version: 66.11
glider: 170
mission: 10
dive: 171
start: 12 8 112 16 24 4
data:
$ID,170
$MISSION,10
$DIVE,171
$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,-143306.08
$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,97
$R_STBD_OVSHOOT,38
$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
$GPS1,081212,161435,1854.882,12008.196,38,0.8,38,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-71.8
$GPS2,081212,162335,1854.883,12008.154,18,0.8,18,-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,132.5,56043,-14.9,-8.684,-17.18
$D_GRID,1959
$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,-47.20,0.000,2,0.000,0.000,136,2559,1647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.51,-170.3,3.0,-1.9,8,163,11.12,2.05,-72.85,0.000,4,0.238,0.045,2884,1227,3466,0,0,0,0,0,0,25.54,26.10,26.44
$GC,216,-0.45,-170.3,23.7,-28.1,33,223,0.00,2.17,0.00,0.000,6,0.000,0.052,2884,2586,3466,0,0,0,0,0,0,28.83,26.02,28.83
$GC,413,-0.40,-170.3,72.0,-20.2,48,418,0.12,1.77,0.00,0.000,4,0.178,0.052,2923,3712,3466,0,0,0,0,0,0,26.07,26.16,28.83
$GC,565,-0.41,-170.3,90.5,-10.0,55,572,0.00,1.58,0.00,0.000,6,0.000,0.024,2923,2614,3466,0,0,0,0,0,0,28.83,26.44,28.83
$GC,760,-0.41,-170.3,109.7,-9.6,65,765,0.00,2.03,0.00,0.000,4,0.000,0.031,2923,1222,3467,0,0,0,0,0,0,28.83,26.36,28.83
$GC,897,-0.43,-170.3,121.4,-9.0,71,903,0.00,2.17,0.00,0.000,6,0.000,0.051,2923,2600,3466,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1083,-0.45,-170.3,136.7,-6.7,81,1089,0.00,2.05,0.00,0.000,4,0.000,0.034,2923,1229,3466,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1121,-0.47,-170.3,138.2,-6.4,82,1128,0.00,2.17,0.00,0.000,6,0.000,0.052,2923,2605,3466,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1308,-0.49,-170.3,151.9,-7.1,92,1313,0.00,1.73,0.00,0.000,4,0.000,0.054,2923,3712,3466,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1361,-0.51,-170.3,155.2,-7.5,94,1366,0.12,1.60,0.00,0.000,6,0.089,0.024,2849,2604,3466,0,0,0,0,0,0,26.45,26.58,28.83
$GC,1556,-0.49,-170.3,183.6,-15.3,104,1562,0.12,2.05,0.00,0.000,4,0.149,0.028,2893,1211,3466,0,0,0,0,0,0,26.34,26.45,28.83
$GC,1679,-0.50,-170.3,196.0,-8.7,110,1685,0.00,2.17,0.00,0.000,6,0.000,0.050,2893,2617,3465,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1885,-0.50,-170.3,213.2,-8.6,120,1890,0.00,2.10,0.00,0.000,4,0.000,0.034,2892,1224,3464,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1917,-0.51,-170.3,215.4,-8.8,121,1923,0.00,2.12,0.00,0.000,6,0.000,0.041,2892,2611,3464,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2112,-0.52,-170.3,232.1,-8.2,131,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2611,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2291,-0.53,-170.3,246.9,-8.1,140,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2611,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2472,-0.55,-170.3,261.9,-8.6,149,2477,0.00,2.08,0.00,0.000,4,0.000,0.027,2891,1205,3462,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2504,-0.56,-170.3,263.9,-8.6,150,2510,0.00,2.12,0.00,0.000,6,0.000,0.041,2892,2607,3462,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2819,-0.58,-170.3,285.3,-5.8,166,2824,0.00,2.05,0.00,0.000,4,0.000,0.027,2891,1201,3460,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2856,-0.60,-170.3,286.8,-5.8,167,2866,0.10,2.15,0.00,0.000,6,0.104,0.042,2833,2600,3459,0,0,0,0,0,0,26.42,26.46,28.83
$GC,3162,-0.58,-170.3,320.5,-11.7,183,3168,0.00,1.67,0.00,0.000,4,0.000,0.052,2833,3690,3458,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3240,-0.57,-170.3,328.0,-11.8,186,3247,0.12,1.60,0.00,0.000,6,0.144,0.026,2871,2557,3458,0,0,0,0,0,0,26.34,26.63,28.83
$GC,3546,-0.58,-170.3,358.2,-9.0,202,3551,0.00,1.92,0.00,0.000,4,0.000,0.027,2872,1231,3456,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3579,-0.59,-170.3,360.1,-8.7,203,3584,0.00,2.10,0.00,0.000,6,0.000,0.042,2871,2607,3455,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3892,-0.60,-170.3,386.1,-8.1,219,3897,0.00,2.03,0.00,0.000,4,0.000,0.027,2872,1235,3453,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3920,-0.61,-170.3,388.1,-8.2,220,3925,0.00,2.10,0.00,0.000,6,0.000,0.042,2871,2599,3453,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4239,-0.62,-170.3,411.4,-6.7,236,4244,0.00,1.73,0.00,0.000,4,0.000,0.054,2871,3690,3450,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4287,-0.64,-170.3,414.3,-6.7,238,4292,0.00,1.55,0.00,0.000,6,0.000,0.028,2872,2610,3451,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4605,-0.65,-170.3,434.4,-6.2,254,4611,0.00,2.03,0.00,0.000,4,0.000,0.028,2872,1218,3449,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4670,-0.67,-170.3,438.9,-6.7,257,4677,0.12,2.12,0.00,0.000,6,0.089,0.041,2802,2600,3449,0,0,0,0,0,0,26.42,26.43,28.83
$GC,4995,-0.64,-170.3,479.0,-13.2,273,5001,0.12,1.70,0.00,0.000,4,0.170,0.050,2840,3694,3447,0,0,0,0,0,0,26.34,26.36,28.83
$GC,5028,-0.62,-170.3,481.9,-13.0,274,5033,0.00,1.58,0.00,0.000,6,0.000,0.028,2840,2583,3446,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5341,-0.62,-170.3,513.5,-9.9,290,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2581,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5643,-0.62,-170.3,541.3,-8.6,305,5648,0.00,1.98,0.00,0.000,4,0.000,0.027,2840,1226,3443,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5680,-0.62,-170.3,543.5,-8.6,306,5688,0.00,2.12,0.00,0.000,6,0.000,0.043,2839,2599,3443,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5985,-0.62,-170.3,571.7,-8.9,322,5991,0.00,1.70,0.00,0.000,4,0.000,0.054,2840,3697,3441,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6073,-0.62,-170.3,579.1,-8.9,326,6079,0.00,1.58,0.00,0.000,6,0.000,0.029,2840,2624,3441,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6401,-0.62,-170.3,607.6,-8.3,341,6402,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2624,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6702,-0.62,-170.3,631.3,-7.7,351,6708,0.00,2.05,0.00,0.000,4,0.000,0.027,2840,1209,3439,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6805,-0.62,-170.3,638.4,-7.5,354,6811,0.00,2.17,0.00,0.000,6,0.000,0.042,2840,2613,3438,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7130,-0.62,-170.3,662.7,-7.5,365,7136,0.00,2.05,0.00,0.000,4,0.000,0.027,2840,1217,3437,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7182,-0.62,-170.3,665.2,-7.5,366,7188,0.00,2.15,0.00,0.000,6,0.000,0.042,2839,2607,3437,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7497,-0.62,-170.3,691.3,-8.3,377,7503,0.00,2.08,0.00,0.000,4,0.000,0.027,2840,1213,3435,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7531,-0.63,-170.3,694.3,-8.5,378,7536,0.00,2.17,0.00,0.000,6,0.000,0.043,2840,2608,3435,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7865,-0.63,-170.3,724.8,-9.6,389,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2608,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8163,-0.63,-170.3,754.1,-9.9,399,8169,0.00,2.08,0.00,0.000,4,0.000,0.028,2840,1214,3432,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8212,-0.63,-170.3,757.5,-10.0,400,8217,0.00,2.15,0.00,0.000,6,0.000,0.043,2839,2599,3432,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8532,-0.64,-170.3,788.0,-8.5,411,8537,0.00,2.05,0.00,0.000,4,0.000,0.028,2840,1217,3431,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8565,-0.65,-170.3,790.9,-8.4,412,8571,0.00,2.17,0.00,0.000,6,0.000,0.042,2840,2611,3431,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8901,-0.65,-170.3,816.0,-7.4,423,8907,0.00,1.73,0.00,0.000,4,0.000,0.056,2839,3685,3430,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8951,-0.66,-170.3,818.7,-7.4,424,8956,0.00,1.60,0.00,0.000,6,0.000,0.031,2840,2598,3429,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9271,-0.67,-170.3,843.4,-7.6,435,9276,0.00,2.05,0.00,0.000,4,0.000,0.028,2839,1203,3428,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9390,-0.68,-170.3,851.2,-8.1,438,9397,0.00,2.17,0.00,0.000,6,0.000,0.043,2839,2601,3427,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9696,-0.68,-170.3,879.5,-8.6,449,9702,0.00,1.73,0.00,0.000,4,0.000,0.056,2840,3693,3426,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9731,-0.69,-170.3,882.7,-8.7,450,9736,0.00,1.62,0.00,0.000,6,0.000,0.031,2839,2597,3427,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10065,-0.70,-170.3,912.3,-9.0,461,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2597,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10364,-0.71,-170.3,938.6,-8.7,471,10370,0.00,2.03,0.00,0.000,4,0.000,0.028,2839,1209,3424,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10417,-0.72,-170.3,941.6,-8.6,472,10423,0.00,2.17,0.00,0.000,6,0.000,0.044,2839,2602,3424,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10732,-0.72,-170.3,966.2,-7.0,483,10737,0.00,2.10,0.00,0.000,4,0.000,0.028,2839,1199,3423,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10766,-0.73,-170.3,968.7,-7.1,484,10772,0.00,2.20,0.00,0.000,6,0.000,0.043,2839,2602,3423,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,11099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11099,begin apogee
$GC,11105,-0.15,0.0,991.6,-6.6,495,11251,0.45,0.00,140.12,1.492,6,0.113,0.000,2997,2102,2769,0,0,0,0,0,0,25.96,28.83,23.61
$STATE,11253,end apogee,CONTROL_FINISHED_OK
$STATE,11253,begin climb
$GC,11255,0.51,170.3,995.8,0.0,500,11424,0.57,2.62,157.12,1.445,4,0.051,0.050,3220,3530,2072,0,0,0,0,0,0,24.75,23.68,22.73
$GC,11437,0.46,170.3,982.9,10.0,506,11443,0.00,2.30,0.00,0.000,6,0.000,0.028,3227,2150,2069,0,0,0,0,0,0,28.83,24.17,28.83
$GC,11767,0.42,170.3,934.0,14.4,517,11774,0.12,2.20,0.00,0.000,4,0.167,0.034,3199,721,2062,0,0,0,0,0,0,25.54,25.68,28.83
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$STATE,21422,end climb,SURFACE_DEPTH_REACHED
$STATE,21422,begin surface coast
$FINISH,1.4,1.020802
$STATE,21454,end surface coast,CONTROL_FINISHED_OK
$STATE,21454,begin surface
$SM_CCo,21532,0.00,0.000,0,0,596,533.04
$SM_GC,2.27,8.38,0.73,0.00,0.039,0.040,0.000,135,2617,596,-9.06,-1.27,533.04,0,0,0,0,0,0,25.94,26.08,28.83
$IRIDIUM_FIX,1848.70,12001.94,081212,101050
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.08
$INTERNAL_PRESSURE,9.43945
$TCM_TEMP,21.90
$XPDR_PINGS,0
$SC_FREEKB,3954464
$24V_AH,22.7,37.921
$10V_AH,9.9,17.193
$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,22.700,220.300,580.175,0.000,0.000,0.000,0.000,340.450,0.000,0.000,19.637,3382.810,14523.071,811.586,2956.972,387.595,0.000,2578.681,0.000,2477.148,0.000,0.543,0.000
$DEVICE_MAMPS,237.915,55.845,1491.750,0.000,0.000,0.000,0.000,132.345,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21486.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.305,0.000,0.000,0.000
$MEM,323728
$DATA_FILE_SIZE,36714,986
$CAP_FILE_SIZE,262247,0
$CFSIZE,260034560,233467904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.125,311.1,1
$GPS,081212,222405,1853.921,12009.788,32,0.8,32,-2.4