version: 66.11
glider: 170
mission: 10
dive: 161
start: 12 6 112 4 27 53
data:
$ID,170
$MISSION,10
$DIVE,161
$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,1
$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,-143292.52
$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,0.0049999999
$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,98
$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
$GPS1,061212,041629,1910.452,12001.542,95,0.8,95,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-67.2
$GPS2,061212,042724,1910.765,12001.265,17,1.2,17,-2.5
$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,175.7,20059,-14.9,-8.684,-17.18
$D_GRID,3428
$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,-170.3,0.0,0.0,0,69,0.00,0.00,-47.90,0.000,2,0.000,0.000,134,2568,1567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.51,-170.3,3.0,-1.4,8,164,11.27,2.05,-72.30,0.000,4,0.243,0.047,2882,1229,3465,0,0,0,0,0,0,25.50,26.10,26.40
$GC,316,-0.44,-170.3,47.5,-26.3,44,324,0.00,2.15,0.00,0.000,6,0.000,0.044,2882,2604,3465,0,0,0,0,0,0,28.83,26.15,28.83
$GC,512,-0.41,-170.3,83.1,-17.0,55,518,0.12,1.70,0.00,0.000,4,0.165,0.051,2922,3694,3465,0,0,0,0,0,0,26.14,26.20,28.83
$GC,537,-0.38,-170.3,86.5,-16.2,56,542,0.00,1.52,0.00,0.000,6,0.000,0.024,2923,2606,3465,0,0,0,0,0,0,28.83,26.38,28.83
$GC,739,-0.38,-170.3,104.4,-8.5,66,745,0.00,2.03,0.00,0.000,4,0.000,0.039,2923,1211,3466,0,0,0,0,0,0,28.83,26.39,28.83
$GC,777,-0.38,-170.3,106.4,-8.6,67,784,0.00,2.15,0.00,0.000,6,0.000,0.041,2922,2609,3466,0,0,0,0,0,0,28.83,26.32,28.83
$GC,964,-0.39,-170.3,121.9,-8.2,77,969,0.00,1.73,0.00,0.000,4,0.000,0.054,2923,3697,3465,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1022,-0.41,-170.3,125.2,-7.5,79,1029,0.00,1.55,0.00,0.000,6,0.000,0.023,2923,2561,3465,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1209,-0.43,-170.3,138.7,-6.7,89,1214,0.00,1.90,0.00,0.000,4,0.000,0.027,2923,1240,3465,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1261,-0.45,-170.3,142.2,-7.3,91,1267,0.00,2.08,0.00,0.000,6,0.000,0.040,2922,2609,3465,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1457,-0.47,-170.3,158.0,-7.7,101,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2610,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1636,-0.50,-170.3,171.7,-7.4,110,1642,0.00,2.00,0.00,0.000,4,0.000,0.029,2923,1249,3464,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1714,-0.52,-170.3,176.8,-7.7,113,1721,0.12,2.08,0.00,0.000,6,0.093,0.040,2859,2606,3464,0,0,0,0,0,0,26.43,26.44,28.83
$GC,1902,-0.51,-170.3,199.9,-12.2,123,1907,0.00,1.70,0.00,0.000,4,0.000,0.051,2859,3701,3462,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1974,-0.50,-170.3,207.1,-11.2,126,1980,0.10,1.50,0.00,0.000,6,0.156,0.025,2890,2592,3462,0,0,0,0,0,0,26.37,26.62,28.83
$GC,2169,-0.50,-170.3,225.2,-8.4,136,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2590,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2348,-0.51,-170.3,241.1,-8.9,145,2353,0.00,1.90,0.00,0.000,4,0.000,0.025,2890,1250,3460,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2385,-0.52,-170.3,243.2,-9.0,146,2392,0.00,2.08,0.00,0.000,6,0.000,0.041,2890,2602,3460,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2571,-0.53,-170.3,260.2,-8.5,156,2577,0.00,1.98,0.00,0.000,4,0.000,0.024,2890,1246,3459,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2645,-0.54,-170.3,265.5,-8.3,159,2650,0.00,2.05,0.00,0.000,6,0.000,0.040,2890,2600,3458,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2959,-0.55,-170.3,284.3,-4.6,175,2964,0.00,1.98,0.00,0.000,4,0.000,0.024,2890,1249,3457,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3016,-0.57,-170.3,286.2,-4.5,177,3023,0.00,2.08,0.00,0.000,6,0.000,0.040,2890,2602,3457,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3322,-0.58,-170.3,304.8,-7.3,193,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2602,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3624,-0.60,-170.3,328.9,-8.0,208,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2602,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3924,-0.62,-170.3,352.7,-7.6,223,3931,0.12,1.98,0.00,0.000,4,0.087,0.023,2809,1241,3450,0,0,0,0,0,0,26.64,26.58,28.83
$GC,3988,-0.62,-170.3,360.6,-10.9,226,3995,0.15,2.10,0.00,0.000,6,0.148,0.041,2855,2604,3450,0,0,0,0,0,0,26.25,26.46,28.83
$GC,4312,-0.62,-170.3,392.8,-9.7,242,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2605,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4614,-0.62,-170.3,421.6,-9.4,257,4619,0.00,2.00,0.00,0.000,4,0.000,0.025,2853,1242,3446,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4657,-0.62,-170.3,425.8,-9.3,259,4662,0.00,2.12,0.00,0.000,6,0.000,0.041,2852,2613,3447,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4979,-0.62,-170.3,456.2,-9.6,275,4985,0.00,1.70,0.00,0.000,4,0.000,0.054,2853,3700,3444,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5006,-0.62,-170.3,458.4,-9.5,276,5011,0.00,1.50,0.00,0.000,6,0.000,0.029,2853,2648,3444,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5324,-0.62,-170.3,488.9,-9.5,292,5330,0.00,2.10,0.00,0.000,4,0.000,0.025,2853,1202,3442,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5402,-0.63,-170.3,495.0,-9.6,295,5409,0.00,2.17,0.00,0.000,6,0.000,0.041,2853,2611,3442,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5707,-0.63,-170.3,525.0,-9.4,311,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2612,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6010,-0.63,-170.3,552.3,-9.1,326,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2612,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6310,-0.64,-170.3,578.9,-8.6,341,6315,0.00,2.08,0.00,0.000,4,0.000,0.026,2853,1209,3437,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6368,-0.64,-170.3,582.8,-8.5,343,6375,0.00,2.15,0.00,0.000,6,0.000,0.041,2853,2601,3436,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6696,-0.65,-170.3,610.5,-8.1,358,6701,0.00,2.08,0.00,0.000,4,0.000,0.025,2853,1197,3435,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6759,-0.66,-170.3,615.7,-7.9,360,6765,0.00,2.20,0.00,0.000,6,0.000,0.041,2853,2611,3435,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7094,-0.67,-170.3,641.5,-7.8,371,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2611,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7394,-0.67,-170.3,665.5,-8.0,381,7399,0.00,2.08,0.00,0.000,4,0.000,0.026,2853,1196,3432,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7431,-0.68,-170.3,668.4,-8.1,382,7437,0.00,2.17,0.00,0.000,6,0.000,0.041,2853,2600,3431,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7762,-0.69,-170.3,695.6,-8.2,393,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2600,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8061,-0.70,-170.3,720.9,-8.4,403,8066,0.00,2.03,0.00,0.000,4,0.000,0.026,2853,1209,3429,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8109,-0.71,-170.3,724.0,-8.6,404,8114,0.00,2.15,0.00,0.000,6,0.000,0.041,2853,2608,3428,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8428,-0.72,-170.3,754.1,-8.9,415,8434,0.12,2.08,0.00,0.000,4,0.101,0.024,2790,1198,3428,0,0,0,0,0,0,26.59,26.54,28.83
$GC,8465,-0.73,-170.3,758.1,-9.5,416,8471,0.00,2.20,0.00,0.000,6,0.000,0.042,2789,2609,3427,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8795,-0.71,-170.3,799.8,-12.5,427,8801,0.12,2.08,0.00,0.000,4,0.178,0.025,2831,1211,3426,0,0,0,0,0,0,26.30,26.53,28.83
$GC,8894,-0.70,-170.3,809.7,-10.8,430,8901,0.00,2.15,0.00,0.000,6,0.000,0.042,2831,2606,3426,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9225,-0.70,-170.3,839.5,-8.6,441,9230,0.00,2.08,0.00,0.000,4,0.000,0.026,2831,1210,3425,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9282,-0.70,-170.3,842.3,-8.6,442,9289,0.00,2.15,0.00,0.000,6,0.000,0.042,2831,2605,3425,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9588,-0.70,-170.3,869.1,-7.7,453,9590,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2605,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9888,-0.70,-170.3,892.8,-8.2,463,9889,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2605,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10189,-0.70,-170.3,918.7,-8.9,473,10194,0.00,2.08,0.00,0.000,4,0.000,0.027,2831,1199,3421,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10285,-0.70,-170.3,927.3,-9.2,476,10292,0.00,2.17,0.00,0.000,6,0.000,0.042,2831,2601,3422,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10616,-0.70,-170.3,959.5,-9.8,487,10621,0.00,2.08,0.00,0.000,4,0.000,0.025,2831,1202,3419,0,0,0,0,0,0,28.83,26.52,28.83
$GC,10652,-0.70,-170.3,962.6,-9.7,488,10657,0.00,2.17,0.00,0.000,6,0.000,0.042,2830,2612,3420,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,10948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10948,begin apogee
$GC,10955,-0.15,0.0,990.8,-9.0,498,11101,0.47,0.00,139.60,1.500,6,0.116,0.000,2995,2121,2768,0,0,0,0,0,0,26.02,28.83,23.67
$STATE,11103,end apogee,CONTROL_FINISHED_OK
$STATE,11103,begin climb
$GC,11106,0.51,170.3,996.2,0.0,503,11274,0.62,2.58,157.05,1.454,4,0.051,0.050,3229,3523,2073,0,0,0,0,0,0,24.78,23.69,22.77
$GC,11321,0.46,170.3,978.5,12.5,510,11328,0.15,2.25,0.00,0.000,6,0.156,0.027,3201,2140,2068,0,0,0,0,0,0,24.33,24.53,28.83
$GC,11648,0.43,170.3,936.3,12.3,521,11654,0.00,2.20,0.00,0.000,4,0.000,0.034,3211,718,2062,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11767,0.41,170.3,924.3,12.6,524,11774,0.00,2.20,0.00,0.000,6,0.000,0.036,3211,2122,2060,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12072,0.39,170.3,880.8,13.2,535,12079,0.12,2.22,0.00,0.000,4,0.159,0.049,3170,3529,2060,0,0,0,0,0,0,25.99,26.04,28.83
$GC,12116,0.36,170.3,876.2,13.2,536,12122,0.00,2.15,0.00,0.000,6,0.000,0.028,3176,2096,2060,0,0,0,0,0,0,28.83,26.21,28.83
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$STATE,20810,end climb,SURFACE_DEPTH_REACHED
$STATE,20810,begin surface coast
$FINISH,1.5,0.998416
$STATE,20840,end surface coast,CONTROL_FINISHED_OK
$STATE,20841,begin surface
$SM_CCo,20921,0.00,0.000,0,0,458,566.89
$SM_GC,2.35,8.32,2.92,0.00,0.041,0.034,0.000,135,2589,458,-9.07,-1.22,566.89,0,0,0,0,0,0,25.86,26.06,28.83
$IRIDIUM_FIX,1902.38,12002.24,051212,222243
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.89
$INTERNAL_PRESSURE,9.41992
$TCM_TEMP,23.30
$XPDR_PINGS,1
$SC_FREEKB,3958304
$24V_AH,22.8,35.730
$10V_AH,10.0,15.951
$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,22.925,192.525,614.625,0.000,0.000,0.000,0.000,458.875,0.250,0.000,18.923,3166.908,14340.133,855.332,2819.411,384.306,0.000,2607.156,0.000,2251.555,0.000,0.544,0.000
$DEVICE_MAMPS,242.505,94.860,1500.165,0.000,0.000,0.000,0.000,135.405,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20872.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.579,0.000,0.000,0.000
$MEM,323880
$DATA_FILE_SIZE,36706,977
$CAP_FILE_SIZE,246267,0
$CFSIZE,260034560,234684416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.105,351.8,1
$GPS,061212,101804,1908.862,12001.414,53,1.0,53,-2.5