version: 66.11
glider: 170
mission: 10
dive: 165
start: 12 7 112 4 32 41
data:
$ID,170
$MISSION,10
$DIVE,165
$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,-143297.52
$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
$GPS1,071212,042329,1902.865,12000.478,70,0.9,70,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-71.0
$GPS2,071212,043212,1902.899,12000.386,16,1.3,16,-2.4
$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,175.9,5411,-14.9,-8.684,-17.18
$D_GRID,3178
$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,-170.3,0.0,0.0,0,62,0.00,0.00,-40.17,0.000,2,0.000,0.000,136,2616,1813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.51,-170.3,3.1,-1.4,7,137,11.68,1.75,-53.20,0.000,4,0.255,0.070,2876,3694,3465,0,0,0,0,0,0,25.48,25.96,26.40
$GC,367,-0.46,-170.3,74.4,-21.7,42,372,0.00,1.58,0.00,0.000,6,0.000,0.024,2876,2615,3465,0,0,0,0,0,0,28.83,26.29,28.83
$GC,570,-0.43,-170.3,103.2,-13.1,52,576,0.12,2.05,0.00,0.000,4,0.168,0.022,2918,1195,3466,0,0,0,0,0,0,26.14,26.35,28.83
$GC,635,-0.42,-170.3,110.0,-11.3,55,641,0.00,2.17,0.00,0.000,6,0.000,0.039,2918,2610,3466,0,0,0,0,0,0,28.83,26.26,28.83
$GC,839,-0.43,-170.3,131.4,-10.0,65,845,0.00,2.08,0.00,0.000,4,0.000,0.024,2917,1192,3465,0,0,0,0,0,0,28.83,26.42,28.83
$GC,886,-0.44,-170.3,135.5,-9.5,67,891,0.00,2.17,0.00,0.000,6,0.000,0.037,2918,2613,3466,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1086,-0.46,-170.3,152.2,-8.2,77,1091,0.00,1.70,0.00,0.000,4,0.000,0.054,2918,3699,3466,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1138,-0.48,-170.3,155.9,-8.2,79,1144,0.00,1.60,0.00,0.000,6,0.000,0.022,2917,2550,3466,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1334,-0.50,-170.3,171.3,-7.1,89,1339,0.00,1.88,0.00,0.000,4,0.000,0.025,2918,1239,3466,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1377,-0.52,-170.3,174.5,-7.2,91,1383,0.12,2.08,0.00,0.000,6,0.086,0.038,2847,2600,3466,0,0,0,0,0,0,26.39,26.39,28.83
$GC,1582,-0.50,-170.3,200.0,-12.6,101,1589,0.12,1.98,0.00,0.000,4,0.148,0.022,2891,1239,3465,0,0,0,0,0,0,26.35,26.51,28.83
$GC,1667,-0.50,-170.3,207.6,-8.7,105,1673,0.00,2.08,0.00,0.000,6,0.000,0.039,2891,2600,3465,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1873,-0.50,-170.3,222.2,-6.9,115,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2600,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2051,-0.51,-170.3,235.3,-7.8,124,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2600,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2232,-0.52,-170.3,249.5,-7.9,133,2237,0.00,1.98,0.00,0.000,4,0.000,0.024,2891,1236,3463,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2271,-0.54,-170.3,251.4,-7.9,134,2277,0.00,2.08,0.00,0.000,6,0.000,0.039,2891,2604,3463,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2575,-0.55,-170.3,274.2,-7.1,150,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2604,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2877,-0.57,-170.3,296.1,-7.8,165,2882,0.00,1.98,0.00,0.000,4,0.000,0.024,2891,1237,3459,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2904,-0.58,-170.3,298.1,-7.7,166,2909,0.00,2.10,0.00,0.000,6,0.000,0.039,2891,2606,3460,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3223,-0.60,-170.3,324.1,-8.2,182,3229,0.10,1.98,0.00,0.000,4,0.102,0.023,2826,1240,3458,0,0,0,0,0,0,26.65,26.55,28.83
$GC,3248,-0.61,-170.3,326.7,-8.6,183,3254,0.00,2.08,0.00,0.000,6,0.000,0.040,2825,2605,3458,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3572,-0.59,-170.3,367.7,-12.2,199,3578,0.12,2.00,0.00,0.000,4,0.158,0.022,2869,1239,3457,0,0,0,0,0,0,26.37,26.56,28.83
$GC,3630,-0.59,-170.3,371.9,-10.8,201,3637,0.00,2.10,0.00,0.000,6,0.000,0.039,2868,2606,3455,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3936,-0.60,-170.3,397.7,-8.2,217,3941,0.00,1.70,0.00,0.000,4,0.000,0.054,2868,3696,3453,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4020,-0.61,-170.3,404.3,-7.9,221,4025,0.00,1.55,0.00,0.000,6,0.000,0.028,2868,2620,3453,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4344,-0.62,-170.3,430.7,-8.2,237,4349,0.00,2.03,0.00,0.000,4,0.000,0.024,2868,1217,3451,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4397,-0.63,-170.3,434.5,-8.3,239,4402,0.00,2.12,0.00,0.000,6,0.000,0.039,2868,2600,3451,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4710,-0.64,-170.3,459.8,-7.8,255,4716,0.00,2.03,0.00,0.000,4,0.000,0.024,2869,1217,3450,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4764,-0.66,-170.3,463.4,-8.0,257,4769,0.00,2.12,0.00,0.000,6,0.000,0.040,2869,2598,3449,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5078,-0.67,-170.3,488.3,-7.7,273,5080,0.10,0.00,0.00,0.000,6,0.111,0.000,2809,2598,3448,0,0,0,0,0,0,26.63,28.83,28.83
$GC,5378,-0.65,-170.3,524.9,-12.6,288,5380,0.12,0.00,0.00,0.000,6,0.154,0.000,2846,2598,3445,0,0,0,0,0,0,26.41,28.83,28.83
$GC,5678,-0.65,-170.3,554.4,-9.3,303,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2599,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5977,-0.65,-170.3,581.7,-8.7,318,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2598,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6287,-0.65,-170.3,609.4,-9.0,332,6292,0.00,2.03,0.00,0.000,4,0.000,0.026,2846,1214,3441,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6359,-0.66,-170.3,614.9,-8.8,334,6365,0.00,2.12,0.00,0.000,6,0.000,0.041,2846,2598,3441,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6686,-0.66,-170.3,644.3,-8.6,345,6691,0.00,1.73,0.00,0.000,4,0.000,0.056,2846,3691,3439,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6758,-0.67,-170.3,649.9,-8.7,347,6764,0.00,1.58,0.00,0.000,6,0.000,0.030,2846,2613,3439,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7084,-0.67,-170.3,678.1,-8.4,358,7089,0.00,2.05,0.00,0.000,4,0.000,0.025,2846,1196,3438,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7156,-0.68,-170.3,683.9,-8.8,360,7163,0.00,2.17,0.00,0.000,6,0.000,0.041,2846,2613,3437,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7483,-0.69,-170.3,712.3,-8.7,371,7488,0.00,2.10,0.00,0.000,4,0.000,0.026,2846,1199,3436,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7516,-0.70,-170.3,715.4,-8.6,372,7522,0.00,2.17,0.00,0.000,6,0.000,0.041,2846,2607,3436,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7852,-0.71,-170.3,742.7,-8.0,383,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2607,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8150,-0.71,-170.3,764.7,-7.1,393,8155,0.00,2.08,0.00,0.000,4,0.000,0.026,2846,1195,3433,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8188,-0.72,-170.3,767.2,-7.3,394,8193,0.00,2.17,0.00,0.000,6,0.000,0.041,2846,2609,3433,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8518,-0.73,-170.3,791.6,-7.5,405,8524,0.00,2.08,0.00,0.000,4,0.000,0.026,2846,1197,3431,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8546,-0.73,-170.3,791.6,-7.5,405,8553,0.00,2.20,0.00,0.000,6,0.000,0.041,2846,2610,3432,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8854,-0.74,-170.3,816.3,-7.3,416,8855,0.12,0.00,0.00,0.000,6,0.093,0.000,2783,2611,3431,0,0,0,0,0,0,26.60,28.83,28.83
$GC,9152,-0.72,-170.3,850.6,-11.2,426,9157,0.12,2.10,0.00,0.000,4,0.156,0.024,2823,1200,3429,0,0,0,0,0,0,26.33,26.51,28.83
$GC,9195,-0.70,-170.3,853.9,-10.9,427,9200,0.00,2.17,0.00,0.000,6,0.000,0.042,2823,2607,3429,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9519,-0.70,-170.3,880.8,-7.9,438,9525,0.00,2.08,0.00,0.000,4,0.000,0.027,2823,1199,3429,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9587,-0.70,-170.3,885.9,-7.8,440,9592,0.00,2.20,0.00,0.000,6,0.000,0.041,2823,2609,3428,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9916,-0.70,-170.3,913.5,-8.6,451,9922,0.00,2.10,0.00,0.000,4,0.000,0.027,2822,1199,3428,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9980,-0.70,-170.3,919.3,-8.8,453,9987,0.00,2.17,0.00,0.000,6,0.000,0.042,2823,2600,3427,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10315,-0.70,-170.3,949.8,-9.4,464,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2600,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10614,-0.70,-170.3,978.0,-9.5,474,10620,0.00,2.05,0.00,0.000,4,0.000,0.027,2823,1205,3426,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10677,-0.70,-170.3,984.4,-9.9,476,10682,0.00,2.17,0.00,0.000,6,0.000,0.042,2823,2601,3426,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,10738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10738,begin apogee
$GC,10744,-0.15,0.0,990.4,-9.9,478,10892,0.52,0.00,140.93,1.496,6,0.116,0.000,3001,2114,2769,0,0,0,0,0,0,25.90,28.83,23.62
$STATE,10894,end apogee,CONTROL_FINISHED_OK
$STATE,10894,begin climb
$GC,10896,0.51,170.3,998.1,0.0,483,11065,0.57,2.40,156.65,1.460,4,0.050,0.034,3227,740,2071,0,0,0,0,0,0,24.75,23.69,22.72
$GC,11103,0.47,170.3,985.7,9.8,490,11108,0.00,2.33,0.00,0.000,6,0.000,0.035,3227,2119,2067,0,0,0,0,0,0,28.83,24.37,28.83
$GC,11438,0.43,170.3,943.0,13.4,501,11444,0.12,2.28,0.00,0.000,4,0.164,0.049,3188,3531,2063,0,0,0,0,0,0,25.57,25.65,28.83
$GC,11473,0.40,170.3,938.3,13.4,502,11478,0.00,2.15,0.00,0.000,6,0.000,0.028,3198,2133,2063,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11808,0.37,170.3,898.5,12.0,513,11813,0.00,2.17,0.00,0.000,4,0.000,0.035,3200,719,2061,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11880,0.36,170.3,890.9,11.8,515,11886,0.12,2.20,0.00,0.000,6,0.148,0.037,3165,2133,2059,0,0,0,0,0,0,25.90,26.09,28.83
$GC,12206,0.35,170.3,857.7,9.7,526,12211,0.00,2.25,0.00,0.000,4,0.000,0.052,3167,3539,2059,0,0,0,0,0,0,28.83,26.12,28.83
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$STATE,21077,end climb,SURFACE_DEPTH_REACHED
$STATE,21077,begin surface coast
$FINISH,1.5,1.021602
$STATE,21108,end surface coast,CONTROL_FINISHED_OK
$STATE,21110,begin surface
$SM_CCo,21189,0.00,0.000,0,0,719,502.86
$SM_GC,2.50,8.55,0.82,0.00,0.050,0.045,0.000,137,2606,719,-9.06,-0.96,502.86,0,0,0,0,0,0,25.85,26.07,28.83
$IRIDIUM_FIX,1855.54,11959.96,061212,222238
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.42
$INTERNAL_PRESSURE,9.41992
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,3956768
$24V_AH,22.7,36.592
$10V_AH,9.9,16.448
$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,23.850,215.025,583.900,0.000,0.000,0.000,0.000,329.025,0.000,0.000,17.971,3314.172,14373.992,772.637,2874.650,366.597,0.000,2492.281,0.000,2406.991,0.000,0.542,0.000
$DEVICE_MAMPS,254.745,69.615,1496.340,0.000,0.000,0.000,0.000,134.640,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21139.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.085,0.000,0.000,0.000
$MEM,323732
$DATA_FILE_SIZE,36668,967
$CAP_FILE_SIZE,257196,0
$CFSIZE,260034560,234192896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.108,331.1,1
$GPS,071212,102735,1900.793,12000.172,69,0.8,69,-2.4