version: 66.11
glider: 170
mission: 10
dive: 198
start: 12 14 112 14 44 28
data:
$ID,170
$MISSION,10
$DIVE,198
$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,-143341.28
$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,82
$R_STBD_OVSHOOT,40
$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
$GPS1,141212,143435,1851.142,12010.758,37,0.8,37,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-72.9
$GPS2,141212,144359,1851.302,12010.693,15,1.5,15,-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,340.5,24701,-14.9,-8.684,-17.18
$D_GRID,1831
$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,-170.3,0.0,0.0,0,79,0.00,0.00,-57.33,0.000,2,0.000,0.000,144,2564,1848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.51,-170.3,3.1,-1.9,10,155,11.62,0.00,-56.38,0.000,6,0.250,0.000,2884,2564,3465,0,0,0,0,0,0,25.46,28.83,26.45
$GC,351,-0.46,-170.3,57.5,-17.8,45,356,0.00,1.80,0.00,0.000,4,0.000,0.057,2884,3685,3465,0,0,0,0,0,0,28.83,26.08,28.83
$GC,375,-0.43,-170.3,61.8,-17.4,46,380,0.00,1.58,0.00,0.000,6,0.000,0.024,2884,2601,3465,0,0,0,0,0,0,28.83,26.32,28.83
$GC,578,-0.40,-170.3,96.9,-17.6,56,583,0.12,2.05,0.00,0.000,4,0.168,0.030,2927,1205,3465,0,0,0,0,0,0,26.15,26.29,28.83
$GC,641,-0.40,-170.3,105.3,-14.3,59,646,0.00,2.17,0.00,0.000,6,0.000,0.044,2928,2603,3465,0,0,0,0,0,0,28.83,26.21,28.83
$GC,844,-0.41,-170.3,126.6,-9.6,69,849,0.00,1.73,0.00,0.000,4,0.000,0.059,2927,3692,3465,0,0,0,0,0,0,28.83,26.23,28.83
$GC,937,-0.44,-170.3,135.5,-10.7,73,942,0.00,1.58,0.00,0.000,6,0.000,0.030,2927,2567,3465,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1131,-0.45,-170.3,157.2,-10.6,83,1137,0.00,1.95,0.00,0.000,4,0.000,0.031,2927,1242,3465,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1220,-0.48,-170.3,165.0,-9.1,87,1225,0.00,2.12,0.00,0.000,6,0.000,0.044,2927,2609,3465,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1421,-0.50,-170.3,173.3,-1.8,97,1426,0.12,1.73,0.00,0.000,4,0.086,0.060,2846,3697,3465,0,0,0,0,0,0,26.55,26.23,28.83
$GC,1448,-0.52,-170.3,174.3,-2.1,98,1455,0.08,1.55,0.00,0.000,6,0.127,0.024,2877,2606,3465,0,0,0,0,0,0,26.24,26.53,28.83
$GC,1649,-0.52,-170.3,189.1,-8.5,108,1654,0.00,2.03,0.00,0.000,4,0.000,0.033,2877,1240,3464,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1732,-0.52,-170.3,197.0,-9.2,112,1737,0.00,2.10,0.00,0.000,6,0.000,0.046,2877,2598,3464,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1935,-0.52,-170.3,222.8,-13.7,122,1940,0.00,2.00,0.00,0.000,4,0.000,0.032,2877,1250,3464,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1971,-0.52,-170.3,225.9,-13.6,123,1978,0.00,2.10,0.00,0.000,6,0.000,0.047,2877,2601,3463,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2158,-0.52,-170.3,247.5,-9.5,133,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2602,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2338,-0.52,-170.3,259.1,-5.7,142,2343,0.00,2.05,0.00,0.000,4,0.000,0.033,2877,1245,3462,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2406,-0.53,-170.3,262.8,-6.0,145,2411,0.00,2.12,0.00,0.000,6,0.000,0.050,2876,2603,3462,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2724,-0.54,-170.3,290.9,-11.2,161,2730,0.00,1.73,0.00,0.000,4,0.000,0.054,2877,3707,3461,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2768,-0.55,-170.3,295.6,-11.1,163,2774,0.00,1.58,0.00,0.000,6,0.000,0.024,2877,2579,3460,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3093,-0.56,-170.3,318.8,-5.3,179,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2580,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3394,-0.57,-170.3,345.8,-10.2,194,3399,0.00,1.95,0.00,0.000,4,0.000,0.039,2877,1254,3456,0,0,0,0,0,0,28.83,25.52,28.83
$GC,3562,-0.59,-170.3,362.2,-9.5,202,3567,0.00,2.10,0.00,0.000,6,0.000,0.045,2877,2617,3455,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3881,-0.60,-170.3,390.9,-9.2,218,3886,0.00,2.05,0.00,0.000,4,0.000,0.030,2877,1242,3453,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3948,-0.62,-170.3,396.9,-9.4,221,3953,0.00,2.10,0.00,0.000,6,0.000,0.043,2877,2602,3453,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4267,-0.64,-170.3,420.4,-6.2,237,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2602,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4568,-0.66,-170.3,439.4,-6.4,252,4574,0.12,2.03,0.00,0.000,4,0.087,0.024,2796,1239,3450,0,0,0,0,0,0,26.61,26.46,28.83
$GC,4632,-0.66,-170.3,446.0,-9.2,255,4638,0.15,2.10,0.00,0.000,6,0.152,0.043,2838,2602,3449,0,0,0,0,0,0,26.08,26.34,28.83
$GC,4955,-0.66,-170.3,475.6,-9.5,271,4960,0.00,2.03,0.00,0.000,4,0.000,0.027,2838,1239,3447,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5013,-0.66,-170.3,479.7,-9.8,273,5019,0.00,2.10,0.00,0.000,6,0.000,0.043,2839,2601,3447,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5319,-0.66,-170.3,514.5,-11.3,289,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2601,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5620,-0.66,-170.3,548.2,-11.1,304,5626,0.00,2.03,0.00,0.000,4,0.000,0.037,2838,1245,3444,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5677,-0.66,-170.3,553.1,-10.8,306,5684,0.00,2.10,0.00,0.000,6,0.000,0.042,2839,2608,3444,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5983,-0.66,-170.3,586.2,-9.9,322,5988,0.00,2.03,0.00,0.000,4,0.000,0.027,2838,1248,3442,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6020,-0.66,-170.3,588.5,-9.9,323,6027,0.00,2.08,0.00,0.000,6,0.000,0.042,2839,2599,3442,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6328,-0.66,-170.3,616.6,-8.4,336,6333,0.00,2.00,0.00,0.000,4,0.000,0.028,2839,1247,3440,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6350,-0.66,-170.3,616.6,-8.4,336,6355,0.00,2.10,0.00,0.000,6,0.000,0.042,2839,2612,3440,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6663,-0.66,-170.3,645.3,-8.9,347,6668,0.00,2.05,0.00,0.000,4,0.000,0.028,2838,1237,3438,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6705,-0.66,-170.3,648.4,-9.1,348,6710,0.00,2.10,0.00,0.000,6,0.000,0.042,2839,2599,3438,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7030,-0.66,-170.3,680.6,-9.8,359,7035,0.00,1.73,0.00,0.000,4,0.000,0.054,2839,3701,3437,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7076,-0.66,-170.3,684.2,-10.0,360,7082,0.00,1.58,0.00,0.000,6,0.000,0.029,2839,2624,3437,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7395,-0.66,-170.3,719.2,-10.8,371,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2623,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7695,-0.66,-170.3,748.5,-9.4,381,7700,0.00,2.08,0.00,0.000,4,0.000,0.027,2839,1211,3434,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7761,-0.66,-170.3,754.2,-9.2,383,7766,0.00,2.17,0.00,0.000,6,0.000,0.042,2838,2605,3434,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8092,-0.67,-170.3,780.0,-7.4,394,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2605,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8390,-0.67,-170.3,799.4,-6.3,404,8395,0.00,2.08,0.00,0.000,4,0.000,0.027,2838,1213,3433,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8443,-0.68,-170.3,801.8,-6.4,405,8448,0.00,2.17,0.00,0.000,6,0.000,0.043,2839,2604,3431,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8758,-0.69,-170.3,824.7,-7.3,416,8764,0.00,2.10,0.00,0.000,4,0.000,0.028,2839,1204,3431,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8823,-0.69,-170.3,829.6,-7.3,418,8828,0.00,2.20,0.00,0.000,6,0.000,0.043,2838,2606,3430,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9159,-0.70,-170.3,855.7,-8.2,429,9164,0.00,1.70,0.00,0.000,4,0.000,0.055,2839,3690,3429,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9206,-0.71,-170.3,858.4,-8.0,430,9212,0.00,1.60,0.00,0.000,6,0.000,0.031,2839,2600,3428,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9526,-0.72,-170.3,885.9,-8.6,441,9531,0.00,2.05,0.00,0.000,4,0.000,0.028,2842,1206,3427,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9600,-0.73,-170.3,891.6,-8.7,443,9605,0.00,2.17,0.00,0.000,6,0.000,0.043,2838,2609,3427,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9924,-0.74,-170.3,922.0,-9.6,454,9929,0.00,2.10,0.00,0.000,4,0.000,0.028,2838,1206,3426,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9967,-0.75,-170.3,925.6,-9.8,455,9972,0.00,2.17,0.00,0.000,6,0.000,0.043,2838,2607,3426,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10292,-0.76,-170.3,961.3,-10.6,466,10297,0.00,2.10,0.00,0.000,4,0.000,0.028,2838,1202,3425,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10370,-0.77,-170.3,968.5,-10.8,468,10376,0.12,2.20,0.00,0.000,6,0.099,0.043,2781,2605,3425,0,0,0,0,0,0,26.18,26.20,28.83
$STATE,10507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10507,begin apogee
$GC,10513,-0.15,0.0,990.2,-14.8,473,10662,0.65,0.00,141.60,1.495,6,0.124,0.000,2996,2103,2769,0,0,0,0,0,0,25.65,28.83,23.43
$STATE,10663,end apogee,CONTROL_FINISHED_OK
$STATE,10663,begin climb
$GC,10665,0.51,170.3,1001.4,0.0,478,10832,0.60,0.00,158.12,1.450,6,0.050,0.000,3228,2103,2073,0,0,0,0,0,0,24.68,28.83,22.60
$GC,11141,0.47,170.3,961.2,12.5,494,11147,0.00,2.38,0.00,0.000,4,0.000,0.051,3228,3532,2064,0,0,0,0,0,0,28.83,25.59,28.83
$GC,11169,0.44,170.3,961.2,12.5,494,11176,0.15,2.15,0.00,0.000,6,0.157,0.029,3193,2152,2063,0,0,0,0,0,0,25.49,25.80,28.83
$GC,11476,0.42,170.3,918.7,12.6,505,11482,0.00,2.20,0.00,0.000,4,0.000,0.036,3202,722,2062,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11569,0.40,170.3,908.5,11.1,508,11576,0.00,2.20,0.00,0.000,6,0.000,0.038,3202,2126,2060,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11905,0.38,170.3,872.1,11.2,519,11911,0.00,2.25,0.00,0.000,4,0.000,0.050,3202,3535,2060,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,19475,end climb,SURFACE_DEPTH_REACHED
$STATE,19475,begin surface coast
$FINISH,1.6,1.021350
$STATE,19502,end surface coast,CONTROL_FINISHED_OK
$STATE,19502,begin surface
$SM_CCo,19583,0.00,0.000,0,0,488,559.53
$SM_GC,2.47,8.25,2.97,0.00,0.044,0.034,0.000,134,2602,488,-9.07,-1.02,559.53,0,0,0,0,0,0,25.72,25.95,28.83
$IRIDIUM_FIX,1841.87,12016.04,141212,080853
$TT8_MAMPS,0.025466,0.025466
$HUMID,53.11
$INTERNAL_PRESSURE,9.39062
$TCM_TEMP,22.80
$XPDR_PINGS,3
$SC_FREEKB,3944064
$24V_AH,22.6,43.626
$10V_AH,9.8,20.220
$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,22.900,200.000,592.550,0.000,0.000,0.000,0.000,359.875,0.750,0.000,16.503,3027.888,13244.155,765.628,2716.814,380.097,0.000,2440.156,0.000,2231.927,0.000,0.543,0.000
$DEVICE_MAMPS,250.155,60.435,1494.810,0.000,0.000,0.000,0.000,134.640,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19535.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.544,0.000,0.000,0.000
$MEM,323920
$DATA_FILE_SIZE,33341,898
$CAP_FILE_SIZE,234696,0
$CFSIZE,260034560,230420480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.209, 58.2,1
$GPS,141212,201204,1855.270,12011.590,36,0.8,36,-2.4