version: 66.11
glider: 170
mission: 10
dive: 118
start: 11 25 112 18 27 33
data:
$ID,170
$MISSION,10
$DIVE,118
$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,-143235.59
$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,67
$R_STBD_OVSHOOT,28
$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
$GPS1,251112,181922,2010.967,11954.302,40,0.7,40,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-74.8
$GPS2,251112,182705,2011.024,11954.273,16,1.2,16,-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,143.8,131919,-14.9,-8.684,-17.18
$D_GRID,3425
$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,-170.3,0.0,0.0,0,84,0.00,0.00,-62.17,0.000,2,0.000,0.000,143,2604,1865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.51,-170.3,3.0,-1.3,11,160,11.10,1.83,-51.72,0.000,4,0.243,0.076,2881,3694,3465,0,0,0,0,0,0,25.67,26.03,26.39
$GC,274,-0.40,-170.3,50.2,-30.5,38,280,0.15,1.62,0.00,0.000,6,0.165,0.024,2922,2578,3465,0,0,0,0,0,0,26.01,26.25,28.83
$GC,480,-0.36,-170.3,92.1,-16.4,48,485,0.00,2.00,0.00,0.000,4,0.000,0.030,2922,1213,3465,0,0,0,0,0,0,28.83,26.33,28.83
$GC,605,-0.34,-170.3,110.6,-13.8,54,610,0.00,2.15,0.00,0.000,6,0.000,0.042,2923,2617,3465,0,0,0,0,0,0,28.83,26.34,28.83
$GC,808,-0.34,-170.3,135.3,-11.0,64,813,0.00,1.65,0.00,0.000,4,0.000,0.050,2922,3695,3465,0,0,0,0,0,0,28.83,26.38,28.83
$GC,865,-0.35,-170.3,139.8,-10.5,66,872,0.00,1.60,0.00,0.000,6,0.000,0.025,2922,2555,3465,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1051,-0.36,-170.3,157.7,-8.9,76,1056,0.00,1.85,0.00,0.000,4,0.000,0.025,2923,1252,3466,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1128,-0.38,-170.3,162.8,-8.3,79,1135,0.00,2.08,0.00,0.000,6,0.000,0.040,2922,2611,3465,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1314,-0.40,-170.3,179.6,-8.8,89,1320,0.00,1.65,0.00,0.000,4,0.000,0.051,2922,3693,3465,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1372,-0.42,-170.3,183.6,-9.1,91,1379,0.00,1.52,0.00,0.000,6,0.000,0.026,2922,2621,3466,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1560,-0.45,-170.3,199.3,-7.1,101,1565,0.00,1.98,0.00,0.000,4,0.000,0.025,2922,1233,3465,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1617,-0.48,-170.3,202.5,-6.9,103,1625,0.00,2.08,0.00,0.000,6,0.000,0.039,2922,2601,3465,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1803,-0.52,-170.3,214.8,-6.1,113,1809,0.12,2.00,0.00,0.000,4,0.089,0.024,2848,1230,3464,0,0,0,0,0,0,26.62,26.59,28.83
$GC,1842,-0.54,-170.3,216.9,-6.6,114,1849,0.00,2.10,0.00,0.000,6,0.000,0.041,2848,2604,3464,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2027,-0.51,-170.3,241.0,-12.9,124,2029,0.12,0.00,0.00,0.000,6,0.155,0.000,2886,2604,3464,0,0,0,0,0,0,26.47,28.83,28.83
$GC,2208,-0.53,-170.3,257.4,-8.7,133,2214,0.00,1.67,0.00,0.000,4,0.000,0.050,2886,3688,3463,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2277,-0.55,-170.3,262.7,-8.3,136,2282,0.00,1.52,0.00,0.000,6,0.000,0.026,2886,2598,3463,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2595,-0.57,-170.3,288.8,-8.1,152,2600,0.00,1.98,0.00,0.000,4,0.000,0.037,2886,1228,3461,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2618,-0.60,-170.3,290.6,-8.0,153,2623,0.00,2.12,0.00,0.000,6,0.000,0.041,2886,2611,3460,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2942,-0.63,-170.3,315.1,-8.0,169,2947,0.12,2.00,0.00,0.000,4,0.091,0.023,2808,1228,3459,0,0,0,0,0,0,26.67,26.64,28.83
$GC,2985,-0.63,-170.3,320.2,-9.6,171,2991,0.15,2.12,0.00,0.000,6,0.150,0.041,2852,2607,3459,0,0,0,0,0,0,26.44,26.58,28.83
$GC,3309,-0.63,-170.3,352.6,-9.5,187,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2608,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3610,-0.63,-170.3,380.4,-9.1,202,3616,0.00,2.03,0.00,0.000,4,0.000,0.026,2852,1224,3453,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3708,-0.63,-170.3,388.0,-8.9,206,3715,0.00,2.12,0.00,0.000,6,0.000,0.041,2852,2610,3451,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4014,-0.63,-170.3,415.0,-8.4,222,4019,0.00,1.67,0.00,0.000,4,0.000,0.054,2852,3688,3450,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4070,-0.63,-170.3,418.9,-8.7,224,4077,0.00,1.58,0.00,0.000,6,0.000,0.028,2852,2610,3449,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4377,-0.63,-170.3,444.5,-8.2,240,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2610,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4678,-0.63,-170.3,471.0,-9.2,255,4683,0.00,2.03,0.00,0.000,4,0.000,0.026,2853,1214,3445,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4715,-0.63,-170.3,473.3,-9.3,256,4723,0.00,2.15,0.00,0.000,6,0.000,0.041,2852,2610,3445,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5021,-0.63,-170.3,503.5,-9.3,272,5027,0.00,2.05,0.00,0.000,4,0.000,0.026,2852,1216,3443,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5089,-0.64,-170.3,509.3,-9.1,275,5094,0.00,2.15,0.00,0.000,6,0.000,0.041,2852,2612,3443,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5407,-0.65,-170.3,539.2,-9.9,291,5412,0.00,2.08,0.00,0.000,4,0.000,0.037,2852,1207,3440,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5484,-0.66,-170.3,545.5,-10.2,294,5491,0.00,2.15,0.00,0.000,6,0.000,0.041,2852,2610,3440,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5790,-0.67,-170.3,573.5,-8.6,310,5795,0.00,2.08,0.00,0.000,4,0.000,0.026,2853,1204,3438,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5836,-0.68,-170.3,577.5,-8.9,312,5841,0.00,2.17,0.00,0.000,6,0.000,0.042,2852,2612,3438,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6145,-0.70,-170.3,603.4,-8.0,327,6151,0.00,2.08,0.00,0.000,4,0.000,0.027,2852,1206,3436,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6194,-0.71,-170.3,606.1,-7.8,328,6199,0.00,2.15,0.00,0.000,6,0.000,0.042,2852,2600,3435,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6514,-0.72,-170.3,630.3,-6.9,339,6519,0.00,2.05,0.00,0.000,4,0.000,0.027,2852,1205,3434,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6561,-0.73,-170.3,632.6,-6.8,340,6567,0.12,2.17,0.00,0.000,6,0.101,0.041,2793,2614,3433,0,0,0,0,0,0,26.57,26.58,28.83
$GC,6881,-0.70,-170.3,669.1,-11.5,351,6888,0.12,1.67,0.00,0.000,4,0.165,0.054,2834,3694,3432,0,0,0,0,0,0,26.47,26.55,28.83
$GC,6960,-0.69,-170.3,675.4,-10.5,353,6965,0.00,1.60,0.00,0.000,6,0.000,0.030,2834,2596,3431,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7277,-0.69,-170.3,706.4,-9.4,364,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2596,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7577,-0.69,-170.3,735.9,-9.7,374,7582,0.00,2.03,0.00,0.000,4,0.000,0.027,2834,1208,3428,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7610,-0.69,-170.3,739.0,-9.6,375,7616,0.00,2.17,0.00,0.000,6,0.000,0.043,2834,2607,3429,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7945,-0.69,-170.3,770.6,-9.1,386,7950,0.00,2.08,0.00,0.000,4,0.000,0.027,2834,1207,3428,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7997,-0.69,-170.3,773.7,-9.0,387,8002,0.00,2.17,0.00,0.000,6,0.000,0.042,2834,2611,3428,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8310,-0.69,-170.3,801.2,-8.0,398,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2611,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8610,-0.69,-170.3,824.8,-7.8,408,8611,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2613,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8910,-0.69,-170.3,847.8,-7.8,418,8915,0.00,2.08,0.00,0.000,4,0.000,0.028,2834,1200,3425,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8968,-0.69,-170.3,850.5,-7.9,419,8974,0.00,2.17,0.00,0.000,6,0.000,0.042,2834,2602,3424,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9273,-0.69,-170.3,876.0,-7.7,430,9279,0.00,1.73,0.00,0.000,4,0.000,0.056,2834,3700,3423,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9301,-0.69,-170.3,876.0,-7.7,430,9308,0.00,1.62,0.00,0.000,6,0.000,0.031,2834,2594,3423,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9607,-0.69,-170.3,900.3,-7.3,441,9613,0.00,2.03,0.00,0.000,4,0.000,0.027,2834,1209,3422,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9636,-0.69,-170.3,900.3,-7.3,441,9642,0.00,2.17,0.00,0.000,6,0.000,0.043,2834,2608,3422,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9942,-0.69,-170.3,922.8,-6.7,452,9948,0.00,2.08,0.00,0.000,4,0.000,0.028,2834,1207,3421,0,0,0,0,0,0,28.83,26.64,28.83
$GC,10016,-0.70,-170.3,927.2,-6.7,454,10021,0.00,2.17,0.00,0.000,6,0.000,0.043,2834,2610,3421,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10341,-0.71,-170.3,948.6,-6.5,465,10342,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2610,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10640,-0.72,-170.3,969.5,-7.1,475,10645,0.00,2.10,0.00,0.000,4,0.000,0.028,2834,1198,3420,0,0,0,0,0,0,28.83,26.64,28.83
$GC,10667,-0.73,-170.3,969.5,-7.1,475,10674,0.00,2.17,0.00,0.000,6,0.000,0.043,2834,2611,3420,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,10911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10911,begin apogee
$GC,10917,-0.15,0.0,990.1,-7.7,484,11064,0.47,0.00,138.23,1.494,6,0.108,0.000,3001,2122,2767,0,0,0,0,0,0,26.36,28.83,23.84
$STATE,11066,end apogee,CONTROL_FINISHED_OK
$STATE,11066,begin climb
$GC,11068,0.51,170.3,996.1,0.0,489,11232,0.60,2.55,154.57,1.451,4,0.047,0.050,3234,3526,2072,0,0,0,0,0,0,24.90,23.80,22.97
$GC,11256,0.43,170.3,983.5,10.0,495,11262,0.20,2.30,0.00,0.000,6,0.155,0.028,3189,2133,2069,0,0,0,0,0,0,24.20,24.34,28.83
$GC,11581,0.40,170.3,945.8,11.3,506,11587,0.00,2.20,0.00,0.000,4,0.000,0.034,3199,715,2061,0,0,0,0,0,0,28.83,25.64,28.83
$GC,11649,0.38,170.3,938.4,11.2,508,11654,0.00,2.22,0.00,0.000,6,0.000,0.037,3200,2125,2060,0,0,0,0,0,0,28.83,25.74,28.83
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$STATE,20737,end climb,SURFACE_DEPTH_REACHED
$STATE,20737,begin surface coast
$FINISH,1.5,1.009107
$STATE,20758,end surface coast,CONTROL_FINISHED_OK
$STATE,20759,begin surface
$SM_CCo,20838,0.00,0.000,0,0,459,566.64
$SM_GC,2.49,8.48,1.40,0.00,0.043,0.025,0.000,139,2568,459,-9.06,2.23,566.64,0,0,0,0,0,0,25.82,26.03,28.83
$IRIDIUM_FIX,2001.88,11953.24,251112,121254
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.13
$INTERNAL_PRESSURE,9.44921
$TCM_TEMP,24.20
$XPDR_PINGS,2
$SC_FREEKB,3974816
$24V_AH,23.0,25.765
$10V_AH,9.9,10.787
$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,23.225,223.175,624.925,0.000,0.000,0.000,0.000,270.000,0.500,0.000,17.651,3205.317,14123.605,868.851,2764.118,325.909,0.000,2518.167,0.000,2353.420,0.000,0.544,0.000
$DEVICE_MAMPS,242.505,75.735,1494.045,0.000,0.000,0.000,0.000,139.995,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20792.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.077,0.000,0.000,0.000
$MEM,323760
$DATA_FILE_SIZE,36603,938
$CAP_FILE_SIZE,253777,0
$CFSIZE,260034560,239775744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.102,298.3,1
$GPS,261112,001604,2009.323,11955.284,37,0.7,37,-2.7