version: 66.11
glider: 170
mission: 10
dive: 203
start: 12 15 112 19 29 58
data:
$ID,170
$MISSION,10
$DIVE,203
$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,-143348.75
$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,64
$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
$GPS1,151212,192134,1900.691,12002.385,33,0.9,33,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-78.0
$GPS2,151212,192929,1900.724,12002.218,15,1.9,15,-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,238.8,4108,-14.9,-8.684,-17.18
$D_GRID,3076
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.51,-170.3,0.0,0.0,0,79,0.00,0.00,-56.28,0.000,2,0.000,0.000,134,2618,1718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.51,-170.3,3.0,-1.4,10,173,11.10,2.15,-68.15,0.000,4,0.235,0.045,2881,1210,3465,0,0,0,0,0,0,25.46,26.10,26.50
$GC,401,-0.47,-170.3,70.9,-24.1,48,406,0.00,2.17,0.00,0.000,6,0.000,0.050,2881,2589,3466,0,0,0,0,0,0,28.83,26.09,28.83
$GC,595,-0.44,-170.3,102.7,-16.2,58,600,0.00,2.10,0.00,0.000,4,0.000,0.034,2882,1212,3466,0,0,0,0,0,0,28.83,26.26,28.83
$GC,724,-0.44,-170.3,106.9,-1.4,64,730,0.00,2.20,0.00,0.000,6,0.000,0.050,2882,2601,3466,0,0,0,0,0,0,28.83,26.17,28.83
$GC,922,-0.44,-170.3,129.5,-16.3,74,928,0.00,2.10,0.00,0.000,4,0.000,0.036,2882,1219,3466,0,0,0,0,0,0,28.83,26.29,28.83
$GC,955,-0.43,-170.3,134.1,-18.1,75,961,0.00,2.22,0.00,0.000,6,0.000,0.054,2882,2611,3466,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1149,-0.43,-170.3,163.6,-9.1,85,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2611,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1329,-0.43,-170.3,176.0,-7.9,94,1335,0.00,1.73,0.00,0.000,4,0.000,0.054,2880,3711,3466,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1362,-0.43,-170.3,178.4,-8.8,95,1368,0.10,1.62,0.00,0.000,6,0.145,0.024,2912,2581,3466,0,0,0,0,0,0,26.31,26.56,28.83
$GC,1558,-0.45,-170.3,198.5,-10.4,105,1563,0.00,1.98,0.00,0.000,4,0.000,0.029,2912,1216,3466,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1616,-0.48,-170.3,203.1,-10.3,107,1623,0.00,2.17,0.00,0.000,6,0.000,0.044,2912,2617,3466,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1803,-0.51,-170.3,221.1,-8.3,117,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2617,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1982,-0.53,-170.3,232.3,-5.5,126,1988,0.10,2.08,0.00,0.000,4,0.104,0.031,2849,1221,3464,0,0,0,0,0,0,26.60,26.45,28.83
$GC,2036,-0.55,-170.3,235.7,-6.3,128,2041,0.00,2.15,0.00,0.000,6,0.000,0.044,2849,2608,3464,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2229,-0.54,-170.3,258.0,-12.2,138,2235,0.00,2.08,0.00,0.000,4,0.000,0.028,2850,1208,3464,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2262,-0.53,-170.3,261.1,-12.6,139,2268,0.00,2.17,0.00,0.000,6,0.000,0.044,2849,2612,3463,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2576,-0.52,-170.3,297.9,-10.4,155,2581,0.10,2.08,0.00,0.000,4,0.158,0.026,2879,1217,3462,0,0,0,0,0,0,26.47,26.46,28.83
$GC,2609,-0.52,-170.3,300.0,-9.9,156,2614,0.00,2.15,0.00,0.000,6,0.000,0.043,2879,2608,3462,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2923,-0.54,-170.3,322.1,-6.6,172,2928,0.00,1.70,0.00,0.000,4,0.000,0.052,2879,3694,3461,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2970,-0.55,-170.3,324.9,-6.7,174,2975,0.00,1.60,0.00,0.000,6,0.000,0.026,2879,2559,3461,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3289,-0.57,-170.3,348.8,-7.9,190,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2559,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3591,-0.59,-170.3,370.7,-7.4,205,3597,0.00,1.90,0.00,0.000,4,0.000,0.028,2879,1242,3457,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3669,-0.61,-170.3,375.9,-7.8,208,3676,0.00,2.10,0.00,0.000,6,0.000,0.042,2879,2610,3457,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3975,-0.63,-170.3,404.6,-9.7,224,3980,0.00,2.00,0.00,0.000,4,0.000,0.026,2879,1247,3453,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4032,-0.65,-170.3,409.0,-10.0,226,4039,0.12,2.10,0.00,0.000,6,0.093,0.042,2808,2603,3454,0,0,0,0,0,0,26.34,26.34,28.83
$GC,4338,-0.63,-170.3,453.1,-13.9,242,4344,0.12,2.00,0.00,0.000,4,0.151,0.025,2850,1241,3453,0,0,0,0,0,0,26.34,26.46,28.83
$GC,4366,-0.61,-170.3,456.3,-13.7,243,4372,0.00,2.12,0.00,0.000,6,0.000,0.043,2851,2610,3453,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4685,-0.62,-170.3,486.7,-8.2,259,4690,0.00,2.05,0.00,0.000,4,0.000,0.034,2850,1240,3451,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4713,-0.62,-170.3,488.5,-7.8,260,4718,0.00,2.10,0.00,0.000,6,0.000,0.042,2850,2602,3451,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5032,-0.63,-170.3,502.9,-2.8,276,5038,0.00,2.03,0.00,0.000,4,0.000,0.027,2851,1240,3450,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5081,-0.64,-170.3,504.1,-2.8,278,5087,0.00,2.12,0.00,0.000,6,0.000,0.041,2850,2613,3449,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5400,-0.65,-170.3,519.6,-6.7,294,5405,0.00,2.05,0.00,0.000,4,0.000,0.028,2851,1238,3447,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5453,-0.66,-170.3,523.1,-7.6,296,5459,0.00,2.12,0.00,0.000,6,0.000,0.042,2851,2605,3447,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5767,-0.66,-170.3,553.8,-10.1,312,5772,0.00,1.73,0.00,0.000,4,0.000,0.054,2851,3684,3446,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5825,-0.67,-170.3,558.1,-9.9,314,5832,0.00,1.55,0.00,0.000,6,0.000,0.028,2851,2616,3446,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6131,-0.68,-170.3,585.9,-7.7,330,6136,0.00,2.05,0.00,0.000,4,0.000,0.028,2850,1221,3444,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6199,-0.69,-170.3,590.3,-7.1,333,6204,0.00,2.15,0.00,0.000,6,0.000,0.042,2850,2603,3444,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6528,-0.70,-170.3,607.2,-4.4,347,6534,0.00,2.08,0.00,0.000,4,0.000,0.026,2851,1206,3443,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6582,-0.71,-170.3,608.6,-4.2,348,6587,0.00,2.17,0.00,0.000,6,0.000,0.042,2850,2603,3442,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6897,-0.72,-170.3,620.2,-3.4,359,6903,0.00,2.08,0.00,0.000,4,0.000,0.027,2850,1209,3440,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6932,-0.74,-170.3,621.6,-3.5,360,6938,0.12,2.17,0.00,0.000,6,0.092,0.042,2781,2607,3440,0,0,0,0,0,0,26.28,26.28,28.83
$GC,7267,-0.71,-170.3,653.5,-10.6,371,7273,0.12,1.73,0.00,0.000,4,0.157,0.054,2822,3700,3439,0,0,0,0,0,0,26.31,26.19,28.83
$GC,7326,-0.69,-170.3,657.0,-10.5,372,7333,0.00,1.60,0.00,0.000,6,0.000,0.028,2822,2588,3439,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7631,-0.69,-170.3,687.5,-9.7,383,7636,0.00,1.77,0.00,0.000,4,0.000,0.055,2822,3689,3438,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7664,-0.69,-170.3,690.7,-9.7,384,7670,0.00,1.60,0.00,0.000,6,0.000,0.030,2822,2602,3437,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7999,-0.69,-170.3,717.6,-7.3,395,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2600,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8298,-0.69,-170.3,737.6,-6.6,405,8304,0.00,2.05,0.00,0.000,4,0.000,0.027,2822,1206,3435,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8392,-0.69,-170.3,743.9,-6.7,408,8397,0.00,2.20,0.00,0.000,6,0.000,0.043,2822,2604,3435,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8727,-0.69,-170.3,770.4,-8.6,419,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2605,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9025,-0.69,-170.3,802.5,-11.5,429,9032,0.00,2.08,0.00,0.000,4,0.000,0.027,2822,1215,3434,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9094,-0.69,-170.3,810.4,-12.1,431,9099,0.00,2.17,0.00,0.000,6,0.000,0.043,2823,2605,3434,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9424,-0.69,-170.3,848.3,-11.0,442,9429,0.00,2.08,0.00,0.000,4,0.000,0.027,2822,1215,3433,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9446,-0.69,-170.3,848.3,-11.0,442,9452,0.00,2.17,0.00,0.000,6,0.000,0.044,2822,2603,3432,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9760,-0.69,-170.3,881.9,-9.2,453,9761,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2603,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10061,-0.69,-170.3,906.7,-8.1,463,10066,0.00,2.08,0.00,0.000,4,0.000,0.028,2822,1209,3431,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10127,-0.69,-170.3,911.8,-7.9,465,10133,0.00,2.20,0.00,0.000,6,0.000,0.044,2822,2610,3431,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10457,-0.69,-170.3,938.9,-8.5,476,10463,0.00,1.73,0.00,0.000,4,0.000,0.056,2822,3690,3429,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10495,-0.69,-170.3,942.0,-8.6,477,10500,0.00,1.60,0.00,0.000,6,0.000,0.031,2822,2604,3429,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10825,-0.69,-170.3,970.1,-8.5,488,10831,0.00,2.05,0.00,0.000,4,0.000,0.028,2822,1210,3428,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10879,-0.69,-170.3,973.3,-8.6,489,10884,0.00,2.20,0.00,0.000,6,0.000,0.044,2822,2610,3428,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,11069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11069,begin apogee
$GC,11076,-0.15,0.0,992.0,-8.9,496,11227,0.50,0.00,142.82,1.496,6,0.109,0.000,2997,2106,2768,0,0,0,0,0,0,25.82,28.83,23.36
$STATE,11229,end apogee,CONTROL_FINISHED_OK
$STATE,11229,begin climb
$GC,11231,0.51,170.3,998.4,0.0,501,11404,0.57,2.35,158.50,1.452,4,0.049,0.035,3226,761,2072,0,0,0,0,0,0,24.63,23.66,22.54
$GC,11477,0.47,170.3,980.7,11.9,509,11483,0.00,2.25,0.00,0.000,6,0.000,0.037,3226,2118,2066,0,0,0,0,0,0,28.83,24.63,28.83
$GC,11803,0.44,170.3,934.9,14.0,520,11809,0.12,2.28,0.00,0.000,4,0.161,0.050,3186,3537,2063,0,0,0,0,0,0,25.71,25.75,28.83
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$STATE,20113,end climb,SURFACE_DEPTH_REACHED
$STATE,20113,begin surface coast
$FINISH,1.6,1.003476
$STATE,20135,end surface coast,CONTROL_FINISHED_OK
$STATE,20135,begin surface
$SM_CCo,20216,0.00,0.000,0,0,458,566.64
$SM_GC,2.43,8.35,2.95,0.00,0.046,0.037,0.000,133,2594,458,-9.08,-1.16,566.64,0,0,0,0,0,0,25.94,26.13,28.83
$IRIDIUM_FIX,1850.98,12001.94,151212,131351
$TT8_MAMPS,0.025466,0.025466
$HUMID,54.21
$INTERNAL_PRESSURE,9.36132
$TCM_TEMP,22.40
$XPDR_PINGS,1
$SC_FREEKB,3942144
$24V_AH,22.5,44.761
$10V_AH,9.8,20.797
$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,22.450,218.475,651.975,0.000,0.000,0.000,0.000,281.025,0.250,0.000,17.273,3140.875,13556.167,844.604,2751.764,389.213,0.000,2513.499,0.000,2340.732,0.000,0.542,0.000
$DEVICE_MAMPS,234.855,55.845,1496.340,0.000,0.000,0.000,0.000,135.405,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20163.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.916,0.000,0.000,0.000
$MEM,323748
$DATA_FILE_SIZE,33339,917
$CAP_FILE_SIZE,246896,0
$CFSIZE,260034560,229822464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.108, 51.9,1
$GPS,161212,010805,1859.853,12001.038,34,0.8,34,-2.4