version: 66.11
glider: 170
mission: 10
dive: 164
start: 12 6 112 22 34 46
data:
$ID,170
$MISSION,10
$DIVE,164
$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,-143296.27
$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,59
$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
$GPS1,061212,222534,1904.806,12000.612,24,1.1,24,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-73.2
$GPS2,061212,223417,1904.811,12000.574,19,0.9,19,-2.4
$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,178.0,8967,-14.9,-8.684,-17.18
$D_GRID,3179
$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,-170.3,0.0,0.0,0,73,0.00,0.00,-51.42,0.000,2,0.000,0.000,134,2593,1644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.51,-170.3,3.1,-2.5,9,160,11.77,2.12,-66.07,0.000,4,0.257,0.039,2881,1180,3465,0,0,0,0,0,0,25.53,26.13,26.41
$GC,281,-0.44,-170.3,43.4,-28.4,40,286,0.00,2.22,0.00,0.000,6,0.000,0.045,2881,2593,3465,0,0,0,0,0,0,28.83,26.10,28.83
$GC,474,-0.40,-170.3,87.8,-19.5,51,480,0.12,1.73,0.00,0.000,4,0.167,0.053,2921,3701,3465,0,0,0,0,0,0,26.10,26.17,28.83
$GC,579,-0.41,-170.3,98.4,-9.4,56,584,0.00,1.62,0.00,0.000,6,0.000,0.024,2921,2539,3466,0,0,0,0,0,0,28.83,26.39,28.83
$GC,782,-0.41,-170.3,117.9,-10.6,66,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2537,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,962,-0.42,-170.3,134.9,-8.9,75,968,0.00,1.92,0.00,0.000,4,0.000,0.027,2921,1189,3466,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1072,-0.44,-170.3,142.6,-7.1,80,1077,0.00,2.17,0.00,0.000,6,0.000,0.041,2921,2617,3466,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1272,-0.45,-170.3,155.3,-5.5,90,1278,0.00,2.12,0.00,0.000,4,0.000,0.031,2921,1179,3465,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1317,-0.47,-170.3,158.3,-6.1,92,1322,0.00,2.17,0.00,0.000,6,0.000,0.040,2921,2613,3465,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1522,-0.49,-170.3,173.4,-7.1,102,1527,0.00,1.65,0.00,0.000,4,0.000,0.051,2921,3694,3464,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1560,-0.51,-170.3,175.1,-7.1,103,1567,0.12,1.60,0.00,0.000,6,0.093,0.025,2847,2538,3464,0,0,0,0,0,0,26.45,26.58,28.83
$GC,1746,-0.49,-170.3,199.5,-13.9,113,1748,0.15,0.00,0.00,0.000,6,0.147,0.000,2892,2532,3464,0,0,0,0,0,0,26.33,28.83,28.83
$GC,1925,-0.49,-170.3,217.3,-9.3,122,1931,0.00,1.95,0.00,0.000,4,0.000,0.024,2892,1173,3463,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1973,-0.50,-170.3,221.3,-9.1,124,1978,0.00,2.20,0.00,0.000,6,0.000,0.040,2892,2610,3464,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2173,-0.51,-170.3,239.8,-9.4,134,2178,0.00,2.08,0.00,0.000,4,0.000,0.025,2892,1184,3463,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2197,-0.52,-170.3,242.3,-9.5,135,2202,0.00,2.15,0.00,0.000,6,0.000,0.040,2892,2600,3463,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2400,-0.53,-170.3,260.4,-8.8,145,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2600,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2702,-0.55,-170.3,285.1,-7.7,160,2708,0.00,2.08,0.00,0.000,4,0.000,0.025,2892,1184,3460,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2749,-0.57,-170.3,288.3,-7.4,162,2754,0.00,2.17,0.00,0.000,6,0.000,0.040,2892,2602,3459,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3067,-0.58,-170.3,310.6,-6.8,178,3074,0.00,2.05,0.00,0.000,4,0.000,0.024,2893,1185,3458,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3112,-0.60,-170.3,313.9,-7.2,180,3119,0.12,2.15,0.00,0.000,6,0.096,0.040,2823,2603,3458,0,0,0,0,0,0,26.44,26.45,28.83
$GC,3436,-0.58,-170.3,355.6,-13.3,196,3442,0.12,2.08,0.00,0.000,4,0.148,0.023,2865,1185,3455,0,0,0,0,0,0,26.39,26.55,28.83
$GC,3460,-0.57,-170.3,358.5,-12.9,197,3465,0.00,2.17,0.00,0.000,6,0.000,0.041,2865,2612,3455,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3783,-0.57,-170.3,389.3,-9.3,213,3788,0.00,1.70,0.00,0.000,4,0.000,0.054,2865,3700,3453,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3835,-0.58,-170.3,393.5,-9.6,215,3841,0.00,1.62,0.00,0.000,6,0.000,0.028,2865,2547,3453,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4150,-0.59,-170.3,421.9,-8.7,231,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2546,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4451,-0.60,-170.3,446.4,-7.8,246,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2545,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4750,-0.61,-170.3,470.7,-8.2,261,4755,0.00,1.95,0.00,0.000,4,0.000,0.026,2865,1190,3447,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4783,-0.62,-170.3,472.9,-8.3,262,4789,0.00,2.17,0.00,0.000,6,0.000,0.041,2865,2611,3447,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5097,-0.63,-170.3,501.2,-8.9,278,5102,0.00,2.10,0.00,0.000,4,0.000,0.026,2865,1189,3445,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5140,-0.64,-170.3,504.8,-8.6,280,5146,0.00,2.17,0.00,0.000,6,0.000,0.041,2865,2604,3444,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5464,-0.65,-170.3,532.2,-8.1,296,5470,0.00,2.08,0.00,0.000,4,0.000,0.026,2865,1187,3443,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5497,-0.66,-170.3,534.2,-8.0,297,5502,0.00,2.20,0.00,0.000,6,0.000,0.041,2865,2610,3442,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5810,-0.68,-170.3,558.6,-7.5,313,5816,0.00,2.10,0.00,0.000,4,0.000,0.026,2865,1177,3441,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5845,-0.69,-170.3,560.6,-7.6,314,5851,0.12,2.20,0.00,0.000,6,0.100,0.041,2801,2600,3440,0,0,0,0,0,0,26.40,26.41,28.83
$GC,6159,-0.67,-170.3,596.4,-11.1,330,6161,0.12,0.00,0.00,0.000,6,0.164,0.000,2835,2600,3439,0,0,0,0,0,0,26.38,28.83,28.83
$GC,6470,-0.67,-170.3,622.6,-8.3,341,6475,0.00,2.10,0.00,0.000,4,0.000,0.026,2835,1175,3438,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6542,-0.67,-170.3,627.9,-8.4,343,6548,0.00,2.22,0.00,0.000,6,0.000,0.042,2835,2608,3437,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6867,-0.67,-170.3,654.3,-7.7,354,6872,0.00,2.10,0.00,0.000,4,0.000,0.026,2835,1178,3436,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6905,-0.67,-170.3,657.0,-7.7,355,6910,0.00,2.22,0.00,0.000,6,0.000,0.042,2835,2608,3436,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7234,-0.67,-170.3,681.9,-7.8,366,7240,0.00,1.73,0.00,0.000,4,0.000,0.055,2835,3698,3434,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7292,-0.67,-170.3,684.7,-7.9,367,7299,0.00,1.67,0.00,0.000,6,0.000,0.029,2835,2576,3434,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7598,-0.67,-170.3,711.3,-8.3,378,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2576,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7898,-0.67,-170.3,738.3,-9.4,388,7904,0.00,2.00,0.00,0.000,4,0.000,0.026,2835,1195,3432,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7920,-0.67,-170.3,738.3,-9.4,388,7926,0.00,2.20,0.00,0.000,6,0.000,0.042,2835,2609,3431,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8234,-0.67,-170.3,771.0,-9.8,399,8235,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2610,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8534,-0.67,-170.3,799.5,-9.6,409,8540,0.00,2.08,0.00,0.000,4,0.000,0.027,2835,1201,3429,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8646,-0.67,-170.3,808.7,-9.8,412,8652,0.00,2.17,0.00,0.000,6,0.000,0.042,2835,2609,3428,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8960,-0.67,-170.3,841.2,-9.7,423,8961,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2609,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9259,-0.67,-170.3,868.9,-9.2,433,9264,0.00,2.10,0.00,0.000,4,0.000,0.027,2835,1200,3427,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9341,-0.67,-170.3,874.4,-9.0,435,9347,0.00,2.17,0.00,0.000,6,0.000,0.042,2835,2609,3427,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9654,-0.67,-170.3,900.7,-7.4,446,9660,0.00,2.08,0.00,0.000,4,0.000,0.027,2835,1204,3426,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9733,-0.67,-170.3,905.2,-7.2,448,9738,0.00,2.17,0.00,0.000,6,0.000,0.042,2835,2612,3426,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10053,-0.68,-170.3,926.6,-6.1,459,10058,0.00,2.10,0.00,0.000,4,0.000,0.028,2835,1206,3425,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10111,-0.69,-170.3,928.8,-6.1,460,10118,0.00,2.17,0.00,0.000,6,0.000,0.043,2835,2610,3425,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10417,-0.69,-170.3,948.1,-5.8,471,10423,0.00,2.08,0.00,0.000,4,0.000,0.028,2835,1206,3423,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10482,-0.70,-170.3,952.1,-6.0,473,10488,0.00,2.17,0.00,0.000,6,0.000,0.042,2835,2605,3423,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10818,-0.70,-170.3,973.3,-6.6,484,10824,0.00,2.08,0.00,0.000,4,0.000,0.028,2835,1202,3422,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10847,-0.71,-170.3,973.3,-6.6,484,10853,0.00,2.20,0.00,0.000,6,0.000,0.043,2835,2608,3422,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,11060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11060,begin apogee
$GC,11066,-0.15,0.0,990.3,-7.0,492,11213,0.47,0.00,140.00,1.495,6,0.111,0.000,2999,2115,2768,0,0,0,0,0,0,26.00,28.83,23.63
$STATE,11215,end apogee,CONTROL_FINISHED_OK
$STATE,11215,begin climb
$GC,11218,0.51,170.3,995.0,0.0,497,11382,0.57,0.00,156.45,1.452,6,0.050,0.000,3221,2114,2074,0,0,0,0,0,0,24.77,28.83,22.75
$GC,11696,0.47,170.3,943.9,13.2,513,11701,0.00,2.35,0.00,0.000,4,0.000,0.050,3221,3530,2064,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11753,0.44,170.3,938.8,13.5,514,11761,0.12,2.17,0.00,0.000,6,0.168,0.028,3195,2129,2063,0,0,0,0,0,0,25.51,25.77,28.83
$GC,12061,0.42,170.3,900.2,11.5,525,12067,0.00,2.15,0.00,0.000,4,0.000,0.034,3202,722,2061,0,0,0,0,0,0,28.83,26.04,28.83
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$STATE,20713,end climb,SURFACE_DEPTH_REACHED
$STATE,20713,begin surface coast
$FINISH,1.5,1.003028
$STATE,20736,end surface coast,CONTROL_FINISHED_OK
$STATE,20736,begin surface
$SM_CCo,20817,0.00,0.000,0,0,928,451.60
$SM_GC,2.57,8.60,0.80,0.00,0.054,0.041,0.000,137,2603,928,-9.07,-1.05,451.60,0,0,0,0,0,0,25.83,26.15,28.83
$IRIDIUM_FIX,1900.10,12001.10,061212,161615
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.81
$INTERNAL_PRESSURE,9.44921
$TCM_TEMP,22.90
$XPDR_PINGS,1
$SC_FREEKB,3957152
$24V_AH,22.7,36.379
$10V_AH,10.0,16.322
$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,23.850,211.850,535.450,0.000,0.000,0.000,0.000,328.275,0.250,0.000,20.726,3155.724,14310.299,754.459,2748.908,361.434,0.000,2420.964,0.000,2278.587,0.000,0.543,0.000
$DEVICE_MAMPS,257.040,55.080,1494.810,0.000,0.000,0.000,0.000,132.345,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20762.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.144,0.000,0.000,0.000
$MEM,323740
$DATA_FILE_SIZE,36684,943
$CAP_FILE_SIZE,248822,0
$CFSIZE,260034560,234319872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.125,335.2,1
$GPS,071212,042329,1902.865,12000.478,70,0.9,70,-2.4