version: 66.11
glider: 170
mission: 10
dive: 192
start: 12 13 112 3 13 51
data:
$ID,170
$MISSION,10
$DIVE,192
$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,-5
$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,566.39771
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$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,-143333.59
$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,60
$R_STBD_OVSHOOT,42
$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
$GPS1,131212,025954,1838.706,12028.130,24,0.8,29,-2.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-70.6
$GPS2,131212,031322,1839.142,12028.055,37,0.8,37,-2.4
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,W3A
$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,321.7,62495,-14.9,-8.684,-17.18
$D_GRID,2244
$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,18,begin dive
$GC,20,-0.51,-170.3,0.0,0.0,0,69,0.00,0.00,-46.62,0.000,2,0.000,0.000,138,2620,1948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.51,-170.3,3.2,-1.7,8,132,11.38,1.75,-40.22,0.000,4,0.245,0.075,2883,3678,3466,0,0,0,0,0,0,25.63,26.11,26.60
$GC,195,-0.42,-170.3,30.1,-31.9,28,204,0.12,1.60,0.00,0.000,6,0.180,0.026,2915,2553,3465,0,0,0,0,0,0,25.96,26.39,28.83
$GC,382,-0.40,-170.3,62.3,-14.7,43,387,0.00,1.92,0.00,0.000,4,0.000,0.032,2916,1247,3467,0,0,0,0,0,0,28.83,26.31,28.83
$GC,578,-0.40,-170.3,86.1,-12.4,52,585,0.00,2.10,0.00,0.000,6,0.000,0.045,2916,2595,3466,0,0,0,0,0,0,28.83,26.25,28.83
$GC,765,-0.40,-170.3,104.4,-8.7,62,771,0.00,2.03,0.00,0.000,4,0.000,0.031,2916,1243,3466,0,0,0,0,0,0,28.83,26.38,28.83
$GC,829,-0.41,-170.3,109.8,-8.5,65,835,0.00,2.12,0.00,0.000,6,0.000,0.046,2916,2607,3466,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1035,-0.42,-170.3,128.9,-9.8,75,1040,0.00,2.05,0.00,0.000,4,0.000,0.044,2916,1244,3466,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1079,-0.43,-170.3,133.4,-9.8,77,1084,0.00,2.12,0.00,0.000,6,0.000,0.046,2916,2611,3466,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1282,-0.45,-170.3,153.4,-9.7,87,1287,0.00,2.05,0.00,0.000,4,0.000,0.033,2916,1246,3465,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1325,-0.47,-170.3,157.4,-9.1,89,1331,0.00,2.12,0.00,0.000,6,0.000,0.047,2916,2609,3465,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1531,-0.49,-170.3,170.9,-5.6,99,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2610,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1709,-0.52,-170.3,179.7,-5.2,108,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2610,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1889,-0.54,-170.3,191.1,-6.8,117,1895,0.12,2.03,0.00,0.000,4,0.090,0.031,2839,1242,3464,0,0,0,0,0,0,26.61,26.42,28.83
$GC,1957,-0.54,-170.3,198.7,-10.8,120,1963,0.12,2.10,0.00,0.000,6,0.155,0.040,2875,2616,3463,0,0,0,0,0,0,26.17,26.40,28.83
$GC,2156,-0.54,-170.3,220.6,-10.1,130,2162,0.00,2.05,0.00,0.000,4,0.000,0.037,2875,1222,3462,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2209,-0.54,-170.3,225.0,-10.0,132,2215,0.00,2.12,0.00,0.000,6,0.000,0.040,2875,2612,3462,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2402,-0.54,-170.3,245.9,-10.8,142,2407,0.00,2.00,0.00,0.000,4,0.000,0.025,2875,1229,3461,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2469,-0.55,-170.3,253.0,-11.3,145,2475,0.00,2.10,0.00,0.000,6,0.000,0.039,2875,2603,3461,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2788,-0.56,-170.3,286.9,-9.5,161,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2603,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3090,-0.57,-170.3,315.3,-9.8,176,3095,0.00,2.03,0.00,0.000,4,0.000,0.024,2875,1219,3456,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3157,-0.58,-170.3,321.6,-9.6,179,3162,0.00,2.12,0.00,0.000,6,0.000,0.040,2875,2606,3456,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3475,-0.59,-170.3,350.8,-8.5,195,3481,0.00,2.03,0.00,0.000,4,0.000,0.025,2875,1225,3453,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3563,-0.61,-170.3,358.2,-8.8,199,3569,0.00,2.12,0.00,0.000,6,0.000,0.040,2875,2609,3453,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3881,-0.62,-170.3,386.3,-9.1,215,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2609,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4183,-0.63,-170.3,413.8,-9.0,230,4188,0.00,2.00,0.00,0.000,4,0.000,0.025,2875,1232,3450,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4255,-0.65,-170.3,419.9,-9.2,233,4262,0.12,2.10,0.00,0.000,6,0.090,0.040,2808,2598,3449,0,0,0,0,0,0,26.36,26.37,28.83
$GC,4571,-0.63,-170.3,465.0,-14.4,249,4577,0.12,1.70,0.00,0.000,4,0.157,0.050,2849,3694,3447,0,0,0,0,0,0,26.34,26.30,28.83
$GC,4615,-0.62,-170.3,470.0,-12.5,251,4621,0.00,1.55,0.00,0.000,6,0.000,0.028,2849,2616,3447,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4938,-0.62,-170.3,502.9,-10.6,267,4944,0.00,2.05,0.00,0.000,4,0.000,0.025,2850,1204,3445,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4986,-0.62,-170.3,507.4,-10.5,269,4991,0.00,2.15,0.00,0.000,6,0.000,0.041,2850,2599,3445,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5304,-0.62,-170.3,539.0,-9.9,285,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2598,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5605,-0.62,-170.3,564.0,-7.5,300,5610,0.00,2.05,0.00,0.000,4,0.000,0.026,2849,1207,3441,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5684,-0.63,-170.3,568.7,-7.2,303,5690,0.00,2.15,0.00,0.000,6,0.000,0.041,2850,2599,3441,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5989,-0.63,-170.3,591.8,-7.5,319,5994,0.00,2.05,0.00,0.000,4,0.000,0.026,2850,1210,3439,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6036,-0.64,-170.3,594.9,-7.2,321,6042,0.00,2.15,0.00,0.000,6,0.000,0.041,2850,2600,3439,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6356,-0.64,-170.3,621.7,-9.1,333,6362,0.00,2.05,0.00,0.000,4,0.000,0.026,2850,1202,3437,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6399,-0.64,-170.3,625.2,-9.4,334,6405,0.00,2.15,0.00,0.000,6,0.000,0.041,2850,2602,3438,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6725,-0.65,-170.3,657.8,-9.8,345,6730,0.00,2.03,0.00,0.000,4,0.000,0.025,2850,1214,3436,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6792,-0.66,-170.3,664.3,-10.0,347,6797,0.00,2.15,0.00,0.000,6,0.000,0.041,2849,2603,3436,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7122,-0.67,-170.3,699.2,-10.6,358,7127,0.00,2.05,0.00,0.000,4,0.000,0.025,2850,1214,3434,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7194,-0.68,-170.3,705.5,-10.0,360,7200,0.00,2.15,0.00,0.000,6,0.000,0.041,2850,2599,3434,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7520,-0.69,-170.3,736.3,-8.8,371,7525,0.00,1.75,0.00,0.000,4,0.000,0.054,2849,3693,3433,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7602,-0.70,-170.3,741.4,-8.2,373,7607,0.00,1.60,0.00,0.000,6,0.000,0.029,2850,2599,3433,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7918,-0.71,-170.3,761.1,-5.0,384,7923,0.00,2.03,0.00,0.000,4,0.000,0.025,2850,1194,3432,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7990,-0.72,-170.3,764.4,-5.0,386,7996,0.00,2.17,0.00,0.000,6,0.000,0.040,2850,2600,3431,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8316,-0.73,-170.3,781.7,-5.7,397,8318,0.10,0.00,0.00,0.000,6,0.108,0.000,2795,2600,3430,0,0,0,0,0,0,26.61,28.83,28.83
$GC,8614,-0.71,-170.3,815.9,-12.7,407,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2600,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8915,-0.69,-170.3,857.2,-14.1,417,8920,0.12,2.08,0.00,0.000,4,0.158,0.024,2836,1204,3428,0,0,0,0,0,0,26.31,26.45,28.83
$GC,8948,-0.68,-170.3,861.4,-13.5,418,8955,0.00,2.17,0.00,0.000,6,0.000,0.041,2836,2599,3428,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9284,-0.68,-170.3,893.3,-9.0,429,9290,0.00,2.08,0.00,0.000,4,0.000,0.026,2836,1202,3427,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9352,-0.69,-170.3,899.1,-9.0,431,9358,0.00,2.17,0.00,0.000,6,0.000,0.041,2836,2603,3426,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9682,-0.69,-170.3,928.5,-9.1,442,9689,0.00,2.08,0.00,0.000,4,0.000,0.026,2836,1205,3425,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9751,-0.70,-170.3,934.6,-9.2,444,9756,0.00,2.17,0.00,0.000,6,0.000,0.042,2836,2598,3425,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10081,-0.71,-170.3,963.5,-8.3,455,10088,0.00,2.08,0.00,0.000,4,0.000,0.027,2836,1203,3426,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10120,-0.71,-170.3,966.6,-8.3,456,10125,0.00,2.17,0.00,0.000,6,0.000,0.041,2836,2600,3424,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,10386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10386,begin apogee
$GC,10392,-0.15,0.0,990.0,-8.7,465,10539,0.47,0.00,140.68,1.487,6,0.107,0.000,3000,2102,2769,0,0,0,0,0,0,25.88,28.83,23.57
$STATE,10541,end apogee,CONTROL_FINISHED_OK
$STATE,10541,begin climb
$GC,10543,0.51,170.3,996.8,0.0,470,10709,0.57,2.55,156.80,1.440,4,0.050,0.048,3221,3523,2073,0,0,0,0,0,0,24.79,23.72,22.70
$GC,10737,0.47,208.3,988.5,7.4,476,10783,0.00,2.28,35.20,1.379,6,0.000,0.028,3228,2133,1917,0,0,0,0,0,0,28.83,24.34,22.86
$GC,11082,0.45,208.3,945.1,12.1,488,11088,0.12,2.17,0.00,0.000,4,0.161,0.032,3198,726,1910,0,0,0,0,0,0,25.57,25.71,28.83
$GC,11206,0.44,208.3,933.7,9.2,492,11211,0.00,2.20,0.00,0.000,6,0.000,0.036,3198,2128,1908,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11541,0.42,208.3,899.3,10.8,503,11546,0.00,2.25,0.00,0.000,4,0.000,0.050,3198,3536,1907,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11568,0.41,208.3,899.3,10.8,503,11575,0.00,2.15,0.00,0.000,6,0.000,0.028,3202,2119,1907,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11874,0.39,208.3,857.4,12.6,514,11880,0.00,2.10,0.00,0.000,4,0.000,0.034,3203,720,1907,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11968,0.38,208.3,846.4,11.9,517,11974,0.00,2.17,0.00,0.000,6,0.000,0.037,3203,2126,1905,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,19921,end climb,SURFACE_DEPTH_REACHED
$STATE,19921,begin surface coast
$FINISH,1.6,1.021054
$STATE,19948,end surface coast,CONTROL_FINISHED_OK
$STATE,19948,begin surface
$SM_CCo,19969,5.35,0.063,0,0,460,566.40
$SM_GC,2.32,8.57,1.42,5.35,0.051,0.026,0.063,144,2561,460,-9.05,1.87,566.40,0,0,0,0,0,0,25.80,26.23,25.98
$IRIDIUM_FIX,1832.77,12028.16,131212,030330
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.29
$INTERNAL_PRESSURE,9.41992
$TCM_TEMP,23.30
$XPDR_PINGS,2
$SC_FREEKB,3946368
$24V_AH,22.7,42.224
$10V_AH,9.9,19.497
$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
$DEVICE_SECS,23.025,209.925,601.125,5.350,0.000,0.000,0.000,336.200,0.500,0.000,38.539,3145.197,13664.046,780.688,2827.551,361.957,0.000,2469.115,0.000,2311.882,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19983.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.434,0.000,0.000,0.000
$MEM,338120
$DATA_FILE_SIZE,33407,915
$CAP_FILE_SIZE,243981,0
$CFSIZE,260034560,231071744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.088,282.0,1
$GPS,131212,084804,1841.413,12024.805,39,0.9,39,-2.4