version: 66.11
glider: 170
mission: 10
dive: 181
start: 12 11 112 5 0 40
data:
$ID,170
$MISSION,10
$DIVE,181
$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,-143318.58
$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,82
$R_STBD_OVSHOOT,42
$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
$GPS1,111212,045128,1841.225,12024.677,39,0.9,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-73.7
$GPS2,111212,050011,1841.346,12024.604,19,1.2,19,-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,121.3,17836,-14.9,-8.684,-17.18
$D_GRID,3019
$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,-170.3,0.0,0.0,0,84,0.00,0.00,-62.38,0.000,2,0.000,0.000,132,2624,1866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.51,-170.3,3.1,-2.1,11,160,11.30,0.00,-54.40,0.000,6,0.242,0.000,2881,2625,3463,0,0,0,0,0,0,25.48,28.83,26.45
$GC,359,-0.45,-170.3,69.1,-21.9,43,364,0.00,2.10,0.00,0.000,4,0.000,0.031,2882,1216,3463,0,0,0,0,0,0,28.83,26.22,28.83
$GC,382,-0.40,-170.3,73.8,-20.9,44,388,0.12,2.15,0.00,0.000,6,0.165,0.047,2916,2592,3463,0,0,0,0,0,0,25.95,26.13,28.83
$GC,587,-0.39,-170.3,99.5,-11.2,54,592,0.00,1.75,0.00,0.000,4,0.000,0.059,2916,3699,3463,0,0,0,0,0,0,28.83,26.21,28.83
$GC,680,-0.39,-170.3,107.6,-9.8,58,685,0.00,1.55,0.00,0.000,6,0.000,0.024,2916,2604,3464,0,0,0,0,0,0,28.83,26.45,28.83
$GC,873,-0.39,-170.3,125.9,-8.8,68,879,0.00,2.03,0.00,0.000,4,0.000,0.031,2916,1209,3464,0,0,0,0,0,0,28.83,26.38,28.83
$GC,926,-0.40,-170.3,129.8,-8.8,70,931,0.00,2.17,0.00,0.000,6,0.000,0.046,2916,2604,3463,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1120,-0.41,-170.3,145.7,-7.4,80,1125,0.00,2.05,0.00,0.000,4,0.000,0.033,2916,1227,3463,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1144,-0.43,-170.3,147.6,-7.7,81,1150,0.00,2.15,0.00,0.000,6,0.000,0.047,2916,2603,3463,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1349,-0.44,-170.3,164.1,-8.1,91,1354,0.00,1.70,0.00,0.000,4,0.000,0.052,2916,3700,3463,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1387,-0.45,-170.3,165.9,-8.0,92,1394,0.00,1.58,0.00,0.000,6,0.000,0.024,2916,2557,3463,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1574,-0.47,-170.3,181.5,-8.0,102,1580,0.00,1.90,0.00,0.000,4,0.000,0.030,2917,1253,3462,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1618,-0.49,-170.3,185.0,-8.0,104,1623,0.00,2.10,0.00,0.000,6,0.000,0.045,2916,2616,3462,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1823,-0.51,-170.3,198.5,-6.3,114,1829,0.00,2.03,0.00,0.000,4,0.000,0.029,2917,1254,3462,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1857,-0.54,-170.3,200.3,-6.5,115,1862,0.12,2.08,0.00,0.000,6,0.083,0.044,2842,2601,3462,0,0,0,0,0,0,26.41,26.40,28.83
$GC,2052,-0.52,-170.3,224.6,-13.4,125,2058,0.12,1.67,0.00,0.000,4,0.148,0.050,2886,3694,3461,0,0,0,0,0,0,26.37,26.36,28.83
$GC,2162,-0.53,-170.3,234.7,-8.9,130,2168,0.00,1.52,0.00,0.000,6,0.000,0.024,2886,2600,3461,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2361,-0.54,-170.3,252.6,-9.2,140,2366,0.00,1.95,0.00,0.000,4,0.000,0.027,2886,1243,3460,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2408,-0.55,-170.3,256.4,-8.9,142,2413,0.00,2.10,0.00,0.000,6,0.000,0.044,2886,2606,3460,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2727,-0.57,-170.3,279.6,-6.5,158,2732,0.00,2.03,0.00,0.000,4,0.000,0.027,2886,1237,3458,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2760,-0.58,-170.3,281.4,-6.7,159,2765,0.00,2.10,0.00,0.000,6,0.000,0.043,2886,2599,3458,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3074,-0.59,-170.3,303.9,-7.2,175,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2600,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3374,-0.61,-170.3,328.2,-9.1,190,3380,0.00,1.98,0.00,0.000,4,0.000,0.027,2886,1240,3453,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3468,-0.62,-170.3,335.5,-8.7,194,3474,0.12,2.10,0.00,0.000,6,0.086,0.043,2815,2602,3452,0,0,0,0,0,0,26.41,26.41,28.83
$GC,3781,-0.60,-170.3,376.4,-13.0,210,3783,0.15,0.00,0.00,0.000,6,0.146,0.000,2860,2602,3451,0,0,0,0,0,0,26.34,28.83,28.83
$GC,4083,-0.60,-170.3,405.3,-9.3,225,4088,0.00,2.03,0.00,0.000,4,0.000,0.027,2861,1234,3450,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4135,-0.61,-170.3,409.0,-8.9,227,4141,0.00,2.12,0.00,0.000,6,0.000,0.043,2860,2609,3449,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4448,-0.61,-170.3,436.4,-8.8,243,4454,0.00,1.70,0.00,0.000,4,0.000,0.054,2861,3692,3447,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4487,-0.62,-170.3,438.4,-8.6,244,4493,0.00,1.55,0.00,0.000,6,0.000,0.028,2861,2616,3447,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4792,-0.63,-170.3,466.2,-8.9,260,4797,0.00,2.05,0.00,0.000,4,0.000,0.028,2860,1214,3445,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4829,-0.64,-170.3,468.2,-8.9,261,4836,0.00,2.15,0.00,0.000,6,0.000,0.043,2861,2606,3444,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5136,-0.64,-170.3,495.1,-8.1,277,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2606,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5437,-0.65,-170.3,520.3,-8.1,292,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2606,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5737,-0.66,-170.3,544.8,-8.3,307,5743,0.00,2.05,0.00,0.000,4,0.000,0.028,2861,1209,3439,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5802,-0.68,-170.3,550.4,-8.4,310,5808,0.00,2.15,0.00,0.000,6,0.000,0.042,2861,2600,3439,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6127,-0.69,-170.3,576.1,-7.9,326,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2601,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6429,-0.70,-170.3,598.5,-7.3,341,6431,0.12,0.00,0.00,0.000,6,0.087,0.000,2790,2601,3437,0,0,0,0,0,0,26.63,28.83,28.83
$GC,6748,-0.68,-170.3,636.7,-12.5,352,6750,0.15,0.00,0.00,0.000,6,0.151,0.000,2834,2601,3435,0,0,0,0,0,0,26.31,28.83,28.83
$GC,7047,-0.68,-170.3,662.9,-8.2,362,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2601,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7347,-0.68,-170.3,687.7,-8.3,372,7352,0.00,1.73,0.00,0.000,4,0.000,0.056,2834,3687,3432,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7374,-0.68,-170.3,687.7,-8.3,372,7380,0.00,1.60,0.00,0.000,6,0.000,0.030,2834,2591,3432,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7681,-0.68,-170.3,714.5,-8.1,383,7686,0.00,1.77,0.00,0.000,4,0.000,0.055,2834,3691,3431,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7714,-0.68,-170.3,717.2,-8.0,384,7719,0.00,1.60,0.00,0.000,6,0.000,0.031,2835,2603,3431,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8049,-0.68,-170.3,743.7,-7.9,395,8054,0.00,2.05,0.00,0.000,4,0.000,0.028,2834,1205,3430,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8083,-0.68,-170.3,746.5,-7.9,396,8088,0.00,2.17,0.00,0.000,6,0.000,0.043,2834,2597,3430,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8418,-0.68,-170.3,774.1,-8.5,407,8423,0.00,2.05,0.00,0.000,4,0.000,0.028,2834,1210,3428,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8475,-0.68,-170.3,777.3,-8.6,408,8483,0.00,2.17,0.00,0.000,6,0.000,0.043,2834,2605,3428,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8782,-0.68,-170.3,803.8,-7.5,419,8783,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2605,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9082,-0.68,-170.3,824.1,-6.7,429,9087,0.00,1.73,0.00,0.000,4,0.000,0.055,2834,3694,3425,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9104,-0.68,-170.3,824.1,-6.7,429,9110,0.00,1.62,0.00,0.000,6,0.000,0.031,2834,2586,3427,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9420,-0.68,-170.3,849.1,-7.6,440,9425,0.00,2.00,0.00,0.000,4,0.000,0.028,2834,1211,3424,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9492,-0.68,-170.3,854.2,-7.7,442,9497,0.00,2.17,0.00,0.000,6,0.000,0.044,2834,2607,3424,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9817,-0.68,-170.3,881.0,-8.5,453,9823,0.00,2.05,0.00,0.000,4,0.000,0.028,2834,1217,3422,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9860,-0.69,-170.3,883.7,-8.2,454,9866,0.00,2.17,0.00,0.000,6,0.000,0.043,2834,2611,3422,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10184,-0.69,-170.3,912.9,-8.8,465,10189,0.00,2.08,0.00,0.000,4,0.000,0.028,2834,1209,3421,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10211,-0.69,-170.3,912.9,-8.8,465,10218,0.00,2.17,0.00,0.000,6,0.000,0.044,2834,2600,3421,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10519,-0.69,-170.3,941.3,-8.6,476,10520,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2601,3420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10818,-0.70,-170.3,967.1,-8.9,486,10823,0.00,1.70,0.00,0.000,4,0.000,0.057,2834,3687,3420,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10906,-0.71,-170.3,972.5,-8.6,488,10912,0.00,1.60,0.00,0.000,6,0.000,0.031,2834,2603,3420,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,11119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11119,begin apogee
$GC,11125,-0.15,0.0,991.7,-7.9,496,11273,0.47,0.00,139.32,1.496,6,0.109,0.000,2999,2097,2768,0,0,0,0,0,0,25.93,28.83,23.56
$STATE,11274,end apogee,CONTROL_FINISHED_OK
$STATE,11274,begin climb
$GC,11277,0.51,170.3,997.2,0.0,501,11446,0.57,2.33,157.05,1.450,4,0.047,0.035,3240,761,2072,0,0,0,0,0,0,24.78,23.70,22.70
$GC,11488,0.46,170.3,980.5,12.1,508,11495,0.15,2.28,0.00,0.000,6,0.146,0.039,3201,2118,2067,0,0,0,0,0,0,24.27,24.40,28.83
$GC,11818,0.44,170.3,939.5,12.1,519,11823,0.00,2.28,0.00,0.000,4,0.000,0.051,3201,3537,2063,0,0,0,0,0,0,28.83,25.69,28.83
$GC,11943,0.41,170.3,922.9,13.4,523,11948,0.00,2.15,0.00,0.000,6,0.000,0.028,3208,2137,2062,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,21173,end climb,SURFACE_DEPTH_REACHED
$STATE,21173,begin surface coast
$FINISH,1.8,1.020889
$STATE,21200,end surface coast,CONTROL_FINISHED_OK
$STATE,21200,begin surface
$SM_CCo,21280,0.00,0.000,0,0,458,566.89
$SM_GC,2.40,8.57,1.42,0.00,0.049,0.024,0.000,133,2557,458,-9.07,1.84,566.89,0,0,0,0,0,0,25.87,26.17,28.83
$IRIDIUM_FIX,1837.32,12023.09,101212,222230
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.63
$INTERNAL_PRESSURE,9.42968
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3950624
$24V_AH,22.7,40.141
$10V_AH,9.9,18.417
$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,23.300,209.800,616.050,0.000,0.000,0.000,0.000,320.725,0.000,0.000,20.468,3231.345,14569.728,807.839,2802.469,380.344,0.000,2503.292,0.000,2339.408,0.000,0.543,0.000
$DEVICE_MAMPS,241.740,58.905,1495.575,0.000,0.000,0.000,0.000,134.640,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21230.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.457,0.000,0.000,0.000
$MEM,323748
$DATA_FILE_SIZE,36723,971
$CAP_FILE_SIZE,255803,0
$CFSIZE,260034560,232263680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.115,251.7,1
$GPS,111212,105635,1839.580,12026.257,38,0.9,38,-2.4