version: 66.11
glider: 170
mission: 10
dive: 122
start: 11 26 112 18 7 39
data:
$ID,170
$MISSION,10
$DIVE,122
$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,-143240.59
$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,65
$R_STBD_OVSHOOT,30
$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
$GPS1,261112,175904,2001.048,11954.529,31,0.7,31,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-76.3
$GPS2,261112,180711,2001.067,11954.299,15,1.1,15,-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,142.8,113535,-14.9,-8.684,-17.18
$D_GRID,3519
$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,-170.3,0.0,0.0,0,87,0.00,0.00,-64.93,0.000,2,0.000,0.000,142,2603,1918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.51,-170.3,3.1,-2.3,11,157,10.98,2.15,-48.08,0.000,4,0.239,0.044,2882,1201,3466,0,0,0,0,0,0,25.71,26.10,26.37
$GC,243,-0.40,-170.3,37.2,-29.4,34,250,0.15,2.22,0.00,0.000,6,0.178,0.048,2919,2602,3467,0,0,0,0,0,0,25.94,26.11,28.83
$GC,441,-0.36,-170.3,73.8,-16.1,47,446,0.00,2.10,0.00,0.000,4,0.000,0.030,2919,1205,3467,0,0,0,0,0,0,28.83,26.29,28.83
$GC,554,-0.35,-170.3,85.5,-10.9,52,560,0.00,2.17,0.00,0.000,6,0.000,0.042,2919,2622,3467,0,0,0,0,0,0,28.83,26.31,28.83
$GC,748,-0.34,-170.3,110.6,-13.0,62,754,0.00,1.62,0.00,0.000,4,0.000,0.050,2919,3688,3466,0,0,0,0,0,0,28.83,26.36,28.83
$GC,826,-0.35,-170.3,116.4,-9.8,65,832,0.00,1.60,0.00,0.000,6,0.000,0.025,2919,2540,3467,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1013,-0.36,-170.3,132.5,-8.2,75,1018,0.00,1.92,0.00,0.000,4,0.000,0.026,2920,1198,3467,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1100,-0.38,-170.3,139.8,-8.6,79,1105,0.00,2.15,0.00,0.000,6,0.000,0.040,2919,2605,3467,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1299,-0.40,-170.3,157.2,-8.6,89,1305,0.00,1.65,0.00,0.000,4,0.000,0.050,2919,3691,3466,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1337,-0.42,-170.3,159.2,-8.5,90,1344,0.00,1.60,0.00,0.000,6,0.000,0.026,2919,2544,3467,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1523,-0.44,-170.3,175.0,-8.3,100,1528,0.00,1.95,0.00,0.000,4,0.000,0.026,2919,1190,3466,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1596,-0.47,-170.3,180.2,-8.4,103,1601,0.00,2.15,0.00,0.000,6,0.000,0.038,2919,2604,3466,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1789,-0.51,-170.3,195.2,-7.0,113,1795,0.00,2.05,0.00,0.000,4,0.000,0.026,2919,1191,3466,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1828,-0.54,-170.3,196.9,-7.0,114,1835,0.12,2.15,0.00,0.000,6,0.093,0.038,2850,2605,3465,0,0,0,0,0,0,26.53,26.53,28.83
$GC,2015,-0.53,-170.3,218.9,-11.3,124,2020,0.00,1.70,0.00,0.000,4,0.000,0.050,2850,3690,3465,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2118,-0.53,-170.3,230.7,-11.0,129,2124,0.00,1.60,0.00,0.000,6,0.000,0.025,2850,2539,3464,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2321,-0.52,-170.3,252.2,-10.9,139,2327,0.12,1.83,0.00,0.000,4,0.147,0.050,2894,3700,3464,0,0,0,0,0,0,26.48,26.54,28.83
$GC,2410,-0.54,-170.3,259.4,-8.4,143,2415,0.00,1.60,0.00,0.000,6,0.000,0.026,2894,2549,3463,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2729,-0.57,-170.3,282.7,-6.6,159,2734,0.00,1.95,0.00,0.000,4,0.000,0.026,2894,1195,3461,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2781,-0.61,-170.3,285.3,-6.2,161,2787,0.12,2.15,0.00,0.000,6,0.093,0.040,2826,2604,3460,0,0,0,0,0,0,26.57,26.58,28.83
$GC,3095,-0.59,-170.3,319.7,-11.1,177,3097,0.12,0.00,0.00,0.000,6,0.147,0.000,2862,2604,3458,0,0,0,0,0,0,26.51,28.83,28.83
$GC,3396,-0.59,-170.3,347.3,-9.4,192,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2604,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3697,-0.60,-170.3,373.5,-8.5,207,3702,0.00,2.08,0.00,0.000,4,0.000,0.025,2862,1187,3454,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3780,-0.62,-170.3,380.6,-8.3,211,3786,0.00,2.17,0.00,0.000,6,0.000,0.041,2862,2608,3453,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4104,-0.63,-170.3,407.0,-8.1,227,4110,0.00,2.08,0.00,0.000,4,0.000,0.026,2862,1193,3450,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4137,-0.64,-170.3,408.9,-8.0,228,4142,0.00,2.17,0.00,0.000,6,0.000,0.041,2863,2611,3449,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4450,-0.65,-170.3,435.3,-7.9,244,4456,0.00,2.08,0.00,0.000,4,0.000,0.026,2862,1185,3447,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4474,-0.66,-170.3,437.4,-8.0,245,4480,0.00,2.17,0.00,0.000,6,0.000,0.041,2862,2602,3447,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4798,-0.67,-170.3,463.7,-8.3,261,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2602,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5100,-0.69,-170.3,489.0,-8.2,276,5105,0.10,2.05,0.00,0.000,4,0.106,0.024,2806,1193,3444,0,0,0,0,0,0,26.70,26.66,28.83
$GC,5188,-0.68,-170.3,498.5,-11.1,280,5194,0.00,2.17,0.00,0.000,6,0.000,0.041,2805,2607,3443,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5507,-0.65,-170.3,538.2,-12.1,296,5509,0.12,0.00,0.00,0.000,6,0.169,0.000,2841,2608,3441,0,0,0,0,0,0,26.49,28.83,28.83
$GC,5807,-0.65,-170.3,565.7,-8.3,311,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2608,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6108,-0.65,-170.3,590.8,-8.4,326,6113,0.00,2.10,0.00,0.000,4,0.000,0.027,2841,1186,3438,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6135,-0.65,-170.3,592.9,-8.5,327,6141,0.00,2.20,0.00,0.000,6,0.000,0.042,2841,2610,3437,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6445,-0.65,-170.3,617.6,-7.9,339,6446,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2611,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6743,-0.65,-170.3,643.0,-8.8,349,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2611,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7044,-0.65,-170.3,668.9,-8.3,359,7050,0.00,2.10,0.00,0.000,4,0.000,0.027,2841,1193,3433,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7077,-0.65,-170.3,671.9,-8.4,360,7083,0.00,2.17,0.00,0.000,6,0.000,0.041,2841,2606,3432,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7412,-0.65,-170.3,700.7,-8.9,371,7418,0.00,2.10,0.00,0.000,4,0.000,0.027,2841,1188,3432,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7455,-0.65,-170.3,703.8,-8.9,372,7461,0.00,2.20,0.00,0.000,6,0.000,0.042,2841,2611,3432,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7779,-0.65,-170.3,731.2,-8.0,383,7784,0.00,2.08,0.00,0.000,4,0.000,0.027,2841,1195,3431,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7837,-0.66,-170.3,733.8,-8.0,384,7844,0.00,2.15,0.00,0.000,6,0.000,0.041,2841,2601,3430,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8144,-0.67,-170.3,759.1,-7.7,395,8150,0.00,1.73,0.00,0.000,4,0.000,0.056,2841,3686,3429,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8187,-0.67,-170.3,761.7,-7.6,396,8193,0.00,1.62,0.00,0.000,6,0.000,0.031,2841,2596,3429,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8513,-0.68,-170.3,787.1,-7.7,407,8518,0.00,2.03,0.00,0.000,4,0.000,0.027,2842,1196,3428,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8571,-0.69,-170.3,789.9,-7.6,408,8578,0.00,2.17,0.00,0.000,6,0.000,0.041,2841,2602,3427,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8877,-0.70,-170.3,818.6,-9.2,419,8878,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2601,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9176,-0.71,-170.3,847.5,-9.8,429,9182,0.00,2.05,0.00,0.000,4,0.000,0.027,2841,1203,3425,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9254,-0.72,-170.3,853.7,-9.7,431,9259,0.00,2.17,0.00,0.000,6,0.000,0.042,2841,2604,3425,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9573,-0.73,-170.3,883.1,-8.5,442,9579,0.00,2.08,0.00,0.000,4,0.000,0.027,2841,1202,3424,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9632,-0.75,-170.3,885.9,-8.4,443,9638,0.00,2.15,0.00,0.000,6,0.000,0.042,2841,2602,3424,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9938,-0.76,-170.3,912.3,-7.8,454,9945,0.12,2.08,0.00,0.000,4,0.102,0.025,2779,1198,3423,0,0,0,0,0,0,26.65,26.64,28.83
$GC,9992,-0.76,-170.3,915.9,-8.3,455,9997,0.00,2.17,0.00,0.000,6,0.000,0.043,2779,2599,3423,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10306,-0.73,-170.3,953.2,-11.4,466,10308,0.12,0.00,0.00,0.000,6,0.172,0.000,2813,2600,3422,0,0,0,0,0,0,26.44,28.83,28.83
$GC,10607,-0.72,-170.3,978.7,-8.4,476,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2600,3421,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10754,begin apogee
$GC,10760,-0.15,0.0,991.4,-8.5,481,10907,0.52,0.00,138.98,1.490,6,0.119,0.000,2995,2102,2768,0,0,0,0,0,0,26.31,28.83,23.84
$STATE,10909,end apogee,CONTROL_FINISHED_OK
$STATE,10909,begin climb
$GC,10911,0.51,170.3,995.7,0.0,486,11071,0.60,0.00,154.57,1.444,6,0.054,0.000,3220,2102,2074,0,0,0,0,0,0,24.89,28.83,22.95
$GC,11356,0.46,170.3,946.4,13.2,501,11362,0.00,2.38,0.00,0.000,4,0.000,0.050,3220,3526,2063,0,0,0,0,0,0,28.83,25.46,28.83
$GC,11453,0.41,170.3,932.7,14.1,504,11459,0.15,2.15,0.00,0.000,6,0.160,0.028,3186,2148,2062,0,0,0,0,0,0,25.53,25.76,28.83
$GC,11783,0.39,170.3,896.2,10.8,515,11788,0.00,2.17,0.00,0.000,4,0.000,0.034,3189,717,2059,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11840,0.37,170.3,892.7,10.6,516,11847,0.00,2.20,0.00,0.000,6,0.000,0.037,3190,2129,2059,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12147,0.35,170.3,857.1,10.9,527,12154,0.00,2.25,0.00,0.000,4,0.000,0.051,3189,3534,2059,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12231,0.32,170.3,849.0,11.6,529,12237,0.15,2.17,0.00,0.000,6,0.154,0.028,3153,2088,2059,0,0,0,0,0,0,26.09,26.34,28.83
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$STATE,20941,end climb,SURFACE_DEPTH_REACHED
$STATE,20941,begin surface coast
$FINISH,1.4,1.000119
$STATE,20969,end surface coast,CONTROL_FINISHED_OK
$STATE,20969,begin surface
$SM_CCo,21048,0.00,0.000,0,0,600,532.06
$SM_GC,2.39,8.75,0.70,0.00,0.051,0.037,0.000,133,2602,600,-9.08,-1.44,532.06,0,0,0,0,0,0,26.04,26.19,28.83
$IRIDIUM_FIX,1955.00,11952.09,261112,121251
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.98
$INTERNAL_PRESSURE,9.44921
$TCM_TEMP,23.60
$XPDR_PINGS,1
$SC_FREEKB,3973280
$24V_AH,23.0,26.628
$10V_AH,10.0,11.274
$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,23.500,189.200,604.550,0.000,0.000,0.000,0.000,298.375,0.250,0.000,16.405,3170.402,14515.034,803.846,2710.793,323.953,0.000,2420.072,0.000,2276.451,0.000,0.544,0.000
$DEVICE_MAMPS,239.445,55.845,1490.220,0.000,0.000,0.000,0.000,136.170,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20998.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.340,0.000,0.000,0.000
$MEM,323708
$DATA_FILE_SIZE,36649,965
$CAP_FILE_SIZE,246602,0
$CFSIZE,260034560,239296512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.086,334.9,1
$GPS,261112,235934,1959.671,11956.343,31,0.9,31,-2.6