version: 66.11
glider: 170
mission: 10
dive: 178
start: 12 10 112 10 50 16
data:
$ID,170
$MISSION,10
$DIVE,178
$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,-143314.83
$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,99
$R_STBD_OVSHOOT,51
$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
$GPS1,101212,104122,1846.262,12019.567,40,0.8,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-66.5
$GPS2,101212,104947,1846.461,12019.531,17,0.8,17,-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,135.7,30835,-14.9,-8.684,-17.18
$D_GRID,3103
$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,-170.3,0.0,0.0,0,87,0.00,0.00,-65.15,0.000,2,0.000,0.000,140,2637,1924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.51,-170.3,3.1,-2.5,11,151,11.43,2.15,-43.58,0.000,4,0.247,0.044,2881,1231,3465,0,0,0,0,0,0,25.48,26.10,26.42
$GC,260,-0.45,-170.3,41.2,-23.2,36,265,0.00,2.10,0.00,0.000,6,0.000,0.039,2880,2592,3465,0,0,0,0,0,0,28.83,26.11,28.83
$GC,465,-0.42,-170.3,76.8,-15.1,48,471,0.12,1.70,0.00,0.000,4,0.163,0.050,2921,3690,3466,0,0,0,0,0,0,26.10,26.17,28.83
$GC,532,-0.41,-170.3,84.6,-12.7,51,538,0.00,1.55,0.00,0.000,6,0.000,0.024,2923,2579,3465,0,0,0,0,0,0,28.83,26.41,28.83
$GC,731,-0.41,-170.3,104.8,-10.0,61,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2574,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,911,-0.42,-170.3,120.3,-8.5,70,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2575,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1092,-0.44,-170.3,134.1,-7.6,79,1097,0.00,1.77,0.00,0.000,4,0.000,0.053,2921,3692,3466,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1120,-0.45,-170.3,135.8,-7.5,80,1125,0.00,1.52,0.00,0.000,6,0.000,0.024,2921,2586,3466,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1320,-0.47,-170.3,151.0,-7.6,90,1325,0.00,1.73,0.00,0.000,4,0.000,0.052,2921,3687,3464,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1367,-0.49,-170.3,154.2,-7.3,92,1373,0.00,1.52,0.00,0.000,6,0.000,0.024,2921,2582,3465,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1567,-0.52,-170.3,168.0,-6.7,102,1573,0.12,1.90,0.00,0.000,4,0.090,0.023,2848,1241,3465,0,0,0,0,0,0,26.56,26.49,28.83
$GC,1657,-0.51,-170.3,177.3,-10.9,106,1664,0.12,2.10,0.00,0.000,6,0.159,0.041,2884,2609,3464,0,0,0,0,0,0,26.18,26.38,28.83
$GC,1857,-0.51,-170.3,199.1,-10.8,116,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2610,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2038,-0.52,-170.3,218.2,-10.1,125,2043,0.00,1.70,0.00,0.000,4,0.000,0.055,2884,3700,3465,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2070,-0.52,-170.3,220.5,-9.9,126,2075,0.00,1.52,0.00,0.000,6,0.000,0.024,2884,2600,3463,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2263,-0.53,-170.3,240.3,-9.6,136,2268,0.00,1.92,0.00,0.000,4,0.000,0.025,2885,1242,3462,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2310,-0.54,-170.3,244.5,-9.9,138,2315,0.00,2.10,0.00,0.000,6,0.000,0.041,2884,2610,3462,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2509,-0.55,-170.3,263.9,-9.4,148,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2610,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2810,-0.56,-170.3,289.4,-8.6,163,2815,0.00,2.00,0.00,0.000,4,0.000,0.026,2885,1234,3459,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2867,-0.57,-170.3,293.3,-8.7,165,2874,0.00,2.10,0.00,0.000,6,0.000,0.042,2884,2599,3459,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3174,-0.59,-170.3,320.3,-8.0,181,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2599,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3475,-0.60,-170.3,342.2,-7.5,196,3481,0.00,1.70,0.00,0.000,4,0.000,0.054,2884,3697,3455,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3539,-0.62,-170.3,347.2,-7.5,199,3546,0.10,1.55,0.00,0.000,6,0.103,0.026,2825,2596,3455,0,0,0,0,0,0,26.48,26.62,28.83
$GC,3864,-0.60,-170.3,386.6,-12.1,215,3869,0.00,1.95,0.00,0.000,4,0.000,0.025,2825,1245,3452,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3891,-0.59,-170.3,389.2,-11.9,216,3898,0.12,2.10,0.00,0.000,6,0.159,0.043,2861,2601,3452,0,0,0,0,0,0,26.17,26.38,28.83
$GC,4211,-0.60,-170.3,417.6,-8.8,232,4216,0.00,1.73,0.00,0.000,4,0.000,0.056,2861,3696,3449,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4238,-0.60,-170.3,419.6,-8.9,233,4243,0.00,1.55,0.00,0.000,6,0.000,0.027,2861,2599,3450,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4557,-0.61,-170.3,447.9,-8.7,249,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2596,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4857,-0.62,-170.3,471.5,-7.3,264,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2596,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5158,-0.63,-170.3,493.6,-7.9,279,5163,0.00,1.98,0.00,0.000,4,0.000,0.027,2861,1239,3444,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5191,-0.63,-170.3,495.9,-8.3,280,5196,0.00,2.12,0.00,0.000,6,0.000,0.044,2861,2605,3444,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5504,-0.64,-170.3,526.2,-10.3,296,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2605,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5806,-0.65,-170.3,557.8,-10.2,311,5807,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2606,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6105,-0.67,-170.3,585.2,-8.7,326,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2606,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6406,-0.68,-170.3,612.2,-9.1,339,6411,0.00,1.70,0.00,0.000,4,0.000,0.057,2861,3690,3437,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6464,-0.69,-170.3,615.4,-9.1,340,6472,0.08,1.58,0.00,0.000,6,0.057,0.028,2805,2609,3438,0,0,0,0,0,0,26.44,26.59,28.83
$GC,6771,-0.67,-170.3,655.1,-12.5,351,6777,0.00,2.03,0.00,0.000,4,0.000,0.028,2805,1223,3436,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6814,-0.66,-170.3,659.3,-12.4,352,6820,0.12,2.17,0.00,0.000,6,0.171,0.046,2837,2609,3436,0,0,0,0,0,0,26.08,26.29,28.83
$GC,7139,-0.66,-170.3,691.2,-9.4,363,7140,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2609,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7438,-0.66,-170.3,721.8,-10.7,373,7443,0.00,2.08,0.00,0.000,4,0.000,0.028,2837,1218,3433,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7506,-0.66,-170.3,728.8,-11.0,375,7512,0.00,2.17,0.00,0.000,6,0.000,0.045,2837,2605,3433,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7836,-0.66,-170.3,764.4,-10.4,386,7841,0.00,1.73,0.00,0.000,4,0.000,0.057,2838,3696,3432,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7878,-0.66,-170.3,767.8,-10.3,387,7883,0.00,1.58,0.00,0.000,6,0.000,0.029,2838,2611,3432,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8203,-0.66,-170.3,799.6,-9.3,398,8208,0.00,1.75,0.00,0.000,4,0.000,0.056,2837,3694,3431,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8229,-0.66,-170.3,799.6,-9.3,398,8236,0.00,1.60,0.00,0.000,6,0.000,0.030,2837,2598,3431,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8538,-0.67,-170.3,827.8,-8.1,409,8543,0.00,2.03,0.00,0.000,4,0.000,0.027,2838,1214,3430,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8572,-0.68,-170.3,830.6,-8.2,410,8577,0.00,2.17,0.00,0.000,6,0.000,0.043,2838,2604,3430,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8906,-0.68,-170.3,859.6,-8.8,421,8912,0.00,2.08,0.00,0.000,4,0.000,0.028,2837,1210,3428,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8941,-0.69,-170.3,862.7,-9.0,422,8946,0.00,2.17,0.00,0.000,6,0.000,0.042,2838,2601,3428,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9276,-0.69,-170.3,890.9,-8.4,433,9281,0.00,2.08,0.00,0.000,4,0.000,0.027,2837,1207,3426,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9319,-0.70,-170.3,893.8,-8.4,434,9324,0.00,2.17,0.00,0.000,6,0.000,0.042,2837,2604,3426,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9644,-0.71,-170.3,921.3,-8.4,445,9645,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2604,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9943,-0.72,-170.3,946.9,-8.4,455,9948,0.00,1.70,0.00,0.000,4,0.000,0.056,2837,3690,3424,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10016,-0.72,-170.3,952.2,-8.4,457,10021,0.00,1.60,0.00,0.000,6,0.000,0.031,2837,2603,3424,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10341,-0.73,-170.3,979.9,-8.0,468,10346,0.00,2.05,0.00,0.000,4,0.000,0.028,2838,1209,3422,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10369,-0.74,-170.3,979.9,-8.0,468,10375,0.00,2.17,0.00,0.000,6,0.000,0.042,2837,2603,3423,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,10462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10462,begin apogee
$GC,10468,-0.15,0.0,990.7,-8.6,472,10617,0.47,0.00,139.90,1.495,6,0.112,0.000,3000,2108,2768,0,0,0,0,0,0,25.89,28.83,23.56
$STATE,10618,end apogee,CONTROL_FINISHED_OK
$STATE,10618,begin climb
$GC,10620,0.51,170.3,997.1,0.0,477,10790,0.57,2.38,156.90,1.446,4,0.048,0.034,3239,742,2071,0,0,0,0,0,0,24.77,23.70,22.70
$GC,10807,0.46,170.3,986.4,9.0,483,10813,0.15,2.33,0.00,0.000,6,0.146,0.037,3201,2119,2069,0,0,0,0,0,0,24.06,24.17,28.83
$GC,11133,0.44,170.3,949.1,10.8,494,11138,0.00,2.30,0.00,0.000,4,0.000,0.051,3200,3528,2063,0,0,0,0,0,0,28.83,25.63,28.83
$GC,11230,0.40,170.3,937.7,11.7,497,11236,0.00,2.15,0.00,0.000,6,0.000,0.028,3209,2131,2063,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11560,0.38,170.3,898.0,12.1,508,11566,0.12,2.15,0.00,0.000,4,0.165,0.034,3175,716,2061,0,0,0,0,0,0,25.98,26.10,28.83
$GC,11649,0.36,170.3,891.4,11.0,510,11657,0.00,2.20,0.00,0.000,6,0.000,0.037,3175,2135,2059,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11956,0.36,170.3,858.7,10.1,521,11961,0.00,2.20,0.00,0.000,4,0.000,0.050,3174,3527,2061,0,0,0,0,0,0,28.83,26.11,28.83
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$STATE,20536,end climb,SURFACE_DEPTH_REACHED
$STATE,20537,begin surface coast
$FINISH,1.6,0.999274
$STATE,20558,end surface coast,CONTROL_FINISHED_OK
$STATE,20558,begin surface
$SM_CCo,20637,0.00,0.000,0,0,492,558.55
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$IRIDIUM_FIX,1841.87,12021.12,101212,040445
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.69
$INTERNAL_PRESSURE,9.44921
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3951776
$24V_AH,22.7,39.476
$10V_AH,9.9,18.052
$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,22.725,196.675,629.800,0.000,0.000,0.000,0.000,302.475,0.000,0.000,18.386,3130.039,14096.840,804.791,2720.556,377.666,0.000,2451.771,0.000,2289.976,0.000,0.542,0.000
$DEVICE_MAMPS,247.095,56.610,1494.810,0.000,0.000,0.000,0.000,136.935,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20591.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.656,0.000,0.000,0.000
$MEM,323768
$DATA_FILE_SIZE,36757,941
$CAP_FILE_SIZE,247463,0
$CFSIZE,260034560,232632320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.083, 28.6,1
$GPS,101212,163558,1845.306,12022.398,69,1.0,69,-2.4