version: 66.11
glider: 170
mission: 10
dive: 127
start: 11 27 112 23 28 57
data:
$ID,170
$MISSION,10
$DIVE,127
$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,-143247.86
$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,62
$R_STBD_OVSHOOT,35
$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
$GPS1,271112,232034,1950.729,11959.255,46,0.9,46,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-73.3
$GPS2,271112,232829,1950.917,11959.275,18,0.8,18,-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,209.6,94306,-14.9,-8.684,-17.18
$D_GRID,3737
$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,-170.3,0.0,0.0,0,86,0.00,0.00,-64.78,0.000,2,0.000,0.000,135,2613,1923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.51,-170.3,3.1,-0.6,11,151,11.23,1.80,-44.38,0.000,4,0.244,0.076,2882,3681,3465,0,0,0,0,0,0,25.64,25.97,26.34
$GC,310,-0.45,-170.3,52.2,-19.3,41,316,0.00,1.60,0.00,0.000,6,0.000,0.024,2882,2592,3465,0,0,0,0,0,0,28.83,26.23,28.83
$GC,515,-0.40,-170.3,84.8,-16.9,51,521,0.12,2.03,0.00,0.000,4,0.172,0.029,2922,1208,3466,0,0,0,0,0,0,26.13,26.29,28.83
$GC,673,-0.41,-170.3,100.6,-10.0,58,681,0.00,2.17,0.00,0.000,6,0.000,0.047,2922,2592,3466,0,0,0,0,0,0,28.83,26.29,28.83
$GC,859,-0.44,-170.3,118.4,-8.9,68,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2592,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1039,-0.46,-170.3,133.4,-7.7,77,1044,0.00,1.73,0.00,0.000,4,0.000,0.054,2922,3698,3467,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1077,-0.49,-170.3,135.0,-7.6,78,1083,0.00,1.58,0.00,0.000,6,0.000,0.024,2922,2555,3467,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1262,-0.53,-170.3,149.1,-7.2,88,1269,0.12,1.90,0.00,0.000,4,0.092,0.028,2847,1244,3466,0,0,0,0,0,0,26.53,26.48,28.83
$GC,1356,-0.53,-170.3,158.9,-11.6,92,1362,0.12,2.15,0.00,0.000,6,0.160,0.050,2883,2610,3466,0,0,0,0,0,0,26.31,26.42,28.83
$GC,1551,-0.53,-170.3,183.2,-12.0,102,1556,0.00,2.00,0.00,0.000,4,0.000,0.031,2883,1263,3466,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1588,-0.53,-170.3,185.8,-11.6,103,1595,0.00,2.12,0.00,0.000,6,0.000,0.050,2883,2613,3466,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1774,-0.53,-170.3,206.0,-9.5,113,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2612,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1954,-0.55,-170.3,222.1,-8.9,122,1959,0.00,1.70,0.00,0.000,4,0.000,0.055,2883,3702,3465,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2011,-0.56,-170.3,225.8,-8.8,124,2018,0.00,1.55,0.00,0.000,6,0.000,0.025,2883,2606,3465,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2199,-0.58,-170.3,243.2,-8.7,134,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2606,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2378,-0.60,-170.3,258.4,-8.7,143,2384,0.00,1.95,0.00,0.000,4,0.000,0.028,2883,1246,3462,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2411,-0.62,-170.3,260.8,-9.0,144,2416,0.00,2.12,0.00,0.000,6,0.000,0.045,2883,2620,3462,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2724,-0.64,-170.3,289.8,-8.5,160,2726,0.12,0.00,0.00,0.000,6,0.091,0.000,2820,2620,3459,0,0,0,0,0,0,26.64,28.83,28.83
$GC,3025,-0.61,-170.3,323.5,-10.8,175,3030,0.12,1.67,0.00,0.000,4,0.155,0.053,2862,3690,3458,0,0,0,0,0,0,26.46,26.53,28.83
$GC,3052,-0.59,-170.3,325.8,-10.5,176,3058,0.00,1.52,0.00,0.000,6,0.000,0.027,2862,2601,3458,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3371,-0.59,-170.3,349.9,-8.0,192,3376,0.00,1.98,0.00,0.000,4,0.000,0.029,2862,1232,3456,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3435,-0.60,-170.3,355.3,-8.4,195,3440,0.00,2.12,0.00,0.000,6,0.000,0.044,2862,2607,3456,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3759,-0.61,-170.3,385.0,-9.9,211,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2607,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4058,-0.62,-170.3,416.7,-10.7,226,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2607,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4359,-0.63,-170.3,446.1,-9.2,241,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2607,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4659,-0.64,-170.3,469.6,-7.0,256,4664,0.00,2.05,0.00,0.000,4,0.000,0.030,2862,1228,3447,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4683,-0.65,-170.3,471.3,-6.8,257,4688,0.00,2.12,0.00,0.000,6,0.000,0.043,2862,2604,3447,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5006,-0.66,-170.3,489.6,-5.2,273,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2603,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5307,-0.68,-170.3,504.9,-5.0,288,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2604,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5607,-0.69,-170.3,523.2,-6.6,303,5609,0.10,0.00,0.00,0.000,6,0.104,0.000,2804,2604,3442,0,0,0,0,0,0,26.69,28.83,28.83
$GC,5907,-0.66,-170.3,557.3,-11.8,318,5913,0.12,2.03,0.00,0.000,4,0.164,0.024,2847,1221,3441,0,0,0,0,0,0,26.46,26.64,28.83
$GC,5940,-0.64,-170.3,559.9,-11.6,319,5946,0.00,2.12,0.00,0.000,6,0.000,0.043,2846,2601,3440,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6254,-0.64,-170.3,588.3,-8.8,335,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2601,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6574,-0.64,-170.3,614.7,-7.9,348,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2601,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6874,-0.64,-170.3,637.9,-7.8,358,6880,0.00,2.03,0.00,0.000,4,0.000,0.027,2847,1232,3437,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6909,-0.64,-170.3,640.7,-7.8,359,6914,0.00,2.12,0.00,0.000,6,0.000,0.043,2847,2597,3436,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7243,-0.65,-170.3,666.7,-7.7,370,7249,0.00,2.03,0.00,0.000,4,0.000,0.028,2847,1233,3434,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7266,-0.66,-170.3,666.7,-7.7,370,7271,0.00,2.12,0.00,0.000,6,0.000,0.043,2847,2602,3434,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7581,-0.67,-170.3,694.6,-8.7,381,7586,0.00,2.03,0.00,0.000,4,0.000,0.027,2847,1219,3434,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7618,-0.68,-170.3,697.7,-8.7,382,7623,0.00,2.15,0.00,0.000,6,0.000,0.042,2847,2608,3433,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7947,-0.69,-170.3,727.8,-9.4,393,7953,0.00,1.70,0.00,0.000,4,0.000,0.056,2847,3691,3433,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8000,-0.70,-170.3,731.1,-9.5,394,8005,0.00,1.58,0.00,0.000,6,0.000,0.031,2847,2617,3432,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8314,-0.71,-170.3,761.7,-9.1,405,8319,0.00,2.05,0.00,0.000,4,0.000,0.028,2847,1205,3432,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8347,-0.72,-170.3,764.7,-9.1,406,8353,0.00,2.17,0.00,0.000,6,0.000,0.044,2847,2599,3431,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8682,-0.73,-170.3,792.0,-7.8,417,8688,0.00,2.05,0.00,0.000,4,0.000,0.028,2847,1205,3431,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8711,-0.74,-170.3,792.0,-7.8,417,8718,0.12,2.17,0.00,0.000,6,0.091,0.044,2782,2607,3430,0,0,0,0,0,0,26.53,26.53,28.83
$GC,9017,-0.71,-170.3,829.8,-11.8,428,9019,0.15,0.00,0.00,0.000,6,0.154,0.000,2825,2608,3430,0,0,0,0,0,0,26.41,28.83,28.83
$GC,9317,-0.71,-170.3,854.5,-7.8,438,9322,0.00,2.08,0.00,0.000,4,0.000,0.028,2826,1200,3429,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9350,-0.71,-170.3,857.1,-7.6,439,9356,0.00,2.20,0.00,0.000,6,0.000,0.044,2825,2606,3429,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9685,-0.71,-170.3,882.0,-7.4,450,9691,0.00,1.73,0.00,0.000,4,0.000,0.057,2826,3698,3428,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9713,-0.71,-170.3,882.0,-7.4,450,9720,0.00,1.62,0.00,0.000,6,0.000,0.031,2826,2586,3427,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10018,-0.71,-170.3,905.7,-6.9,461,10024,0.00,2.00,0.00,0.000,4,0.000,0.029,2826,1214,3426,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10067,-0.71,-170.3,907.9,-6.9,462,10072,0.00,2.17,0.00,0.000,6,0.000,0.044,2825,2610,3426,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10386,-0.71,-170.3,932.3,-7.4,473,10391,0.00,1.73,0.00,0.000,4,0.000,0.057,2826,3702,3426,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10419,-0.71,-170.3,934.8,-7.4,474,10425,0.00,1.62,0.00,0.000,6,0.000,0.031,2826,2600,3426,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10754,-0.71,-170.3,960.5,-7.9,485,10760,0.00,2.03,0.00,0.000,4,0.000,0.028,2826,1210,3425,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10797,-0.71,-170.3,963.3,-8.0,486,10803,0.00,2.17,0.00,0.000,6,0.000,0.044,2826,2609,3425,0,0,0,0,0,0,28.83,26.50,28.83
$GC,11123,-0.71,-170.3,989.1,-7.5,497,11128,0.00,1.73,0.00,0.000,4,0.000,0.057,2826,3700,3424,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11151,-0.71,-170.3,989.1,-7.5,497,11157,0.00,1.60,0.00,0.000,6,0.000,0.031,2826,2598,3424,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,11184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11184,begin apogee
$GC,11190,-0.15,0.0,994.1,-7.6,499,11337,0.50,0.00,139.55,1.494,6,0.118,0.000,2998,2092,2768,0,0,0,0,0,0,26.27,28.83,23.78
$STATE,11339,end apogee,CONTROL_FINISHED_OK
$STATE,11339,begin climb
$GC,11340,0.51,170.3,998.2,0.0,504,11501,0.57,0.00,155.05,1.451,6,0.054,0.000,3217,2092,2074,0,0,0,0,0,0,24.82,28.83,22.85
$GC,11785,0.46,170.3,950.1,13.3,519,11792,0.00,2.38,0.00,0.000,4,0.000,0.052,3217,3524,2063,0,0,0,0,0,0,28.83,25.40,28.83
$GC,11859,0.42,170.3,940.6,14.0,521,11865,0.15,2.15,0.00,0.000,6,0.158,0.028,3185,2148,2062,0,0,0,0,0,0,25.44,25.65,28.83
$GC,12184,0.39,170.3,902.7,11.0,532,12189,0.00,2.20,0.00,0.000,4,0.000,0.035,3188,722,2060,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,19776,end climb,SURFACE_DEPTH_REACHED
$STATE,19776,begin surface coast
$FINISH,1.5,1.021092
$STATE,19806,end surface coast,CONTROL_FINISHED_OK
$STATE,19807,begin surface
$SM_CCo,19886,0.00,0.000,0,0,458,566.89
$SM_GC,2.58,8.60,1.42,0.00,0.048,0.023,0.000,137,2580,458,-9.06,1.70,566.89,0,0,0,0,0,0,25.89,26.09,28.83
$IRIDIUM_FIX,1943.54,11956.91,271112,171704
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.96
$INTERNAL_PRESSURE,9.41015
$TCM_TEMP,23.40
$XPDR_PINGS,1
$SC_FREEKB,3971360
$24V_AH,22.9,27.740
$10V_AH,9.9,11.875
$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,23.575,188.575,639.925,0.000,0.000,0.000,0.000,282.875,0.250,0.000,19.575,2958.820,13705.415,824.810,2547.845,313.300,0.000,2369.262,0.000,2131.156,0.000,0.543,0.000
$DEVICE_MAMPS,244.035,75.735,1494.045,0.000,0.000,0.000,0.000,137.700,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19837.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.142,0.000,0.000,0.000
$MEM,323752
$DATA_FILE_SIZE,33336,905
$CAP_FILE_SIZE,236311,0
$CFSIZE,260034560,238710784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.062, 71.0,1
$GPS,281112,050134,1948.432,11958.797,35,0.9,35,-2.6