version: 66.11
glider: 170
mission: 10
dive: 147
start: 12 2 112 17 5 33
data:
$ID,170
$MISSION,10
$DIVE,147
$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,9
$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,-143273.92
$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,0.0070000002
$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,73
$R_STBD_OVSHOOT,33
$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
$GPS1,021212,165734,1929.561,12000.221,33,0.7,33,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-75.7
$GPS2,021212,170505,1929.708,12000.099,17,1.0,17,-2.5
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,163.8,55020,-14.9,-8.684,-17.18
$D_GRID,4165
$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,-170.3,0.0,0.0,0,83,0.00,0.00,-61.58,0.000,2,0.000,0.000,138,2608,1848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.51,-170.3,3.1,-1.2,11,154,11.20,1.83,-50.55,0.000,4,0.243,0.076,2877,3690,3466,0,0,0,0,0,0,25.60,26.03,26.41
$GC,331,-0.45,-170.3,52.0,-21.2,44,337,0.00,1.60,0.00,0.000,6,0.000,0.023,2878,2555,3466,0,0,0,0,0,0,28.83,26.33,28.83
$GC,531,-0.41,-170.3,93.0,-21.1,54,532,0.12,0.00,0.00,0.000,6,0.158,0.000,2914,2552,3466,0,0,0,0,0,0,26.20,28.83,28.83
$GC,711,-0.42,-170.3,111.2,-5.4,63,716,0.00,1.88,0.00,0.000,4,0.000,0.024,2915,1239,3466,0,0,0,0,0,0,28.83,26.41,28.83
$GC,758,-0.44,-170.3,112.5,-3.5,65,764,0.00,2.08,0.00,0.000,6,0.000,0.041,2914,2604,3467,0,0,0,0,0,0,28.83,26.35,28.83
$GC,958,-0.46,-170.3,124.4,-6.8,75,963,0.00,1.70,0.00,0.000,4,0.000,0.053,2915,3690,3467,0,0,0,0,0,0,28.83,26.36,28.83
$GC,996,-0.48,-170.3,126.2,-7.1,76,1003,0.00,1.52,0.00,0.000,6,0.000,0.024,2915,2583,3466,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1181,-0.50,-170.3,135.9,-3.1,86,1186,0.00,1.90,0.00,0.000,4,0.000,0.024,2915,1246,3466,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1235,-0.53,-170.3,137.3,-3.0,88,1241,0.12,2.08,0.00,0.000,6,0.083,0.039,2847,2607,3466,0,0,0,0,0,0,26.44,26.44,28.83
$GC,1429,-0.49,-170.3,159.5,-13.2,98,1436,0.12,1.70,0.00,0.000,4,0.153,0.053,2889,3693,3466,0,0,0,0,0,0,26.36,26.41,28.83
$GC,1523,-0.49,-170.3,167.9,-9.8,102,1528,0.00,1.52,0.00,0.000,6,0.000,0.024,2890,2590,3465,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1716,-0.50,-170.3,185.5,-9.7,112,1721,0.00,1.95,0.00,0.000,4,0.000,0.025,2890,1237,3464,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1795,-0.52,-170.3,191.6,-9.9,115,1802,0.00,2.08,0.00,0.000,6,0.000,0.039,2890,2611,3464,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1980,-0.53,-170.3,208.6,-8.3,125,1985,0.00,1.70,0.00,0.000,4,0.000,0.054,2890,3698,3464,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2032,-0.55,-170.3,212.1,-8.1,127,2038,0.00,1.50,0.00,0.000,6,0.000,0.026,2890,2607,3464,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2228,-0.56,-170.3,226.9,-6.9,137,2233,0.00,1.95,0.00,0.000,4,0.000,0.024,2890,1235,3462,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2326,-0.58,-170.3,231.9,-5.8,141,2332,0.00,2.08,0.00,0.000,6,0.000,0.038,2890,2609,3462,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2511,-0.60,-170.3,241.6,-4.8,151,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2610,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2691,-0.62,-170.3,248.7,-3.7,160,2693,0.12,0.00,0.00,0.000,6,0.086,0.000,2810,2610,3461,0,0,0,0,0,0,26.65,28.83,28.83
$GC,2872,-0.57,-170.3,270.6,-14.0,169,2877,0.15,2.00,0.00,0.000,4,0.147,0.022,2861,1239,3459,0,0,0,0,0,0,26.36,26.60,28.83
$GC,2895,-0.54,-170.3,273.9,-14.4,170,2901,0.00,2.08,0.00,0.000,6,0.000,0.039,2861,2598,3459,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3218,-0.54,-170.3,307.0,-9.6,186,3223,0.00,1.70,0.00,0.000,4,0.000,0.054,2861,3688,3457,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3302,-0.55,-170.3,314.4,-8.9,190,3307,0.00,1.52,0.00,0.000,6,0.000,0.026,2861,2602,3456,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3624,-0.55,-170.3,346.0,-10.5,206,3630,0.00,2.00,0.00,0.000,4,0.000,0.024,2861,1216,3455,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3717,-0.56,-170.3,354.9,-10.7,210,3722,0.00,2.10,0.00,0.000,6,0.000,0.039,2861,2602,3455,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4030,-0.57,-170.3,388.5,-9.7,226,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2602,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4332,-0.57,-170.3,414.6,-8.0,241,4337,0.00,2.03,0.00,0.000,4,0.000,0.025,2861,1224,3450,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4359,-0.58,-170.3,416.4,-7.9,242,4364,0.00,2.10,0.00,0.000,6,0.000,0.040,2861,2604,3450,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4679,-0.59,-170.3,441.7,-7.8,258,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2604,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4979,-0.60,-170.3,464.5,-8.0,273,4985,0.00,1.70,0.00,0.000,4,0.000,0.054,2861,3687,3447,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5037,-0.62,-170.3,468.3,-8.3,275,5044,0.00,1.55,0.00,0.000,6,0.000,0.028,2861,2600,3446,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5343,-0.63,-170.3,496.2,-8.3,291,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2600,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5644,-0.64,-170.3,523.1,-9.5,306,5650,0.00,2.03,0.00,0.000,4,0.000,0.025,2861,1209,3444,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5683,-0.66,-170.3,525.5,-9.6,307,5690,0.00,2.12,0.00,0.000,6,0.000,0.040,2861,2602,3444,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5988,-0.67,-170.3,556.7,-9.9,323,5993,0.00,2.05,0.00,0.000,4,0.000,0.026,2861,1215,3442,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6012,-0.69,-170.3,558.8,-9.6,324,6017,0.00,2.15,0.00,0.000,6,0.000,0.040,2861,2604,3442,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6335,-0.70,-170.3,583.7,-6.7,340,6342,0.12,2.05,0.00,0.000,4,0.089,0.024,2782,1203,3440,0,0,0,0,0,0,26.65,26.60,28.83
$GC,6360,-0.70,-170.3,586.0,-7.3,341,6367,0.15,2.15,0.00,0.000,6,0.158,0.041,2824,2609,3440,0,0,0,0,0,0,26.25,26.48,28.83
$GC,6685,-0.69,-170.3,618.9,-10.1,354,6691,0.00,1.73,0.00,0.000,4,0.000,0.057,2824,3701,3438,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6713,-0.68,-170.3,618.9,-10.1,354,6720,0.00,1.62,0.00,0.000,6,0.000,0.029,2824,2607,3438,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7020,-0.67,-170.3,651.5,-9.5,365,7026,0.00,2.03,0.00,0.000,4,0.000,0.027,2824,1209,3437,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7073,-0.67,-170.3,654.8,-9.4,366,7078,0.00,2.15,0.00,0.000,6,0.000,0.041,2823,2613,3437,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7386,-0.67,-170.3,688.3,-10.3,377,7391,0.00,2.10,0.00,0.000,4,0.000,0.027,2824,1199,3436,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7433,-0.67,-170.3,691.9,-10.4,378,7438,0.00,2.15,0.00,0.000,6,0.000,0.041,2824,2602,3435,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7750,-0.67,-170.3,727.0,-10.5,389,7756,0.00,1.70,0.00,0.000,4,0.000,0.056,2824,3694,3434,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7768,-0.67,-170.3,727.0,-10.5,389,7773,0.00,1.60,0.00,0.000,6,0.000,0.030,2824,2583,3434,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8086,-0.67,-170.3,761.2,-10.4,400,8092,0.00,2.03,0.00,0.000,4,0.000,0.027,2824,1203,3432,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8120,-0.67,-170.3,764.8,-10.4,401,8125,0.00,2.15,0.00,0.000,6,0.000,0.041,2824,2601,3432,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8454,-0.67,-170.3,801.2,-11.1,412,8455,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2601,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8752,-0.67,-170.3,833.3,-10.5,422,8758,0.00,2.05,0.00,0.000,4,0.000,0.027,2824,1207,3430,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8789,-0.67,-170.3,836.8,-10.5,423,8795,0.00,2.15,0.00,0.000,6,0.000,0.042,2824,2605,3430,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9119,-0.67,-170.3,867.5,-8.9,434,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2605,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9417,-0.67,-170.3,891.8,-7.7,444,9419,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2605,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9718,-0.67,-170.3,913.5,-7.3,454,9723,0.00,2.08,0.00,0.000,4,0.000,0.027,2824,1213,3427,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9755,-0.67,-170.3,916.0,-7.3,455,9760,0.00,2.17,0.00,0.000,6,0.000,0.042,2824,2611,3427,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10084,-0.67,-170.3,941.9,-8.2,466,10085,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2611,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10383,-0.67,-170.3,966.6,-8.1,476,10388,0.00,2.08,0.00,0.000,4,0.000,0.028,2824,1206,3425,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10435,-0.67,-170.3,969.2,-8.1,477,10440,0.00,2.15,0.00,0.000,6,0.000,0.042,2824,2600,3425,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,10716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10716,begin apogee
$GC,10722,-0.15,0.0,991.4,-7.0,487,10870,0.50,0.00,140.20,1.496,6,0.115,0.000,2997,2125,2769,0,0,0,0,0,0,26.13,28.83,23.75
$STATE,10871,end apogee,CONTROL_FINISHED_OK
$STATE,10872,begin climb
$GC,10874,0.51,170.3,993.9,0.0,492,11038,0.60,2.53,156.70,1.450,4,0.047,0.050,3229,3525,2072,0,0,0,0,0,0,24.83,23.70,22.84
$GC,11066,0.43,170.3,977.4,12.0,498,11072,0.17,2.28,0.00,0.000,6,0.155,0.027,3194,2143,2069,0,0,0,0,0,0,24.17,24.34,28.83
$GC,11386,0.40,170.3,928.2,14.3,509,11392,0.00,2.22,0.00,0.000,4,0.000,0.035,3202,721,2061,0,0,0,0,0,0,28.83,25.67,28.83
$GC,11454,0.37,170.3,919.0,14.3,511,11460,0.12,2.22,0.00,0.000,6,0.147,0.037,3168,2130,2059,0,0,0,0,0,0,25.63,25.78,28.83
$GC,11785,0.36,170.3,881.6,10.6,522,11790,0.00,2.25,0.00,0.000,4,0.000,0.050,3168,3528,2060,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,20150,end climb,SURFACE_DEPTH_REACHED
$STATE,20151,begin surface coast
$FINISH,1.4,0.998672
$STATE,20173,end surface coast,CONTROL_FINISHED_OK
$STATE,20173,begin surface
$SM_CCo,20254,0.00,0.000,0,0,459,566.89
$SM_GC,2.39,8.55,2.95,0.00,0.048,0.037,0.000,134,2594,459,-9.07,-1.16,566.89,0,0,0,0,0,0,25.98,26.12,28.83
$IRIDIUM_FIX,1925.22,12003.70,021212,111151
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.29
$INTERNAL_PRESSURE,9.44921
$TCM_TEMP,24.00
$XPDR_PINGS,1
$SC_FREEKB,3963680
$24V_AH,22.8,32.468
$10V_AH,9.9,14.218
$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,23.075,197.750,631.375,0.000,0.000,0.000,0.000,263.225,0.250,0.000,18.741,3076.800,13841.334,855.977,2587.566,336.036,0.000,2390.663,0.000,2190.557,0.000,0.543,0.000
$DEVICE_MAMPS,242.505,75.735,1495.575,0.000,0.000,0.000,0.000,136.935,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20203.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.562,0.000,0.000,0.000
$MEM,323748
$DATA_FILE_SIZE,33295,942
$CAP_FILE_SIZE,241002,0
$CFSIZE,260034560,236380160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.246, 25.1,1
$GPS,021212,224423,1929.315,12002.376,40,0.8,40,-2.5