version: 66.11
glider: 170
mission: 10
dive: 119
start: 11 26 112 0 24 22
data:
$ID,170
$MISSION,10
$DIVE,119
$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,-143236.84
$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,106
$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
$GPS1,261112,001604,2009.323,11955.284,37,0.7,37,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-78.1
$GPS2,261112,002354,2009.282,11955.182,15,1.1,15,-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,161.0,128588,-14.9,-8.684,-17.18
$D_GRID,3438
$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,-170.3,0.0,0.0,0,83,0.00,0.00,-61.28,0.000,2,0.000,0.000,138,2561,1846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.51,-170.3,3.1,-2.2,11,164,11.05,1.85,-58.38,0.000,4,0.241,0.077,2879,3684,3465,0,0,0,0,0,0,25.70,26.01,26.37
$GC,307,-0.40,-170.3,51.9,-28.8,41,314,0.15,1.55,0.00,0.000,6,0.159,0.024,2920,2606,3466,0,0,0,0,0,0,26.03,26.26,28.83
$GC,495,-0.36,-170.3,87.1,-16.0,51,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2604,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,673,-0.35,-170.3,109.9,-12.1,60,678,0.00,2.03,0.00,0.000,4,0.000,0.027,2921,1211,3466,0,0,0,0,0,0,28.83,26.40,28.83
$GC,740,-0.35,-170.3,116.6,-10.8,63,745,0.00,2.12,0.00,0.000,6,0.000,0.041,2921,2590,3466,0,0,0,0,0,0,28.83,26.36,28.83
$GC,937,-0.35,-170.3,136.0,-9.3,73,943,0.00,2.03,0.00,0.000,4,0.000,0.030,2921,1215,3466,0,0,0,0,0,0,28.83,26.47,28.83
$GC,995,-0.36,-170.3,139.5,-8.6,75,1002,0.00,2.10,0.00,0.000,6,0.000,0.039,2921,2605,3465,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1180,-0.37,-170.3,157.8,-9.6,85,1186,0.00,1.67,0.00,0.000,4,0.000,0.050,2921,3688,3466,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1238,-0.39,-170.3,161.9,-9.4,87,1245,0.00,1.58,0.00,0.000,6,0.000,0.026,2921,2574,3466,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1425,-0.41,-170.3,179.9,-9.0,97,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2574,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1605,-0.43,-170.3,194.0,-7.5,106,1610,0.00,1.90,0.00,0.000,4,0.000,0.025,2921,1243,3466,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1652,-0.45,-170.3,197.4,-7.7,108,1658,0.00,2.08,0.00,0.000,6,0.000,0.041,2921,2611,3465,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1852,-0.49,-170.3,212.7,-7.5,118,1857,0.00,1.65,0.00,0.000,4,0.000,0.050,2921,3698,3465,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1879,-0.52,-170.3,214.5,-7.4,119,1886,0.12,1.52,0.00,0.000,6,0.091,0.027,2847,2618,3466,0,0,0,0,0,0,26.55,26.64,28.83
$GC,2080,-0.49,-170.3,241.6,-14.2,129,2086,0.12,2.03,0.00,0.000,4,0.158,0.023,2890,1209,3464,0,0,0,0,0,0,26.46,26.61,28.83
$GC,2134,-0.48,-170.3,246.5,-12.4,131,2139,0.00,2.10,0.00,0.000,6,0.000,0.040,2889,2600,3464,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2327,-0.49,-170.3,264.2,-8.9,141,2332,0.00,2.00,0.00,0.000,4,0.000,0.038,2890,1222,3463,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2360,-0.50,-170.3,266.4,-9.0,142,2365,0.00,2.10,0.00,0.000,6,0.000,0.041,2890,2612,3463,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2673,-0.51,-170.3,294.9,-8.9,158,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2613,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2976,-0.54,-170.3,319.2,-7.7,173,2981,0.00,2.05,0.00,0.000,4,0.000,0.037,2890,1212,3459,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3023,-0.57,-170.3,322.7,-7.7,175,3029,0.00,2.10,0.00,0.000,6,0.000,0.040,2889,2604,3459,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3342,-0.60,-170.3,344.6,-7.3,191,3347,0.00,2.00,0.00,0.000,4,0.000,0.025,2892,1217,3457,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3415,-0.64,-170.3,350.1,-8.3,194,3421,0.12,2.10,0.00,0.000,6,0.086,0.038,2819,2612,3457,0,0,0,0,0,0,26.60,26.60,28.83
$GC,3730,-0.61,-170.3,392.9,-13.0,210,3732,0.12,0.00,0.00,0.000,6,0.154,0.000,2856,2612,3454,0,0,0,0,0,0,26.53,28.83,28.83
$GC,4030,-0.61,-170.3,419.7,-7.9,225,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2612,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4330,-0.61,-170.3,443.9,-8.4,240,4336,0.00,2.05,0.00,0.000,4,0.000,0.026,2856,1218,3449,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4398,-0.62,-170.3,449.3,-8.6,243,4404,0.00,2.10,0.00,0.000,6,0.000,0.040,2856,2602,3449,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4717,-0.63,-170.3,475.1,-8.0,259,4722,0.00,1.70,0.00,0.000,4,0.000,0.054,2855,3691,3446,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4740,-0.64,-170.3,476.9,-7.9,260,4746,0.00,1.58,0.00,0.000,6,0.000,0.028,2856,2600,3446,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5064,-0.65,-170.3,502.5,-7.8,276,5069,0.00,2.03,0.00,0.000,4,0.000,0.026,2855,1202,3445,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5128,-0.66,-170.3,507.5,-7.7,279,5133,0.00,2.12,0.00,0.000,6,0.000,0.041,2855,2600,3444,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5451,-0.67,-170.3,532.6,-7.5,295,5457,0.00,2.05,0.00,0.000,4,0.000,0.026,2855,1206,3442,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5484,-0.68,-170.3,534.5,-7.4,296,5489,0.00,2.12,0.00,0.000,6,0.000,0.041,2855,2602,3442,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5797,-0.69,-170.3,557.6,-6.9,312,5803,0.00,2.05,0.00,0.000,4,0.000,0.026,2856,1206,3439,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5855,-0.70,-170.3,560.7,-7.1,314,5862,0.00,2.15,0.00,0.000,6,0.000,0.041,2855,2608,3439,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6161,-0.71,-170.3,582.0,-6.7,330,6167,0.12,2.05,0.00,0.000,4,0.098,0.029,2783,1203,3437,0,0,0,0,0,0,26.67,26.65,28.83
$GC,6204,-0.71,-170.3,586.7,-8.8,332,6210,0.12,2.15,0.00,0.000,6,0.168,0.043,2817,2597,3437,0,0,0,0,0,0,26.41,26.58,28.83
$GC,6529,-0.70,-170.3,620.9,-10.4,345,6534,0.00,2.03,0.00,0.000,4,0.000,0.026,2817,1209,3435,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6562,-0.68,-170.3,624.5,-10.6,346,6568,0.00,2.15,0.00,0.000,6,0.000,0.042,2817,2610,3435,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6897,-0.67,-170.3,660.1,-10.7,357,6903,0.00,2.08,0.00,0.000,4,0.000,0.026,2817,1202,3433,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6946,-0.65,-170.3,663.8,-10.6,358,6951,0.00,2.17,0.00,0.000,6,0.000,0.042,2817,2610,3433,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7265,-0.64,-170.3,697.3,-10.0,369,7270,0.00,1.67,0.00,0.000,4,0.000,0.055,2818,3693,3432,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7328,-0.63,-170.3,704.0,-10.3,371,7333,0.00,1.60,0.00,0.000,6,0.000,0.030,2818,2607,3432,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7663,-0.62,-170.3,737.0,-9.7,382,7668,0.12,2.03,0.00,0.000,4,0.159,0.025,2862,1202,3430,0,0,0,0,0,0,26.48,26.66,28.83
$GC,7741,-0.62,-170.3,741.9,-8.5,384,7746,0.00,2.15,0.00,0.000,6,0.000,0.041,2862,2610,3430,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8060,-0.64,-170.3,762.3,-6.0,395,8066,0.00,2.08,0.00,0.000,4,0.000,0.027,2862,1194,3428,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8103,-0.67,-170.3,764.3,-6.0,396,8108,0.00,2.15,0.00,0.000,6,0.000,0.041,2861,2601,3429,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8427,-0.69,-170.3,782.0,-5.1,407,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2602,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8726,-0.71,-170.3,797.5,-5.2,417,8732,0.12,2.05,0.00,0.000,4,0.091,0.025,2788,1203,3426,0,0,0,0,0,0,26.68,26.65,28.83
$GC,8765,-0.73,-170.3,800.2,-5.9,418,8770,0.00,2.15,0.00,0.000,6,0.000,0.043,2788,2602,3426,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9094,-0.70,-170.3,836.3,-11.0,429,9096,0.12,0.00,0.00,0.000,6,0.171,0.000,2822,2603,3424,0,0,0,0,0,0,26.46,28.83,28.83
$GC,9393,-0.70,-170.3,863.7,-9.3,439,9394,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2603,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9693,-0.70,-170.3,891.7,-9.3,449,9698,0.00,2.08,0.00,0.000,4,0.000,0.026,2822,1199,3423,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9740,-0.70,-170.3,894.8,-9.2,450,9746,0.00,2.17,0.00,0.000,6,0.000,0.042,2822,2603,3423,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10058,-0.70,-170.3,925.4,-9.4,461,10063,0.00,2.08,0.00,0.000,4,0.000,0.027,2822,1202,3422,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10115,-0.70,-170.3,928.7,-9.5,462,10122,0.00,2.15,0.00,0.000,6,0.000,0.042,2822,2602,3422,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10422,-0.70,-170.3,958.0,-8.6,473,10427,0.00,2.08,0.00,0.000,4,0.000,0.027,2823,1202,3421,0,0,0,0,0,0,28.83,26.64,28.83
$GC,10474,-0.70,-170.3,961.0,-8.7,474,10479,0.00,2.15,0.00,0.000,6,0.000,0.042,2823,2603,3421,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10788,-0.70,-170.3,988.4,-8.0,485,10794,0.00,1.70,0.00,0.000,4,0.000,0.056,2823,3697,3420,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10810,-0.70,-170.3,988.4,-8.0,485,10815,0.00,1.62,0.00,0.000,6,0.000,0.031,2823,2593,3420,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,10820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10820,begin apogee
$GC,10825,-0.15,0.0,991.2,-8.0,486,10974,0.50,0.00,138.00,1.492,6,0.112,0.000,2997,2118,2767,0,0,0,0,0,0,26.34,28.83,23.86
$STATE,10976,end apogee,CONTROL_FINISHED_OK
$STATE,10976,begin climb
$GC,10978,0.51,170.3,994.8,0.0,491,11136,0.60,0.00,154.77,1.447,6,0.048,0.000,3228,2118,2074,0,0,0,0,0,0,24.94,28.83,23.01
$GC,11423,0.46,170.3,937.7,15.6,506,11429,0.00,2.35,0.00,0.000,4,0.000,0.050,3228,3529,2063,0,0,0,0,0,0,28.83,25.48,28.83
$GC,11470,0.40,170.3,931.9,16.0,507,11476,0.20,2.22,0.00,0.000,6,0.152,0.027,3181,2107,2062,0,0,0,0,0,0,25.46,25.68,28.83
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$STATE,20859,end climb,SURFACE_DEPTH_REACHED
$STATE,20859,begin surface coast
$FINISH,1.5,1.010698
$STATE,20895,end surface coast,CONTROL_FINISHED_OK
$STATE,20895,begin surface
$SM_CCo,20973,0.00,0.000,0,0,685,511.21
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$TT8_MAMPS,0.025466,0.025466
$HUMID,49.48
$INTERNAL_PRESSURE,9.47851
$TCM_TEMP,24.40
$XPDR_PINGS,3
$SC_FREEKB,3974432
$24V_AH,23.0,25.966
$10V_AH,10.1,10.910
$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,23.050,220.475,565.450,0.000,0.000,0.000,0.000,283.175,0.750,0.000,16.874,3267.314,14270.614,826.810,2729.964,337.015,0.000,2442.291,0.000,2313.727,0.000,0.544,0.000
$DEVICE_MAMPS,240.975,77.265,1491.750,0.000,0.000,0.000,0.000,135.405,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20923.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.208,0.000,0.000,0.000
$MEM,323764
$DATA_FILE_SIZE,36747,971
$CAP_FILE_SIZE,256978,0
$CFSIZE,260034560,239652864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.100,243.0,1
$GPS,261112,061505,2005.993,11955.550,34,0.8,34,-2.7