version: 66.11
glider: 170
mission: 10
dive: 125
start: 11 27 112 11 48 45
data:
$ID,170
$MISSION,10
$DIVE,125
$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,-143245.36
$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,69
$R_STBD_OVSHOOT,50
$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
$GPS1,271112,113952,1953.024,11956.083,39,0.8,39,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-70.2
$GPS2,271112,114817,1952.938,11955.877,17,0.9,17,-2.6
$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,158.7,98307,-14.9,-8.684,-17.18
$D_GRID,3648
$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,-170.3,0.0,0.0,0,85,0.00,0.00,-63.83,0.000,2,0.000,0.000,133,2625,1900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.51,-170.3,3.1,-2.3,11,156,11.15,2.20,-48.55,0.000,4,0.243,0.048,2883,1209,3466,0,0,0,0,0,0,25.69,26.08,26.39
$GC,290,-0.43,-170.3,45.9,-25.1,40,295,0.00,2.15,0.00,0.000,6,0.000,0.050,2883,2578,3466,0,0,0,0,0,0,28.83,26.15,28.83
$GC,493,-0.37,-170.3,88.4,-19.8,51,499,0.12,1.75,0.00,0.000,4,0.179,0.052,2922,3708,3466,0,0,0,0,0,0,26.15,26.26,28.83
$GC,531,-0.32,-170.3,93.0,-19.5,52,537,0.00,1.62,0.00,0.000,6,0.000,0.024,2922,2554,3466,0,0,0,0,0,0,28.83,26.42,28.83
$GC,717,-0.30,-170.3,118.3,-11.9,62,723,0.00,1.88,0.00,0.000,4,0.000,0.024,2922,1233,3466,0,0,0,0,0,0,28.83,26.43,28.83
$GC,740,-0.30,-170.3,120.9,-11.7,63,747,0.00,2.10,0.00,0.000,6,0.000,0.041,2922,2607,3466,0,0,0,0,0,0,28.83,26.36,28.83
$GC,945,-0.30,-170.3,140.5,-9.8,73,950,0.00,2.03,0.00,0.000,4,0.000,0.029,2922,1232,3466,0,0,0,0,0,0,28.83,26.48,28.83
$GC,976,-0.30,-170.3,142.9,-9.9,74,982,0.00,2.08,0.00,0.000,6,0.000,0.040,2922,2601,3466,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1169,-0.32,-170.3,164.1,-11.2,84,1175,0.00,1.98,0.00,0.000,4,0.000,0.024,2922,1231,3466,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1242,-0.33,-170.3,171.5,-11.8,87,1248,0.00,2.08,0.00,0.000,6,0.000,0.040,2922,2601,3466,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1435,-0.35,-170.3,193.0,-9.4,97,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2602,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1616,-0.38,-170.3,206.7,-7.4,106,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2601,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1797,-0.41,-170.3,219.0,-6.7,115,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2601,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1976,-0.44,-170.3,229.5,-5.6,124,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2601,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2156,-0.47,-170.3,240.1,-5.9,133,2162,0.00,2.00,0.00,0.000,4,0.000,0.037,2922,1230,3464,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2189,-0.51,-170.3,241.4,-5.8,134,2195,0.12,2.10,0.00,0.000,6,0.091,0.040,2854,2606,3463,0,0,0,0,0,0,26.56,26.55,28.83
$GC,2384,-0.48,-170.3,263.1,-12.2,144,2391,0.12,1.98,0.00,0.000,4,0.149,0.022,2899,1231,3463,0,0,0,0,0,0,26.48,26.63,28.83
$GC,2418,-0.47,-170.3,265.8,-11.9,145,2423,0.00,2.08,0.00,0.000,6,0.000,0.040,2899,2604,3463,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2731,-0.50,-170.3,292.3,-7.4,161,2736,0.00,2.00,0.00,0.000,4,0.000,0.025,2900,1229,3461,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2768,-0.53,-170.3,293.9,-7.3,162,2775,0.00,2.08,0.00,0.000,6,0.000,0.040,2899,2603,3461,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3074,-0.56,-170.3,316.9,-6.4,178,3080,0.00,2.00,0.00,0.000,4,0.000,0.027,2899,1228,3459,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3122,-0.60,-170.3,319.5,-6.1,180,3128,0.12,2.08,0.00,0.000,6,0.086,0.039,2832,2602,3459,0,0,0,0,0,0,26.58,26.58,28.83
$GC,3441,-0.58,-170.3,350.4,-9.3,196,3443,0.12,0.00,0.00,0.000,6,0.152,0.000,2869,2602,3457,0,0,0,0,0,0,26.51,28.83,28.83
$GC,3743,-0.59,-170.3,369.3,-6.4,211,3749,0.00,2.00,0.00,0.000,4,0.000,0.025,2869,1232,3456,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3776,-0.60,-170.3,371.1,-6.7,212,3781,0.00,2.10,0.00,0.000,6,0.000,0.041,2869,2608,3455,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4089,-0.62,-170.3,394.9,-7.6,228,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2608,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4391,-0.63,-170.3,415.2,-6.4,243,4396,0.00,2.00,0.00,0.000,4,0.000,0.025,2869,1228,3450,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4490,-0.65,-170.3,420.7,-6.5,247,4496,0.00,2.10,0.00,0.000,6,0.000,0.040,2868,2612,3450,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4795,-0.67,-170.3,443.6,-7.9,263,4800,0.00,2.00,0.00,0.000,4,0.000,0.025,2869,1233,3447,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4832,-0.68,-170.3,445.5,-8.0,264,4841,0.12,2.10,0.00,0.000,6,0.096,0.041,2807,2608,3447,0,0,0,0,0,0,26.58,26.59,28.83
$GC,5138,-0.66,-170.3,485.3,-13.2,280,5144,0.00,1.67,0.00,0.000,4,0.000,0.054,2806,3701,3446,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5186,-0.63,-170.3,491.1,-13.3,282,5192,0.15,1.55,0.00,0.000,6,0.142,0.028,2852,2623,3445,0,0,0,0,0,0,26.45,26.71,28.83
$GC,5505,-0.63,-170.3,522.1,-9.3,298,5510,0.00,2.05,0.00,0.000,4,0.000,0.025,2852,1205,3444,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5582,-0.64,-170.3,527.8,-9.1,301,5589,0.00,2.15,0.00,0.000,6,0.000,0.041,2852,2608,3444,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5887,-0.64,-170.3,555.9,-8.8,317,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2607,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6189,-0.65,-170.3,583.1,-9.1,332,6195,0.00,2.05,0.00,0.000,4,0.000,0.026,2856,1213,3440,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6213,-0.66,-170.3,585.3,-9.0,333,6218,0.00,2.12,0.00,0.000,6,0.000,0.041,2852,2598,3440,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6546,-0.66,-170.3,614.0,-8.4,347,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2599,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6846,-0.67,-170.3,638.9,-8.3,357,6852,0.00,2.05,0.00,0.000,4,0.000,0.026,2852,1205,3436,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6900,-0.68,-170.3,641.7,-8.2,358,6905,0.00,2.15,0.00,0.000,6,0.000,0.041,2852,2600,3436,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7214,-0.70,-170.3,667.5,-7.5,369,7219,0.00,2.05,0.00,0.000,4,0.000,0.026,2852,1211,3435,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7262,-0.71,-170.3,670.0,-7.4,370,7267,0.00,2.12,0.00,0.000,6,0.000,0.041,2852,2601,3435,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7581,-0.72,-170.3,692.2,-6.3,381,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2601,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7880,-0.73,-170.3,710.6,-6.1,391,7886,0.12,2.05,0.00,0.000,4,0.096,0.024,2781,1200,3432,0,0,0,0,0,0,26.67,26.65,28.83
$GC,7938,-0.73,-170.3,713.5,-6.6,392,7946,0.12,2.17,0.00,0.000,6,0.168,0.043,2816,2612,3432,0,0,0,0,0,0,26.38,26.56,28.83
$GC,8246,-0.72,-170.3,740.9,-8.0,403,8252,0.00,2.08,0.00,0.000,4,0.000,0.027,2817,1203,3431,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8269,-0.71,-170.3,740.9,-8.0,403,8275,0.00,2.15,0.00,0.000,6,0.000,0.043,2816,2603,3431,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8584,-0.70,-170.3,766.8,-7.7,414,8590,0.00,1.73,0.00,0.000,4,0.000,0.055,2817,3702,3430,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8649,-0.69,-170.3,772.1,-7.9,416,8655,0.00,1.60,0.00,0.000,6,0.000,0.029,2816,2597,3430,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8984,-0.68,-170.3,798.6,-8.0,427,8990,0.00,2.03,0.00,0.000,4,0.000,0.026,2817,1206,3429,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9023,-0.67,-170.3,801.4,-8.0,428,9028,0.00,2.17,0.00,0.000,6,0.000,0.043,2817,2610,3429,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9352,-0.66,-170.3,829.2,-8.6,439,9357,0.00,2.08,0.00,0.000,4,0.000,0.027,2817,1205,3427,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9409,-0.66,-170.3,832.4,-8.8,440,9416,0.00,2.15,0.00,0.000,6,0.000,0.042,2816,2601,3427,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9714,-0.66,-170.3,863.9,-9.9,451,9720,0.00,2.05,0.00,0.000,4,0.000,0.027,2816,1214,3426,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9762,-0.66,-170.3,867.3,-10.0,452,9767,0.00,2.12,0.00,0.000,6,0.000,0.043,2816,2600,3426,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10080,-0.66,-170.3,901.6,-10.4,463,10085,0.00,1.73,0.00,0.000,4,0.000,0.056,2816,3699,3425,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10117,-0.66,-170.3,905.1,-10.5,464,10122,0.00,1.60,0.00,0.000,6,0.000,0.031,2816,2610,3427,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10446,-0.66,-170.3,942.0,-11.5,475,10452,0.00,2.05,0.00,0.000,4,0.000,0.028,2817,1202,3424,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10495,-0.66,-170.3,946.0,-11.5,476,10500,0.00,2.15,0.00,0.000,6,0.000,0.043,2816,2600,3424,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10813,-0.66,-170.3,985.0,-11.7,487,10814,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2601,3423,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10871,begin apogee
$GC,10877,-0.15,0.0,992.0,-11.7,489,11024,0.52,0.00,139.52,1.486,6,0.121,0.000,2997,2098,2768,0,0,0,0,0,0,26.29,28.83,23.85
$STATE,11026,end apogee,CONTROL_FINISHED_OK
$STATE,11026,begin climb
$GC,11028,0.51,170.3,1001.1,0.0,494,11188,0.57,0.00,155.25,1.445,6,0.053,0.000,3220,2097,2074,0,0,0,0,0,0,24.90,28.83,22.96
$GC,11473,0.46,170.3,960.6,12.5,509,11478,0.00,2.38,0.00,0.000,4,0.000,0.050,3220,3526,2064,0,0,0,0,0,0,28.83,25.48,28.83
$GC,11521,0.41,170.3,955.9,13.0,510,11527,0.15,2.12,0.00,0.000,6,0.162,0.028,3187,2148,2063,0,0,0,0,0,0,25.46,25.67,28.83
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$STATE,20190,end climb,SURFACE_DEPTH_REACHED
$STATE,20190,begin surface coast
$FINISH,1.5,1.021498
$STATE,20219,end surface coast,CONTROL_FINISHED_OK
$STATE,20219,begin surface
$SM_CCo,20298,0.00,0.000,0,0,707,505.81
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$IRIDIUM_FIX,1950.41,11958.06,271112,050553
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.85
$INTERNAL_PRESSURE,9.42968
$TCM_TEMP,22.70
$XPDR_PINGS,3
$SC_FREEKB,3972128
$24V_AH,23.0,27.274
$10V_AH,10.0,11.638
$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,23.575,209.150,568.325,0.000,0.000,0.000,0.000,309.675,0.750,0.000,18.523,3083.834,13926.174,795.052,2660.055,327.577,0.000,2402.003,0.000,2208.717,0.000,0.543,0.000
$DEVICE_MAMPS,242.505,55.845,1486.395,0.000,0.000,0.000,0.000,135.405,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20252.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.193,0.000,0.000,0.000
$MEM,323768
$DATA_FILE_SIZE,33370,929
$CAP_FILE_SIZE,246327,0
$CFSIZE,260034560,238936064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.139,320.3,1
$GPS,271112,172806,1951.251,11956.280,27,0.8,27,-2.6