version: 66.11
glider: 170
mission: 10
dive: 103
start: 11 22 112 1 13 52
data:
$ID,170
$MISSION,10
$DIVE,103
$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,-143216.84
$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,3040
$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,0.0070000002
$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,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
$GPS1,221112,010530,2042.417,12001.510,38,0.8,39,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-77.3
$GPS2,221112,011324,2042.379,12001.449,19,0.9,19,-2.8
$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,159.3,189622,-14.9,-8.684,-17.18
$D_GRID,3463
$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,-0.56,-170.3,0.0,0.0,0,79,0.00,0.00,-57.30,0.000,2,0.000,0.000,144,2609,2015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.56,-170.3,3.0,-2.2,10,154,10.93,1.75,-52.58,0.000,4,0.243,0.074,2850,3687,3465,0,0,0,0,0,0,25.77,26.11,26.43
$GC,283,-0.46,-170.3,49.6,-34.2,39,291,0.15,1.60,0.00,0.000,6,0.163,0.022,2891,2582,3465,0,0,0,0,0,0,26.08,26.34,28.83
$GC,470,-0.39,-170.3,100.4,-25.7,49,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2578,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,649,-0.34,-170.3,132.4,-18.1,58,654,0.12,1.98,0.00,0.000,4,0.158,0.024,2934,1198,3465,0,0,0,0,0,0,26.30,26.44,28.83
$GC,707,-0.32,-170.3,137.4,-14.0,60,714,0.00,2.15,0.00,0.000,6,0.000,0.041,2933,2599,3465,0,0,0,0,0,0,28.83,26.40,28.83
$GC,893,-0.34,-170.3,153.1,-7.8,70,898,0.00,1.67,0.00,0.000,4,0.000,0.052,2933,3698,3466,0,0,0,0,0,0,28.83,26.44,28.83
$GC,970,-0.37,-170.3,157.5,-7.1,73,977,0.00,1.60,0.00,0.000,6,0.000,0.025,2934,2551,3466,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1156,-0.41,-170.3,171.8,-6.9,83,1162,0.00,1.80,0.00,0.000,4,0.000,0.060,2933,3690,3466,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1194,-0.45,-170.3,173.4,-6.9,84,1201,0.12,1.52,0.00,0.000,6,0.086,0.024,2850,2628,3466,0,0,0,0,0,0,26.53,26.60,28.83
$GC,1382,-0.41,-170.3,199.9,-15.1,94,1387,0.15,2.05,0.00,0.000,4,0.148,0.036,2903,1191,3466,0,0,0,0,0,0,26.43,26.55,28.83
$GC,1466,-0.41,-170.3,209.1,-10.5,98,1471,0.00,2.15,0.00,0.000,6,0.000,0.041,2903,2600,3466,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1670,-0.43,-170.3,225.4,-8.2,108,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2600,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1849,-0.44,-170.3,238.7,-7.4,117,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2600,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2029,-0.46,-170.3,253.2,-8.2,126,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2600,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2330,-0.49,-170.3,275.6,-6.8,141,2335,0.00,2.03,0.00,0.000,4,0.000,0.028,2903,1193,3463,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2444,-0.52,-170.3,283.1,-7.3,146,2449,0.00,2.12,0.00,0.000,6,0.000,0.040,2903,2603,3463,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2758,-0.56,-170.3,307.7,-8.1,162,2764,0.12,2.03,0.00,0.000,4,0.083,0.023,2818,1195,3461,0,0,0,0,0,0,26.70,26.67,28.83
$GC,2811,-0.56,-170.3,312.9,-9.9,164,2818,0.15,2.15,0.00,0.000,6,0.155,0.041,2862,2601,3461,0,0,0,0,0,0,26.48,26.61,28.83
$GC,3125,-0.56,-170.3,345.7,-9.2,180,3130,0.00,2.05,0.00,0.000,4,0.000,0.025,2862,1192,3459,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3157,-0.56,-170.3,347.8,-9.1,181,3162,0.00,2.15,0.00,0.000,6,0.000,0.041,2862,2614,3459,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3470,-0.56,-170.3,375.8,-8.8,197,3476,0.00,1.65,0.00,0.000,4,0.000,0.054,2862,3692,3458,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3498,-0.56,-170.3,377.9,-8.8,198,3503,0.00,1.60,0.00,0.000,6,0.000,0.027,2862,2557,3457,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3816,-0.56,-170.3,406.9,-8.8,214,3821,0.00,1.80,0.00,0.000,4,0.000,0.054,2862,3695,3455,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3888,-0.57,-170.3,412.3,-8.7,217,3894,0.00,1.55,0.00,0.000,6,0.000,0.028,2862,2596,3454,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4202,-0.58,-170.3,439.5,-8.6,233,4207,0.00,1.98,0.00,0.000,4,0.000,0.025,2862,1222,3452,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4289,-0.60,-170.3,446.7,-8.7,237,4294,0.00,2.10,0.00,0.000,6,0.000,0.041,2862,2605,3451,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4608,-0.61,-170.3,472.0,-7.3,253,4613,0.00,1.70,0.00,0.000,4,0.000,0.054,2862,3698,3449,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4660,-0.63,-170.3,475.2,-7.1,255,4665,0.00,1.58,0.00,0.000,6,0.000,0.028,2862,2596,3449,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4973,-0.64,-170.3,497.7,-6.9,271,4979,0.00,1.98,0.00,0.000,4,0.000,0.026,2862,1209,3447,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5022,-0.66,-170.3,500.9,-7.1,273,5027,0.00,2.12,0.00,0.000,6,0.000,0.041,2862,2608,3446,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5340,-0.67,-170.3,524.1,-7.1,289,5346,0.12,2.03,0.00,0.000,4,0.090,0.024,2782,1219,3444,0,0,0,0,0,0,26.71,26.70,28.83
$GC,5404,-0.65,-170.3,531.4,-10.4,292,5410,0.15,2.15,0.00,0.000,6,0.158,0.041,2825,2610,3443,0,0,0,0,0,0,26.47,26.63,28.83
$GC,5728,-0.64,-170.3,564.7,-10.3,308,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2610,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6029,-0.63,-170.3,594.6,-10.1,323,6035,0.00,2.05,0.00,0.000,4,0.000,0.026,2825,1213,3440,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6073,-0.62,-170.3,599.2,-10.1,325,6078,0.00,2.12,0.00,0.000,6,0.000,0.042,2825,2599,3440,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6397,-0.61,-170.3,629.9,-9.4,336,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2599,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6697,-0.60,-170.3,657.2,-9.2,346,6702,0.00,2.03,0.00,0.000,4,0.000,0.026,2825,1219,3437,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6754,-0.60,-170.3,660.3,-9.2,347,6761,0.00,2.12,0.00,0.000,6,0.000,0.042,2825,2610,3436,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7060,-0.60,-170.3,689.9,-9.1,358,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2610,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7361,-0.59,-170.3,718.6,-9.9,368,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2610,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7660,-0.59,-170.3,748.4,-10.0,378,7665,0.00,2.05,0.00,0.000,4,0.000,0.026,2825,1218,3432,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7681,-0.59,-170.3,748.4,-10.0,378,7687,0.00,2.15,0.00,0.000,6,0.000,0.042,2825,2610,3432,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7994,-0.59,-170.3,780.5,-9.7,389,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2610,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8295,-0.59,-170.3,808.6,-9.3,399,8300,0.00,2.05,0.00,0.000,4,0.000,0.028,2825,1221,3429,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8337,-0.59,-170.3,811.8,-9.5,400,8342,0.00,2.15,0.00,0.000,6,0.000,0.043,2825,2611,3429,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8659,-0.59,-170.3,847.0,-11.0,411,8664,0.00,2.03,0.00,0.000,4,0.000,0.027,2825,1222,3428,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8686,-0.59,-170.3,847.0,-11.0,411,8694,0.00,2.15,0.00,0.000,6,0.000,0.043,2825,2611,3428,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8992,-0.59,-170.3,883.5,-10.7,422,8993,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2612,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9293,-0.59,-170.3,913.1,-9.4,432,9294,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2612,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9592,-0.59,-170.3,938.3,-8.0,442,9593,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2612,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9893,-0.59,-170.3,960.9,-7.5,452,9898,0.00,2.08,0.00,0.000,4,0.000,0.028,2825,1214,3423,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9926,-0.59,-170.3,963.3,-7.4,453,9931,0.00,2.17,0.00,0.000,6,0.000,0.043,2825,2610,3423,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10260,-0.59,-170.3,985.6,-6.7,464,10265,0.00,2.05,0.00,0.000,4,0.000,0.028,2825,1224,3422,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10287,-0.59,-170.3,985.6,-6.7,464,10295,0.00,2.12,0.00,0.000,6,0.000,0.043,2825,2608,3422,0,0,0,0,0,0,28.83,26.59,28.83
$STATE,10351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10351,begin apogee
$GC,10357,-0.17,0.0,991.8,-6.7,467,10505,0.45,0.00,138.35,1.486,6,0.118,0.000,2982,2136,2768,0,0,0,0,0,0,26.43,28.83,23.93
$STATE,10506,end apogee,CONTROL_FINISHED_OK
$STATE,10506,begin climb
$GC,10509,0.56,170.3,993.8,0.0,472,10673,0.68,2.38,151.85,1.447,4,0.063,0.034,3239,739,2071,0,0,0,0,0,0,24.96,24.16,23.33
$GC,10695,0.49,170.3,977.2,11.9,478,10701,0.15,2.30,0.00,0.000,6,0.151,0.037,3201,2122,2067,0,0,0,0,0,0,24.49,24.57,28.83
$GC,11020,0.46,170.3,931.8,13.3,489,11026,0.00,2.30,0.00,0.000,4,0.000,0.051,3201,3532,2062,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11063,0.42,170.3,927.2,13.2,490,11069,0.12,2.17,0.00,0.000,6,0.165,0.028,3175,2132,2061,0,0,0,0,0,0,25.68,25.88,28.83
$GC,11388,0.40,170.3,889.8,10.8,501,11393,0.00,2.15,0.00,0.000,4,0.000,0.035,3184,718,2059,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11441,0.38,170.3,886.0,10.7,502,11446,0.00,2.17,0.00,0.000,6,0.000,0.036,3185,2124,2058,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11756,0.36,170.3,851.4,10.4,513,11761,0.00,2.25,0.00,0.000,4,0.000,0.051,3185,3536,2058,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11808,0.34,170.3,847.4,10.4,514,11814,0.15,2.15,0.00,0.000,6,0.161,0.028,3146,2099,2059,0,0,0,0,0,0,26.15,26.36,28.83
$GC,12123,0.35,193.8,819.6,7.9,525,12153,0.00,2.17,19.20,1.323,4,0.000,0.035,3146,720,1977,0,0,0,0,0,0,28.83,25.91,25.01
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$STATE,19987,end climb,SURFACE_DEPTH_REACHED
$STATE,19987,begin surface coast
$FINISH,1.6,1.021685
$STATE,20009,end surface coast,CONTROL_FINISHED_OK
$STATE,20009,begin surface
$SM_CCo,20087,0.00,0.000,0,0,458,566.89
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$IRIDIUM_FIX,2036.38,12000.13,211112,191929
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.85
$INTERNAL_PRESSURE,9.49804
$TCM_TEMP,24.70
$XPDR_PINGS,1
$SC_FREEKB,3980576
$24V_AH,23.3,22.565
$10V_AH,10.2,8.945
$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,23.200,195.750,627.700,0.000,0.000,0.000,0.000,283.950,0.250,0.000,20.903,3029.503,13777.652,792.474,2639.511,310.659,0.000,2392.161,0.000,2217.260,0.000,0.545,0.000
$DEVICE_MAMPS,242.505,74.205,1485.630,0.000,0.000,0.000,0.000,136.170,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.981,0.000,0.000,0.000
$MEM,323748
$DATA_FILE_SIZE,33365,913
$CAP_FILE_SIZE,238187,0
$CFSIZE,260034560,241590272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127,269.3,1
$GPS,221112,064952,2039.698,12001.172,37,0.7,37,-2.8