version: 66.11
glider: 170
mission: 10
dive: 193
start: 12 13 112 9 1 35
data:
$ID,170
$MISSION,10
$DIVE,193
$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,450
$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,-143334.84
$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,100
$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
$GPS1,131212,084804,1841.413,12024.805,39,0.9,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-69.5
$GPS2,131212,090106,1841.772,12024.613,17,1.3,17,-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,318.4,54747,-14.9,-8.684,-17.18
$D_GRID,3270
$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,-170.3,0.0,0.0,0,80,0.00,0.00,-58.03,0.000,2,0.000,0.000,144,2552,1803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.51,-170.3,3.5,-3.0,10,150,11.48,2.00,-45.25,0.000,4,0.247,0.045,2879,1237,3465,0,0,0,0,0,0,25.41,26.09,26.43
$GC,339,-0.47,-170.3,59.4,-18.1,41,344,0.00,2.12,0.00,0.000,6,0.000,0.045,2879,2589,3466,0,0,0,0,0,0,28.83,26.09,28.83
$GC,538,-0.44,-170.3,96.4,-16.6,51,544,0.10,1.75,0.00,0.000,4,0.174,0.057,2905,3695,3466,0,0,0,0,0,0,26.25,26.16,28.83
$GC,565,-0.40,-170.3,100.3,-15.8,52,571,0.00,1.55,0.00,0.000,6,0.000,0.024,2905,2630,3465,0,0,0,0,0,0,28.83,26.41,28.83
$GC,763,-0.39,-170.3,124.9,-11.8,62,769,0.00,2.08,0.00,0.000,4,0.000,0.028,2905,1201,3466,0,0,0,0,0,0,28.83,26.36,28.83
$GC,893,-0.40,-170.3,136.8,-9.2,68,898,0.00,2.17,0.00,0.000,6,0.000,0.043,2905,2603,3466,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1091,-0.41,-170.3,156.0,-8.9,78,1096,0.00,2.08,0.00,0.000,4,0.000,0.031,2905,1198,3466,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1155,-0.42,-170.3,160.9,-7.9,81,1160,0.00,2.17,0.00,0.000,6,0.000,0.044,2905,2600,3465,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1359,-0.43,-170.3,176.5,-7.9,91,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2601,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1539,-0.44,-170.3,190.8,-8.1,100,1544,0.00,2.10,0.00,0.000,4,0.000,0.031,2905,1197,3464,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1592,-0.45,-170.3,194.5,-8.3,102,1597,0.00,2.20,0.00,0.000,6,0.000,0.045,2905,2610,3464,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1786,-0.47,-170.3,209.5,-7.0,112,1791,0.00,1.70,0.00,0.000,4,0.000,0.053,2905,3703,3463,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1844,-0.49,-170.3,212.0,-6.1,114,1851,0.00,1.62,0.00,0.000,6,0.000,0.023,2905,2549,3463,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2030,-0.51,-170.3,222.0,-5.0,124,2035,0.00,1.92,0.00,0.000,4,0.000,0.028,2905,1195,3462,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2104,-0.53,-170.3,225.3,-5.2,127,2109,0.00,2.17,0.00,0.000,6,0.000,0.039,2905,2617,3462,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2299,-0.55,-170.3,239.0,-7.5,137,2306,0.10,1.67,0.00,0.000,4,0.106,0.050,2843,3696,3461,0,0,0,0,0,0,26.61,26.34,28.83
$GC,2338,-0.57,-170.3,241.7,-8.2,138,2345,0.00,1.60,0.00,0.000,6,0.000,0.024,2844,2555,3460,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2525,-0.56,-170.3,266.1,-12.3,148,2530,0.00,1.90,0.00,0.000,4,0.000,0.026,2844,1233,3459,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2552,-0.55,-170.3,269.0,-12.1,149,2557,0.00,2.10,0.00,0.000,6,0.000,0.041,2844,2601,3458,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2870,-0.53,-170.3,306.8,-12.0,165,2872,0.12,0.00,0.00,0.000,6,0.155,0.000,2881,2602,3456,0,0,0,0,0,0,26.39,28.83,28.83
$GC,3172,-0.55,-170.3,332.6,-8.0,180,3177,0.00,2.03,0.00,0.000,4,0.000,0.027,2882,1226,3454,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3230,-0.56,-170.3,336.3,-8.1,182,3237,0.00,2.10,0.00,0.000,6,0.000,0.041,2882,2601,3453,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3536,-0.57,-170.3,360.6,-7.9,198,3541,0.00,2.03,0.00,0.000,4,0.000,0.037,2882,1228,3453,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3574,-0.59,-170.3,362.7,-8.1,199,3581,0.00,2.12,0.00,0.000,6,0.000,0.041,2881,2607,3452,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3880,-0.60,-170.3,388.4,-7.8,215,3885,0.00,2.03,0.00,0.000,4,0.000,0.025,2881,1224,3450,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3944,-0.62,-170.3,393.5,-8.0,218,3950,0.00,2.12,0.00,0.000,6,0.000,0.040,2882,2601,3451,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4268,-0.64,-170.3,421.0,-9.4,234,4270,0.12,0.00,0.00,0.000,6,0.095,0.000,2819,2601,3447,0,0,0,0,0,0,26.60,28.83,28.83
$GC,4569,-0.62,-170.3,459.0,-11.6,249,4574,0.00,1.70,0.00,0.000,4,0.000,0.052,2819,3690,3446,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4596,-0.61,-170.3,461.5,-11.2,250,4602,0.12,1.52,0.00,0.000,6,0.145,0.028,2857,2607,3446,0,0,0,0,0,0,26.27,26.58,28.83
$GC,4916,-0.61,-170.3,479.7,-4.7,266,4921,0.00,2.00,0.00,0.000,4,0.000,0.025,2857,1213,3444,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4974,-0.62,-170.3,481.8,-4.6,268,4981,0.00,2.15,0.00,0.000,6,0.000,0.041,2857,2605,3444,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5280,-0.63,-170.3,496.7,-5.5,284,5285,0.00,2.03,0.00,0.000,4,0.000,0.024,2857,1224,3442,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5317,-0.64,-170.3,498.3,-5.9,285,5325,0.00,2.12,0.00,0.000,6,0.000,0.041,2857,2600,3441,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5623,-0.65,-170.3,526.8,-10.6,301,5624,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2600,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5924,-0.65,-170.3,559.2,-10.4,316,5929,0.00,2.00,0.00,0.000,4,0.000,0.025,2857,1219,3438,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6012,-0.67,-170.3,567.9,-10.2,320,6019,0.00,2.15,0.00,0.000,6,0.000,0.041,2857,2609,3438,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6332,-0.68,-170.3,595.6,-7.3,336,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2610,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6653,-0.68,-170.3,613.3,-4.9,348,6658,0.00,2.03,0.00,0.000,4,0.000,0.025,2857,1222,3435,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6717,-0.69,-170.3,616.8,-5.2,350,6723,0.00,2.15,0.00,0.000,6,0.000,0.041,2857,2603,3435,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7052,-0.71,-170.3,637.7,-6.8,361,7058,0.10,2.05,0.00,0.000,4,0.108,0.023,2805,1214,3433,0,0,0,0,0,0,26.62,26.48,28.83
$GC,7135,-0.71,-170.3,644.0,-8.4,363,7141,0.00,2.15,0.00,0.000,6,0.000,0.041,2805,2598,3432,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7450,-0.69,-170.3,683.6,-12.3,374,7455,0.00,1.73,0.00,0.000,4,0.000,0.054,2805,3691,3432,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7513,-0.68,-170.3,691.9,-12.7,376,7518,0.00,1.58,0.00,0.000,6,0.000,0.029,2805,2622,3431,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7848,-0.66,-170.3,732.3,-11.5,387,7854,0.12,2.08,0.00,0.000,4,0.168,0.024,2846,1200,3429,0,0,0,0,0,0,26.29,26.48,28.83
$GC,7882,-0.65,-170.3,735.6,-10.8,388,7889,0.00,2.17,0.00,0.000,6,0.000,0.041,2847,2607,3429,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8219,-0.66,-170.3,758.5,-6.6,399,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2607,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8517,-0.67,-170.3,775.5,-5.5,409,8522,0.00,2.08,0.00,0.000,4,0.000,0.027,2847,1196,3427,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8585,-0.69,-170.3,778.8,-5.3,411,8590,0.00,2.20,0.00,0.000,6,0.000,0.041,2846,2611,3427,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8915,-0.69,-170.3,795.8,-5.3,422,8920,0.00,1.73,0.00,0.000,4,0.000,0.055,2850,3686,3425,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8953,-0.70,-170.3,797.8,-5.5,423,8959,0.00,1.60,0.00,0.000,6,0.000,0.031,2847,2599,3425,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9284,-0.72,-170.3,820.0,-7.2,434,9290,0.00,2.03,0.00,0.000,4,0.000,0.026,2846,1200,3423,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9349,-0.73,-170.3,824.6,-6.9,436,9355,0.00,2.20,0.00,0.000,6,0.000,0.041,2847,2605,3423,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9685,-0.74,-170.3,848.1,-7.4,447,9687,0.12,0.00,0.00,0.000,6,0.090,0.000,2783,2606,3423,0,0,0,0,0,0,26.60,28.83,28.83
$GC,9984,-0.72,-170.3,884.0,-11.7,457,9990,0.12,2.10,0.00,0.000,4,0.153,0.024,2824,1199,3422,0,0,0,0,0,0,26.29,26.43,28.83
$GC,10032,-0.70,-170.3,887.7,-11.4,458,10037,0.00,2.20,0.00,0.000,6,0.000,0.043,2824,2604,3422,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10351,-0.70,-170.3,916.5,-7.0,469,10358,0.00,2.08,0.00,0.000,4,0.000,0.026,2824,1192,3421,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10400,-0.70,-170.3,919.1,-6.9,470,10405,0.00,2.20,0.00,0.000,6,0.000,0.042,2823,2599,3421,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10718,-0.70,-170.3,948.4,-9.6,481,10724,0.00,2.08,0.00,0.000,4,0.000,0.026,2824,1192,3420,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10776,-0.70,-170.3,951.5,-9.3,482,10782,0.00,2.20,0.00,0.000,6,0.000,0.043,2824,2604,3420,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11082,-0.70,-170.3,975.8,-7.9,493,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2604,3419,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11290,begin apogee
$GC,11296,-0.15,0.0,991.2,-7.1,500,11443,0.50,0.00,139.65,1.492,6,0.112,0.000,2997,2098,2768,0,0,0,0,0,0,25.81,28.83,23.49
$STATE,11445,end apogee,CONTROL_FINISHED_OK
$STATE,11445,begin climb
$GC,11448,0.51,170.3,994.3,0.0,505,11617,0.57,2.30,157.43,1.442,4,0.050,0.032,3226,760,2072,0,0,0,0,0,0,24.73,23.70,22.65
$GC,11640,0.46,170.3,980.0,10.7,511,11646,0.00,2.30,0.00,0.000,6,0.000,0.035,3226,2124,2069,0,0,0,0,0,0,28.83,24.22,28.83
$GC,11960,0.43,170.3,934.9,13.8,522,11966,0.12,2.15,0.00,0.000,4,0.161,0.031,3196,748,2063,0,0,0,0,0,0,25.60,25.75,28.83
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$STATE,21159,end climb,SURFACE_DEPTH_REACHED
$STATE,21159,begin surface coast
$FINISH,1.9,1.020940
$STATE,21227,end surface coast,CONTROL_FINISHED_OK
$STATE,21227,begin surface
$SM_CCo,21306,0.00,0.000,0,0,460,566.40
$SM_GC,2.51,8.45,0.73,0.00,0.049,0.044,0.000,139,2598,460,-9.06,-1.27,566.40,0,0,0,0,0,0,26.01,26.28,28.83
$IRIDIUM_FIX,1832.77,12027.01,131212,030341
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.22
$INTERNAL_PRESSURE,9.44921
$TCM_TEMP,23.60
$XPDR_PINGS,1
$SC_FREEKB,3945984
$24V_AH,22.6,42.465
$10V_AH,9.8,19.624
$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,22.875,217.550,639.450,0.000,0.000,0.000,0.000,573.325,0.250,0.000,19.088,3293.531,14446.688,821.712,3089.021,427.412,0.000,2807.640,0.000,2406.686,0.000,0.544,0.000
$DEVICE_MAMPS,247.095,56.610,1491.750,0.000,0.000,0.000,0.000,139.995,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21258.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.733,0.000,0.000,0.000
$MEM,337976
$DATA_FILE_SIZE,36740,988
$CAP_FILE_SIZE,261248,0
$CFSIZE,260034560,231010304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.029,351.7,1
$GPS,131212,145758,1844.256,12022.246,40,1.0,40,-2.4