version: 66.11
glider: 170
mission: 10
dive: 182
start: 12 11 112 11 6 29
data:
$ID,170
$MISSION,10
$DIVE,182
$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,-143319.83
$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,104
$R_STBD_OVSHOOT,41
$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
$GPS1,111212,105635,1839.580,12026.257,38,0.9,38,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-72.7
$GPS2,111212,110600,1839.829,12026.271,17,1.3,17,-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,116.5,13782,-14.9,-8.684,-17.18
$D_GRID,2097
$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,-170.3,0.0,0.0,0,75,0.00,0.00,-53.30,0.000,2,0.000,0.000,132,2553,1689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.51,-170.3,3.1,-1.5,9,163,11.43,2.00,-66.82,0.000,4,0.245,0.045,2879,1244,3465,0,0,0,0,0,0,25.45,26.10,26.44
$GC,318,-0.48,-170.3,47.0,-17.5,44,324,0.00,2.10,0.00,0.000,6,0.000,0.044,2878,2592,3466,0,0,0,0,0,0,28.83,26.14,28.83
$GC,522,-0.44,-170.3,84.5,-17.5,55,527,0.00,1.75,0.00,0.000,4,0.000,0.054,2878,3690,3466,0,0,0,0,0,0,28.83,26.18,28.83
$GC,659,-0.43,-170.3,101.6,-12.2,61,667,0.12,1.52,0.00,0.000,6,0.140,0.024,2917,2592,3466,0,0,0,0,0,0,26.16,26.41,28.83
$GC,846,-0.44,-170.3,120.0,-8.7,71,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2592,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1026,-0.45,-170.3,135.4,-9.7,80,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2592,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1206,-0.46,-170.3,151.4,-8.1,89,1212,0.00,1.92,0.00,0.000,4,0.000,0.026,2917,1235,3466,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1239,-0.48,-170.3,153.1,-7.6,90,1245,0.00,2.10,0.00,0.000,6,0.000,0.039,2917,2613,3466,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1435,-0.50,-170.3,165.2,-5.8,100,1440,0.00,1.67,0.00,0.000,4,0.000,0.054,2917,3690,3465,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1472,-0.52,-170.3,166.7,-5.9,101,1481,0.12,1.52,0.00,0.000,6,0.083,0.025,2836,2606,3465,0,0,0,0,0,0,26.44,26.52,28.83
$GC,1660,-0.50,-170.3,194.7,-16.1,111,1665,0.15,1.98,0.00,0.000,4,0.144,0.023,2888,1207,3464,0,0,0,0,0,0,26.30,26.51,28.83
$GC,1718,-0.48,-170.3,199.9,-13.8,113,1724,0.00,2.15,0.00,0.000,6,0.000,0.040,2888,2613,3464,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1904,-0.49,-170.3,217.0,-8.8,123,1909,0.00,1.67,0.00,0.000,4,0.000,0.054,2888,3691,3463,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1947,-0.50,-170.3,220.8,-8.9,125,1952,0.00,1.52,0.00,0.000,6,0.000,0.025,2888,2577,3463,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2152,-0.51,-170.3,238.0,-7.7,135,2158,0.00,1.90,0.00,0.000,4,0.000,0.025,2888,1231,3462,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2225,-0.52,-170.3,242.8,-7.4,138,2230,0.00,2.10,0.00,0.000,6,0.000,0.039,2888,2605,3462,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2419,-0.54,-170.3,255.4,-6.0,148,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2604,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2720,-0.55,-170.3,278.6,-8.0,163,2726,0.00,2.00,0.00,0.000,4,0.000,0.025,2888,1232,3458,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2769,-0.56,-170.3,282.2,-7.7,165,2774,0.00,2.10,0.00,0.000,6,0.000,0.040,2888,2604,3458,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3087,-0.58,-170.3,304.6,-6.4,181,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2603,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3389,-0.59,-170.3,325.1,-7.0,196,3394,0.00,2.00,0.00,0.000,4,0.000,0.024,2888,1229,3454,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3427,-0.61,-170.3,326.8,-6.9,197,3434,0.12,2.10,0.00,0.000,6,0.088,0.040,2821,2600,3454,0,0,0,0,0,0,26.39,26.39,28.83
$GC,3733,-0.59,-170.3,365.3,-12.3,213,3738,0.12,1.70,0.00,0.000,4,0.152,0.050,2864,3690,3452,0,0,0,0,0,0,26.36,26.35,28.83
$GC,3760,-0.58,-170.3,368.0,-12.0,214,3765,0.00,1.50,0.00,0.000,6,0.000,0.028,2864,2620,3451,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4078,-0.59,-170.3,396.6,-8.6,230,4084,0.00,2.00,0.00,0.000,4,0.000,0.025,2864,1216,3450,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4136,-0.59,-170.3,400.5,-8.6,232,4143,0.00,2.12,0.00,0.000,6,0.000,0.041,2864,2598,3450,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4442,-0.60,-170.3,428.7,-8.8,248,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2598,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4744,-0.61,-170.3,454.2,-8.4,263,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2599,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5045,-0.62,-170.3,477.8,-7.7,278,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2599,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5344,-0.63,-170.3,500.6,-7.7,293,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2599,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5644,-0.64,-170.3,523.7,-7.6,308,5649,0.00,2.03,0.00,0.000,4,0.000,0.026,2864,1214,3441,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5698,-0.65,-170.3,527.2,-7.5,310,5703,0.00,2.15,0.00,0.000,6,0.000,0.041,2864,2607,3440,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6011,-0.66,-170.3,550.2,-7.1,326,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2607,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6315,-0.67,-170.3,573.6,-7.9,341,6320,0.00,1.73,0.00,0.000,4,0.000,0.055,2864,3701,3438,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6347,-0.69,-170.3,575.9,-8.1,342,6353,0.08,1.60,0.00,0.000,6,0.054,0.030,2805,2624,3438,0,0,0,0,0,0,26.43,26.57,28.83
$GC,6662,-0.67,-170.3,615.2,-12.6,356,6667,0.12,2.05,0.00,0.000,4,0.166,0.024,2847,1194,3436,0,0,0,0,0,0,26.32,26.51,28.83
$GC,6746,-0.66,-170.3,621.7,-11.5,358,6751,0.00,2.17,0.00,0.000,6,0.000,0.041,2847,2603,3436,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7059,-0.66,-170.3,652.4,-9.1,369,7064,0.00,1.73,0.00,0.000,4,0.000,0.054,2846,3701,3435,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7092,-0.67,-170.3,655.4,-9.0,370,7099,0.00,1.65,0.00,0.000,6,0.000,0.029,2847,2586,3434,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7428,-0.67,-170.3,685.1,-8.7,381,7434,0.00,1.98,0.00,0.000,4,0.000,0.026,2848,1211,3433,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7538,-0.67,-170.3,693.3,-8.6,384,7543,0.00,2.15,0.00,0.000,6,0.000,0.041,2846,2601,3433,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7858,-0.68,-170.3,720.9,-8.6,395,7863,0.00,2.05,0.00,0.000,4,0.000,0.025,2847,1209,3431,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7925,-0.68,-170.3,726.8,-8.9,397,7930,0.00,2.17,0.00,0.000,6,0.000,0.041,2848,2611,3431,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8254,-0.69,-170.3,758.1,-9.3,408,8260,0.00,2.05,0.00,0.000,4,0.000,0.026,2847,1206,3431,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8297,-0.70,-170.3,761.2,-9.2,409,8302,0.00,2.17,0.00,0.000,6,0.000,0.042,2847,2606,3430,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8621,-0.70,-170.3,790.0,-8.7,420,8627,0.00,2.05,0.00,0.000,4,0.000,0.027,2847,1203,3429,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8670,-0.71,-170.3,793.4,-9.0,421,8675,0.00,2.17,0.00,0.000,6,0.000,0.041,2847,2604,3429,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8990,-0.72,-170.3,826.3,-10.1,432,8991,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2604,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9289,-0.73,-170.3,854.2,-8.6,442,9295,0.00,2.05,0.00,0.000,4,0.000,0.026,2847,1213,3426,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9394,-0.74,-170.3,861.8,-8.1,445,9401,0.10,2.17,0.00,0.000,6,0.108,0.041,2796,2612,3426,0,0,0,0,0,0,26.25,26.27,28.83
$GC,9720,-0.72,-170.3,894.7,-9.8,456,9721,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2612,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10019,-0.70,-170.3,922.1,-8.9,466,10024,0.00,2.08,0.00,0.000,4,0.000,0.027,2796,1210,3425,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10072,-0.69,-170.3,925.1,-8.9,467,10078,0.12,2.17,0.00,0.000,6,0.163,0.043,2830,2601,3425,0,0,0,0,0,0,26.01,26.24,28.83
$GC,10387,-0.69,-170.3,948.0,-6.2,478,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2602,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10686,-0.69,-170.3,968.4,-7.2,488,10692,0.00,2.05,0.00,0.000,4,0.000,0.026,2830,1214,3423,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10729,-0.69,-170.3,971.1,-7.4,489,10735,0.00,2.17,0.00,0.000,6,0.000,0.042,2830,2610,3423,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,10961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10961,begin apogee
$GC,10968,-0.15,0.0,991.2,-8.6,497,11115,0.50,0.00,140.62,1.489,6,0.115,0.000,3001,2114,2769,0,0,0,0,0,0,25.85,28.83,23.55
$STATE,11117,end apogee,CONTROL_FINISHED_OK
$STATE,11117,begin climb
$GC,11119,0.51,170.3,997.8,0.0,502,11281,0.60,0.00,158.48,1.444,6,0.046,0.000,3232,2114,2074,0,0,0,0,0,0,24.74,28.83,22.69
$GC,11563,0.47,170.3,955.4,12.4,517,11569,0.00,2.33,0.00,0.000,4,0.000,0.050,3232,3530,2063,0,0,0,0,0,0,28.83,25.50,28.83
$GC,11591,0.44,170.3,955.4,12.4,517,11599,0.17,2.15,0.00,0.000,6,0.155,0.028,3191,2147,2063,0,0,0,0,0,0,25.39,25.72,28.83
$GC,11898,0.42,170.3,919.8,10.4,528,11903,0.00,2.20,0.00,0.000,4,0.000,0.033,3201,709,2061,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11951,0.40,170.3,915.9,10.7,529,11956,0.00,2.20,0.00,0.000,6,0.000,0.036,3201,2128,2060,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12266,0.38,170.3,875.1,12.5,540,12272,0.00,2.22,0.00,0.000,4,0.000,0.051,3201,3533,2060,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12304,0.36,170.3,870.2,12.9,541,12310,0.15,2.15,0.00,0.000,6,0.153,0.028,3165,2116,2060,0,0,0,0,0,0,25.96,26.32,28.83
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$STATE,21284,end climb,SURFACE_DEPTH_REACHED
$STATE,21284,begin surface coast
$FINISH,1.5,1.021256
$STATE,21300,end surface coast,CONTROL_FINISHED_OK
$STATE,21300,begin surface
$SM_CCo,21379,0.00,0.000,0,0,869,466.07
$SM_GC,2.56,8.80,0.77,0.00,0.057,0.057,0.000,134,2587,869,-9.07,-1.36,466.07,0,0,0,0,0,0,25.89,26.08,28.83
$IRIDIUM_FIX,1832.77,12023.09,111212,040438
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.11
$INTERNAL_PRESSURE,9.47851
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3950240
$24V_AH,22.7,40.346
$10V_AH,9.9,18.536
$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,23.775,190.550,548.050,0.000,0.000,0.000,0.000,363.250,0.000,0.000,18.899,3212.666,14779.005,776.812,2781.027,383.209,0.000,2445.363,0.000,2274.875,0.000,0.543,0.000
$DEVICE_MAMPS,244.800,56.610,1488.690,0.000,0.000,0.000,0.000,133.875,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21335.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.348,0.000,0.000,0.000
$MEM,323792
$DATA_FILE_SIZE,36707,974
$CAP_FILE_SIZE,249069,0
$CFSIZE,260034560,232148992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.189, 22.2,1
$GPS,111212,170408,1840.660,12030.390,43,1.0,43,-2.4