version: 66.11
glider: 170
mission: 10
dive: 208
start: 12 16 112 20 39 4
data:
$ID,170
$MISSION,10
$DIVE,208
$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,-143355
$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,67
$R_STBD_OVSHOOT,41
$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
$GPS1,161212,203112,1910.913,12000.089,17,1.2,17,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-76.5
$GPS2,161212,203836,1910.968,12000.005,16,1.1,16,-2.5
$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,341.3,285266,-14.9,-8.684,-17.18
$D_GRID,4089
$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,-170.3,0.0,0.0,0,96,0.00,0.00,-72.90,0.000,2,0.000,0.000,135,2613,2137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.51,-170.3,3.1,-0.5,13,154,11.40,1.77,-33.92,0.000,4,0.246,0.081,2882,3673,3465,0,0,0,0,0,0,25.55,26.04,26.55
$GC,242,-0.45,-170.3,37.5,-26.5,34,248,0.00,1.58,0.00,0.000,6,0.000,0.025,2882,2603,3465,0,0,0,0,0,0,28.83,26.32,28.83
$GC,440,-0.43,-170.3,66.3,-6.0,47,446,0.00,1.75,0.00,0.000,4,0.000,0.057,2881,3687,3465,0,0,0,0,0,0,28.83,26.20,28.83
$GC,514,-0.42,-170.3,70.0,-5.3,50,520,0.12,1.60,0.00,0.000,6,0.140,0.024,2920,2600,3464,0,0,0,0,0,0,26.20,26.44,28.83
$GC,710,-0.44,-170.3,90.0,-12.4,60,715,0.00,2.10,0.00,0.000,4,0.000,0.037,2920,1189,3465,0,0,0,0,0,0,28.83,26.41,28.83
$GC,797,-0.46,-170.3,103.6,-15.8,64,802,0.00,2.22,0.00,0.000,6,0.000,0.054,2920,2590,3465,0,0,0,0,0,0,28.83,26.25,28.83
$GC,997,-0.48,-170.3,122.4,-5.3,74,1002,0.00,2.10,0.00,0.000,4,0.000,0.037,2920,1196,3465,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1035,-0.50,-170.3,123.6,-4.7,75,1042,0.00,2.20,0.00,0.000,6,0.000,0.047,2920,2612,3465,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1221,-0.53,-170.3,136.2,-8.1,85,1223,0.12,0.00,0.00,0.000,6,0.094,0.000,2849,2612,3465,0,0,0,0,0,0,26.58,28.83,28.83
$GC,1401,-0.51,-170.3,159.3,-12.7,94,1403,0.12,0.00,0.00,0.000,6,0.143,0.000,2888,2613,3465,0,0,0,0,0,0,26.41,28.83,28.83
$GC,1581,-0.51,-170.3,175.5,-9.0,103,1586,0.00,2.10,0.00,0.000,4,0.000,0.031,2888,1191,3464,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1665,-0.53,-170.3,182.9,-8.8,107,1670,0.00,2.17,0.00,0.000,6,0.000,0.047,2888,2600,3464,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1870,-0.54,-170.3,199.1,-8.0,117,1875,0.00,2.05,0.00,0.000,4,0.000,0.030,2888,1198,3463,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1898,-0.55,-170.3,201.3,-8.3,118,1903,0.00,2.17,0.00,0.000,6,0.000,0.046,2888,2600,3463,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2096,-0.56,-170.3,221.2,-9.7,128,2101,0.00,1.67,0.00,0.000,4,0.000,0.053,2888,3694,3462,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2129,-0.57,-170.3,223.3,-9.4,129,2134,0.00,1.65,0.00,0.000,6,0.000,0.024,2888,2545,3462,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2324,-0.59,-170.3,238.1,-7.2,139,2330,0.00,1.98,0.00,0.000,4,0.000,0.030,2888,1194,3461,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2388,-0.60,-170.3,243.2,-7.7,142,2394,0.00,2.17,0.00,0.000,6,0.000,0.045,2888,2608,3460,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2595,-0.62,-170.3,258.8,-7.5,152,2597,0.12,0.00,0.00,0.000,6,0.086,0.000,2819,2609,3459,0,0,0,0,0,0,26.62,28.83,28.83
$GC,2894,-0.60,-170.3,300.0,-14.4,167,2901,0.12,2.10,0.00,0.000,4,0.155,0.028,2862,1184,3457,0,0,0,0,0,0,26.36,26.49,28.83
$GC,2928,-0.58,-170.3,303.6,-14.1,168,2933,0.00,2.20,0.00,0.000,6,0.000,0.044,2862,2605,3459,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3242,-0.59,-170.3,336.7,-10.3,184,3247,0.00,2.10,0.00,0.000,4,0.000,0.029,2862,1195,3455,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3309,-0.60,-170.3,343.1,-10.3,187,3315,0.00,2.15,0.00,0.000,6,0.000,0.043,2862,2600,3455,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3629,-0.60,-170.3,374.7,-9.8,203,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2601,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3930,-0.61,-170.3,400.9,-8.2,218,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2601,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4230,-0.62,-170.3,425.2,-7.9,233,4236,0.00,2.10,0.00,0.000,4,0.000,0.027,2862,1188,3451,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4304,-0.64,-170.3,430.4,-7.9,236,4309,0.00,2.20,0.00,0.000,6,0.000,0.042,2862,2611,3451,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4617,-0.65,-170.3,451.4,-6.2,252,4622,0.00,1.67,0.00,0.000,4,0.000,0.054,2862,3690,3448,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4655,-0.66,-170.3,452.9,-6.4,253,4661,0.00,1.62,0.00,0.000,6,0.000,0.028,2862,2553,3447,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4961,-0.68,-170.3,480.3,-10.0,269,4966,0.00,1.90,0.00,0.000,4,0.000,0.028,2862,1235,3446,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5013,-0.69,-170.3,484.7,-10.3,271,5020,0.10,2.10,0.00,0.000,6,0.103,0.042,2802,2606,3445,0,0,0,0,0,0,26.35,26.36,28.83
$GC,5328,-0.67,-170.3,526.4,-12.5,287,5334,0.12,2.03,0.00,0.000,4,0.168,0.024,2844,1234,3444,0,0,0,0,0,0,26.32,26.48,28.83
$GC,5415,-0.67,-170.3,534.5,-9.5,291,5420,0.00,2.12,0.00,0.000,6,0.000,0.043,2844,2604,3444,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5733,-0.67,-170.3,563.8,-9.6,307,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2604,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6035,-0.67,-170.3,590.1,-8.2,322,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2603,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6355,-0.68,-170.3,615.7,-8.1,335,6361,0.00,2.05,0.00,0.000,4,0.000,0.026,2844,1223,3439,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6472,-0.69,-170.3,623.6,-8.2,338,6477,0.00,2.15,0.00,0.000,6,0.000,0.042,2844,2606,3439,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6786,-0.69,-170.3,651.3,-8.0,349,6791,0.00,2.05,0.00,0.000,4,0.000,0.027,2844,1226,3437,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6820,-0.70,-170.3,654.1,-8.0,350,6826,0.00,2.12,0.00,0.000,6,0.000,0.042,2844,2600,3438,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7156,-0.71,-170.3,681.2,-8.3,361,7162,0.00,2.03,0.00,0.000,4,0.000,0.027,2844,1231,3435,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7235,-0.72,-170.3,686.6,-8.2,363,7240,0.00,2.12,0.00,0.000,6,0.000,0.042,2844,2610,3435,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7555,-0.73,-170.3,714.2,-8.7,374,7561,0.00,2.05,0.00,0.000,4,0.000,0.027,2844,1231,3434,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7598,-0.73,-170.3,717.4,-8.8,375,7604,0.00,2.12,0.00,0.000,6,0.000,0.042,2844,2599,3434,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7924,-0.74,-170.3,744.8,-7.8,386,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2600,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8222,-0.75,-170.3,764.9,-6.1,396,8224,0.12,0.00,0.00,0.000,6,0.090,0.000,2781,2600,3432,0,0,0,0,0,0,26.60,28.83,28.83
$GC,8522,-0.73,-170.3,793.1,-9.3,406,8524,0.12,0.00,0.00,0.000,6,0.158,0.000,2817,2600,3431,0,0,0,0,0,0,26.36,28.83,28.83
$GC,8822,-0.73,-170.3,813.5,-6.8,416,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2600,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9122,-0.73,-170.3,836.8,-8.2,426,9128,0.00,2.03,0.00,0.000,4,0.000,0.028,2818,1225,3428,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9209,-0.73,-170.3,842.5,-8.7,428,9216,0.00,2.15,0.00,0.000,6,0.000,0.043,2817,2598,3428,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9516,-0.73,-170.3,875.4,-10.6,439,9521,0.00,1.75,0.00,0.000,4,0.000,0.056,2818,3694,3427,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9557,-0.73,-170.3,879.1,-10.8,440,9563,0.00,1.55,0.00,0.000,6,0.000,0.031,2818,2626,3427,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9881,-0.73,-170.3,916.0,-11.2,451,9887,0.00,2.10,0.00,0.000,4,0.000,0.028,2818,1202,3426,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9935,-0.73,-170.3,919.8,-11.1,452,9940,0.00,2.20,0.00,0.000,6,0.000,0.043,2818,2606,3425,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10247,-0.73,-170.3,953.4,-9.4,463,10249,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2605,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10548,-0.73,-170.3,977.3,-7.2,473,10554,0.00,2.10,0.00,0.000,4,0.000,0.028,2818,1206,3423,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10597,-0.73,-170.3,979.6,-6.9,474,10602,0.00,2.20,0.00,0.000,6,0.000,0.044,2818,2606,3423,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,10763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10763,begin apogee
$GC,10770,-0.15,0.0,991.4,-6.2,480,10920,0.52,0.00,141.73,1.492,6,0.112,0.000,2999,2102,2768,0,0,0,0,0,0,25.86,28.83,23.48
$STATE,10922,end apogee,CONTROL_FINISHED_OK
$STATE,10922,begin climb
$GC,10924,0.51,170.3,993.1,0.0,485,11086,0.57,0.00,158.68,1.438,6,0.048,0.000,3222,2101,2075,0,0,0,0,0,0,24.77,28.83,22.63
$GC,11365,0.47,170.3,937.3,14.6,500,11370,0.00,2.38,0.00,0.000,4,0.000,0.051,3222,3531,2065,0,0,0,0,0,0,28.83,25.61,28.83
$GC,11412,0.44,170.3,932.4,14.4,501,11419,0.12,2.12,0.00,0.000,6,0.165,0.029,3194,2145,2065,0,0,0,0,0,0,25.58,25.86,28.83
$GC,11734,0.42,170.3,893.0,11.1,512,11739,0.00,2.15,0.00,0.000,4,0.000,0.035,3201,723,2062,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11843,0.40,170.3,882.6,10.8,515,11849,0.00,2.15,0.00,0.000,6,0.000,0.039,3201,2121,2061,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12163,0.38,170.3,843.0,11.9,526,12169,0.00,2.25,0.00,0.000,4,0.000,0.051,3201,3530,2061,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12221,0.36,170.3,838.5,12.1,527,12228,0.15,2.12,0.00,0.000,6,0.154,0.028,3165,2111,2061,0,0,0,0,0,0,26.01,26.38,28.83
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$STATE,20164,end climb,SURFACE_DEPTH_REACHED
$STATE,20165,begin surface coast
$FINISH,1.5,1.021244
$STATE,20197,end surface coast,CONTROL_FINISHED_OK
$STATE,20198,begin surface
$SM_CCo,20277,0.00,0.000,0,0,457,567.13
$SM_GC,2.43,8.27,1.42,0.00,0.037,0.027,0.000,126,2564,457,-9.07,1.92,567.13,0,0,0,0,0,0,26.10,26.32,28.83
$IRIDIUM_FIX,1904.66,11959.13,161212,181802
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.11
$INTERNAL_PRESSURE,9.39062
$TCM_TEMP,22.80
$XPDR_PINGS,2
$SC_FREEKB,3940224
$24V_AH,22.6,45.834
$10V_AH,9.9,21.330
$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
$DEVICE_SECS,23.475,196.725,642.175,0.000,0.000,0.000,0.000,272.850,0.500,0.000,18.228,3106.762,13777.084,826.947,2634.770,382.669,0.000,2404.378,0.000,2242.467,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20222.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.649,0.000,0.000,0.000
$MEM,323796
$DATA_FILE_SIZE,33372,930
$CAP_FILE_SIZE,244146,0
$CFSIZE,260034560,229289984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.138, 47.3,1
$GPS,171212,021805,1914.797,11959.811,27,0.9,27,-2.5