version: 66.11
glider: 170
mission: 10
dive: 194
start: 12 13 112 15 8 46
data:
$ID,170
$MISSION,10
$DIVE,194
$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,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,-143336.09
$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,38
$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
$GPS1,131212,145758,1844.256,12022.246,40,1.0,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-73.3
$GPS2,131212,150759,1844.656,12022.232,15,1.6,15,-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,304.3,48199,-14.9,-8.684,-17.18
$D_GRID,3262
$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,-170.3,0.0,0.0,0,81,0.00,0.00,-59.40,0.000,2,0.000,0.000,138,2613,1811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.51,-170.3,3.1,-1.8,10,163,11.48,1.77,-57.60,0.000,4,0.246,0.071,2882,3683,3465,0,0,0,0,0,0,25.41,25.99,26.46
$GC,304,-0.47,-170.3,51.3,-19.4,41,309,0.00,1.62,0.00,0.000,6,0.000,0.024,2882,2577,3467,0,0,0,0,0,0,28.83,26.27,28.83
$GC,497,-0.44,-170.3,82.4,-16.0,51,503,0.00,2.00,0.00,0.000,4,0.000,0.028,2882,1202,3466,0,0,0,0,0,0,28.83,26.30,28.83
$GC,685,-0.43,-170.3,108.6,-13.4,60,691,0.00,2.17,0.00,0.000,6,0.000,0.043,2882,2602,3466,0,0,0,0,0,0,28.83,26.22,28.83
$GC,885,-0.42,-170.3,133.9,-11.7,70,887,0.12,0.00,0.00,0.000,6,0.151,0.000,2919,2603,3466,0,0,0,0,0,0,26.30,28.83,28.83
$GC,1064,-0.44,-170.3,147.0,-6.3,79,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2603,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1244,-0.46,-170.3,158.5,-6.6,88,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2602,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1424,-0.48,-170.3,171.3,-7.5,97,1430,0.00,2.08,0.00,0.000,4,0.000,0.030,2920,1213,3465,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1469,-0.50,-170.3,175.2,-8.2,99,1475,0.00,2.12,0.00,0.000,6,0.000,0.039,2920,2604,3465,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1675,-0.53,-170.3,193.8,-9.1,109,1681,0.12,2.05,0.00,0.000,4,0.088,0.025,2843,1195,3463,0,0,0,0,0,0,26.58,26.48,28.83
$GC,1728,-0.54,-170.3,199.4,-10.6,111,1734,0.12,2.17,0.00,0.000,6,0.157,0.041,2879,2610,3465,0,0,0,0,0,0,26.15,26.36,28.83
$GC,1922,-0.54,-170.3,221.3,-10.1,121,1927,0.00,2.08,0.00,0.000,4,0.000,0.026,2879,1196,3463,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2005,-0.55,-170.3,228.9,-9.1,125,2010,0.00,2.15,0.00,0.000,6,0.000,0.039,2879,2602,3462,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2210,-0.55,-170.3,246.3,-8.4,135,2216,0.00,1.70,0.00,0.000,4,0.000,0.050,2879,3696,3461,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2234,-0.56,-170.3,248.4,-8.3,136,2239,0.00,1.60,0.00,0.000,6,0.000,0.025,2879,2552,3461,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2439,-0.57,-170.3,266.3,-9.3,146,2445,0.00,1.90,0.00,0.000,4,0.000,0.026,2879,1229,3460,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2532,-0.59,-170.3,274.5,-9.6,150,2537,0.00,2.10,0.00,0.000,6,0.000,0.040,2879,2599,3459,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2845,-0.59,-170.3,308.0,-10.4,166,2850,0.00,2.00,0.00,0.000,4,0.000,0.025,2879,1234,3457,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2892,-0.61,-170.3,312.3,-10.1,168,2898,0.00,2.10,0.00,0.000,6,0.000,0.040,2879,2601,3457,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3211,-0.62,-170.3,338.5,-7.4,184,3216,0.00,2.00,0.00,0.000,4,0.000,0.025,2879,1239,3454,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3289,-0.63,-170.3,343.0,-7.3,187,3296,0.00,2.10,0.00,0.000,6,0.000,0.040,2879,2606,3454,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3595,-0.65,-170.3,363.7,-6.2,203,3601,0.12,2.00,0.00,0.000,4,0.093,0.025,2805,1238,3453,0,0,0,0,0,0,26.59,25.18,28.83
$GC,3659,-0.65,-170.3,370.1,-9.2,206,3665,0.12,2.12,0.00,0.000,6,0.163,0.041,2840,2609,3452,0,0,0,0,0,0,26.13,26.36,28.83
$GC,3983,-0.64,-170.3,403.3,-11.0,222,3989,0.00,2.00,0.00,0.000,4,0.000,0.025,2840,1236,3451,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4027,-0.64,-170.3,408.2,-11.1,224,4033,0.00,2.10,0.00,0.000,6,0.000,0.041,2840,2601,3450,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4351,-0.64,-170.3,446.1,-11.4,240,4356,0.00,2.00,0.00,0.000,4,0.000,0.025,2840,1240,3447,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4373,-0.64,-170.3,448.8,-11.5,241,4379,0.00,2.12,0.00,0.000,6,0.000,0.041,2840,2612,3447,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4697,-0.64,-170.3,487.0,-12.1,257,4702,0.00,2.03,0.00,0.000,4,0.000,0.025,2840,1236,3445,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4736,-0.64,-170.3,489.9,-12.1,258,4742,0.00,2.10,0.00,0.000,6,0.000,0.041,2841,2598,3445,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5040,-0.64,-170.3,528.6,-12.2,274,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2598,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5341,-0.64,-170.3,564.1,-11.4,289,5347,0.00,1.98,0.00,0.000,4,0.000,0.025,2840,1240,3443,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5385,-0.64,-170.3,569.1,-11.4,291,5391,0.00,2.12,0.00,0.000,6,0.000,0.041,2840,2608,3442,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5708,-0.64,-170.3,601.1,-9.3,307,5713,0.00,2.00,0.00,0.000,4,0.000,0.025,2840,1229,3440,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5742,-0.64,-170.3,604.1,-9.2,308,5747,0.00,2.15,0.00,0.000,6,0.000,0.041,2840,2610,3440,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6077,-0.64,-170.3,631.1,-7.7,319,6082,0.00,1.70,0.00,0.000,4,0.000,0.054,2840,3691,3439,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6124,-0.64,-170.3,633.6,-7.5,320,6129,0.00,1.55,0.00,0.000,6,0.000,0.030,2840,2627,3439,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6444,-0.64,-170.3,658.9,-8.1,331,6449,0.00,2.08,0.00,0.000,4,0.000,0.026,2840,1205,3436,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6511,-0.65,-170.3,664.5,-8.6,333,6517,0.00,2.17,0.00,0.000,6,0.000,0.041,2840,2605,3436,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6841,-0.65,-170.3,696.5,-9.9,344,6846,0.00,2.08,0.00,0.000,4,0.000,0.026,2840,1202,3435,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6878,-0.65,-170.3,700.2,-10.1,345,6883,0.00,2.20,0.00,0.000,6,0.000,0.042,2840,2613,3435,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7208,-0.65,-170.3,733.3,-9.6,356,7214,0.00,2.10,0.00,0.000,4,0.000,0.026,2840,1197,3434,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7261,-0.66,-170.3,736.6,-9.5,357,7266,0.00,2.20,0.00,0.000,6,0.000,0.041,2840,2613,3434,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7575,-0.67,-170.3,763.2,-7.6,368,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2611,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7875,-0.67,-170.3,787.0,-8.4,378,7880,0.00,2.10,0.00,0.000,4,0.000,0.026,2840,1196,3430,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7962,-0.68,-170.3,792.7,-8.7,380,7969,0.00,2.20,0.00,0.000,6,0.000,0.041,2840,2611,3430,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8269,-0.69,-170.3,823.2,-9.4,391,8275,0.00,2.08,0.00,0.000,4,0.000,0.026,2840,1207,3428,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8342,-0.70,-170.3,829.4,-9.6,393,8347,0.00,2.17,0.00,0.000,6,0.000,0.041,2840,2607,3428,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8667,-0.70,-170.3,861.7,-9.8,404,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2607,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8965,-0.71,-170.3,890.6,-9.2,414,8970,0.00,2.08,0.00,0.000,4,0.000,0.027,2840,1197,3426,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9029,-0.72,-170.3,897.3,-9.8,416,9034,0.00,2.20,0.00,0.000,6,0.000,0.041,2840,2603,3426,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9364,-0.73,-170.3,925.6,-8.4,427,9369,0.00,2.08,0.00,0.000,4,0.000,0.026,2840,1200,3424,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9401,-0.74,-170.3,928.5,-8.3,428,9406,0.00,2.20,0.00,0.000,6,0.000,0.041,2840,2610,3424,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9732,-0.75,-170.3,954.7,-8.3,439,9737,0.00,2.10,0.00,0.000,4,0.000,0.027,2840,1201,3423,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9810,-0.76,-170.3,959.6,-8.0,441,9816,0.12,2.20,0.00,0.000,6,0.098,0.041,2783,2609,3423,0,0,0,0,0,0,26.20,26.22,28.83
$STATE,10097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10098,begin apogee
$GC,10104,-0.15,0.0,992.0,-10.7,451,10252,0.65,0.00,140.65,1.493,6,0.121,0.000,2999,2115,2769,0,0,0,0,0,0,25.67,28.83,23.51
$STATE,10253,end apogee,CONTROL_FINISHED_OK
$STATE,10253,begin climb
$GC,10255,0.51,170.3,997.3,0.0,456,10425,0.57,2.35,157.65,1.441,4,0.049,0.034,3227,751,2072,0,0,0,0,0,0,24.72,23.71,22.65
$GC,10467,0.47,170.3,981.6,11.2,463,10474,0.00,2.28,0.00,0.000,6,0.000,0.035,3227,2116,2068,0,0,0,0,0,0,28.83,24.41,28.83
$GC,10798,0.43,170.3,938.4,13.4,474,10804,0.12,2.28,0.00,0.000,4,0.164,0.049,3188,3531,2063,0,0,0,0,0,0,25.66,25.72,28.83
$GC,10833,0.40,170.3,933.8,13.3,475,10839,0.00,2.17,0.00,0.000,6,0.000,0.028,3197,2126,2063,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11168,0.38,170.3,895.2,11.6,486,11174,0.00,2.12,0.00,0.000,4,0.000,0.034,3199,725,2062,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11266,0.37,170.3,885.7,10.2,489,11273,0.10,2.17,0.00,0.000,6,0.155,0.036,3172,2129,2060,0,0,0,0,0,0,25.97,26.13,28.83
$GC,11597,0.38,227.0,861.7,6.8,500,11655,0.00,2.38,48.55,1.394,4,0.000,0.050,3172,3531,1843,0,0,0,0,0,0,28.83,25.25,24.21
$GC,11699,0.39,261.1,854.5,7.5,503,11737,0.00,2.20,31.15,1.346,6,0.000,0.028,3175,2115,1703,0,0,0,0,0,0,28.83,25.68,24.10
$GC,12050,0.39,261.1,822.9,9.1,515,12055,0.00,2.10,0.00,0.000,4,0.000,0.035,3175,726,1696,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,19762,end climb,SURFACE_DEPTH_REACHED
$STATE,19762,begin surface coast
$FINISH,1.4,1.010040
$STATE,19784,end surface coast,CONTROL_FINISHED_OK
$STATE,19785,begin surface
$SM_CCo,19864,0.00,0.000,0,0,816,479.07
$SM_GC,2.61,8.52,0.75,0.00,0.054,0.057,0.000,139,2606,816,-9.06,-1.02,479.07,0,0,0,0,0,0,25.77,26.07,28.83
$IRIDIUM_FIX,1832.77,12021.94,131212,080828
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.30
$INTERNAL_PRESSURE,9.45898
$TCM_TEMP,23.00
$XPDR_PINGS,1
$SC_FREEKB,3945600
$24V_AH,22.7,42.681
$10V_AH,10.0,19.741
$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,23.100,198.425,562.900,0.000,0.000,0.000,0.000,392.475,0.250,0.000,17.707,3083.601,13475.869,745.909,2773.201,391.681,0.000,2452.240,0.000,2256.039,0.000,0.543,0.000
$DEVICE_MAMPS,246.330,71.145,1492.515,0.000,0.000,0.000,0.000,131.580,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19821.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.577,0.000,0.000,0.000
$MEM,324120
$DATA_FILE_SIZE,33384,904
$CAP_FILE_SIZE,238527,0
$CFSIZE,260034560,230903808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.271, 50.5,1
$GPS,131212,204128,1848.103,12021.664,61,0.9,61,-2.4