version: 66.11
glider: 170
mission: 10
dive: 206
start: 12 16 112 12 56 17
data:
$ID,170
$MISSION,10
$DIVE,206
$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,-143352.5
$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,56
$R_STBD_OVSHOOT,36
$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
$GPS1,161212,124705,1906.466,11958.877,25,0.9,25,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-75.8
$GPS2,161212,125548,1906.436,11958.870,14,1.3,15,-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,26.9,293666,-14.9,-8.684,-17.18
$D_GRID,3564
$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,-170.3,0.0,0.0,0,78,0.00,0.00,-55.97,0.000,2,0.000,0.000,143,2610,1763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.51,-170.3,3.0,-2.1,10,164,11.55,1.80,-65.32,0.000,4,0.249,0.070,2878,3697,3465,0,0,0,0,0,0,25.41,26.00,26.48
$GC,194,-0.43,-170.3,17.6,-30.0,29,202,0.12,1.62,0.00,0.000,6,0.174,0.025,2911,2552,3465,0,0,0,0,0,0,25.84,26.25,28.83
$GC,400,-0.42,-170.3,54.9,-11.6,49,406,0.00,1.92,0.00,0.000,4,0.000,0.029,2911,1228,3465,0,0,0,0,0,0,28.83,26.24,28.83
$GC,472,-0.42,-170.3,62.5,-11.7,52,477,0.00,2.17,0.00,0.000,6,0.000,0.050,2911,2596,3465,0,0,0,0,0,0,28.83,26.10,28.83
$GC,665,-0.42,-170.3,88.3,-10.6,62,671,0.00,2.03,0.00,0.000,4,0.000,0.034,2911,1250,3466,0,0,0,0,0,0,28.83,26.27,28.83
$GC,723,-0.42,-170.3,92.6,-9.8,64,729,0.00,2.15,0.00,0.000,6,0.000,0.050,2911,2607,3466,0,0,0,0,0,0,28.83,26.16,28.83
$GC,909,-0.43,-170.3,112.8,-9.9,74,914,0.00,1.73,0.00,0.000,4,0.000,0.055,2909,3705,3466,0,0,0,0,0,0,28.83,26.24,28.83
$GC,966,-0.44,-170.3,117.2,-9.9,76,973,0.00,1.55,0.00,0.000,6,0.000,0.024,2909,2615,3466,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1152,-0.45,-170.3,133.3,-6.7,86,1158,0.00,2.05,0.00,0.000,4,0.000,0.030,2909,1217,3466,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1258,-0.46,-170.3,142.8,-9.6,91,1264,0.00,2.17,0.00,0.000,6,0.000,0.044,2909,2617,3466,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1464,-0.48,-170.3,156.2,-3.7,101,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2617,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1643,-0.50,-170.3,165.9,-6.6,110,1648,0.00,1.70,0.00,0.000,4,0.000,0.054,2909,3700,3466,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1686,-0.52,-170.3,169.8,-8.1,112,1691,0.00,1.60,0.00,0.000,6,0.000,0.024,2909,2581,3466,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1891,-0.54,-170.3,187.1,-6.6,122,1897,0.00,1.98,0.00,0.000,4,0.000,0.028,2909,1209,3465,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1965,-0.56,-170.3,190.5,-5.2,125,1970,0.12,2.17,0.00,0.000,6,0.089,0.043,2840,2613,3465,0,0,0,0,0,0,26.34,26.32,28.83
$GC,2160,-0.55,-170.3,216.1,-14.2,135,2167,0.12,1.67,0.00,0.000,4,0.143,0.052,2881,3698,3464,0,0,0,0,0,0,26.36,26.30,28.83
$GC,2204,-0.55,-170.3,221.7,-13.2,137,2211,0.00,1.55,0.00,0.000,6,0.000,0.024,2881,2587,3464,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2411,-0.56,-170.3,241.4,-9.6,147,2416,0.00,1.98,0.00,0.000,4,0.000,0.028,2881,1230,3464,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2519,-0.57,-170.3,250.9,-9.0,152,2524,0.00,2.12,0.00,0.000,6,0.000,0.043,2880,2610,3463,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2837,-0.58,-170.3,285.7,-12.2,168,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2610,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3139,-0.60,-170.3,312.1,-5.4,183,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2610,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3439,-0.61,-170.3,330.7,-7.6,198,3445,0.00,2.08,0.00,0.000,4,0.000,0.036,2881,1228,3459,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3533,-0.63,-170.3,337.1,-7.4,202,3539,0.00,2.12,0.00,0.000,6,0.000,0.042,2881,2617,3458,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3848,-0.64,-170.3,361.5,-7.6,218,3850,0.12,0.00,0.00,0.000,6,0.093,0.000,2809,2617,3456,0,0,0,0,0,0,26.60,28.83,28.83
$GC,4149,-0.62,-170.3,400.3,-13.7,233,4156,0.12,2.05,0.00,0.000,4,0.149,0.025,2851,1223,3454,0,0,0,0,0,0,26.34,26.46,28.83
$GC,4243,-0.62,-170.3,409.4,-10.4,237,4248,0.00,2.15,0.00,0.000,6,0.000,0.042,2851,2610,3454,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4556,-0.62,-170.3,432.5,-5.7,253,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2610,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4857,-0.62,-170.3,453.2,-8.0,268,4863,0.00,2.05,0.00,0.000,4,0.000,0.026,2852,1223,3452,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4936,-0.63,-170.3,458.6,-8.3,271,4943,0.00,2.15,0.00,0.000,6,0.000,0.042,2852,2607,3451,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5241,-0.64,-170.3,487.4,-9.1,287,5247,0.00,2.03,0.00,0.000,4,0.000,0.027,2851,1228,3450,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5319,-0.64,-170.3,493.5,-9.6,290,5327,0.00,2.15,0.00,0.000,6,0.000,0.042,2851,2612,3450,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5626,-0.65,-170.3,521.7,-8.0,306,5632,0.00,2.03,0.00,0.000,4,0.000,0.027,2851,1234,3448,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5671,-0.66,-170.3,525.1,-7.9,308,5677,0.00,2.12,0.00,0.000,6,0.000,0.042,2851,2603,3447,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5995,-0.67,-170.3,549.3,-8.4,324,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2603,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6296,-0.68,-170.3,576.7,-9.1,339,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2603,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6607,-0.68,-170.3,603.2,-8.0,354,6612,0.00,2.05,0.00,0.000,4,0.000,0.026,2851,1223,3443,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6641,-0.69,-170.3,605.9,-7.9,355,6646,0.00,2.15,0.00,0.000,6,0.000,0.041,2851,2600,3443,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6976,-0.70,-170.3,626.7,-5.9,366,6981,0.00,2.00,0.00,0.000,4,0.000,0.028,2851,1232,3442,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7023,-0.71,-170.3,628.8,-5.8,367,7029,0.00,2.12,0.00,0.000,6,0.000,0.041,2851,2600,3442,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7345,-0.72,-170.3,647.7,-5.6,378,7351,0.10,2.03,0.00,0.000,4,0.111,0.025,2794,1229,3440,0,0,0,0,0,0,26.60,26.44,28.83
$GC,7379,-0.72,-170.3,650.6,-6.2,379,7384,0.00,2.15,0.00,0.000,6,0.000,0.043,2794,2599,3440,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7713,-0.70,-170.3,677.1,-7.2,390,7719,0.00,1.75,0.00,0.000,4,0.000,0.055,2794,3685,3439,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7782,-0.69,-170.3,682.6,-8.0,392,7788,0.12,1.55,0.00,0.000,6,0.151,0.029,2831,2602,3439,0,0,0,0,0,0,26.18,26.53,28.83
$GC,8112,-0.69,-170.3,712.7,-10.2,403,8117,0.00,2.03,0.00,0.000,4,0.000,0.027,2831,1222,3438,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8179,-0.69,-170.3,719.6,-10.5,405,8185,0.00,2.15,0.00,0.000,6,0.000,0.043,2831,2599,3437,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8507,-0.69,-170.3,754.5,-10.3,416,8512,0.00,1.75,0.00,0.000,4,0.000,0.056,2831,3699,3436,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8534,-0.69,-170.3,754.5,-10.3,416,8542,0.00,1.58,0.00,0.000,6,0.000,0.030,2831,2601,3435,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8840,-0.69,-170.3,789.8,-11.1,427,8845,0.00,2.03,0.00,0.000,4,0.000,0.028,2831,1211,3435,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8882,-0.69,-170.3,793.6,-11.2,428,8887,0.00,2.17,0.00,0.000,6,0.000,0.044,2831,2601,3435,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9206,-0.69,-170.3,830.2,-10.5,439,9207,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2601,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9505,-0.69,-170.3,852.9,-6.5,449,9510,0.00,2.05,0.00,0.000,4,0.000,0.028,2831,1214,3434,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9593,-0.69,-170.3,856.8,-6.3,451,9601,0.00,2.17,0.00,0.000,6,0.000,0.044,2831,2602,3434,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9900,-0.70,-170.3,874.6,-5.5,462,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2602,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10200,-0.70,-170.3,892.9,-6.2,472,10205,0.00,2.05,0.00,0.000,4,0.000,0.028,2831,1217,3432,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10273,-0.71,-170.3,897.1,-6.3,474,10278,0.00,2.17,0.00,0.000,6,0.000,0.042,2831,2609,3432,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10599,-0.72,-170.3,921.8,-7.8,485,10604,0.00,2.05,0.00,0.000,4,0.000,0.028,2831,1222,3430,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10656,-0.72,-170.3,924.6,-7.9,486,10664,0.00,2.15,0.00,0.000,6,0.000,0.044,2831,2599,3430,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10964,-0.73,-170.3,950.6,-7.9,497,10965,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2599,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11263,-0.74,-170.3,972.9,-7.1,507,11264,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2599,3428,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11530,begin apogee
$GC,11537,-0.15,0.0,991.1,-6.6,516,11687,0.47,0.00,142.38,1.495,6,0.111,0.000,2997,2113,2768,0,0,0,0,0,0,25.84,28.83,23.34
$STATE,11689,end apogee,CONTROL_FINISHED_OK
$STATE,11689,begin climb
$GC,11691,0.51,170.3,995.0,0.0,521,11865,0.57,2.58,158.55,1.441,4,0.048,0.050,3226,3516,2072,0,0,0,0,0,0,24.63,23.63,22.54
$GC,11877,0.46,170.3,982.8,9.8,527,11883,0.15,2.28,0.00,0.000,6,0.158,0.028,3196,2154,2070,0,0,0,0,0,0,23.96,24.15,28.83
$GC,12203,0.44,170.3,940.2,12.2,538,12209,0.00,2.22,0.00,0.000,4,0.000,0.036,3205,714,2063,0,0,0,0,0,0,28.83,25.75,28.83
$GC,12231,0.41,170.3,940.2,12.2,538,12237,0.00,2.20,0.00,0.000,6,0.000,0.038,3203,2118,2061,0,0,0,0,0,0,28.83,25.76,28.83
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$STATE,20435,end climb,SURFACE_DEPTH_REACHED
$STATE,20435,begin surface coast
$FINISH,1.5,0.998087
$STATE,20461,end surface coast,CONTROL_FINISHED_OK
$STATE,20461,begin surface
$SM_CCo,20540,0.00,0.000,0,0,606,530.34
$SM_GC,2.54,8.20,0.73,0.00,0.036,0.044,0.000,130,2608,606,-9.06,-1.22,530.34,0,0,0,0,0,0,26.03,26.16,28.83
$IRIDIUM_FIX,1857.82,11957.99,161212,070721
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.37
$INTERNAL_PRESSURE,9.39062
$TCM_TEMP,22.40
$XPDR_PINGS,1
$SC_FREEKB,3940992
$24V_AH,22.5,45.454
$10V_AH,9.8,21.149
$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,22.800,200.675,613.375,0.000,0.000,0.000,0.000,325.625,0.250,0.000,15.564,3098.953,14033.928,798.422,2737.880,384.209,0.000,2468.854,0.000,2282.063,0.000,0.542,0.000
$DEVICE_MAMPS,249.390,70.380,1494.810,0.000,0.000,0.000,0.000,132.345,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20494.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.454,0.000,0.000,0.000
$MEM,323792
$DATA_FILE_SIZE,33359,930
$CAP_FILE_SIZE,243356,0
$CFSIZE,260034560,229474304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.080,330.1,1
$GPS,161212,183952,1910.173,11959.721,38,0.8,38,-2.5