version: 66.11
glider: 170
mission: 10
dive: 204
start: 12 16 112 1 16 48
data:
$ID,170
$MISSION,10
$DIVE,204
$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,-143350
$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,30
$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
$GPS1,161212,010805,1859.853,12001.038,34,0.8,34,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-77.5
$GPS2,161212,011618,1900.046,12001.118,14,1.2,15,-2.4
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$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,344.3,305502,-14.9,-8.684,-17.18
$D_GRID,3087
$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,19,-0.51,-170.3,0.0,0.0,0,78,0.00,0.00,-56.17,0.000,2,0.000,0.000,133,2598,1725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.51,-170.3,3.0,-1.8,10,171,11.23,1.80,-67.53,0.000,4,0.238,0.073,2883,3691,3465,0,0,0,0,0,0,25.45,26.02,26.48
$GC,195,-0.43,-170.3,17.1,-30.7,29,202,0.00,1.62,0.00,0.000,6,0.000,0.024,2883,2599,3466,0,0,0,0,0,0,28.83,26.20,28.83
$GC,385,-0.41,-170.3,45.3,-13.1,51,390,0.12,2.05,0.00,0.000,4,0.164,0.028,2925,1204,3465,0,0,0,0,0,0,26.10,26.22,28.83
$GC,563,-0.42,-170.3,60.0,-8.0,61,570,0.00,2.20,0.00,0.000,6,0.000,0.047,2925,2614,3465,0,0,0,0,0,0,28.83,26.20,28.83
$GC,749,-0.43,-170.3,77.9,-9.5,71,754,0.00,1.70,0.00,0.000,4,0.000,0.054,2925,3694,3466,0,0,0,0,0,0,28.83,26.23,28.83
$GC,781,-0.45,-170.3,80.3,-9.8,72,787,0.00,1.62,0.00,0.000,6,0.000,0.024,2925,2582,3466,0,0,0,0,0,0,28.83,26.48,28.83
$GC,976,-0.46,-170.3,97.1,-6.3,82,981,0.00,2.03,0.00,0.000,4,0.000,0.031,2925,1209,3466,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1070,-0.49,-170.3,101.5,-5.3,86,1075,0.00,2.15,0.00,0.000,6,0.000,0.057,2925,2602,3467,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1265,-0.51,-170.3,111.5,-5.5,96,1267,0.12,0.00,0.00,0.000,6,0.086,0.000,2854,2602,3465,0,0,0,0,0,0,26.55,28.83,28.83
$GC,1443,-0.49,-170.3,133.9,-12.8,105,1445,0.12,0.00,0.00,0.000,6,0.143,0.000,2891,2602,3467,0,0,0,0,0,0,26.36,28.83,28.83
$GC,1623,-0.50,-170.3,152.5,-10.4,114,1629,0.00,2.10,0.00,0.000,4,0.000,0.031,2891,1196,3465,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1651,-0.50,-170.3,155.1,-10.4,115,1656,0.00,2.15,0.00,0.000,6,0.000,0.044,2891,2602,3465,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1850,-0.51,-170.3,178.0,-12.1,125,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2602,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2029,-0.52,-170.3,198.9,-10.9,134,2035,0.00,2.08,0.00,0.000,4,0.000,0.027,2891,1207,3464,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2082,-0.54,-170.3,203.3,-10.4,136,2088,0.00,2.15,0.00,0.000,6,0.000,0.043,2891,2616,3464,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2278,-0.55,-170.3,216.6,-5.4,146,2283,0.00,1.67,0.00,0.000,4,0.000,0.052,2891,3686,3463,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2325,-0.57,-170.3,218.6,-4.8,148,2332,0.00,1.60,0.00,0.000,6,0.000,0.026,2891,2554,3463,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2527,-0.58,-170.3,228.2,-5.0,158,2533,0.00,1.92,0.00,0.000,4,0.000,0.028,2891,1233,3463,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2576,-0.60,-170.3,230.3,-4.7,160,2582,0.12,2.10,0.00,0.000,6,0.086,0.054,2821,2602,3462,0,0,0,0,0,0,26.33,26.27,28.83
$GC,2777,-0.58,-170.3,251.2,-12.0,170,2779,0.15,0.00,0.00,0.000,6,0.140,0.000,2866,2602,3462,0,0,0,0,0,0,26.32,28.83,28.83
$GC,3075,-0.58,-170.3,284.3,-13.1,185,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2602,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3377,-0.58,-170.3,326.4,-12.9,200,3382,0.00,1.70,0.00,0.000,4,0.000,0.054,2866,3698,3459,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3444,-0.59,-170.3,333.3,-10.9,203,3450,0.00,1.55,0.00,0.000,6,0.000,0.027,2866,2594,3459,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3763,-0.60,-170.3,355.6,-5.9,219,3768,0.00,1.98,0.00,0.000,4,0.000,0.027,2866,1242,3457,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3868,-0.62,-170.3,361.2,-5.3,224,3873,0.00,2.10,0.00,0.000,6,0.000,0.042,2866,2607,3456,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4192,-0.63,-170.3,383.2,-8.6,240,4197,0.00,1.70,0.00,0.000,4,0.000,0.053,2866,3692,3455,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4239,-0.64,-170.3,387.5,-9.6,242,4244,0.00,1.52,0.00,0.000,6,0.000,0.028,2866,2609,3454,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4558,-0.66,-170.3,419.8,-9.1,258,4564,0.00,2.03,0.00,0.000,4,0.000,0.028,2866,1226,3453,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4643,-0.67,-170.3,427.0,-8.5,262,4650,0.00,2.12,0.00,0.000,6,0.000,0.043,2866,2599,3452,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4968,-0.69,-170.3,446.6,-5.3,278,4970,0.12,0.00,0.00,0.000,6,0.090,0.000,2795,2599,3451,0,0,0,0,0,0,26.61,28.83,28.83
$GC,5269,-0.66,-170.3,482.8,-13.4,293,5275,0.12,2.03,0.00,0.000,4,0.156,0.024,2836,1225,3450,0,0,0,0,0,0,26.32,26.46,28.83
$GC,5328,-0.65,-170.3,488.1,-12.6,295,5335,0.00,2.15,0.00,0.000,6,0.000,0.043,2836,2606,3449,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5633,-0.65,-170.3,521.5,-10.3,311,5638,0.00,1.70,0.00,0.000,4,0.000,0.054,2836,3697,3447,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5665,-0.65,-170.3,523.8,-10.1,312,5670,0.00,1.55,0.00,0.000,6,0.000,0.028,2836,2604,3447,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5978,-0.65,-170.3,553.1,-8.6,328,5984,0.00,2.03,0.00,0.000,4,0.000,0.027,2836,1222,3445,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6072,-0.65,-170.3,559.9,-8.0,332,6077,0.00,2.15,0.00,0.000,6,0.000,0.043,2836,2603,3445,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6385,-0.65,-170.3,584.6,-7.4,348,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2604,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6687,-0.65,-170.3,605.3,-7.0,362,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2604,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6985,-0.65,-170.3,626.8,-7.3,372,6990,0.00,2.05,0.00,0.000,4,0.000,0.026,2836,1223,3440,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7027,-0.65,-170.3,629.6,-7.5,373,7032,0.00,2.12,0.00,0.000,6,0.000,0.042,2836,2601,3440,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7352,-0.65,-170.3,655.2,-7.6,384,7357,0.00,2.05,0.00,0.000,4,0.000,0.027,2836,1226,3439,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7417,-0.66,-170.3,660.2,-7.6,386,7422,0.00,2.15,0.00,0.000,6,0.000,0.044,2836,2602,3438,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7752,-0.66,-170.3,683.2,-7.0,397,7753,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2603,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8050,-0.66,-170.3,707.9,-8.8,407,8055,0.00,1.70,0.00,0.000,4,0.000,0.054,2836,3690,3436,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8078,-0.67,-170.3,707.9,-8.8,407,8085,0.00,1.60,0.00,0.000,6,0.000,0.030,2835,2592,3436,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8384,-0.67,-170.3,738.1,-9.0,418,8390,0.00,2.03,0.00,0.000,4,0.000,0.028,2836,1220,3435,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8448,-0.68,-170.3,744.0,-9.0,420,8453,0.00,2.15,0.00,0.000,6,0.000,0.043,2836,2603,3435,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8783,-0.69,-170.3,771.2,-7.9,431,8788,0.00,2.05,0.00,0.000,4,0.000,0.028,2836,1224,3434,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8817,-0.69,-170.3,774.0,-7.9,432,8823,0.00,2.17,0.00,0.000,6,0.000,0.043,2836,2605,3434,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9154,-0.70,-170.3,798.6,-7.3,443,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2605,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9451,-0.71,-170.3,822.0,-8.4,453,9456,0.00,2.08,0.00,0.000,4,0.000,0.027,2836,1217,3432,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9499,-0.72,-170.3,825.0,-8.6,454,9505,0.00,2.15,0.00,0.000,6,0.000,0.042,2836,2607,3432,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9820,-0.73,-170.3,851.2,-7.4,465,9825,0.00,2.08,0.00,0.000,4,0.000,0.028,2836,1223,3430,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9888,-0.74,-170.3,855.9,-7.1,467,9893,0.00,2.17,0.00,0.000,6,0.000,0.043,2836,2610,3430,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10218,-0.75,-170.3,878.5,-6.7,478,10219,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2610,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10517,-0.76,-170.3,896.4,-6.0,488,10522,0.00,2.08,0.00,0.000,4,0.000,0.028,2836,1225,3428,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10559,-0.76,-170.3,898.3,-5.9,489,10564,0.00,2.15,0.00,0.000,6,0.000,0.044,2836,2607,3428,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10885,-0.77,-170.3,916.5,-5.7,500,10887,0.12,0.00,0.00,0.000,6,0.096,0.000,2770,2607,3427,0,0,0,0,0,0,26.57,28.83,28.83
$GC,11182,-0.75,-170.3,952.7,-13.3,510,11188,0.12,2.10,0.00,0.000,4,0.157,0.026,2810,1211,3426,0,0,0,0,0,0,26.27,26.38,28.83
$GC,11220,-0.73,-170.3,956.9,-13.2,511,11226,0.00,2.17,0.00,0.000,6,0.000,0.044,2810,2605,3426,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,11548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11548,begin apogee
$GC,11554,-0.15,0.0,993.0,-10.9,522,11704,0.55,0.00,142.40,1.501,6,0.113,0.000,2998,2118,2769,0,0,0,0,0,0,25.75,28.83,23.30
$STATE,11706,end apogee,CONTROL_FINISHED_OK
$STATE,11706,begin climb
$GC,11708,0.51,170.3,1001.3,0.0,527,11879,0.57,2.60,160.07,1.457,4,0.048,0.051,3222,3527,2073,0,0,0,0,0,0,24.59,23.61,22.51
$GC,11908,0.47,207.6,993.5,7.4,533,11948,0.00,2.28,34.60,1.389,6,0.000,0.028,3227,2157,1922,0,0,0,0,0,0,28.83,24.29,22.65
$GC,12276,0.44,207.6,941.7,13.3,546,12282,0.12,2.25,0.00,0.000,4,0.165,0.034,3198,717,1913,0,0,0,0,0,0,25.53,25.68,28.83
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$STATE,20895,end climb,SURFACE_DEPTH_REACHED
$STATE,20895,begin surface coast
$FINISH,1.4,1.013541
$STATE,20921,end surface coast,CONTROL_FINISHED_OK
$STATE,20921,begin surface
$SM_CCo,21000,0.00,0.000,0,0,654,518.81
$SM_GC,2.29,8.40,0.82,0.00,0.047,0.045,0.000,138,2613,654,-9.06,-0.90,518.81,0,0,0,0,0,0,25.72,26.01,28.83
$IRIDIUM_FIX,1855.54,12023.43,151212,191937
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.35
$INTERNAL_PRESSURE,9.37109
$TCM_TEMP,22.20
$XPDR_PINGS,2
$SC_FREEKB,3941760
$24V_AH,22.5,44.979
$10V_AH,10.0,20.917
$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,23.025,204.625,570.950,0.000,0.000,0.000,0.000,294.825,0.500,0.000,15.848,3193.841,14377.430,811.851,2703.911,396.132,0.000,2422.520,0.000,2281.007,0.000,0.542,0.000
$DEVICE_MAMPS,237.915,73.440,1500.930,0.000,0.000,0.000,0.000,133.875,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20954.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.729,0.000,0.000,0.000
$MEM,323744
$DATA_FILE_SIZE,36699,966
$CAP_FILE_SIZE,250407,0
$CFSIZE,260034560,229699584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.046, 12.0,1
$GPS,161212,070804,1903.508,11959.973,39,0.9,39,-2.4