version: 66.11
glider: 170
mission: 10
dive: 162
start: 12 6 112 10 30 13
data:
$ID,170
$MISSION,10
$DIVE,162
$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,-143293.77
$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,75
$R_STBD_OVSHOOT,28
$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
$GPS1,061212,101804,1908.862,12001.414,53,1.0,53,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-74.1
$GPS2,061212,102946,1909.167,12001.186,38,8.7,57,-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,183.8,17103,-14.9,-8.684,-17.18
$D_GRID,3376
$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,-59.72,0.000,2,0.000,0.000,134,2605,1807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.51,-170.3,3.1,-2.0,10,160,10.98,2.08,-56.05,0.000,4,0.235,0.037,2878,1199,3463,0,0,0,0,0,0,25.51,26.11,26.42
$GC,312,-0.45,-170.3,48.2,-21.6,42,319,0.00,2.20,0.00,0.000,6,0.000,0.043,2878,2613,3463,0,0,0,0,0,0,28.83,26.15,28.83
$GC,509,-0.42,-170.3,81.0,-17.3,53,515,0.12,1.67,0.00,0.000,4,0.158,0.049,2919,3690,3464,0,0,0,0,0,0,26.15,26.22,28.83
$GC,542,-0.39,-170.3,84.9,-16.8,54,549,0.00,1.62,0.00,0.000,6,0.000,0.025,2919,2558,3464,0,0,0,0,0,0,28.83,26.41,28.83
$GC,736,-0.39,-170.3,107.1,-9.9,64,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2556,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,917,-0.40,-170.3,125.3,-10.2,73,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2554,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1097,-0.41,-170.3,140.0,-7.9,82,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2555,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1277,-0.43,-170.3,154.8,-8.3,91,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2554,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1457,-0.45,-170.3,169.6,-8.0,100,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2553,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1637,-0.47,-170.3,183.1,-7.5,109,1643,0.00,1.80,0.00,0.000,4,0.000,0.050,2919,3694,3462,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1666,-0.50,-170.3,185.0,-7.6,110,1671,0.00,1.52,0.00,0.000,6,0.000,0.026,2922,2576,3463,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1866,-0.53,-170.3,201.3,-8.7,120,1872,0.12,1.90,0.00,0.000,4,0.088,0.024,2846,1237,3461,0,0,0,0,0,0,26.60,26.53,28.83
$GC,1913,-0.54,-170.3,207.1,-10.7,122,1919,0.10,2.08,0.00,0.000,6,0.177,0.041,2874,2603,3462,0,0,0,0,0,0,26.26,26.44,28.83
$GC,2113,-0.54,-170.3,231.6,-11.0,132,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2603,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2292,-0.54,-170.3,251.4,-11.0,141,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2603,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2593,-0.54,-170.3,281.7,-9.9,156,2598,0.00,1.98,0.00,0.000,4,0.000,0.024,2875,1236,3458,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2630,-0.54,-170.3,284.0,-9.8,157,2637,0.00,2.08,0.00,0.000,6,0.000,0.041,2874,2602,3457,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2937,-0.54,-170.3,313.0,-9.0,173,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2602,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3238,-0.55,-170.3,339.3,-8.8,188,3244,0.00,1.98,0.00,0.000,4,0.000,0.024,2874,1239,3452,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3281,-0.56,-170.3,343.4,-8.9,190,3287,0.00,2.10,0.00,0.000,6,0.000,0.040,2874,2600,3452,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3606,-0.57,-170.3,371.7,-8.7,206,3611,0.00,1.98,0.00,0.000,4,0.000,0.026,2875,1244,3450,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3640,-0.58,-170.3,373.7,-8.6,207,3645,0.00,2.10,0.00,0.000,6,0.000,0.041,2875,2609,3450,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3953,-0.59,-170.3,399.1,-7.6,223,3959,0.00,2.00,0.00,0.000,4,0.000,0.025,2875,1244,3448,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4011,-0.61,-170.3,402.5,-7.7,225,4018,0.00,2.10,0.00,0.000,6,0.000,0.041,2874,2611,3447,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4318,-0.62,-170.3,427.0,-7.8,241,4323,0.00,2.00,0.00,0.000,4,0.000,0.026,2875,1240,3445,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4350,-0.63,-170.3,429.0,-8.0,242,4355,0.00,2.10,0.00,0.000,6,0.000,0.041,2874,2602,3445,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4664,-0.64,-170.3,454.4,-8.0,258,4670,0.00,1.98,0.00,0.000,4,0.000,0.025,2875,1242,3443,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4688,-0.66,-170.3,456.5,-8.1,259,4695,0.12,2.10,0.00,0.000,6,0.095,0.041,2810,2602,3443,0,0,0,0,0,0,26.42,26.44,28.83
$GC,5013,-0.64,-170.3,495.4,-11.7,275,5019,0.12,1.67,0.00,0.000,4,0.151,0.050,2850,3689,3441,0,0,0,0,0,0,26.38,26.39,28.83
$GC,5047,-0.62,-170.3,498.1,-11.5,276,5052,0.00,1.55,0.00,0.000,6,0.000,0.028,2851,2642,3441,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5360,-0.62,-170.3,523.4,-7.9,292,5365,0.00,2.10,0.00,0.000,4,0.000,0.025,2851,1200,3440,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5403,-0.62,-170.3,526.8,-8.1,294,5408,0.00,2.17,0.00,0.000,6,0.000,0.042,2850,2604,3439,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5727,-0.62,-170.3,554.9,-9.6,310,5732,0.00,2.05,0.00,0.000,4,0.000,0.026,2851,1201,3438,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5770,-0.62,-170.3,559.4,-10.0,312,5775,0.00,2.20,0.00,0.000,6,0.000,0.041,2850,2613,3437,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6092,-0.62,-170.3,592.1,-10.1,328,6098,0.00,2.08,0.00,0.000,4,0.000,0.026,2851,1203,3436,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6121,-0.62,-170.3,594.6,-10.1,329,6126,0.00,2.17,0.00,0.000,6,0.000,0.042,2851,2606,3436,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6450,-0.62,-170.3,623.8,-8.2,341,6456,0.00,2.08,0.00,0.000,4,0.000,0.026,2851,1193,3434,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6487,-0.62,-170.3,626.6,-8.1,342,6492,0.00,2.20,0.00,0.000,6,0.000,0.041,2850,2611,3434,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6817,-0.63,-170.3,653.3,-8.2,353,6823,0.00,2.10,0.00,0.000,4,0.000,0.027,2851,1193,3433,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6871,-0.63,-170.3,656.3,-8.3,354,6876,0.00,2.17,0.00,0.000,6,0.000,0.042,2849,2609,3432,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7185,-0.64,-170.3,685.0,-8.6,365,7190,0.00,2.10,0.00,0.000,4,0.000,0.026,2851,1195,3430,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7253,-0.65,-170.3,690.8,-8.9,367,7259,0.00,2.20,0.00,0.000,6,0.000,0.041,2851,2611,3430,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7583,-0.65,-170.3,719.9,-8.5,378,7589,0.00,2.08,0.00,0.000,4,0.000,0.027,2851,1201,3429,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7651,-0.66,-170.3,725.3,-8.3,380,7657,0.00,2.17,0.00,0.000,6,0.000,0.042,2850,2600,3429,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7982,-0.67,-170.3,753.6,-8.3,391,7987,0.00,1.70,0.00,0.000,4,0.000,0.055,2851,3690,3428,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8009,-0.68,-170.3,753.6,-8.3,391,8017,0.00,1.60,0.00,0.000,6,0.000,0.031,2851,2587,3427,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8317,-0.69,-170.3,778.6,-7.4,402,8322,0.00,2.00,0.00,0.000,4,0.000,0.028,2851,1208,3426,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8364,-0.70,-170.3,781.2,-7.4,403,8370,0.00,2.17,0.00,0.000,6,0.000,0.042,2851,2606,3426,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8686,-0.71,-170.3,805.2,-7.3,414,8691,0.00,2.08,0.00,0.000,4,0.000,0.027,2851,1197,3425,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8733,-0.72,-170.3,807.8,-7.3,415,8738,0.00,2.17,0.00,0.000,6,0.000,0.042,2850,2608,3425,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9053,-0.73,-170.3,832.5,-7.5,426,9059,0.12,2.08,0.00,0.000,4,0.097,0.025,2782,1202,3425,0,0,0,0,0,0,26.59,26.51,28.83
$GC,9111,-0.73,-170.3,836.2,-8.1,427,9118,0.12,2.20,0.00,0.000,6,0.171,0.044,2816,2611,3424,0,0,0,0,0,0,26.10,26.35,28.83
$GC,9418,-0.72,-170.3,869.1,-9.7,438,9420,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2611,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9717,-0.71,-170.3,899.3,-10.6,448,9722,0.00,2.10,0.00,0.000,4,0.000,0.028,2816,1204,3422,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9774,-0.71,-170.3,902.8,-10.4,449,9781,0.00,2.20,0.00,0.000,6,0.000,0.044,2816,2611,3421,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10082,-0.70,-170.3,935.7,-9.5,460,10087,0.00,2.10,0.00,0.000,4,0.000,0.028,2816,1205,3421,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10164,-0.70,-170.3,941.7,-9.3,462,10169,0.00,2.20,0.00,0.000,6,0.000,0.044,2816,2612,3420,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10479,-0.69,-170.3,974.3,-10.0,473,10484,0.00,2.08,0.00,0.000,4,0.000,0.028,2816,1209,3419,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10512,-0.69,-170.3,977.8,-10.2,474,10517,0.00,2.20,0.00,0.000,6,0.000,0.044,2816,2606,3419,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,10663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10663,begin apogee
$GC,10670,-0.15,0.0,992.9,-9.9,479,10816,0.52,0.00,139.68,1.491,6,0.122,0.000,2994,2118,2768,0,0,0,0,0,0,25.94,28.83,23.68
$STATE,10818,end apogee,CONTROL_FINISHED_OK
$STATE,10818,begin climb
$GC,10820,0.51,170.3,998.5,0.0,484,10986,0.60,2.33,156.77,1.450,4,0.057,0.032,3227,747,2073,0,0,0,0,0,0,24.79,23.72,22.77
$GC,11013,0.47,170.3,987.1,8.9,490,11019,0.00,2.30,0.00,0.000,6,0.000,0.037,3227,2122,2067,0,0,0,0,0,0,28.83,24.26,28.83
$GC,11334,0.43,170.3,946.0,12.5,501,11340,0.12,2.28,0.00,0.000,4,0.164,0.050,3188,3532,2063,0,0,0,0,0,0,25.55,25.63,28.83
$GC,11357,0.40,170.3,946.0,12.5,501,11362,0.00,2.15,0.00,0.000,6,0.000,0.028,3197,2140,2062,0,0,0,0,0,0,28.83,25.82,28.83
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$STATE,21240,end climb,SURFACE_DEPTH_REACHED
$STATE,21240,begin surface coast
$FINISH,1.5,1.020673
$STATE,21261,end surface coast,CONTROL_FINISHED_OK
$STATE,21262,begin surface
$SM_CCo,21340,0.00,0.000,0,0,659,517.58
$SM_GC,2.34,8.43,0.73,0.00,0.048,0.040,0.000,138,2607,659,-9.06,-1.05,517.58,0,0,0,0,0,0,25.93,26.13,28.83
$IRIDIUM_FIX,1900.10,12046.09,061212,040452
$TT8_MAMPS,0.025466,0.025466
$HUMID,51.37
$INTERNAL_PRESSURE,9.44921
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3957920
$24V_AH,22.8,35.949
$10V_AH,9.9,16.080
$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,22.600,219.600,599.700,0.000,0.000,0.000,0.000,458.325,0.000,0.000,59.266,3246.711,14606.527,812.655,2960.277,403.911,0.000,2649.542,0.000,2348.686,0.000,0.544,0.000
$DEVICE_MAMPS,234.855,55.080,1490.985,0.000,0.000,0.000,0.000,139.230,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21296.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.214,0.000,0.000,0.000
$MEM,323856
$DATA_FILE_SIZE,36694,972
$CAP_FILE_SIZE,259135,0
$CFSIZE,260034560,234549248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.060,293.4,1
$GPS,061212,162707,1906.626,12000.307,38,0.8,38,-2.5