version: 66.11
glider: 170
mission: 10
dive: 141
start: 12 1 112 6 45 45
data:
$ID,170
$MISSION,10
$DIVE,141
$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,-143265.36
$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,74
$R_STBD_OVSHOOT,30
$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
$GPS1,011212,063728,1936.507,12001.676,37,0.7,37,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-76.1
$GPS2,011212,064517,1936.592,12001.732,17,0.9,17,-2.6
$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,200.8,67835,-14.9,-8.684,-17.18
$D_GRID,4113
$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,-170.3,0.0,0.0,0,79,0.00,0.00,-57.78,0.000,2,0.000,0.000,141,2615,1758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.51,-170.3,3.0,-1.8,10,165,11.18,2.12,-62.25,0.000,4,0.244,0.041,2878,1195,3465,0,0,0,0,0,0,25.60,26.17,26.45
$GC,249,-0.43,-170.3,33.3,-28.9,37,256,0.12,2.20,0.00,0.000,6,0.159,0.043,2915,2601,3466,0,0,0,0,0,0,25.98,26.14,28.83
$GC,437,-0.40,-170.3,66.3,-15.6,51,442,0.00,1.73,0.00,0.000,4,0.000,0.054,2915,3696,3466,0,0,0,0,0,0,28.83,26.22,28.83
$GC,500,-0.39,-170.3,73.8,-12.4,54,505,0.00,1.58,0.00,0.000,6,0.000,0.024,2915,2554,3466,0,0,0,0,0,0,28.83,26.42,28.83
$GC,703,-0.39,-170.3,91.6,-8.6,64,709,0.00,1.88,0.00,0.000,4,0.000,0.024,2915,1241,3467,0,0,0,0,0,0,28.83,26.43,28.83
$GC,767,-0.40,-170.3,96.6,-7.8,67,772,0.00,2.10,0.00,0.000,6,0.000,0.040,2915,2610,3466,0,0,0,0,0,0,28.83,26.36,28.83
$GC,970,-0.41,-170.3,118.9,-12.6,77,975,0.00,1.67,0.00,0.000,4,0.000,0.053,2915,3690,3467,0,0,0,0,0,0,28.83,26.37,28.83
$GC,996,-0.43,-170.3,121.9,-12.9,78,1003,0.00,1.55,0.00,0.000,6,0.000,0.025,2915,2591,3467,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1195,-0.44,-170.3,146.6,-11.1,88,1201,0.00,1.92,0.00,0.000,4,0.000,0.024,2915,1232,3466,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1243,-0.47,-170.3,151.0,-10.5,90,1249,0.00,2.10,0.00,0.000,6,0.000,0.038,2915,2607,3466,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1442,-0.49,-170.3,169.2,-8.9,100,1447,0.00,1.70,0.00,0.000,4,0.000,0.054,2915,3696,3466,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1465,-0.51,-170.3,171.5,-9.1,101,1470,0.00,1.55,0.00,0.000,6,0.000,0.025,2915,2601,3467,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1670,-0.54,-170.3,188.6,-7.2,111,1676,0.12,1.95,0.00,0.000,4,0.089,0.023,2835,1222,3465,0,0,0,0,0,0,26.59,26.56,28.83
$GC,1723,-0.55,-170.3,193.1,-8.2,113,1730,0.12,2.12,0.00,0.000,6,0.160,0.040,2872,2609,3465,0,0,0,0,0,0,26.30,26.48,28.83
$GC,1919,-0.54,-170.3,211.1,-8.5,123,1925,0.00,1.70,0.00,0.000,4,0.000,0.054,2871,3700,3465,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1943,-0.53,-170.3,213.2,-8.4,124,1948,0.00,1.52,0.00,0.000,6,0.000,0.025,2872,2584,3464,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2146,-0.53,-170.3,232.0,-9.6,134,2152,0.00,1.90,0.00,0.000,4,0.000,0.024,2872,1240,3464,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2174,-0.53,-170.3,234.3,-9.4,135,2179,0.00,2.08,0.00,0.000,6,0.000,0.039,2872,2600,3464,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2372,-0.53,-170.3,256.7,-12.1,145,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2600,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2672,-0.53,-170.3,289.5,-10.7,160,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2600,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2974,-0.53,-170.3,319.4,-9.4,175,2979,0.00,1.70,0.00,0.000,4,0.000,0.054,2872,3691,3461,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3010,-0.53,-170.3,321.7,-9.3,176,3017,0.00,1.55,0.00,0.000,6,0.000,0.026,2872,2610,3461,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3317,-0.54,-170.3,348.4,-7.9,192,3322,0.00,2.00,0.00,0.000,4,0.000,0.024,2872,1218,3458,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3375,-0.55,-170.3,351.7,-7.7,194,3382,0.00,2.12,0.00,0.000,6,0.000,0.039,2872,2609,3458,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3682,-0.56,-170.3,377.3,-8.3,210,3687,0.00,1.70,0.00,0.000,4,0.000,0.054,2872,3701,3456,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3734,-0.58,-170.3,381.0,-8.5,212,3739,0.00,1.58,0.00,0.000,6,0.000,0.027,2872,2590,3456,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4047,-0.59,-170.3,408.3,-8.4,228,4053,0.00,1.98,0.00,0.000,4,0.000,0.025,2872,1219,3454,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4121,-0.61,-170.3,413.7,-8.4,231,4126,0.00,2.12,0.00,0.000,6,0.000,0.039,2872,2606,3454,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4434,-0.63,-170.3,437.5,-6.9,247,4439,0.00,2.00,0.00,0.000,4,0.000,0.024,2872,1225,3451,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4467,-0.65,-170.3,439.1,-6.9,248,4472,0.00,2.12,0.00,0.000,6,0.000,0.040,2872,2607,3451,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4780,-0.67,-170.3,460.2,-6.7,264,4786,0.12,2.03,0.00,0.000,4,0.094,0.024,2801,1214,3449,0,0,0,0,0,0,26.64,26.62,28.83
$GC,4813,-0.67,-170.3,462.3,-7.2,265,4820,0.12,2.12,0.00,0.000,6,0.168,0.041,2835,2605,3448,0,0,0,0,0,0,26.33,26.52,28.83
$GC,5129,-0.66,-170.3,496.2,-10.5,281,5134,0.00,1.70,0.00,0.000,4,0.000,0.055,2835,3693,3447,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5206,-0.65,-170.3,502.8,-10.4,284,5213,0.00,1.55,0.00,0.000,6,0.000,0.028,2835,2599,3446,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5512,-0.65,-170.3,535.9,-10.8,300,5517,0.00,1.98,0.00,0.000,4,0.000,0.024,2835,1217,3446,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5576,-0.65,-170.3,542.9,-10.9,303,5582,0.00,2.12,0.00,0.000,6,0.000,0.041,2835,2600,3446,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5899,-0.65,-170.3,577.2,-10.5,319,5904,0.00,2.03,0.00,0.000,4,0.000,0.025,2835,1209,3444,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5916,-0.65,-170.3,577.2,-10.5,319,5922,0.00,2.15,0.00,0.000,6,0.000,0.041,2835,2599,3444,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6244,-0.65,-170.3,613.4,-10.3,334,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2599,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6542,-0.65,-170.3,643.0,-9.6,344,6547,0.00,2.03,0.00,0.000,4,0.000,0.025,2835,1211,3441,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6618,-0.65,-170.3,648.8,-9.4,346,6623,0.00,2.15,0.00,0.000,6,0.000,0.041,2835,2603,3440,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6938,-0.65,-170.3,677.7,-8.5,357,6943,0.00,2.05,0.00,0.000,4,0.000,0.024,2835,1212,3438,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7014,-0.65,-170.3,683.3,-8.7,359,7020,0.00,2.15,0.00,0.000,6,0.000,0.041,2835,2604,3439,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7332,-0.65,-170.3,713.0,-8.9,370,7338,0.00,2.03,0.00,0.000,4,0.000,0.025,2835,1217,3437,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7384,-0.65,-170.3,716.0,-9.0,371,7390,0.00,2.15,0.00,0.000,6,0.000,0.041,2835,2606,3437,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7698,-0.65,-170.3,747.5,-9.6,382,7703,0.00,2.05,0.00,0.000,4,0.000,0.026,2834,1218,3435,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7784,-0.65,-170.3,753.9,-9.9,384,7791,0.00,2.15,0.00,0.000,6,0.000,0.041,2835,2611,3434,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8091,-0.65,-170.3,784.5,-9.2,395,8096,0.00,1.70,0.00,0.000,4,0.000,0.056,2835,3691,3435,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8117,-0.65,-170.3,784.5,-9.2,395,8124,0.00,1.60,0.00,0.000,6,0.000,0.031,2834,2603,3433,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8425,-0.65,-170.3,814.4,-8.9,406,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2602,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8725,-0.65,-170.3,839.5,-8.4,416,8730,0.00,2.05,0.00,0.000,4,0.000,0.027,2835,1202,3432,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8818,-0.65,-170.3,847.3,-8.2,419,8824,0.00,2.17,0.00,0.000,6,0.000,0.041,2835,2599,3431,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9154,-0.65,-170.3,875.1,-8.6,430,9159,0.00,2.05,0.00,0.000,4,0.000,0.027,2835,1202,3432,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9176,-0.65,-170.3,875.1,-8.6,430,9181,0.00,2.17,0.00,0.000,6,0.000,0.041,2835,2604,3430,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9489,-0.65,-170.3,904.7,-8.8,441,9494,0.00,2.05,0.00,0.000,4,0.000,0.026,2835,1203,3430,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9541,-0.65,-170.3,907.6,-8.8,442,9546,0.00,2.17,0.00,0.000,6,0.000,0.041,2835,2605,3429,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9854,-0.65,-170.3,936.4,-8.4,453,9855,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2605,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10155,-0.65,-170.3,960.9,-8.3,463,10160,0.00,2.08,0.00,0.000,4,0.000,0.026,2835,1207,3428,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10233,-0.66,-170.3,966.3,-8.3,465,10239,0.00,2.17,0.00,0.000,6,0.000,0.041,2834,2605,3427,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,10490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10490,begin apogee
$GC,10496,-0.15,0.0,990.1,-8.9,474,10643,0.47,0.00,140.55,1.490,6,0.112,0.000,3000,2109,2768,0,0,0,0,0,0,26.23,28.83,23.75
$STATE,10645,end apogee,CONTROL_FINISHED_OK
$STATE,10645,begin climb
$GC,10647,0.51,170.3,997.0,0.0,479,10813,0.57,2.28,156.18,1.447,4,0.054,0.031,3226,753,2073,0,0,0,0,0,0,24.82,23.73,22.83
$GC,10840,0.45,186.2,987.5,8.1,485,10865,0.00,2.30,15.73,1.310,6,0.000,0.036,3226,2120,2008,0,0,0,0,0,0,28.83,24.27,23.20
$GC,11187,0.40,186.2,940.1,13.3,497,11193,0.15,2.30,0.00,0.000,4,0.153,0.050,3179,3533,2000,0,0,0,0,0,0,25.46,25.57,28.83
$GC,11241,0.36,186.2,936.0,13.1,498,11247,0.00,2.17,0.00,0.000,6,0.000,0.028,3187,2136,2000,0,0,0,0,0,0,28.83,25.79,28.83
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$STATE,19845,end climb,SURFACE_DEPTH_REACHED
$STATE,19845,begin surface coast
$FINISH,1.4,1.019509
$STATE,19867,end surface coast,CONTROL_FINISHED_OK
$STATE,19867,begin surface
$SM_CCo,19946,0.00,0.000,0,0,458,566.89
$SM_GC,2.42,8.55,0.82,0.00,0.046,0.041,0.000,136,2605,458,-9.06,-1.07,566.89,0,0,0,0,0,0,25.96,26.09,28.83
$IRIDIUM_FIX,1929.80,12003.70,011212,010153
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.78
$INTERNAL_PRESSURE,9.40038
$TCM_TEMP,22.80
$XPDR_PINGS,1
$SC_FREEKB,3965984
$24V_AH,22.8,31.098
$10V_AH,10.1,13.501
$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,22.775,218.850,633.700,0.000,0.000,0.000,0.000,279.875,0.250,0.000,19.251,3058.479,13515.940,833.993,2675.600,321.787,0.000,2461.283,0.000,2251.127,0.000,0.542,0.000
$DEVICE_MAMPS,244.035,55.845,1490.220,0.000,0.000,0.000,0.000,134.640,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19894.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.245,0.000,0.000,0.000
$MEM,323784
$DATA_FILE_SIZE,33399,908
$CAP_FILE_SIZE,241283,0
$CFSIZE,260034560,237092864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.089,318.4,1
$GPS,011212,121927,1934.402,12000.383,36,1.3,40,-2.5