version: 66.11
glider: 170
mission: 10
dive: 172
start: 12 8 112 22 35 51
data:
$ID,170
$MISSION,10
$DIVE,172
$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,-143307.33
$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,64
$R_STBD_OVSHOOT,56
$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
$GPS1,081212,222405,1853.921,12009.788,32,0.8,32,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-73.4
$GPS2,081212,223524,1853.893,12009.631,18,1.0,18,-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,134.5,52894,-14.9,-8.684,-17.18
$D_GRID,1831
$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,18,begin dive
$GC,20,-0.51,-170.3,0.0,0.0,0,87,0.00,0.00,-64.57,0.000,2,0.000,0.000,134,2628,2021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.51,-170.3,3.2,-2.8,11,146,11.25,2.20,-38.72,0.000,4,0.241,0.043,2879,1198,3465,0,0,0,0,0,0,25.54,26.06,26.40
$GC,193,-0.44,-170.3,25.1,-30.5,29,201,0.00,2.22,0.00,0.000,6,0.000,0.054,2879,2571,3465,0,0,0,0,0,0,28.83,25.96,28.83
$GC,382,-0.39,-170.3,73.8,-20.3,43,388,0.12,2.05,0.00,0.000,4,0.166,0.031,2918,1204,3465,0,0,0,0,0,0,26.05,26.21,28.83
$GC,535,-0.40,-170.3,91.6,-10.0,50,542,0.00,2.20,0.00,0.000,6,0.000,0.046,2918,2617,3467,0,0,0,0,0,0,28.83,26.23,28.83
$GC,730,-0.41,-170.3,111.4,-9.7,60,735,0.00,2.12,0.00,0.000,4,0.000,0.039,2918,1195,3465,0,0,0,0,0,0,28.83,26.34,28.83
$GC,793,-0.42,-170.3,117.1,-9.2,63,798,0.00,2.20,0.00,0.000,6,0.000,0.044,2918,2610,3466,0,0,0,0,0,0,28.83,26.30,28.83
$GC,997,-0.43,-170.3,134.0,-8.3,73,1003,0.00,1.65,0.00,0.000,4,0.000,0.052,2918,3689,3465,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1051,-0.45,-170.3,137.8,-8.4,75,1056,0.00,1.60,0.00,0.000,6,0.000,0.024,2918,2535,3465,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1245,-0.47,-170.3,154.1,-7.9,85,1250,0.00,1.92,0.00,0.000,4,0.000,0.028,2918,1199,3465,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1282,-0.49,-170.3,156.1,-8.0,86,1290,0.00,2.17,0.00,0.000,6,0.000,0.043,2918,2614,3465,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1469,-0.51,-170.3,170.2,-7.0,96,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2615,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1648,-0.54,-170.3,183.5,-7.8,105,1654,0.12,2.08,0.00,0.000,4,0.090,0.026,2835,1198,3463,0,0,0,0,0,0,26.58,26.47,28.83
$GC,1754,-0.52,-170.3,196.6,-13.3,110,1759,0.15,2.17,0.00,0.000,6,0.149,0.044,2878,2609,3463,0,0,0,0,0,0,26.18,26.40,28.83
$GC,1958,-0.52,-170.3,217.2,-9.3,120,1964,0.00,1.67,0.00,0.000,4,0.000,0.053,2878,3690,3463,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2011,-0.53,-170.3,221.2,-9.2,122,2016,0.00,1.60,0.00,0.000,6,0.000,0.025,2879,2539,3462,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2204,-0.53,-170.3,239.3,-9.0,132,2209,0.00,1.95,0.00,0.000,4,0.000,0.028,2879,1192,3461,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2236,-0.53,-170.3,241.5,-9.2,133,2241,0.00,2.17,0.00,0.000,6,0.000,0.043,2879,2605,3461,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2430,-0.54,-170.3,259.4,-8.6,143,2436,0.00,1.70,0.00,0.000,4,0.000,0.052,2879,3684,3459,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2458,-0.55,-170.3,261.5,-8.5,144,2463,0.00,1.60,0.00,0.000,6,0.000,0.026,2879,2543,3459,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2777,-0.56,-170.3,287.4,-8.0,160,2782,0.00,1.80,0.00,0.000,4,0.000,0.052,2879,3690,3458,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2829,-0.57,-170.3,290.8,-7.7,162,2834,0.00,1.60,0.00,0.000,6,0.000,0.027,2879,2557,3457,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3143,-0.58,-170.3,315.7,-7.6,178,3149,0.00,1.90,0.00,0.000,4,0.000,0.027,2879,1231,3455,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3187,-0.59,-170.3,319.3,-8.0,180,3193,0.00,2.12,0.00,0.000,6,0.000,0.042,2879,2605,3455,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3511,-0.61,-170.3,344.0,-7.8,196,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2605,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3813,-0.62,-170.3,369.9,-8.8,211,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2605,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4113,-0.64,-170.3,394.1,-7.6,226,4118,0.00,2.03,0.00,0.000,4,0.000,0.027,2879,1235,3449,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4150,-0.65,-170.3,396.1,-7.7,227,4159,0.12,2.10,0.00,0.000,6,0.095,0.042,2809,2598,3449,0,0,0,0,0,0,26.40,26.41,28.83
$GC,4456,-0.63,-170.3,436.7,-13.4,243,4458,0.12,0.00,0.00,0.000,6,0.153,0.000,2845,2601,3446,0,0,0,0,0,0,26.41,28.83,28.83
$GC,4757,-0.63,-170.3,467.5,-10.2,258,4763,0.00,1.73,0.00,0.000,4,0.000,0.054,2845,3694,3444,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4794,-0.63,-170.3,469.9,-10.2,259,4801,0.00,1.55,0.00,0.000,6,0.000,0.028,2845,2614,3444,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5101,-0.63,-170.3,499.9,-9.0,275,5106,0.00,1.73,0.00,0.000,4,0.000,0.054,2846,3693,3442,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5127,-0.63,-170.3,502.0,-9.1,276,5132,0.00,1.58,0.00,0.000,6,0.000,0.028,2845,2593,3442,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5445,-0.63,-170.3,532.4,-9.6,292,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2592,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5747,-0.63,-170.3,559.6,-8.9,307,5753,0.00,2.00,0.00,0.000,4,0.000,0.028,2845,1224,3439,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5784,-0.63,-170.3,561.8,-8.9,308,5791,0.00,2.15,0.00,0.000,6,0.000,0.043,2845,2610,3439,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6090,-0.63,-170.3,588.1,-8.1,324,6095,0.00,1.67,0.00,0.000,4,0.000,0.054,2845,3693,3438,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6154,-0.64,-170.3,593.1,-8.0,327,6159,0.00,1.58,0.00,0.000,6,0.000,0.029,2845,2603,3437,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6469,-0.64,-170.3,617.8,-7.8,339,6474,0.00,2.00,0.00,0.000,4,0.000,0.027,2845,1216,3435,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6521,-0.64,-170.3,620.6,-7.8,340,6527,0.00,2.15,0.00,0.000,6,0.000,0.042,2845,2603,3435,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6835,-0.64,-170.3,647.0,-7.6,351,6841,0.00,2.05,0.00,0.000,4,0.000,0.026,2845,1219,3433,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6872,-0.64,-170.3,649.6,-7.5,352,6878,0.00,2.15,0.00,0.000,6,0.000,0.042,2845,2607,3433,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7202,-0.65,-170.3,675.8,-8.1,363,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2607,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7501,-0.65,-170.3,701.3,-8.7,373,7507,0.00,2.08,0.00,0.000,4,0.000,0.028,2845,1210,3432,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7549,-0.66,-170.3,704.3,-8.7,374,7554,0.00,2.17,0.00,0.000,6,0.000,0.043,2845,2610,3431,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7869,-0.67,-170.3,732.6,-8.6,385,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2610,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8167,-0.67,-170.3,760.5,-9.6,395,8173,0.00,2.05,0.00,0.000,4,0.000,0.027,2845,1217,3428,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8216,-0.68,-170.3,764.0,-9.7,396,8221,0.00,2.15,0.00,0.000,6,0.000,0.043,2846,2601,3428,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8535,-0.69,-170.3,794.7,-9.0,407,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2602,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8835,-0.70,-170.3,821.4,-9.1,417,8840,0.00,2.08,0.00,0.000,4,0.000,0.028,2845,1208,3426,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8887,-0.70,-170.3,824.6,-9.1,418,8892,0.00,2.17,0.00,0.000,6,0.000,0.043,2845,2604,3426,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9202,-0.71,-170.3,851.6,-7.4,429,9208,0.00,2.05,0.00,0.000,4,0.000,0.027,2845,1211,3425,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9280,-0.72,-170.3,856.1,-7.1,431,9286,0.00,2.17,0.00,0.000,6,0.000,0.043,2845,2607,3424,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9600,-0.73,-170.3,876.4,-6.1,442,9606,0.00,2.05,0.00,0.000,4,0.000,0.028,2845,1217,3424,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9669,-0.74,-170.3,880.7,-6.4,444,9675,0.12,2.15,0.00,0.000,6,0.090,0.042,2784,2600,3423,0,0,0,0,0,0,26.29,26.30,28.83
$GC,10000,-0.72,-170.3,917.9,-11.9,455,10005,0.12,1.73,0.00,0.000,4,0.157,0.054,2824,3698,3422,0,0,0,0,0,0,26.30,26.20,28.83
$GC,10027,-0.70,-170.3,917.9,-11.9,455,10034,0.00,1.60,0.00,0.000,6,0.000,0.031,2825,2607,3422,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10335,-0.70,-170.3,947.6,-8.4,466,10340,0.00,2.05,0.00,0.000,4,0.000,0.028,2824,1216,3421,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10373,-0.70,-170.3,950.8,-8.5,467,10378,0.00,2.17,0.00,0.000,6,0.000,0.044,2824,2605,3421,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10702,-0.70,-170.3,979.0,-8.5,478,10703,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2605,3421,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10849,begin apogee
$GC,10855,-0.15,0.0,992.1,-8.7,483,11002,0.50,0.00,140.27,1.489,6,0.117,0.000,2996,2099,2768,0,0,0,0,0,0,25.87,28.83,23.59
$STATE,11004,end apogee,CONTROL_FINISHED_OK
$STATE,11004,begin climb
$GC,11006,0.51,170.3,997.8,0.0,488,11172,0.60,2.62,157.20,1.440,4,0.052,0.050,3225,3528,2073,0,0,0,0,0,0,24.76,23.68,22.73
$GC,11199,0.46,170.3,985.6,9.8,494,11205,0.12,2.28,0.00,0.000,6,0.162,0.027,3202,2152,2069,0,0,0,0,0,0,24.12,24.30,28.83
$GC,11520,0.43,170.3,944.5,11.8,505,11525,0.00,2.22,0.00,0.000,4,0.000,0.035,3212,713,2062,0,0,0,0,0,0,28.83,25.69,28.83
$GC,11583,0.41,170.3,936.8,12.0,507,11588,0.00,2.22,0.00,0.000,6,0.000,0.038,3212,2119,2060,0,0,0,0,0,0,28.83,25.77,28.83
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$STATE,20533,end climb,SURFACE_DEPTH_REACHED
$STATE,20533,begin surface coast
$FINISH,1.6,1.020990
$STATE,20546,end surface coast,CONTROL_FINISHED_OK
$STATE,20546,begin surface
$SM_CCo,20625,0.00,0.000,0,0,678,512.92
$SM_GC,2.37,8.62,1.48,0.00,0.062,0.047,0.000,135,2628,678,-9.06,1.87,512.92,0,0,0,0,0,0,25.77,25.97,28.83
$IRIDIUM_FIX,1846.42,12012.11,081212,222217
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.54
$INTERNAL_PRESSURE,9.41015
$TCM_TEMP,22.80
$XPDR_PINGS,1
$SC_FREEKB,3954080
$24V_AH,22.7,38.141
$10V_AH,10.1,17.315
$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,23.175,215.050,588.625,0.000,0.000,0.000,0.000,416.125,0.250,0.000,21.094,3184.856,14067.253,801.418,2870.012,366.576,0.000,2561.961,0.000,2311.471,0.000,0.544,0.000
$DEVICE_MAMPS,240.975,54.315,1488.690,0.000,0.000,0.000,0.000,131.580,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20576.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.043,0.000,0.000,0.000
$MEM,323796
$DATA_FILE_SIZE,33352,929
$CAP_FILE_SIZE,250201,0
$CFSIZE,260034560,233357312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.074,350.7,1
$GPS,091212,042134,1852.900,12011.980,81,0.9,81,-2.4