version: 66.11
glider: 170
mission: 10
dive: 173
start: 12 9 112 4 31 0
data:
$ID,170
$MISSION,10
$DIVE,173
$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,-143308.58
$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,34
$R_STBD_OVSHOOT,43
$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
$GPS1,091212,042134,1852.900,12011.980,81,0.9,81,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-69.0
$GPS2,091212,043031,1853.072,12011.807,18,1.2,18,-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,145.9,49079,-14.9,-8.684,-17.18
$D_GRID,1809
$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,20,-0.51,-170.3,0.0,0.0,0,62,0.00,0.00,-40.50,0.000,2,0.000,0.000,134,2618,1599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.51,-170.3,3.2,-3.1,7,133,11.35,1.80,-50.85,0.000,4,0.244,0.076,2880,3691,3466,0,0,0,0,0,0,25.51,25.98,26.40
$GC,146,-0.43,-170.3,16.1,-26.4,20,152,0.00,1.65,0.00,0.000,6,0.000,0.024,2880,2561,3466,0,0,0,0,0,0,28.83,26.18,28.83
$GC,335,-0.39,-170.3,66.1,-18.7,37,342,0.12,1.85,0.00,0.000,4,0.160,0.060,2920,3682,3466,0,0,0,0,0,0,26.04,26.03,28.83
$GC,464,-0.40,-170.3,79.9,-10.0,43,470,0.00,1.58,0.00,0.000,6,0.000,0.025,2920,2607,3467,0,0,0,0,0,0,28.83,26.33,28.83
$GC,663,-0.40,-170.3,100.7,-10.1,53,668,0.00,2.08,0.00,0.000,4,0.000,0.034,2920,1209,3467,0,0,0,0,0,0,28.83,26.32,28.83
$GC,710,-0.41,-170.3,104.9,-9.6,55,715,0.00,2.17,0.00,0.000,6,0.000,0.050,2920,2585,3469,0,0,0,0,0,0,28.83,26.20,28.83
$GC,908,-0.43,-170.3,122.7,-9.0,65,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2585,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1089,-0.44,-170.3,137.7,-8.1,74,1094,0.00,1.75,0.00,0.000,4,0.000,0.055,2920,3702,3467,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1121,-0.46,-170.3,139.4,-7.9,75,1127,0.00,1.60,0.00,0.000,6,0.000,0.023,2920,2602,3467,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1317,-0.47,-170.3,153.3,-6.8,85,1322,0.00,2.03,0.00,0.000,4,0.000,0.031,2920,1207,3467,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1416,-0.50,-170.3,159.2,-6.8,89,1423,0.00,2.20,0.00,0.000,6,0.000,0.047,2920,2623,3466,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1602,-0.52,-170.3,172.6,-6.8,99,1608,0.12,1.65,0.00,0.000,4,0.093,0.050,2845,3696,3466,0,0,0,0,0,0,26.55,26.35,28.83
$GC,1635,-0.54,-170.3,174.8,-7.1,100,1640,0.00,1.62,0.00,0.000,6,0.000,0.024,2845,2589,3465,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1829,-0.52,-170.3,200.3,-12.5,110,1834,0.12,2.00,0.00,0.000,4,0.160,0.028,2889,1206,3465,0,0,0,0,0,0,26.33,26.46,28.83
$GC,1912,-0.52,-170.3,208.2,-9.2,114,1917,0.00,2.17,0.00,0.000,6,0.000,0.046,2889,2607,3466,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2117,-0.53,-170.3,224.7,-8.3,124,2122,0.00,1.70,0.00,0.000,4,0.000,0.054,2889,3700,3464,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2195,-0.54,-170.3,230.0,-8.3,127,2201,0.00,1.60,0.00,0.000,6,0.000,0.024,2889,2564,3464,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2382,-0.55,-170.3,246.3,-8.0,137,2388,0.00,1.95,0.00,0.000,4,0.000,0.030,2889,1227,3463,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2455,-0.57,-170.3,251.6,-7.8,140,2460,0.00,2.12,0.00,0.000,6,0.000,0.043,2889,2604,3462,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2769,-0.58,-170.3,277.8,-8.3,156,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2604,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3070,-0.60,-170.3,301.8,-7.9,171,3075,0.00,2.05,0.00,0.000,4,0.000,0.041,2889,1227,3459,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3149,-0.61,-170.3,307.0,-8.0,174,3156,0.12,2.12,0.00,0.000,6,0.087,0.042,2823,2616,3458,0,0,0,0,0,0,26.41,26.41,28.83
$GC,3454,-0.59,-170.3,345.6,-12.4,190,3459,0.12,1.67,0.00,0.000,4,0.147,0.051,2865,3698,3457,0,0,0,0,0,0,26.37,26.36,28.83
$GC,3492,-0.58,-170.3,348.1,-11.9,191,3500,0.00,1.55,0.00,0.000,6,0.000,0.027,2866,2592,3457,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3798,-0.58,-170.3,374.0,-7.9,207,3804,0.00,1.95,0.00,0.000,4,0.000,0.028,2866,1237,3453,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3857,-0.59,-170.3,377.5,-7.9,209,3864,0.00,2.10,0.00,0.000,6,0.000,0.044,2866,2598,3454,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4162,-0.60,-170.3,404.9,-9.3,225,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2598,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4464,-0.60,-170.3,431.5,-8.4,240,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2598,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4765,-0.61,-170.3,456.3,-8.2,255,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2598,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5064,-0.62,-170.3,480.0,-7.9,270,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2598,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5364,-0.63,-170.3,503.8,-7.8,285,5369,0.00,2.00,0.00,0.000,4,0.000,0.029,2866,1246,3447,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5417,-0.64,-170.3,507.3,-7.7,287,5422,0.00,2.10,0.00,0.000,6,0.000,0.042,2866,2603,3446,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5730,-0.65,-170.3,530.7,-7.2,303,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2604,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6033,-0.67,-170.3,550.3,-6.4,318,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2604,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6332,-0.68,-170.3,570.0,-6.5,333,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2604,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6632,-0.69,-170.3,589.4,-6.4,348,6638,0.12,2.03,0.00,0.000,4,0.099,0.024,2796,1236,3440,0,0,0,0,0,0,26.60,26.51,28.83
$GC,6660,-0.70,-170.3,591.6,-6.9,349,6666,0.00,2.12,0.00,0.000,6,0.000,0.043,2795,2605,3440,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6981,-0.67,-170.3,630.7,-12.1,361,6983,0.12,0.00,0.00,0.000,6,0.164,0.000,2831,2605,3439,0,0,0,0,0,0,26.36,28.83,28.83
$GC,7280,-0.67,-170.3,657.7,-8.5,371,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2605,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7579,-0.67,-170.3,683.8,-8.7,381,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2605,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7879,-0.67,-170.3,711.9,-9.3,391,7885,0.00,2.03,0.00,0.000,4,0.000,0.027,2831,1238,3436,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7913,-0.67,-170.3,715.0,-9.1,392,7918,0.00,2.12,0.00,0.000,6,0.000,0.043,2831,2607,3436,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8247,-0.67,-170.3,743.7,-8.5,403,8252,0.00,1.70,0.00,0.000,4,0.000,0.055,2831,3695,3434,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8280,-0.67,-170.3,746.6,-8.5,404,8286,0.00,1.58,0.00,0.000,6,0.000,0.030,2831,2625,3434,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8615,-0.67,-170.3,775.1,-8.7,415,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2624,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8914,-0.67,-170.3,801.1,-8.8,425,8919,0.00,2.08,0.00,0.000,4,0.000,0.028,2831,1211,3432,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8960,-0.67,-170.3,804.0,-8.9,426,8966,0.00,2.17,0.00,0.000,6,0.000,0.044,2831,2607,3432,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9280,-0.67,-170.3,831.4,-8.2,437,9286,0.00,1.73,0.00,0.000,4,0.000,0.056,2831,3696,3431,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9303,-0.67,-170.3,831.4,-8.2,437,9309,0.00,1.62,0.00,0.000,6,0.000,0.030,2831,2581,3431,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9618,-0.67,-170.3,859.6,-8.4,448,9624,0.00,1.98,0.00,0.000,4,0.000,0.028,2831,1221,3430,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9682,-0.67,-170.3,865.2,-8.5,450,9688,0.00,2.17,0.00,0.000,6,0.000,0.044,2831,2607,3431,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10017,-0.67,-170.3,890.8,-7.2,461,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2606,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10316,-0.67,-170.3,912.2,-7.2,471,10322,0.00,2.05,0.00,0.000,4,0.000,0.028,2831,1219,3428,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10364,-0.67,-170.3,914.7,-7.2,472,10369,0.00,2.15,0.00,0.000,6,0.000,0.043,2831,2602,3428,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10684,-0.67,-170.3,939.7,-7.6,483,10690,0.00,1.70,0.00,0.000,4,0.000,0.055,2831,3690,3426,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10726,-0.67,-170.3,942.4,-7.7,484,10732,0.00,1.60,0.00,0.000,6,0.000,0.031,2831,2600,3426,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11052,-0.67,-170.3,967.2,-7.3,495,11057,0.00,2.03,0.00,0.000,4,0.000,0.028,2831,1209,3425,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11109,-0.67,-170.3,969.9,-7.4,496,11116,0.00,2.17,0.00,0.000,6,0.000,0.044,2831,2601,3425,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,11353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11353,begin apogee
$GC,11359,-0.15,0.0,990.3,-7.8,505,11507,0.47,0.00,140.70,1.490,6,0.115,0.000,2997,2098,2769,0,0,0,0,0,0,25.91,28.83,23.57
$STATE,11508,end apogee,CONTROL_FINISHED_OK
$STATE,11508,begin climb
$GC,11510,0.51,170.3,994.9,0.0,510,11677,0.57,2.62,157.43,1.438,4,0.053,0.050,3216,3524,2073,0,0,0,0,0,0,24.72,23.67,22.70
$GC,11700,0.46,170.3,981.6,10.1,516,11705,0.00,2.28,0.00,0.000,6,0.000,0.027,3226,2151,2069,0,0,0,0,0,0,28.83,24.24,28.83
$GC,12025,0.43,170.3,931.4,15.0,527,12030,0.12,2.20,0.00,0.000,4,0.164,0.034,3197,720,2062,0,0,0,0,0,0,25.53,25.68,28.83
$GC,12129,0.40,170.3,919.8,12.8,530,12134,0.00,2.20,0.00,0.000,6,0.000,0.038,3198,2122,2060,0,0,0,0,0,0,28.83,25.82,28.83
$GC,12454,0.38,170.3,878.7,12.3,541,12459,0.00,2.28,0.00,0.000,4,0.000,0.051,3197,3538,2060,0,0,0,0,0,0,28.83,26.00,28.83
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$STATE,21171,end climb,SURFACE_DEPTH_REACHED
$STATE,21171,begin surface coast
$FINISH,1.5,1.020936
$STATE,21207,end surface coast,CONTROL_FINISHED_OK
$STATE,21207,begin surface
$SM_CCo,21286,0.00,0.000,0,0,727,500.90
$SM_GC,2.48,8.35,1.45,0.00,0.043,0.025,0.000,135,2575,727,-9.06,1.44,500.90,0,0,0,0,0,0,25.91,26.22,28.83
$IRIDIUM_FIX,1848.70,12012.11,081212,222242
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.50
$INTERNAL_PRESSURE,9.44921
$TCM_TEMP,23.00
$XPDR_PINGS,3
$SC_FREEKB,3953696
$24V_AH,22.7,38.353
$10V_AH,10.1,17.442
$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,23.000,201.475,571.850,0.000,0.000,0.000,0.000,339.200,0.750,0.000,19.700,3271.579,14586.295,760.790,2819.709,374.453,0.000,2450.577,0.000,2344.437,0.000,0.544,0.000
$DEVICE_MAMPS,244.035,75.735,1490.220,0.000,0.000,0.000,0.000,131.580,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21236.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.405,0.000,0.000,0.000
$MEM,323760
$DATA_FILE_SIZE,36596,985
$CAP_FILE_SIZE,253656,0
$CFSIZE,260034560,233238528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.055,292.3,1
$GPS,091212,102722,1851.362,12012.918,59,1.0,59,-2.4