,1.67,0.00,0.000,4,0.000,0.054,2917,3693,3466,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1768,-0.50,-170.3,203.5,-8.5,112,1773,0.00,1.55,0.00,0.000,6,0.000,0.025,2918,2575,3466,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1963,-0.53,-170.3,218.9,-6.9,122,1969,0.12,1.90,0.00,0.000,4,0.086,0.028,2834,1259,3466,0,0,0,0,0,0,26.63,26.58,28.83
$GC,2057,-0.52,-170.3,228.7,-11.5,126,2063,0.15,2.05,0.00,0.000,6,0.149,0.047,2879,2600,3465,0,0,0,0,0,0,26.42,26.54,28.83
$GC,2250,-0.52,-170.3,249.8,-9.5,136,2256,0.00,1.73,0.00,0.000,4,0.000,0.054,2879,3695,3466,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2293,-0.52,-170.3,253.8,-9.3,138,2299,0.00,1.55,0.00,0.000,6,0.000,0.026,2879,2595,3464,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2618,-0.53,-170.3,281.9,-8.4,154,2623,0.00,1.95,0.00,0.000,4,0.000,0.028,2879,1250,3463,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2650,-0.55,-170.3,284.0,-8.5,155,2655,0.00,2.10,0.00,0.000,6,0.000,0.046,2879,2611,3463,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2964,-0.57,-170.3,311.0,-7.9,171,2970,0.00,2.00,0.00,0.000,4,0.000,0.028,2880,1242,3460,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3112,-0.59,-170.3,323.0,-8.4,178,3118,0.00,2.10,0.00,0.000,6,0.000,0.043,2879,2610,3459,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3431,-0.61,-170.3,348.5,-7.6,194,3436,0.00,1.70,0.00,0.000,4,0.000,0.054,2879,3687,3457,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3475,-0.64,-170.3,351.8,-7.4,196,3481,0.08,1.52,0.00,0.000,6,0.060,0.029,2818,2645,3457,0,0,0,0,0,0,26.60,26.70,28.83
$GC,3799,-0.62,-170.3,389.3,-12.2,212,3805,0.12,2.08,0.00,0.000,4,0.161,0.025,2861,1207,3453,0,0,0,0,0,0,26.51,26.65,28.83
$GC,3837,-0.60,-170.3,392.0,-11.9,213,3844,0.00,2.15,0.00,0.000,6,0.000,0.044,2861,2603,3453,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4143,-0.61,-170.3,421.0,-9.0,229,4149,0.00,2.08,0.00,0.000,4,0.000,0.037,2861,1201,3450,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4215,-0.63,-170.3,426.7,-9.0,232,4221,0.00,2.15,0.00,0.000,6,0.000,0.043,2861,2597,3450,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4529,-0.64,-170.3,453.3,-7.7,248,4535,0.00,2.08,0.00,0.000,4,0.000,0.028,2861,1198,3448,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4577,-0.65,-170.3,456.6,-7.5,250,4583,0.00,2.17,0.00,0.000,6,0.000,0.043,2861,2610,3448,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4896,-0.67,-170.3,479.6,-7.1,266,4901,0.00,2.08,0.00,0.000,4,0.000,0.028,2861,1202,3445,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4939,-0.68,-170.3,482.8,-7.1,268,4945,0.00,2.15,0.00,0.000,6,0.000,0.043,2861,2601,3445,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5263,-0.69,-170.3,506.5,-7.4,284,5265,0.10,0.00,0.00,0.000,6,0.101,0.000,2801,2602,3443,0,0,0,0,0,0,26.71,28.83,28.83
$GC,5564,-0.67,-170.3,540.9,-11.6,299,5570,0.12,2.05,0.00,0.000,4,0.164,0.025,2845,1207,3441,0,0,0,0,0,0,26.49,26.67,28.83
$GC,5609,-0.65,-170.3,545.3,-10.6,301,5614,0.00,2.15,0.00,0.000,6,0.000,0.044,2845,2600,3440,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5933,-0.65,-170.3,571.3,-8.2,317,5939,0.00,1.70,0.00,0.000,4,0.000,0.056,2844,3700,3439,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5961,-0.65,-170.3,573.4,-8.5,318,5966,0.00,1.62,0.00,0.000,6,0.000,0.030,2845,2578,3438,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6279,-0.65,-170.3,598.9,-7.8,334,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2578,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6599,-0.65,-170.3,623.4,-7.6,345,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2577,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6899,-0.65,-170.3,646.8,-7.9,355,6905,0.00,2.00,0.00,0.000,4,0.000,0.028,2845,1209,3433,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6942,-0.65,-170.3,649.7,-8.1,356,6948,0.00,2.15,0.00,0.000,6,0.000,0.044,2845,2601,3433,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7265,-0.65,-170.3,678.2,-9.0,367,7270,0.00,2.03,0.00,0.000,4,0.000,0.028,2845,1219,3431,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7307,-0.66,-170.3,681.3,-9.2,368,7313,0.00,2.15,0.00,0.000,6,0.000,0.043,2845,2609,3430,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7631,-0.67,-170.3,711.8,-9.2,379,7638,0.00,2.05,0.00,0.000,4,0.000,0.028,2844,1217,3430,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7670,-0.68,-170.3,715.2,-9.3,380,7675,0.00,2.15,0.00,0.000,6,0.000,0.043,2845,2607,3430,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7999,-0.68,-170.3,746.2,-9.3,391,8004,0.00,2.05,0.00,0.000,4,0.000,0.028,2845,1217,3428,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8032,-0.69,-170.3,749.3,-9.2,392,8038,0.00,2.15,0.00,0.000,6,0.000,0.043,2845,2600,3428,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8368,-0.70,-170.3,776.5,-7.6,403,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2600,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8666,-0.71,-170.3,798.2,-7.1,413,8671,0.00,2.05,0.00,0.000,4,0.000,0.028,2845,1220,3425,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8709,-0.72,-170.3,800.7,-7.3,414,8714,0.00,2.15,0.00,0.000,6,0.000,0.044,2845,2607,3425,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9033,-0.73,-170.3,825.5,-7.6,425,9039,0.00,2.05,0.00,0.000,4,0.000,0.028,2845,1219,3424,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9062,-0.74,-170.3,825.5,-7.6,425,9069,0.12,2.15,0.00,0.000,6,0.094,0.044,2786,2605,3425,0,0,0,0,0,0,26.56,26.57,28.83
$GC,9369,-0.72,-170.3,861.8,-11.3,436,9375,0.12,2.05,0.00,0.000,4,0.165,0.026,2826,1211,3423,0,0,0,0,0,0,26.46,26.65,28.83
$GC,9406,-0.69,-170.3,865.4,-11.0,437,9412,0.00,2.17,0.00,0.000,6,0.000,0.044,2826,2610,3423,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9736,-0.69,-170.3,891.5,-7.8,448,9737,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2610,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10034,-0.69,-170.3,915.6,-8.2,458,10040,0.00,2.08,0.00,0.000,4,0.000,0.028,2827,1217,3421,0,0,0,0,0,0,28.83,26.64,28.83
$GC,10077,-0.69,-170.3,918.5,-8.4,459,10084,0.00,2.15,0.00,0.000,6,0.000,0.044,2826,2601,3421,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10402,-0.69,-170.3,947.4,-8.7,470,10407,0.00,2.05,0.00,0.000,4,0.000,0.028,2827,1225,3421,0,0,0,0,0,0,28.83,26.64,28.83
$GC,10454,-0.69,-170.3,950.5,-9.0,471,10460,0.00,2.15,0.00,0.000,6,0.000,0.044,2827,2604,3420,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10767,-0.69,-170.3,981.0,-9.3,482,10773,0.00,2.08,0.00,0.000,4,0.000,0.028,2826,1211,3420,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10819,-0.69,-170.3,984.0,-9.2,483,10825,0.00,2.17,0.00,0.000,6,0.000,0.044,2827,2608,3420,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,10890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10890,begin apogee
$GC,10896,-0.15,0.0,992.5,-9.2,486,11043,0.50,0.00,137.65,1.498,6,0.117,0.000,2999,2140,2767,0,0,0,0,0,0,26.35,28.83,23.86
$STATE,11045,end apogee,CONTROL_FINISHED_OK
$STATE,11045,begin climb
$GC,11047,0.51,170.3,999.0,0.0,491,11212,0.57,2.42,152.43,1.453,4,0.053,0.036,3227,742,2072,0,0,0,0,0,0,24.91,23.88,23.03
$GC,11249,0.45,176.6,989.0,8.5,497,11262,0.12,2.30,6.30,1.092,6,0.145,0.038,3196,2118,2049,0,0,0,0,0,0,24.41,24.49,23.55
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$STATE,20730,end climb,SURFACE_DEPTH_REACHED
$STATE,20730,begin surface coast
$FINISH,1.6,1.021066
$STATE,20756,end surface coast,CONTROL_FINISHED_OK
$STATE,20756,begin surface
$SM_CCo,20834,0.00,0.000,0,0,474,562.96
$SM_GC,2.54,8.45,1.42,0.00,0.045,0.024,0.000,134,2572,474,-9.07,1.64,562.96,0,0,0,0,0,0,26.05,26.17,28.83
$IRIDIUM_FIX,2008.77,11954.38,241112,232350
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.40
$INTERNAL_PRESSURE,9.47851
$TCM_TEMP,24.70
$XPDR_PINGS,2
$SC_FREEKB,3975584
$24V_AH,23.0,25.322
$10V_AH,9.8,10.535
$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,23.150,224.675,605.750,0.000,0.000,0.000,0.000,283.600,0.500,0.000,17.596,3242.011,14099.943,815.548,2799.852,339.978,0.000,2496.764,0.000,2370.621,0.000,0.544,0.000
$DEVICE_MAMPS,243.270,55.845,1497.870,0.000,0.000,0.000,0.000,136.170,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20787.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.299,0.000,0.000,0.000
$MEM,323800
$DATA_FILE_SIZE,36763,955
$CAP_FILE_SIZE,253591,0
$CFSIZE,260034560,240025600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.289,253.6,1
$GPS,251112,120152,2011.893,11954.055,40,0.9,40,-2.7