version: 66.11
glider: 170
mission: 10
dive: 133
start: 11 29 112 9 52 15
data:
$ID,170
$MISSION,10
$DIVE,133
$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,-143255.36
$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,95
$R_STBD_OVSHOOT,41
$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
$GPS1,291112,094352,1941.304,11958.672,38,0.8,38,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-76.8
$GPS2,291112,095147,1941.263,11958.688,14,1.2,14,-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,183.9,76454,-14.9,-8.684,-17.18
$D_GRID,3935
$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,-170.3,0.0,0.0,0,77,0.00,0.00,-56.12,0.000,2,0.000,0.000,131,2559,1726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.51,-170.3,3.0,-1.8,10,171,11.02,2.03,-67.38,0.000,4,0.239,0.044,2879,1226,3466,0,0,0,0,0,0,25.65,26.10,26.38
$GC,259,-0.42,-170.3,34.8,-26.2,39,265,0.12,2.15,0.00,0.000,6,0.184,0.044,2912,2598,3466,0,0,0,0,0,0,25.92,26.11,28.83
$GC,454,-0.40,-170.3,69.0,-12.9,52,460,0.00,1.73,0.00,0.000,4,0.000,0.054,2908,3695,3466,0,0,0,0,0,0,28.83,26.20,28.83
$GC,518,-0.38,-170.3,78.3,-14.2,55,524,0.00,1.55,0.00,0.000,6,0.000,0.024,2908,2608,3466,0,0,0,0,0,0,28.83,26.36,28.83
$GC,723,-0.36,-170.3,106.1,-14.4,65,728,0.00,1.75,0.00,0.000,4,0.000,0.054,2907,3687,3466,0,0,0,0,0,0,28.83,26.31,28.83
$GC,826,-0.36,-170.3,120.0,-13.4,70,831,0.00,1.58,0.00,0.000,6,0.000,0.023,2908,2552,3466,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1029,-0.36,-170.3,145.8,-11.9,80,1034,0.00,1.88,0.00,0.000,4,0.000,0.026,2908,1238,3466,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1128,-0.37,-170.3,152.6,-8.1,84,1135,0.00,2.08,0.00,0.000,6,0.000,0.039,2907,2611,3466,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1313,-0.39,-170.3,163.5,-6.1,94,1318,0.00,1.67,0.00,0.000,4,0.000,0.054,2908,3690,3466,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1360,-0.41,-170.3,166.4,-6.5,96,1366,0.00,1.50,0.00,0.000,6,0.000,0.026,2908,2590,3466,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1561,-0.43,-170.3,181.3,-7.5,106,1567,0.00,1.92,0.00,0.000,4,0.000,0.025,2907,1244,3466,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1599,-0.46,-170.3,183.3,-7.4,107,1605,0.00,2.08,0.00,0.000,6,0.000,0.039,2908,2606,3466,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1786,-0.48,-170.3,196.6,-6.7,117,1791,0.00,1.70,0.00,0.000,4,0.000,0.053,2908,3701,3465,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1843,-0.51,-170.3,199.6,-6.7,119,1851,0.00,1.52,0.00,0.000,6,0.000,0.026,2908,2604,3465,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2030,-0.54,-170.3,214.0,-7.6,129,2035,0.00,1.95,0.00,0.000,4,0.000,0.024,2908,1226,3464,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2057,-0.57,-170.3,215.9,-7.7,130,2063,0.12,2.10,0.00,0.000,6,0.094,0.040,2841,2602,3464,0,0,0,0,0,0,26.51,26.51,28.83
$GC,2257,-0.54,-170.3,243.7,-15.4,140,2263,0.12,1.98,0.00,0.000,4,0.149,0.023,2884,1229,3463,0,0,0,0,0,0,26.44,26.60,28.83
$GC,2290,-0.52,-170.3,247.1,-15.1,141,2296,0.00,2.08,0.00,0.000,6,0.000,0.040,2884,2601,3463,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2483,-0.54,-170.3,270.7,-11.3,151,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2602,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2785,-0.56,-170.3,296.3,-6.5,166,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2601,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3085,-0.58,-170.3,308.8,-4.0,181,3090,0.00,2.00,0.00,0.000,4,0.000,0.024,2884,1229,3458,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3163,-0.60,-170.3,312.0,-4.8,184,3169,0.00,2.08,0.00,0.000,6,0.000,0.040,2884,2601,3457,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3468,-0.63,-170.3,335.1,-8.7,200,3474,0.12,1.67,0.00,0.000,4,0.090,0.051,2807,3690,3456,0,0,0,0,0,0,26.65,26.53,28.83
$GC,3542,-0.62,-170.3,343.8,-12.3,203,3548,0.15,1.50,0.00,0.000,6,0.145,0.027,2852,2620,3456,0,0,0,0,0,0,26.41,26.68,28.83
$GC,3855,-0.62,-170.3,383.7,-11.8,219,3861,0.00,2.00,0.00,0.000,4,0.000,0.025,2852,1215,3453,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3879,-0.62,-170.3,386.5,-11.9,220,3885,0.00,2.10,0.00,0.000,6,0.000,0.041,2852,2597,3453,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4202,-0.62,-170.3,421.0,-10.6,236,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2598,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4503,-0.62,-170.3,454.5,-11.8,251,4509,0.00,2.03,0.00,0.000,4,0.000,0.025,2852,1216,3449,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4586,-0.62,-170.3,464.2,-11.6,255,4591,0.00,2.12,0.00,0.000,6,0.000,0.041,2852,2614,3449,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4909,-0.62,-170.3,499.5,-10.4,271,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2614,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5210,-0.62,-170.3,526.4,-8.2,286,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2614,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5510,-0.62,-170.3,547.4,-6.4,301,5515,0.00,2.03,0.00,0.000,4,0.000,0.026,2852,1220,3444,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5547,-0.62,-170.3,548.9,-6.2,302,5553,0.00,2.12,0.00,0.000,6,0.000,0.041,2852,2601,3444,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5853,-0.62,-170.3,567.0,-5.6,318,5859,0.00,2.03,0.00,0.000,4,0.000,0.025,2854,1209,3443,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5877,-0.63,-170.3,568.3,-5.5,319,5882,0.00,2.15,0.00,0.000,6,0.000,0.041,2852,2601,3442,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6201,-0.64,-170.3,583.7,-4.3,335,6206,0.00,2.03,0.00,0.000,4,0.000,0.026,2852,1207,3440,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6245,-0.65,-170.3,585.7,-4.3,337,6250,0.00,2.15,0.00,0.000,6,0.000,0.041,2852,2602,3440,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6568,-0.66,-170.3,597.9,-3.9,353,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2603,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6869,-0.67,-170.3,611.0,-4.7,364,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2603,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7168,-0.68,-170.3,627.0,-5.6,374,7174,0.00,2.03,0.00,0.000,4,0.000,0.025,2852,1208,3437,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7211,-0.69,-170.3,629.1,-5.8,375,7216,0.00,2.12,0.00,0.000,6,0.000,0.041,2852,2601,3437,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7536,-0.70,-170.3,652.5,-7.6,386,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2601,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7835,-0.72,-170.3,677.6,-8.6,396,7841,0.10,2.05,0.00,0.000,4,0.114,0.024,2796,1212,3434,0,0,0,0,0,0,26.67,26.63,28.83
$GC,7908,-0.72,-170.3,685.3,-10.3,398,7913,0.00,2.15,0.00,0.000,6,0.000,0.043,2796,2600,3433,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8232,-0.69,-170.3,734.1,-15.3,409,8238,0.12,2.03,0.00,0.000,4,0.162,0.024,2836,1214,3434,0,0,0,0,0,0,26.42,26.63,28.83
$GC,8256,-0.66,-170.3,734.1,-15.3,409,8261,0.00,2.12,0.00,0.000,6,0.000,0.042,2838,2601,3432,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8569,-0.66,-170.3,779.5,-13.9,420,8574,0.00,2.03,0.00,0.000,4,0.000,0.026,2837,1215,3432,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8591,-0.66,-170.3,779.5,-13.9,420,8596,0.00,2.15,0.00,0.000,6,0.000,0.042,2837,2604,3432,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8905,-0.66,-170.3,826.5,-14.0,431,8910,0.00,2.03,0.00,0.000,4,0.000,0.026,2836,1215,3431,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8937,-0.66,-170.3,831.3,-14.0,432,8942,0.00,2.15,0.00,0.000,6,0.000,0.041,2836,2612,3431,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9271,-0.66,-170.3,874.4,-12.7,443,9276,0.00,2.05,0.00,0.000,4,0.000,0.027,2836,1215,3430,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9334,-0.67,-170.3,882.1,-12.2,445,9339,0.00,2.17,0.00,0.000,6,0.000,0.042,2836,2611,3430,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9668,-0.67,-170.3,918.4,-10.3,456,9673,0.00,2.08,0.00,0.000,4,0.000,0.027,2836,1211,3428,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9725,-0.68,-170.3,922.0,-10.2,457,9732,0.00,2.15,0.00,0.000,6,0.000,0.042,2836,2605,3428,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10034,-0.69,-170.3,951.7,-8.4,468,10035,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2605,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10332,-0.70,-170.3,973.9,-7.1,478,10337,0.00,2.05,0.00,0.000,4,0.000,0.027,2837,1219,3426,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10384,-0.71,-170.3,976.3,-6.9,479,10390,0.00,2.15,0.00,0.000,6,0.000,0.042,2836,2606,3426,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,10605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10605,begin apogee
$GC,10611,-0.15,0.0,991.3,-6.1,487,10759,0.45,0.00,139.57,1.481,6,0.111,0.000,2996,2123,2769,0,0,0,0,0,0,26.29,28.83,23.82
$STATE,10760,end apogee,CONTROL_FINISHED_OK
$STATE,10760,begin climb
$GC,10763,0.51,170.3,994.3,0.0,492,10923,0.60,0.00,156.95,1.434,6,0.049,0.000,3227,2123,2074,0,0,0,0,0,0,24.87,28.83,22.89
$GC,11207,0.46,170.3,940.9,13.8,507,11212,0.00,2.33,0.00,0.000,4,0.000,0.050,3226,3533,2063,0,0,0,0,0,0,28.83,25.46,28.83
$GC,11245,0.40,170.3,936.0,13.9,508,11251,0.20,2.15,0.00,0.000,6,0.155,0.028,3182,2141,2063,0,0,0,0,0,0,25.40,25.65,28.83
$GC,11574,0.38,174.8,904.1,8.5,519,11580,0.00,2.17,0.00,0.000,4,0.000,0.034,3187,718,2060,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11669,0.37,205.8,897.1,7.6,522,11707,0.00,2.20,30.52,1.375,6,0.000,0.035,3187,2129,1928,0,0,0,0,0,0,28.83,26.08,24.48
$GC,12031,0.37,230.4,868.9,7.8,534,12060,0.00,2.28,22.25,1.339,4,0.000,0.049,3187,3531,1827,0,0,0,0,0,0,28.83,25.49,24.61
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$STATE,19375,end climb,SURFACE_DEPTH_REACHED
$STATE,19375,begin surface coast
$FINISH,1.5,1.016537
$STATE,19401,end surface coast,CONTROL_FINISHED_OK
$STATE,19401,begin surface
$SM_CCo,19479,0.00,0.000,0,0,462,565.91
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$IRIDIUM_FIX,1934.38,12000.88,291112,030329
$TT8_MAMPS,0.025466,0.025466
$HUMID,53.89
$INTERNAL_PRESSURE,9.41015
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3969056
$24V_AH,22.9,29.164
$10V_AH,10.0,12.571
$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,22.600,194.825,640.525,0.000,0.000,0.000,0.000,292.150,0.000,0.000,15.442,3015.332,13166.093,850.167,2606.813,306.233,0.000,2417.414,0.000,2185.638,0.000,0.542,0.000
$DEVICE_MAMPS,238.680,53.550,1481.040,0.000,0.000,0.000,0.000,133.110,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19429.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.344,0.000,0.000,0.000
$MEM,323780
$DATA_FILE_SIZE,33380,903
$CAP_FILE_SIZE,234491,0
$CFSIZE,260034560,238018560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.204,334.1,1
$GPS,291112,151804,1940.738,11958.064,34,1.0,34,-2.6