version: 66.11
glider: 170
mission: 10
dive: 200
start: 12 15 112 2 25 22
data:
$ID,170
$MISSION,10
$DIVE,200
$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,-143343.78
$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,63
$R_STBD_OVSHOOT,44
$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
$GPS1,151212,021606,1855.374,12009.020,27,1.1,27,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-77.6
$GPS2,151212,022453,1855.568,12009.084,17,1.1,17,-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,283.9,17899,-14.9,-8.684,-17.18
$D_GRID,2081
$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,-56.35,0.000,2,0.000,0.000,142,2624,1768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.51,-170.3,3.1,-2.4,10,165,11.60,1.75,-64.07,0.000,4,0.249,0.073,2883,3683,3464,0,0,0,0,0,0,25.46,25.91,26.47
$GC,340,-0.49,-170.3,44.2,-12.0,46,345,0.00,1.60,0.00,0.000,6,0.000,0.024,2883,2595,3465,0,0,0,0,0,0,28.83,26.27,28.83
$GC,535,-0.47,-170.3,67.6,-11.8,58,540,0.00,2.05,0.00,0.000,4,0.000,0.032,2884,1204,3465,0,0,0,0,0,0,28.83,26.23,28.83
$GC,633,-0.46,-170.3,74.9,-8.7,62,639,0.00,2.17,0.00,0.000,6,0.000,0.044,2883,2591,3464,0,0,0,0,0,0,28.83,26.16,28.83
$GC,818,-0.45,-170.3,94.5,-10.0,72,824,0.00,2.08,0.00,0.000,4,0.000,0.032,2884,1218,3466,0,0,0,0,0,0,28.83,26.29,28.83
$GC,881,-0.45,-170.3,100.6,-9.7,75,887,0.00,2.17,0.00,0.000,6,0.000,0.047,2884,2600,3465,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1086,-0.45,-170.3,120.1,-10.2,85,1091,0.00,1.75,0.00,0.000,4,0.000,0.065,2885,3700,3465,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1137,-0.45,-170.3,124.8,-10.9,87,1142,0.00,1.60,0.00,0.000,6,0.000,0.024,2884,2594,3465,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1330,-0.45,-170.3,147.6,-11.8,97,1336,0.00,2.03,0.00,0.000,4,0.000,0.032,2883,1217,3465,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1428,-0.46,-170.3,157.1,-11.3,101,1435,0.00,2.20,0.00,0.000,6,0.000,0.050,2884,2606,3465,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1614,-0.47,-170.3,179.5,-11.1,111,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2606,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1794,-0.48,-170.3,196.4,-8.8,120,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2606,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1975,-0.49,-170.3,209.4,-6.8,129,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2606,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2154,-0.50,-170.3,221.7,-7.1,138,2159,0.00,2.10,0.00,0.000,4,0.000,0.034,2884,1226,3463,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2221,-0.51,-170.3,226.2,-7.1,141,2227,0.00,2.17,0.00,0.000,6,0.000,0.054,2884,2599,3462,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2422,-0.52,-170.3,241.7,-7.9,151,2427,0.00,2.10,0.00,0.000,4,0.000,0.036,2884,1226,3461,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2466,-0.53,-170.3,245.4,-8.1,153,2471,0.00,2.17,0.00,0.000,6,0.000,0.047,2884,2619,3461,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2671,-0.55,-170.3,264.1,-9.9,163,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2619,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2970,-0.56,-170.3,299.0,-12.6,178,2975,0.00,2.10,0.00,0.000,4,0.000,0.028,2884,1204,3458,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3034,-0.58,-170.3,307.3,-12.9,181,3039,0.00,2.17,0.00,0.000,6,0.000,0.043,2884,2608,3458,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3358,-0.60,-170.3,338.5,-7.8,197,3363,0.00,2.08,0.00,0.000,4,0.000,0.029,2884,1209,3456,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3416,-0.62,-170.3,341.4,-7.2,199,3423,0.00,2.15,0.00,0.000,6,0.000,0.042,2884,2598,3456,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3723,-0.63,-170.3,354.1,-2.1,215,3725,0.12,0.00,0.00,0.000,6,0.090,0.000,2817,2599,3454,0,0,0,0,0,0,26.60,28.83,28.83
$GC,4022,-0.62,-170.3,380.5,-10.0,230,4024,0.12,0.00,0.00,0.000,6,0.154,0.000,2853,2598,3453,0,0,0,0,0,0,26.37,28.83,28.83
$GC,4323,-0.62,-170.3,408.7,-10.0,245,4328,0.00,1.73,0.00,0.000,4,0.000,0.054,2853,3696,3452,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4375,-0.62,-170.3,413.4,-10.3,247,4381,0.00,1.62,0.00,0.000,6,0.000,0.027,2853,2558,3452,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4688,-0.63,-170.3,448.8,-10.9,263,4694,0.00,1.92,0.00,0.000,4,0.000,0.027,2853,1237,3451,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4736,-0.63,-170.3,453.4,-11.0,265,4741,0.00,2.12,0.00,0.000,6,0.000,0.042,2852,2607,3450,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5055,-0.64,-170.3,484.0,-8.5,281,5060,0.00,1.70,0.00,0.000,4,0.000,0.054,2852,3690,3448,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5081,-0.65,-170.3,485.7,-8.2,282,5087,0.00,1.58,0.00,0.000,6,0.000,0.029,2853,2623,3447,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5400,-0.66,-170.3,509.2,-7.1,298,5406,0.00,2.08,0.00,0.000,4,0.000,0.027,2851,1206,3446,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5495,-0.67,-170.3,515.0,-6.9,302,5500,0.00,2.17,0.00,0.000,6,0.000,0.042,2852,2603,3446,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5809,-0.68,-170.3,538.2,-7.4,318,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2604,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6110,-0.69,-170.3,562.4,-8.4,333,6115,0.00,2.08,0.00,0.000,4,0.000,0.037,2853,1211,3443,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6157,-0.70,-170.3,566.2,-8.3,335,6162,0.00,2.17,0.00,0.000,6,0.000,0.041,2853,2611,3443,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6477,-0.71,-170.3,590.9,-7.2,351,6482,0.00,2.08,0.00,0.000,4,0.000,0.027,2853,1214,3442,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6510,-0.72,-170.3,592.6,-7.3,352,6516,0.10,2.17,0.00,0.000,6,0.109,0.042,2796,2611,3442,0,0,0,0,0,0,26.25,26.27,28.83
$GC,6825,-0.70,-170.3,626.8,-11.2,364,6831,0.00,2.10,0.00,0.000,4,0.000,0.027,2796,1201,3440,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6878,-0.68,-170.3,630.7,-11.1,365,6884,0.12,2.20,0.00,0.000,6,0.163,0.042,2831,2610,3440,0,0,0,0,0,0,26.01,26.26,28.83
$GC,7194,-0.68,-170.3,660.0,-8.6,376,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2610,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7493,-0.68,-170.3,684.5,-7.9,386,7499,0.00,2.10,0.00,0.000,4,0.000,0.027,2831,1202,3437,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7521,-0.68,-170.3,684.5,-7.9,386,7528,0.00,2.20,0.00,0.000,6,0.000,0.042,2831,2609,3437,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7827,-0.68,-170.3,713.4,-9.3,397,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2609,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8127,-0.68,-170.3,740.5,-8.5,407,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2609,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8427,-0.68,-170.3,771.2,-11.4,417,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2609,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8727,-0.68,-170.3,798.8,-7.6,427,8732,0.00,2.10,0.00,0.000,4,0.000,0.027,2831,1202,3434,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8794,-0.69,-170.3,804.9,-8.8,429,8799,0.00,2.20,0.00,0.000,6,0.000,0.043,2831,2604,3433,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9125,-0.69,-170.3,826.9,-7.6,440,9130,0.00,2.10,0.00,0.000,4,0.000,0.037,2831,1206,3432,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9158,-0.69,-170.3,830.0,-8.4,441,9164,0.00,2.20,0.00,0.000,6,0.000,0.044,2831,2603,3432,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9494,-0.69,-170.3,856.7,-6.8,452,9500,0.00,1.73,0.00,0.000,4,0.000,0.054,2831,3694,3431,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9538,-0.70,-170.3,858.9,-6.4,453,9544,0.00,1.62,0.00,0.000,6,0.000,0.030,2831,2588,3431,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9864,-0.71,-170.3,874.7,-4.4,464,9869,0.00,2.03,0.00,0.000,4,0.000,0.028,2831,1218,3429,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9922,-0.71,-170.3,876.5,-4.5,465,9929,0.00,2.17,0.00,0.000,6,0.000,0.043,2831,2614,3429,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10229,-0.71,-170.3,897.1,-7.0,476,10235,0.00,2.08,0.00,0.000,4,0.000,0.028,2833,1215,3428,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10272,-0.72,-170.3,899.9,-7.3,477,10279,0.00,2.17,0.00,0.000,6,0.000,0.044,2831,2609,3428,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10599,-0.72,-170.3,924.6,-6.6,488,10604,0.00,2.10,0.00,0.000,4,0.000,0.028,2831,1208,3427,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10636,-0.73,-170.3,927.3,-6.8,489,10642,0.00,2.20,0.00,0.000,6,0.000,0.043,2831,2609,3427,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10966,-0.74,-170.3,953.8,-7.7,500,10972,0.00,2.10,0.00,0.000,4,0.000,0.028,2831,1210,3428,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11004,-0.74,-170.3,956.6,-7.7,501,11010,0.00,2.20,0.00,0.000,6,0.000,0.043,2831,2610,3426,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11334,-0.75,-170.3,981.1,-7.4,512,11340,0.00,2.10,0.00,0.000,4,0.000,0.028,2831,1208,3426,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11413,-0.76,-170.3,986.3,-7.7,514,11418,0.00,2.20,0.00,0.000,6,0.000,0.043,2831,2607,3426,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,11459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11460,begin apogee
$GC,11466,-0.15,0.0,991.2,-7.8,516,11614,0.47,0.00,142.32,1.498,6,0.112,0.000,2996,2117,2769,0,0,0,0,0,0,25.79,28.83,23.31
$STATE,11616,end apogee,CONTROL_FINISHED_OK
$STATE,11616,begin climb
$GC,11618,0.51,170.3,997.3,0.0,521,11788,0.60,2.33,158.88,1.452,4,0.054,0.036,3226,759,2072,0,0,0,0,0,0,24.56,23.64,22.52
$GC,11815,0.46,170.3,986.9,8.8,527,11820,0.00,2.30,0.00,0.000,6,0.000,0.037,3227,2117,2069,0,0,0,0,0,0,28.83,24.20,28.83
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$STATE,21098,end climb,SURFACE_DEPTH_REACHED
$STATE,21099,begin surface coast
$FINISH,1.6,1.004227
$STATE,21125,end surface coast,CONTROL_FINISHED_OK
$STATE,21125,begin surface
$SM_CCo,21204,0.00,0.000,0,0,457,567.13
$SM_GC,2.40,8.50,0.73,0.00,0.049,0.044,0.000,134,2608,457,-9.07,-1.19,567.13,0,0,0,0,0,0,25.72,25.98,28.83
$IRIDIUM_FIX,1848.70,12012.11,141212,202015
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.01
$INTERNAL_PRESSURE,9.36132
$TCM_TEMP,22.60
$XPDR_PINGS,4
$SC_FREEKB,3943296
$24V_AH,22.5,44.053
$10V_AH,9.8,20.461
$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,23.125,216.025,589.725,0.000,0.000,0.000,0.000,318.575,1.000,0.000,18.530,3303.268,14364.935,787.444,2865.001,398.411,0.000,2507.999,0.000,2406.464,0.000,0.542,0.000
$DEVICE_MAMPS,249.390,73.440,1497.870,0.000,0.000,0.000,0.000,135.405,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21162.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.572,0.000,0.000,0.000
$MEM,323772
$DATA_FILE_SIZE,36715,984
$CAP_FILE_SIZE,257781,0
$CFSIZE,260034560,230166528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.079, 20.1,1
$GPS,151212,082000,1856.787,12006.339,37,2.0,37,-2.4