version: 66.11
glider: 170
mission: 10
dive: 150
start: 12 3 112 9 52 39
data:
$ID,170
$MISSION,10
$DIVE,150
$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,-143277.67
$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,60
$R_STBD_OVSHOOT,36
$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
$GPS1,031212,094423,1926.631,12002.210,37,0.9,37,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-68.0
$GPS2,031212,095211,1926.572,12002.313,16,1.1,16,-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,198.8,49377,-14.9,-8.684,-17.18
$D_GRID,4217
$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,-170.3,0.0,0.0,0,86,0.00,0.00,-64.28,0.000,2,0.000,0.000,134,2620,1902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.51,-170.3,3.1,-2.1,11,155,11.15,2.17,-45.80,0.000,4,0.241,0.045,2880,1199,3465,0,0,0,0,0,0,25.54,26.08,26.40
$GC,317,-0.46,-170.3,48.0,-16.1,42,325,0.00,2.22,0.00,0.000,6,0.000,0.048,2880,2599,3466,0,0,0,0,0,0,28.83,26.11,28.83
$GC,514,-0.42,-170.3,85.4,-19.8,53,520,0.12,1.73,0.00,0.000,4,0.163,0.052,2920,3700,3466,0,0,0,0,0,0,26.13,26.22,28.83
$GC,582,-0.41,-170.3,96.5,-18.2,56,588,0.00,1.60,0.00,0.000,6,0.000,0.024,2919,2566,3466,0,0,0,0,0,0,28.83,26.43,28.83
$GC,782,-0.42,-170.3,118.5,-7.0,66,788,0.00,1.95,0.00,0.000,4,0.000,0.031,2920,1235,3467,0,0,0,0,0,0,28.83,26.36,28.83
$GC,841,-0.45,-170.3,120.7,-5.2,68,847,0.00,2.15,0.00,0.000,6,0.000,0.049,2920,2601,3467,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1028,-0.47,-170.3,134.6,-8.3,78,1033,0.00,1.73,0.00,0.000,4,0.000,0.054,2920,3704,3467,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1091,-0.50,-170.3,139.9,-8.2,81,1097,0.00,1.55,0.00,0.000,6,0.000,0.025,2920,2578,3467,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1296,-0.53,-170.3,155.5,-6.9,91,1302,0.12,1.92,0.00,0.000,4,0.090,0.041,2846,1258,3466,0,0,0,0,0,0,26.54,26.01,28.83
$GC,1360,-0.53,-170.3,161.4,-8.5,94,1366,0.12,2.12,0.00,0.000,6,0.161,0.051,2881,2603,3468,0,0,0,0,0,0,26.23,26.36,28.83
$GC,1565,-0.53,-170.3,177.1,-8.3,104,1570,0.00,1.73,0.00,0.000,4,0.000,0.056,2879,3709,3466,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1597,-0.53,-170.3,179.1,-8.4,105,1602,0.00,1.55,0.00,0.000,6,0.000,0.024,2880,2612,3466,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1790,-0.53,-170.3,201.3,-12.3,115,1796,0.00,2.03,0.00,0.000,4,0.000,0.041,2878,1227,3465,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1879,-0.54,-170.3,212.1,-13.0,119,1884,0.00,2.15,0.00,0.000,6,0.000,0.046,2878,2609,3465,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2077,-0.54,-170.3,236.9,-12.0,129,2082,0.00,2.05,0.00,0.000,4,0.000,0.032,2879,1247,3464,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2101,-0.55,-170.3,239.3,-11.3,130,2106,0.00,2.12,0.00,0.000,6,0.000,0.044,2879,2617,3464,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2305,-0.56,-170.3,259.4,-9.7,140,2310,0.00,1.67,0.00,0.000,4,0.000,0.054,2879,3697,3463,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2328,-0.57,-170.3,261.7,-10.0,141,2334,0.00,1.55,0.00,0.000,6,0.000,0.027,2879,2592,3463,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2652,-0.58,-170.3,297.5,-11.1,157,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2589,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2953,-0.59,-170.3,327.1,-9.3,172,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2589,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3253,-0.60,-170.3,351.6,-7.5,187,3258,0.00,1.77,0.00,0.000,4,0.000,0.054,2879,3697,3457,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3286,-0.62,-170.3,353.5,-7.5,188,3291,0.00,1.55,0.00,0.000,6,0.000,0.028,2879,2611,3457,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3599,-0.63,-170.3,372.9,-5.9,204,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2609,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3902,-0.65,-170.3,397.7,-9.8,219,3907,0.12,2.00,0.00,0.000,4,0.100,0.026,2809,1229,3455,0,0,0,0,0,0,26.62,26.57,28.83
$GC,3945,-0.65,-170.3,403.8,-11.5,221,3951,0.12,2.12,0.00,0.000,6,0.161,0.044,2844,2597,3454,0,0,0,0,0,0,26.29,26.48,28.83
$GC,4269,-0.64,-170.3,446.4,-12.6,237,4275,0.00,1.75,0.00,0.000,4,0.000,0.055,2844,3695,3452,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4337,-0.64,-170.3,454.1,-12.2,240,4342,0.00,1.58,0.00,0.000,6,0.000,0.028,2845,2585,3451,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4654,-0.64,-170.3,491.4,-11.3,256,4660,0.00,1.95,0.00,0.000,4,0.000,0.028,2845,1234,3449,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4698,-0.64,-170.3,496.2,-11.4,258,4703,0.00,2.12,0.00,0.000,6,0.000,0.044,2844,2613,3449,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5021,-0.64,-170.3,532.1,-11.1,274,5026,0.00,2.05,0.00,0.000,4,0.000,0.027,2845,1229,3448,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5052,-0.64,-170.3,534.7,-11.2,275,5058,0.00,2.12,0.00,0.000,6,0.000,0.044,2845,2600,3447,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5366,-0.64,-170.3,570.5,-11.4,291,5372,0.00,2.03,0.00,0.000,4,0.000,0.026,2844,1233,3447,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5393,-0.64,-170.3,573.2,-11.4,292,5398,0.00,2.10,0.00,0.000,6,0.000,0.044,2844,2601,3446,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5721,-0.64,-170.3,610.2,-10.5,307,5726,0.00,2.03,0.00,0.000,4,0.000,0.027,2845,1236,3445,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5828,-0.64,-170.3,618.9,-9.6,310,5834,0.00,2.10,0.00,0.000,6,0.000,0.043,2844,2605,3444,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6149,-0.64,-170.3,644.3,-7.1,321,6154,0.00,2.03,0.00,0.000,4,0.000,0.027,2844,1237,3443,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6242,-0.64,-170.3,651.3,-7.2,324,6247,0.00,2.12,0.00,0.000,6,0.000,0.042,2844,2601,3442,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6576,-0.64,-170.3,682.8,-10.7,335,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2602,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6875,-0.64,-170.3,719.9,-12.9,345,6880,0.00,1.73,0.00,0.000,4,0.000,0.055,2845,3697,3440,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6952,-0.65,-170.3,727.9,-12.7,347,6958,0.00,1.58,0.00,0.000,6,0.000,0.029,2844,2621,3439,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7271,-0.65,-170.3,768.7,-12.0,358,7277,0.00,2.05,0.00,0.000,4,0.000,0.028,2845,1209,3437,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7329,-0.66,-170.3,772.7,-11.8,359,7336,0.00,2.17,0.00,0.000,6,0.000,0.044,2844,2605,3437,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7636,-0.67,-170.3,806.3,-9.4,370,7641,0.00,1.73,0.00,0.000,4,0.000,0.056,2844,3700,3436,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7699,-0.68,-170.3,812.1,-9.2,372,7705,0.00,1.62,0.00,0.000,6,0.000,0.030,2845,2589,3437,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8034,-0.69,-170.3,839.5,-7.9,383,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2589,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8333,-0.69,-170.3,864.1,-8.3,393,8339,0.00,2.00,0.00,0.000,4,0.000,0.028,2845,1217,3434,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8371,-0.71,-170.3,867.1,-8.5,394,8377,0.00,2.17,0.00,0.000,6,0.000,0.044,2844,2611,3434,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8702,-0.72,-170.3,896.3,-8.4,405,8707,0.00,1.73,0.00,0.000,4,0.000,0.057,2844,3701,3433,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8724,-0.73,-170.3,896.3,-8.4,405,8729,0.00,1.62,0.00,0.000,6,0.000,0.030,2844,2593,3432,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9039,-0.74,-170.3,922.6,-7.2,416,9044,0.00,2.03,0.00,0.000,4,0.000,0.028,2844,1217,3432,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9121,-0.75,-170.3,927.2,-7.0,418,9127,0.12,2.17,0.00,0.000,6,0.097,0.044,2790,2610,3431,0,0,0,0,0,0,26.40,26.42,28.83
$GC,9437,-0.73,-170.3,960.7,-10.3,429,9442,0.00,1.73,0.00,0.000,4,0.000,0.057,2790,3698,3430,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9494,-0.70,-170.3,964.4,-10.2,430,9501,0.12,1.62,0.00,0.000,6,0.158,0.030,2824,2596,3430,0,0,0,0,0,0,26.29,26.61,28.83
$GC,9802,-0.70,-170.3,988.3,-6.4,441,9807,0.00,2.05,0.00,0.000,4,0.000,0.028,2824,1206,3430,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,9833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9833,begin apogee
$GC,9839,-0.15,0.0,990.6,-6.4,442,9987,0.50,0.00,141.18,1.480,6,0.115,0.000,2999,2135,2769,0,0,0,0,0,0,26.13,28.83,23.75
$STATE,9989,end apogee,CONTROL_FINISHED_OK
$STATE,9989,begin climb
$GC,9991,0.51,170.3,992.0,0.0,447,10160,0.60,2.53,156.70,1.435,4,0.052,0.051,3219,3522,2072,0,0,0,0,0,0,24.82,23.71,22.84
$GC,10202,0.44,170.3,969.0,14.9,454,10208,0.12,2.28,0.00,0.000,6,0.165,0.028,3197,2140,2067,0,0,0,0,0,0,24.34,24.50,28.83
$GC,10531,0.41,170.3,918.5,14.7,465,10536,0.00,2.22,0.00,0.000,4,0.000,0.036,3201,712,2062,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10613,0.38,170.3,909.9,14.0,467,10619,0.00,2.22,0.00,0.000,6,0.000,0.037,3201,2123,2060,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10928,0.35,170.3,863.9,13.9,478,10933,0.12,2.22,0.00,0.000,4,0.155,0.050,3160,3529,2060,0,0,0,0,0,0,25.99,26.06,28.83
$GC,10966,0.32,170.3,859.3,13.7,479,10972,0.00,2.17,0.00,0.000,6,0.000,0.028,3163,2102,2060,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11296,0.32,170.3,822.5,10.4,490,11302,0.00,2.10,0.00,0.000,4,0.000,0.036,3163,720,2058,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11384,0.32,170.3,816.2,10.0,492,11391,0.00,2.17,0.00,0.000,6,0.000,0.037,3163,2128,2057,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11690,0.32,170.5,786.6,8.7,503,11695,0.00,2.22,0.00,0.000,4,0.000,0.051,3163,3528,2058,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,18495,end climb,SURFACE_DEPTH_REACHED
$STATE,18495,begin surface coast
$FINISH,1.5,1.009256
$STATE,18514,end surface coast,CONTROL_FINISHED_OK
$STATE,18514,begin surface
$SM_CCo,18593,0.00,0.000,0,0,457,567.13
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$IRIDIUM_FIX,1918.37,12002.55,031212,040432
$TT8_MAMPS,0.025466,0.025466
$HUMID,51.96
$INTERNAL_PRESSURE,9.45898
$TCM_TEMP,24.00
$XPDR_PINGS,2
$SC_FREEKB,3962528
$24V_AH,22.8,33.198
$10V_AH,10.0,14.556
$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,23.375,187.050,638.975,0.000,0.000,0.000,0.000,281.575,0.500,0.000,17.438,2859.522,12536.833,821.468,2518.010,316.791,0.000,2352.193,0.000,2104.049,0.000,0.542,0.000
$DEVICE_MAMPS,240.975,57.375,1480.275,0.000,0.000,0.000,0.000,137.700,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18543.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.911,0.000,0.000,0.000
$MEM,323768
$DATA_FILE_SIZE,30092,838
$CAP_FILE_SIZE,225001,0
$CFSIZE,260034560,236048384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.173,296.7,1
$GPS,031212,150334,1924.633,11959.961,26,1.0,26,-2.5