version: 66.11
glider: 170
mission: 10
dive: 114
start: 11 24 112 18 10 9
data:
$ID,170
$MISSION,10
$DIVE,114
$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,-143230.59
$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,84
$R_STBD_OVSHOOT,63
$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
$GPS1,241112,180135,2019.070,11955.225,31,0.9,32,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-71.9
$GPS2,241112,180942,2019.120,11955.117,16,1.4,16,-2.7
$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,140.0,146780,-14.9,-8.684,-17.18
$D_GRID,3351
$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,-170.3,0.0,0.0,0,81,0.00,0.00,-59.70,0.000,2,0.000,0.000,135,2638,1818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.51,-170.3,3.0,-1.7,10,157,10.95,2.15,-51.45,0.000,4,0.237,0.044,2881,1218,3465,0,0,0,0,0,0,25.70,26.10,26.37
$GC,215,-0.45,-170.3,27.1,-27.7,32,222,0.00,2.15,0.00,0.000,6,0.000,0.052,2881,2560,3465,0,0,0,0,0,0,28.83,26.08,28.83
$GC,403,-0.36,-170.3,75.8,-26.1,46,408,0.15,1.80,0.00,0.000,4,0.172,0.062,2928,3696,3465,0,0,0,0,0,0,26.08,26.19,28.83
$GC,510,-0.31,-170.3,96.1,-18.0,51,516,0.00,1.58,0.00,0.000,6,0.000,0.024,2930,2607,3465,0,0,0,0,0,0,28.83,26.37,28.83
$GC,709,-0.30,-170.3,120.5,-11.1,61,714,0.00,2.05,0.00,0.000,4,0.000,0.034,2928,1215,3465,0,0,0,0,0,0,28.83,26.41,28.83
$GC,832,-0.30,-170.3,134.7,-11.9,67,838,0.00,2.17,0.00,0.000,6,0.000,0.047,2928,2612,3466,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1036,-0.31,-170.3,155.2,-9.5,77,1042,0.00,1.67,0.00,0.000,4,0.000,0.055,2928,3702,3465,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1100,-0.33,-170.3,160.1,-8.0,80,1106,0.00,1.60,0.00,0.000,6,0.000,0.024,2928,2557,3466,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1306,-0.35,-170.3,175.2,-7.2,90,1311,0.00,1.90,0.00,0.000,4,0.000,0.031,2928,1243,3466,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1370,-0.38,-170.3,180.2,-7.7,93,1375,0.00,2.12,0.00,0.000,6,0.000,0.050,2928,2601,3466,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1575,-0.41,-170.3,195.0,-7.0,103,1580,0.00,1.67,0.00,0.000,4,0.000,0.054,2928,3701,3465,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1622,-0.45,-170.3,197.8,-6.5,105,1627,0.00,1.55,0.00,0.000,6,0.000,0.024,2928,2575,3465,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1822,-0.49,-170.3,208.9,-5.1,115,1828,0.12,1.90,0.00,0.000,4,0.086,0.028,2847,1253,3465,0,0,0,0,0,0,26.63,26.58,28.83
$GC,1920,-0.49,-170.3,217.4,-10.1,119,1927,0.15,2.12,0.00,0.000,6,0.147,0.053,2892,2601,3465,0,0,0,0,0,0,26.42,26.51,28.83
$GC,2107,-0.51,-170.3,234.9,-8.3,129,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2601,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2286,-0.53,-170.3,251.6,-9.0,138,2291,0.00,1.70,0.00,0.000,4,0.000,0.057,2892,3701,3463,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2323,-0.55,-170.3,253.6,-8.7,139,2331,0.00,1.52,0.00,0.000,6,0.000,0.024,2892,2602,3463,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2629,-0.57,-170.3,279.4,-8.3,155,2635,0.00,1.95,0.00,0.000,4,0.000,0.030,2892,1243,3461,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2724,-0.60,-170.3,286.3,-8.2,159,2730,0.12,2.12,0.00,0.000,6,0.092,0.047,2820,2619,3460,0,0,0,0,0,0,26.60,26.58,28.83
$GC,3037,-0.58,-170.3,326.2,-13.2,175,3043,0.12,1.65,0.00,0.000,4,0.161,0.054,2863,3692,3459,0,0,0,0,0,0,26.50,26.58,28.83
$GC,3101,-0.58,-170.3,332.5,-10.6,178,3106,0.00,1.52,0.00,0.000,6,0.000,0.026,2863,2600,3458,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3424,-0.58,-170.3,361.0,-8.6,194,3429,0.00,1.95,0.00,0.000,4,0.000,0.028,2863,1239,3455,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3496,-0.59,-170.3,366.4,-8.7,197,3502,0.00,2.10,0.00,0.000,6,0.000,0.045,2863,2606,3455,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3810,-0.60,-170.3,396.0,-9.4,213,3816,0.00,2.03,0.00,0.000,4,0.000,0.029,2863,1236,3452,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3854,-0.61,-170.3,399.7,-9.0,215,3859,0.00,2.10,0.00,0.000,6,0.000,0.044,2863,2600,3451,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4177,-0.62,-170.3,426.7,-8.4,231,4183,0.00,2.00,0.00,0.000,4,0.000,0.028,2863,1238,3448,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4262,-0.63,-170.3,433.9,-8.5,235,4268,0.00,2.10,0.00,0.000,6,0.000,0.044,2863,2610,3448,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4586,-0.65,-170.3,461.1,-8.6,251,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2610,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4887,-0.66,-170.3,487.2,-8.9,266,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2610,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5188,-0.68,-170.3,514.2,-8.9,281,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2611,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5487,-0.69,-170.3,540.3,-8.5,296,5494,0.10,2.00,0.00,0.000,4,0.110,0.026,2806,1243,3441,0,0,0,0,0,0,26.70,26.67,28.83
$GC,5593,-0.67,-170.3,552.5,-11.9,301,5599,0.00,2.12,0.00,0.000,6,0.000,0.044,2806,2611,3439,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5917,-0.64,-170.3,590.2,-10.9,317,5922,0.12,1.70,0.00,0.000,4,0.171,0.054,2847,3694,3438,0,0,0,0,0,0,26.50,26.58,28.83
$GC,5941,-0.62,-170.3,592.4,-10.4,318,5946,0.00,1.58,0.00,0.000,6,0.000,0.030,2847,2614,3438,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6275,-0.63,-170.3,615.6,-6.9,331,6280,0.00,2.05,0.00,0.000,4,0.000,0.028,2848,1212,3435,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6339,-0.64,-170.3,620.2,-6.9,333,6344,0.00,2.15,0.00,0.000,6,0.000,0.044,2847,2604,3435,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6674,-0.65,-170.3,644.7,-7.6,344,6675,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2604,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6973,-0.66,-170.3,669.8,-8.6,354,6979,0.00,2.05,0.00,0.000,4,0.000,0.028,2848,1210,3432,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7051,-0.67,-170.3,675.5,-8.7,356,7057,0.00,2.15,0.00,0.000,6,0.000,0.044,2847,2601,3433,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7372,-0.68,-170.3,705.0,-8.7,367,7377,0.00,2.05,0.00,0.000,4,0.000,0.028,2847,1216,3431,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7394,-0.69,-170.3,705.0,-8.7,367,7399,0.00,2.15,0.00,0.000,6,0.000,0.044,2847,2602,3431,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7710,-0.70,-170.3,734.1,-8.6,378,7715,0.00,1.70,0.00,0.000,4,0.000,0.055,2847,3692,3429,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7743,-0.71,-170.3,737.2,-8.5,379,7748,0.00,1.60,0.00,0.000,6,0.000,0.031,2847,2589,3429,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8077,-0.73,-170.3,766.0,-8.9,390,8082,0.00,2.03,0.00,0.000,4,0.000,0.028,2847,1206,3428,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8129,-0.74,-170.3,769.2,-9.0,391,8135,0.12,2.17,0.00,0.000,6,0.090,0.044,2781,2608,3428,0,0,0,0,0,0,26.60,26.58,28.83
$GC,8445,-0.71,-170.3,810.6,-12.7,402,8447,0.15,0.00,0.00,0.000,6,0.152,0.000,2825,2609,3426,0,0,0,0,0,0,26.46,28.83,28.83
$GC,8743,-0.71,-170.3,838.9,-8.9,412,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2609,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9043,-0.71,-170.3,865.9,-9.2,422,9048,0.00,2.08,0.00,0.000,4,0.000,0.028,2825,1214,3424,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9085,-0.71,-170.3,869.1,-9.3,423,9091,0.00,2.17,0.00,0.000,6,0.000,0.045,2825,2610,3424,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9408,-0.71,-170.3,899.3,-8.9,434,9413,0.00,2.08,0.00,0.000,4,0.000,0.028,2825,1213,3423,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9441,-0.71,-170.3,902.2,-8.9,435,9446,0.00,2.17,0.00,0.000,6,0.000,0.044,2825,2605,3423,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9775,-0.71,-170.3,932.1,-8.8,446,9780,0.00,1.73,0.00,0.000,4,0.000,0.057,2825,3699,3422,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9811,-0.71,-170.3,935.1,-8.8,447,9817,0.00,1.60,0.00,0.000,6,0.000,0.031,2825,2607,3422,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10141,-0.71,-170.3,962.1,-8.2,458,10147,0.00,1.75,0.00,0.000,4,0.000,0.057,2825,3680,3421,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10168,-0.71,-170.3,962.1,-8.2,458,10176,0.00,1.60,0.00,0.000,6,0.000,0.031,2825,2594,3421,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,10472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10473,begin apogee
$GC,10478,-0.15,0.0,990.1,-8.1,469,10625,0.50,0.00,137.55,1.491,6,0.116,0.000,2998,2107,2768,0,0,0,0,0,0,26.37,28.83,23.89
$STATE,10627,end apogee,CONTROL_FINISHED_OK
$STATE,10627,begin climb
$GC,10629,0.51,170.3,994.7,0.0,474,10791,0.57,2.50,152.52,1.447,4,0.050,0.050,3226,3525,2072,0,0,0,0,0,0,24.96,23.94,23.13
$GC,10822,0.44,170.3,981.0,10.5,480,10829,0.15,2.33,0.00,0.000,6,0.159,0.028,3190,2115,2068,0,0,0,0,0,0,24.38,24.51,28.83
$GC,11144,0.41,170.3,941.1,11.1,491,11149,0.00,2.17,0.00,0.000,4,0.000,0.036,3197,712,2061,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11181,0.38,170.3,937.3,11.0,492,11187,0.00,2.22,0.00,0.000,6,0.000,0.037,3197,2118,2060,0,0,0,0,0,0,28.83,25.74,28.83
$GC,11511,0.35,170.3,902.0,10.5,503,11517,0.12,2.25,0.00,0.000,4,0.158,0.050,3156,3529,2059,0,0,0,0,0,0,25.98,26.05,28.83
$GC,11564,0.33,170.3,898.4,10.5,504,11570,0.00,2.17,0.00,0.000,6,0.000,0.028,3159,2107,2059,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11879,0.34,199.5,872.5,7.7,515,11908,0.00,2.22,23.85,1.370,4,0.000,0.037,3160,718,1954,0,0,0,0,0,0,28.83,25.66,24.76
$GC,11935,0.35,226.5,870.1,7.8,516,11965,0.00,2.22,25.17,1.355,6,0.000,0.037,3158,2122,1845,0,0,0,0,0,0,28.83,25.75,24.37
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$STATE,20502,end climb,SURFACE_DEPTH_REACHED
$STATE,20502,begin surface coast
$FINISH,2.1,1.021041
$STATE,20518,end surface coast,CONTROL_FINISHED_OK
$STATE,20519,begin surface
$SM_CCo,20598,0.00,0.000,0,0,666,515.87
$SM_GC,2.57,8.57,0.77,0.00,0.052,0.046,0.000,133,2615,666,-9.08,-0.88,515.87,0,0,0,0,0,0,26.01,26.13,28.83
$IRIDIUM_FIX,2013.37,11955.53,241112,121215
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.19
$INTERNAL_PRESSURE,9.48828
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,3976352
$24V_AH,23.1,24.876
$10V_AH,10.0,10.282
$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,23.200,210.250,561.475,0.000,0.000,0.000,0.000,296.875,0.000,0.000,17.731,3223.793,13951.409,762.448,2800.351,334.489,0.000,2433.522,0.000,2358.286,0.000,0.543,0.000
$DEVICE_MAMPS,237.150,61.965,1490.985,0.000,0.000,0.000,0.000,136.170,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20548.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.321,0.000,0.000,0.000
$MEM,323792
$DATA_FILE_SIZE,36692,940
$CAP_FILE_SIZE,250031,0
$CFSIZE,260034560,240267264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.179,277.2,1
$GPS,241112,235435,2017.284,11955.450,32,0.8,32,-2.7