version: 66.11
glider: 170
mission: 10
dive: 96
start: 11 20 112 9 51 33
data:
$ID,170
$MISSION,10
$DIVE,96
$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,330
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,-143208.09
$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,3030
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,56
$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
$GPS1,201112,094434,2103.341,12003.651,27,0.9,27,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-75.6
$GPS2,201112,095106,2103.192,12003.517,19,1.3,19,-2.9
$SPEED_LIMITS,0.173,0.313
$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,173.9,228234,-15.6,-10.000,-17.73
$D_GRID,3323
$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,20,-0.60,-194.6,0.0,0.0,0,83,0.00,0.00,-61.38,0.000,2,0.000,0.000,140,2640,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.60,-194.6,3.1,-0.1,11,141,10.85,2.15,-35.40,0.000,4,0.246,0.044,2828,1186,3564,0,0,0,0,0,0,25.86,26.22,26.49
$GC,235,-0.49,-194.6,41.9,-30.7,33,241,0.15,2.17,0.00,0.000,6,0.185,0.042,2867,2586,3564,0,0,0,0,0,0,26.08,26.25,28.83
$GC,430,-0.34,-194.6,103.9,-33.6,44,436,0.15,1.75,0.00,0.000,4,0.184,0.054,2913,3700,3564,0,0,0,0,0,0,26.19,26.33,28.83
$GC,483,-0.22,-194.6,118.2,-33.0,46,489,0.15,1.60,0.00,0.000,6,0.148,0.023,2957,2535,3564,0,0,0,0,0,0,26.26,26.48,28.83
$GC,676,-0.22,-194.6,154.2,-13.8,56,681,0.00,1.85,0.00,0.000,4,0.000,0.053,2958,3695,3565,0,0,0,0,0,0,28.83,26.41,28.83
$GC,714,-0.23,-194.6,156.1,-11.6,57,720,0.00,1.62,0.00,0.000,6,0.000,0.024,2958,2521,3565,0,0,0,0,0,0,28.83,26.54,28.83
$GC,899,-0.28,-194.6,166.5,-6.1,67,905,0.00,1.90,0.00,0.000,4,0.000,0.026,2959,1192,3566,0,0,0,0,0,0,28.83,26.53,28.83
$GC,987,-0.37,-194.6,173.0,-7.8,71,994,0.15,2.15,0.00,0.000,6,0.077,0.040,2878,2606,3566,0,0,0,0,0,0,26.52,26.51,28.83
$GC,1188,-0.35,-194.6,199.6,-12.5,81,1190,0.12,0.00,0.00,0.000,6,0.151,0.000,2916,2606,3566,0,0,0,0,0,0,26.47,28.83,28.83
$GC,1368,-0.38,-194.6,219.1,-11.2,90,1373,0.00,2.08,0.00,0.000,4,0.000,0.034,2917,1189,3566,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1411,-0.43,-194.6,223.5,-10.5,92,1416,0.00,2.15,0.00,0.000,6,0.000,0.041,2916,2601,3566,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1616,-0.48,-194.6,238.7,-6.6,102,1621,0.12,1.67,0.00,0.000,4,0.089,0.050,2835,3686,3566,0,0,0,0,0,0,26.65,26.56,28.83
$GC,1674,-0.51,-194.6,242.9,-7.7,104,1681,0.00,1.60,0.00,0.000,6,0.000,0.024,2835,2538,3566,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1859,-0.47,-194.6,269.7,-14.4,114,1865,0.12,1.80,0.00,0.000,4,0.157,0.051,2877,3690,3566,0,0,0,0,0,0,26.51,26.57,28.83
$GC,1903,-0.44,-194.6,275.8,-14.5,116,1908,0.00,1.58,0.00,0.000,6,0.000,0.024,2879,2537,3566,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2225,-0.44,-194.6,317.3,-12.0,132,2230,0.00,1.83,0.00,0.000,4,0.000,0.054,2877,3690,3565,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2283,-0.46,-194.6,321.5,-10.9,134,2289,0.00,1.60,0.00,0.000,6,0.000,0.024,2878,2535,3564,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2589,-0.49,-194.6,345.9,-7.2,150,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2532,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2889,-0.52,-194.6,375.3,-11.6,165,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2532,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3190,-0.55,-194.6,401.5,-6.5,180,3195,0.00,1.92,0.00,0.000,4,0.000,0.025,2877,1177,3560,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3227,-0.59,-194.6,403.1,-6.4,181,3234,0.12,2.15,0.00,0.000,6,0.091,0.039,2810,2601,3560,0,0,0,0,0,0,26.64,26.64,28.83
$GC,3533,-0.56,-194.6,447.0,-15.4,197,3539,0.12,1.70,0.00,0.000,4,0.149,0.054,2852,3690,3557,0,0,0,0,0,0,26.55,26.62,28.83
$GC,3731,-0.58,-194.6,469.2,-11.8,206,3738,0.00,1.58,0.00,0.000,6,0.000,0.027,2852,2558,3558,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4037,-0.60,-194.6,505.6,-10.2,222,4042,0.00,1.90,0.00,0.000,4,0.000,0.025,2852,1217,3555,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4061,-0.62,-194.6,508.0,-10.1,223,4066,0.00,2.10,0.00,0.000,6,0.000,0.040,2852,2605,3555,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4384,-0.64,-194.6,533.4,-5.8,239,4390,0.00,2.00,0.00,0.000,4,0.000,0.025,2852,1218,3552,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4437,-0.66,-194.6,535.8,-5.5,241,4443,0.12,2.10,0.00,0.000,6,0.098,0.040,2792,2608,3552,0,0,0,0,0,0,26.64,26.65,28.83
$GC,4751,-0.62,-194.6,572.8,-13.0,257,4753,0.12,0.00,0.00,0.000,6,0.170,0.000,2827,2608,3551,0,0,0,0,0,0,26.55,28.83,28.83
$GC,5053,-0.62,-194.6,609.2,-12.1,271,5058,0.00,1.70,0.00,0.000,4,0.000,0.056,2826,3697,3549,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5124,-0.62,-194.6,616.6,-11.8,273,5129,0.00,1.52,0.00,0.000,6,0.000,0.028,2826,2622,3548,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5449,-0.62,-194.6,646.3,-7.5,284,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2622,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5747,-0.62,-194.6,669.8,-8.4,294,5752,0.00,1.70,0.00,0.000,4,0.000,0.055,2825,3693,3545,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5814,-0.62,-194.6,675.4,-8.8,296,5820,0.00,1.58,0.00,0.000,6,0.000,0.029,2826,2580,3544,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6144,-0.62,-194.6,705.7,-9.3,307,6149,0.00,1.95,0.00,0.000,4,0.000,0.026,2826,1218,3542,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6201,-0.62,-194.6,708.9,-9.3,308,6208,0.00,2.10,0.00,0.000,6,0.000,0.041,2825,2600,3542,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6507,-0.62,-194.6,741.6,-10.3,319,6512,0.00,2.05,0.00,0.000,4,0.000,0.026,2825,1207,3540,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6540,-0.62,-194.6,745.0,-10.3,320,6545,0.00,2.15,0.00,0.000,6,0.000,0.041,2825,2610,3540,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6874,-0.62,-194.6,775.2,-8.5,331,6879,0.00,2.03,0.00,0.000,4,0.000,0.027,2825,1217,3539,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6901,-0.62,-194.6,775.2,-8.5,331,6909,0.00,2.12,0.00,0.000,6,0.000,0.041,2825,2599,3538,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7209,-0.63,-194.6,802.5,-8.4,342,7214,0.00,2.03,0.00,0.000,4,0.000,0.027,2825,1207,3537,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7266,-0.65,-194.6,805.3,-8.4,343,7273,0.00,2.12,0.00,0.000,6,0.000,0.041,2825,2599,3536,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7574,-0.66,-194.6,832.9,-8.5,354,7575,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2600,3535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7872,-0.67,-194.6,858.9,-8.8,364,7878,0.00,1.73,0.00,0.000,4,0.000,0.057,2825,3697,3533,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7920,-0.68,-194.6,861.8,-8.8,365,7926,0.00,1.60,0.00,0.000,6,0.000,0.031,2825,2604,3533,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8241,-0.70,-194.6,891.6,-9.1,376,8246,0.00,2.05,0.00,0.000,4,0.000,0.027,2825,1199,3533,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8339,-0.72,-194.6,900.6,-9.4,379,8345,0.00,2.17,0.00,0.000,6,0.000,0.041,2825,2607,3531,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8669,-0.74,-194.6,935.8,-10.5,390,8675,0.00,1.73,0.00,0.000,4,0.000,0.057,2825,3688,3529,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8711,-0.76,-194.6,939.5,-10.6,391,8717,0.10,1.62,0.00,0.000,6,0.068,0.031,2767,2600,3529,0,0,0,0,0,0,26.63,26.74,28.83
$GC,9037,-0.72,-194.6,985.5,-13.9,402,9043,0.12,1.75,0.00,0.000,4,0.168,0.055,2809,3691,3528,0,0,0,0,0,0,26.50,26.60,28.83
$STATE,9100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9100,begin apogee
$GC,9107,-0.17,0.0,992.8,-12.4,404,9275,0.47,0.00,159.15,1.482,6,0.114,0.000,2974,2024,2768,0,0,0,0,0,0,26.48,28.83,23.91
$STATE,9277,end apogee,CONTROL_FINISHED_OK
$STATE,9277,begin climb
$GC,9279,0.60,194.6,998.9,0.0,409,9461,0.70,0.00,172.80,1.440,6,0.061,0.000,3228,2023,1973,0,0,0,0,0,0,24.91,28.83,23.25
$GC,9763,0.54,194.6,939.3,15.6,426,9768,0.00,2.38,0.00,0.000,4,0.000,0.051,3228,3458,1963,0,0,0,0,0,0,28.83,25.61,28.83
$GC,9876,0.47,194.6,922.8,17.4,429,9882,0.20,2.12,0.00,0.000,6,0.149,0.028,3180,2059,1963,0,0,0,0,0,0,25.70,25.88,28.83
$GC,10191,0.45,194.6,879.6,11.4,440,10196,0.00,2.15,0.00,0.000,4,0.000,0.036,3187,662,1959,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10255,0.44,194.6,872.7,11.1,442,10260,0.00,2.15,0.00,0.000,6,0.000,0.035,3187,2059,1959,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10589,0.44,231.9,840.6,8.7,453,10627,0.00,2.28,31.85,1.350,4,0.000,0.050,3187,3460,1822,0,0,0,0,0,0,28.83,25.49,24.66
$GC,10754,0.41,231.9,824.6,10.9,458,10760,0.00,2.15,0.00,0.000,6,0.000,0.027,3188,2048,1820,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11074,0.40,231.9,786.9,11.3,469,11079,0.00,2.12,0.00,0.000,4,0.000,0.036,3188,655,1815,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11117,0.40,231.9,783.2,11.1,470,11122,0.00,2.15,0.00,0.000,6,0.000,0.035,3188,2061,1815,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11440,0.40,231.9,747.5,10.3,481,11445,0.00,2.17,0.00,0.000,4,0.000,0.050,3188,3453,1815,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11548,0.39,231.9,736.7,11.1,484,11555,0.12,2.10,0.00,0.000,6,0.161,0.027,3154,2042,1815,0,0,0,0,0,0,26.27,26.44,28.83
$GC,11870,0.43,267.1,709.3,8.8,495,11903,0.00,0.00,30.70,1.281,6,0.000,0.000,3153,2042,1679,0,0,0,0,0,0,28.83,28.83,24.87
$GC,12200,0.47,278.1,677.2,9.6,506,12212,0.00,0.00,10.40,1.147,6,0.000,0.000,3154,2042,1635,0,0,0,0,0,0,28.83,28.83,25.05
$GC,12499,0.54,321.9,650.7,8.5,516,12547,0.12,2.40,38.65,1.239,4,0.091,0.051,3228,3449,1456,0,0,0,0,0,0,26.27,25.34,24.53
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$STATE,17724,end climb,SURFACE_DEPTH_REACHED
$STATE,17724,begin surface coast
$FINISH,1.6,1.022230
$STATE,17751,end surface coast,CONTROL_FINISHED_OK
$STATE,17751,begin surface
$SM_CCo,17769,10.48,0.060,0,0,933,450.13
$SM_GC,2.46,8.30,0.88,10.48,0.052,0.035,0.060,140,2613,933,-8.99,-1.16,450.13,0,0,0,0,0,0,26.36,26.50,26.41
$IRIDIUM_FIX,2057.14,12004.75,201112,040425
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.96
$INTERNAL_PRESSURE,9.52734
$TCM_TEMP,24.70
$XPDR_PINGS,1
$SC_FREEKB,3983264
$24V_AH,23.2,21.020
$10V_AH,10.3,8.138
$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,23.275,165.850,532.850,10.475,0.000,0.000,0.000,226.900,0.250,0.000,20.594,2759.734,12081.504,708.419,2338.730,278.514,0.000,2100.049,0.000,1996.870,0.000,0.545,0.000
$DEVICE_MAMPS,245.565,57.375,1481.805,60.435,0.000,0.000,0.000,133.875,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17778.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.002,0.000,0.000,0.000
$MEM,324348
$DATA_FILE_SIZE,30024,808
$CAP_FILE_SIZE,212708,0
$CFSIZE,260034560,242409472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,188.7,1
$GPS,201112,144928,2059.279,12003.841,56,0.9,56,-2.9