version: 66.11
glider: 170
mission: 10
dive: 169
start: 12 8 112 4 26 16
data:
$ID,170
$MISSION,10
$DIVE,169
$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,-143303.58
$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,71
$R_STBD_OVSHOOT,36
$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
$GPS1,081212,041634,1857.135,12004.821,39,0.9,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-71.9
$GPS2,081212,042547,1857.348,12004.706,17,1.2,17,-2.4
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$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,136.7,63597,-14.9,-8.684,-17.18
$D_GRID,2332
$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,-170.3,0.0,0.0,0,79,0.00,0.00,-57.62,0.000,2,0.000,0.000,135,2610,1862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.51,-170.3,3.1,-2.0,10,161,11.38,2.17,-61.47,0.000,4,0.246,0.048,2878,1214,3465,0,0,0,0,0,0,25.54,26.07,26.44
$GC,235,-0.44,-170.3,26.9,-26.4,36,242,0.00,2.20,0.00,0.000,6,0.000,0.049,2878,2596,3465,0,0,0,0,0,0,28.83,26.04,28.83
$GC,433,-0.40,-170.3,62.2,-15.0,52,439,0.12,1.77,0.00,0.000,4,0.161,0.062,2919,3698,3465,0,0,0,0,0,0,26.10,26.10,28.83
$GC,486,-0.38,-170.3,68.0,-14.1,54,491,0.00,1.62,0.00,0.000,6,0.000,0.039,2919,2586,3466,0,0,0,0,0,0,28.83,26.32,28.83
$GC,679,-0.38,-170.3,88.8,-10.0,64,684,0.00,2.05,0.00,0.000,4,0.000,0.037,2919,1220,3466,0,0,0,0,0,0,28.83,26.30,28.83
$GC,762,-0.39,-170.3,97.8,-10.8,68,767,0.00,2.17,0.00,0.000,6,0.000,0.047,2919,2610,3466,0,0,0,0,0,0,28.83,26.27,28.83
$GC,966,-0.40,-170.3,116.8,-9.4,78,971,0.00,1.75,0.00,0.000,4,0.000,0.067,2919,3697,3466,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1003,-0.41,-170.3,118.9,-9.4,79,1009,0.00,1.60,0.00,0.000,6,0.000,0.024,2919,2586,3466,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1190,-0.42,-170.3,135.2,-7.6,89,1196,0.00,2.03,0.00,0.000,4,0.000,0.038,2919,1210,3466,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1243,-0.44,-170.3,138.5,-7.5,91,1248,0.00,2.20,0.00,0.000,6,0.000,0.051,2919,2603,3466,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1439,-0.46,-170.3,154.0,-7.9,101,1444,0.00,2.08,0.00,0.000,4,0.000,0.035,2919,1216,3466,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1491,-0.47,-170.3,157.9,-8.2,103,1496,0.00,2.17,0.00,0.000,6,0.000,0.048,2919,2611,3465,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1686,-0.49,-170.3,173.9,-7.6,113,1691,0.00,2.08,0.00,0.000,4,0.000,0.031,2920,1216,3465,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1713,-0.52,-170.3,175.9,-7.5,114,1719,0.12,2.15,0.00,0.000,6,0.094,0.045,2848,2606,3465,0,0,0,0,0,0,26.40,26.41,28.83
$GC,1913,-0.50,-170.3,200.5,-13.8,124,1915,0.15,0.00,0.00,0.000,6,0.140,0.000,2894,2607,3464,0,0,0,0,0,0,26.34,28.83,28.83
$GC,2092,-0.50,-170.3,218.9,-9.5,133,2098,0.00,1.67,0.00,0.000,4,0.000,0.053,2894,3693,3463,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2150,-0.51,-170.3,223.0,-9.4,135,2157,0.00,1.60,0.00,0.000,6,0.000,0.025,2894,2567,3463,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2339,-0.53,-170.3,239.6,-8.1,145,2344,0.00,1.92,0.00,0.000,4,0.000,0.028,2894,1242,3463,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2383,-0.54,-170.3,243.2,-8.0,147,2388,0.00,2.10,0.00,0.000,6,0.000,0.044,2894,2603,3463,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2588,-0.56,-170.3,257.7,-6.9,157,2593,0.00,2.00,0.00,0.000,4,0.000,0.027,2894,1247,3462,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2615,-0.57,-170.3,259.3,-6.7,158,2620,0.00,2.10,0.00,0.000,6,0.000,0.044,2894,2610,3461,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2934,-0.59,-170.3,281.8,-7.2,174,2939,0.10,2.03,0.00,0.000,4,0.108,0.025,2835,1242,3460,0,0,0,0,0,0,26.63,26.52,28.83
$GC,2998,-0.59,-170.3,288.2,-9.2,177,3003,0.00,2.10,0.00,0.000,6,0.000,0.042,2834,2605,3460,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3321,-0.57,-170.3,326.3,-11.6,193,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2605,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3622,-0.56,-170.3,360.3,-11.5,208,3628,0.12,2.03,0.00,0.000,4,0.154,0.025,2879,1242,3456,0,0,0,0,0,0,26.39,26.52,28.83
$GC,3656,-0.55,-170.3,362.9,-11.1,209,3661,0.00,2.10,0.00,0.000,6,0.000,0.043,2878,2601,3456,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3970,-0.56,-170.3,387.8,-7.6,225,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2601,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4272,-0.58,-170.3,407.5,-6.4,240,4277,0.00,2.00,0.00,0.000,4,0.000,0.027,2878,1249,3452,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4304,-0.59,-170.3,409.1,-6.3,241,4309,0.00,2.10,0.00,0.000,6,0.000,0.043,2879,2605,3452,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4618,-0.61,-170.3,429.6,-6.5,257,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2605,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4919,-0.63,-170.3,449.4,-6.6,272,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2605,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5219,-0.64,-170.3,467.7,-6.0,287,5225,0.12,2.03,0.00,0.000,4,0.091,0.024,2800,1240,3447,0,0,0,0,0,0,26.63,26.53,28.83
$GC,5252,-0.66,-170.3,469.9,-6.5,288,5259,0.15,2.12,0.00,0.000,6,0.159,0.043,2842,2611,3447,0,0,0,0,0,0,26.15,26.41,28.83
$GC,5567,-0.66,-170.3,500.4,-9.6,304,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2612,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5868,-0.66,-170.3,530.9,-10.1,319,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2611,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6167,-0.66,-170.3,560.0,-9.7,334,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2611,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6469,-0.66,-170.3,589.1,-9.6,349,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2611,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6766,-0.66,-170.3,616.4,-8.7,361,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2612,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7066,-0.66,-170.3,642.5,-8.9,371,7072,0.00,2.05,0.00,0.000,4,0.000,0.028,2842,1235,3438,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7100,-0.66,-170.3,645.6,-8.9,372,7106,0.00,2.15,0.00,0.000,6,0.000,0.043,2842,2609,3438,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7434,-0.66,-170.3,676.5,-9.4,383,7439,0.00,1.70,0.00,0.000,4,0.000,0.055,2842,3700,3436,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7512,-0.66,-170.3,682.6,-9.5,385,7517,0.00,1.58,0.00,0.000,6,0.000,0.029,2842,2618,3436,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7830,-0.66,-170.3,713.8,-9.3,396,7835,0.00,2.08,0.00,0.000,4,0.000,0.028,2842,1206,3434,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7862,-0.66,-170.3,716.9,-9.3,397,7868,0.00,2.20,0.00,0.000,6,0.000,0.043,2842,2613,3434,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8198,-0.67,-170.3,748.4,-9.6,408,8204,0.00,2.10,0.00,0.000,4,0.000,0.028,2842,1205,3433,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8256,-0.67,-170.3,751.9,-9.5,409,8262,0.00,2.17,0.00,0.000,6,0.000,0.043,2842,2607,3433,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8562,-0.68,-170.3,781.7,-8.9,420,8563,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2607,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8862,-0.69,-170.3,807.2,-8.3,430,8868,0.00,2.08,0.00,0.000,4,0.000,0.028,2842,1217,3431,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8891,-0.69,-170.3,807.2,-8.3,430,8898,0.00,2.15,0.00,0.000,6,0.000,0.043,2842,2606,3431,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9197,-0.70,-170.3,834.9,-8.4,441,9203,0.00,2.08,0.00,0.000,4,0.000,0.028,2842,1203,3430,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9236,-0.71,-170.3,837.9,-8.4,442,9241,0.00,2.17,0.00,0.000,6,0.000,0.043,2842,2605,3430,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9565,-0.72,-170.3,866.9,-8.8,453,9571,0.00,2.05,0.00,0.000,4,0.000,0.028,2842,1206,3429,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9617,-0.73,-170.3,869.9,-8.8,454,9623,0.00,2.17,0.00,0.000,6,0.000,0.043,2842,2606,3428,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9933,-0.73,-170.3,898.0,-8.4,465,9939,0.00,1.73,0.00,0.000,4,0.000,0.057,2842,3694,3428,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9967,-0.74,-170.3,900.8,-8.2,466,9973,0.00,1.62,0.00,0.000,6,0.000,0.031,2842,2596,3427,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10302,-0.75,-170.3,926.0,-7.2,477,10304,0.12,0.00,0.00,0.000,6,0.096,0.000,2785,2595,3426,0,0,0,0,0,0,26.59,28.83,28.83
$GC,10600,-0.73,-170.3,956.9,-10.4,487,10606,0.00,2.03,0.00,0.000,4,0.000,0.028,2785,1199,3425,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10684,-0.72,-170.3,963.5,-10.3,489,10691,0.12,2.20,0.00,0.000,6,0.175,0.044,2818,2609,3425,0,0,0,0,0,0,26.01,26.29,28.83
$STATE,10998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10998,begin apogee
$GC,11004,-0.15,0.0,990.7,-7.5,500,11150,0.52,0.00,140.27,1.489,6,0.113,0.000,2999,2101,2770,0,0,0,0,0,0,25.94,28.83,23.63
$STATE,11152,end apogee,CONTROL_FINISHED_OK
$STATE,11152,begin climb
$GC,11154,0.51,170.3,993.5,0.0,505,11324,0.57,2.33,156.65,1.442,4,0.050,0.036,3227,763,2071,0,0,0,0,0,0,24.75,23.71,22.75
$GC,11366,0.47,170.3,973.4,13.5,512,11372,0.00,2.28,0.00,0.000,6,0.000,0.037,3227,2125,2066,0,0,0,0,0,0,28.83,24.42,28.83
$GC,11696,0.43,170.3,924.0,14.7,523,11703,0.12,2.25,0.00,0.000,4,0.162,0.049,3187,3530,2063,0,0,0,0,0,0,25.60,25.67,28.83
$GC,11719,0.39,170.3,924.0,14.7,523,11725,0.00,2.12,0.00,0.000,6,0.000,0.028,3196,2148,2063,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12034,0.36,170.3,880.5,12.2,534,12039,0.00,2.15,0.00,0.000,4,0.000,0.035,3200,728,2062,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,20548,end climb,SURFACE_DEPTH_REACHED
$STATE,20548,begin surface coast
$FINISH,1.6,1.021216
$STATE,20573,end surface coast,CONTROL_FINISHED_OK
$STATE,20574,begin surface
$SM_CCo,20652,0.00,0.000,0,0,731,499.92
$SM_GC,2.41,8.40,1.40,0.00,0.049,0.023,0.000,134,2585,731,-9.07,2.09,499.92,0,0,0,0,0,0,25.85,26.17,28.83
$IRIDIUM_FIX,1853.26,12007.02,071212,222239
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.25
$INTERNAL_PRESSURE,9.41992
$TCM_TEMP,22.70
$XPDR_PINGS,1
$SC_FREEKB,3955232
$24V_AH,22.7,37.495
$10V_AH,9.7,16.939
$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,23.625,200.275,582.700,0.000,0.000,0.000,0.000,344.800,0.250,0.000,20.215,3100.991,14250.596,796.410,2686.298,360.034,0.000,2425.657,0.000,2203.214,0.000,0.543,0.000
$DEVICE_MAMPS,245.565,66.555,1489.455,0.000,0.000,0.000,0.000,134.640,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20612.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.355,0.000,0.000,0.000
$MEM,323760
$DATA_FILE_SIZE,36666,954
$CAP_FILE_SIZE,245950,0
$CFSIZE,260034560,233721856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.129,301.0,1
$GPS,081212,101135,1856.056,12005.878,30,1.1,30,-2.4