version: 66.11
glider: 170
mission: 10
dive: 209
start: 12 17 112 2 26 58
data:
$ID,170
$MISSION,10
$DIVE,209
$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,-143356.25
$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,97
$R_STBD_OVSHOOT,39
$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
$GPS1,171212,021805,1914.797,11959.811,27,0.9,27,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-76.7
$GPS2,171212,022629,1915.021,11959.864,13,1.6,13,-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,341.3,277760,-14.9,-8.684,-17.18
$D_GRID,4145
$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,-170.3,0.0,0.0,0,89,0.00,0.00,-66.90,0.000,2,0.000,0.000,125,2560,1956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.51,-170.3,3.3,-1.4,12,159,11.40,1.88,-45.67,0.000,4,0.243,0.072,2884,3687,3465,0,0,0,0,0,0,25.39,26.01,26.48
$GC,222,-0.47,-170.3,27.3,-24.4,33,229,0.00,1.55,0.00,0.000,6,0.000,0.024,2887,2630,3466,0,0,0,0,0,0,28.83,26.29,28.83
$GC,418,-0.45,-170.3,57.3,-15.2,51,423,0.00,2.10,0.00,0.000,4,0.000,0.031,2884,1211,3466,0,0,0,0,0,0,28.83,26.25,28.83
$GC,631,-0.44,-170.3,85.1,-13.5,61,637,0.00,2.17,0.00,0.000,6,0.000,0.050,2884,2585,3466,0,0,0,0,0,0,28.83,26.16,28.83
$GC,825,-0.42,-170.3,108.9,-12.5,71,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2585,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1006,-0.41,-170.3,131.2,-12.0,80,1012,0.12,1.75,0.00,0.000,4,0.152,0.054,2929,3704,3466,0,0,0,0,0,0,26.30,26.27,28.83
$GC,1051,-0.43,-170.3,135.3,-10.5,82,1056,0.00,1.62,0.00,0.000,6,0.000,0.024,2929,2587,3466,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1256,-0.46,-170.3,146.6,-4.9,92,1261,0.00,2.03,0.00,0.000,4,0.000,0.031,2929,1217,3466,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1340,-0.49,-170.3,150.7,-4.9,96,1346,0.12,2.15,0.00,0.000,6,0.080,0.045,2857,2617,3466,0,0,0,0,0,0,26.36,26.34,28.83
$GC,1546,-0.48,-170.3,171.9,-11.4,106,1552,0.12,1.67,0.00,0.000,4,0.145,0.052,2901,3697,3465,0,0,0,0,0,0,26.34,26.32,28.83
$GC,1579,-0.48,-170.3,174.5,-11.1,107,1584,0.00,1.60,0.00,0.000,6,0.000,0.024,2902,2581,3465,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1774,-0.50,-170.3,190.3,-7.7,117,1780,0.00,2.00,0.00,0.000,4,0.000,0.040,2902,1220,3465,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1894,-0.52,-170.3,198.5,-7.8,122,1900,0.00,2.15,0.00,0.000,6,0.000,0.044,2902,2608,3464,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2079,-0.54,-170.3,213.1,-7.0,132,2084,0.00,1.67,0.00,0.000,4,0.000,0.054,2902,3692,3464,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2112,-0.57,-170.3,214.5,-6.8,133,2118,0.10,1.58,0.00,0.000,6,0.095,0.026,2833,2569,3463,0,0,0,0,0,0,26.46,26.58,28.83
$GC,2307,-0.55,-170.3,235.2,-10.8,143,2313,0.12,1.92,0.00,0.000,4,0.149,0.027,2877,1235,3463,0,0,0,0,0,0,26.36,26.46,28.83
$GC,2426,-0.56,-170.3,244.0,-7.7,148,2433,0.00,2.10,0.00,0.000,6,0.000,0.044,2877,2604,3462,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2611,-0.57,-170.3,261.3,-9.1,158,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2604,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2914,-0.58,-170.3,283.0,-5.6,173,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2604,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3213,-0.60,-170.3,308.1,-10.1,188,3219,0.00,2.03,0.00,0.000,4,0.000,0.029,2877,1239,3458,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3321,-0.62,-170.3,318.8,-10.1,193,3327,0.00,2.10,0.00,0.000,6,0.000,0.041,2877,2613,3458,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3639,-0.63,-170.3,348.9,-8.8,209,3645,0.00,2.03,0.00,0.000,4,0.000,0.027,2877,1246,3455,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3684,-0.65,-170.3,352.6,-8.7,211,3691,0.12,2.10,0.00,0.000,6,0.087,0.042,2804,2612,3455,0,0,0,0,0,0,26.36,26.36,28.83
$GC,4009,-0.63,-170.3,389.6,-10.7,227,4015,0.12,2.03,0.00,0.000,4,0.161,0.025,2846,1249,3454,0,0,0,0,0,0,26.32,26.47,28.83
$GC,4073,-0.63,-170.3,394.6,-8.5,230,4078,0.00,2.10,0.00,0.000,6,0.000,0.043,2846,2597,3454,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4395,-0.63,-170.3,422.1,-9.7,246,4400,0.00,1.70,0.00,0.000,4,0.000,0.054,2846,3693,3452,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4447,-0.63,-170.3,426.3,-9.9,248,4453,0.00,1.52,0.00,0.000,6,0.000,0.028,2846,2612,3452,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4762,-0.63,-170.3,454.9,-8.4,264,4767,0.00,2.00,0.00,0.000,4,0.000,0.028,2846,1231,3450,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4856,-0.64,-170.3,462.1,-8.5,268,4861,0.00,2.12,0.00,0.000,6,0.000,0.043,2846,2613,3449,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5168,-0.64,-170.3,491.6,-9.2,284,5174,0.00,2.08,0.00,0.000,4,0.000,0.028,2846,1219,3447,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5241,-0.65,-170.3,497.3,-9.1,287,5247,0.00,2.12,0.00,0.000,6,0.000,0.042,2846,2603,3447,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5555,-0.65,-170.3,523.0,-7.1,303,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2603,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5857,-0.66,-170.3,544.0,-7.4,318,5862,0.00,1.73,0.00,0.000,4,0.000,0.054,2846,3698,3444,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5895,-0.66,-170.3,546.0,-7.6,319,5902,0.00,1.60,0.00,0.000,6,0.000,0.029,2846,2594,3444,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6201,-0.67,-170.3,574.5,-9.6,335,6206,0.00,2.03,0.00,0.000,4,0.000,0.028,2846,1215,3443,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6288,-0.68,-170.3,582.9,-10.0,339,6293,0.00,2.15,0.00,0.000,6,0.000,0.043,2846,2611,3443,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6609,-0.69,-170.3,611.5,-8.5,353,6614,0.00,2.08,0.00,0.000,4,0.000,0.027,2846,1217,3440,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6673,-0.70,-170.3,617.0,-8.3,355,6678,0.00,2.17,0.00,0.000,6,0.000,0.042,2846,2606,3440,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7008,-0.71,-170.3,641.3,-6.9,366,7014,0.00,2.05,0.00,0.000,4,0.000,0.038,2846,1219,3438,0,0,0,0,0,0,28.83,25.66,28.83
$GC,7066,-0.72,-170.3,643.8,-6.9,367,7073,0.00,2.12,0.00,0.000,6,0.000,0.042,2846,2600,3438,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7374,-0.73,-170.3,665.9,-6.9,378,7375,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2601,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7672,-0.74,-170.3,685.9,-6.5,388,7677,0.00,2.05,0.00,0.000,4,0.000,0.027,2846,1223,3436,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7736,-0.75,-170.3,689.8,-6.2,390,7742,0.12,2.15,0.00,0.000,6,0.089,0.042,2780,2609,3435,0,0,0,0,0,0,26.27,26.27,28.83
$GC,8071,-0.72,-170.3,725.3,-11.4,401,8077,0.12,2.08,0.00,0.000,4,0.162,0.025,2821,1215,3434,0,0,0,0,0,0,26.29,26.41,28.83
$GC,8105,-0.71,-170.3,728.7,-11.0,402,8112,0.00,2.17,0.00,0.000,6,0.000,0.044,2821,2612,3434,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8442,-0.71,-170.3,756.6,-8.5,413,8448,0.00,2.08,0.00,0.000,4,0.000,0.028,2821,1221,3434,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8485,-0.71,-170.3,759.6,-8.5,414,8491,0.00,2.17,0.00,0.000,6,0.000,0.043,2821,2609,3433,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8809,-0.71,-170.3,788.5,-8.9,425,8814,0.00,2.08,0.00,0.000,4,0.000,0.028,2821,1218,3432,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8866,-0.71,-170.3,791.4,-8.9,426,8872,0.00,2.15,0.00,0.000,6,0.000,0.043,2822,2606,3432,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9172,-0.71,-170.3,820.8,-8.9,437,9178,0.00,1.70,0.00,0.000,4,0.000,0.056,2821,3690,3432,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9245,-0.71,-170.3,826.5,-8.9,439,9250,0.00,1.60,0.00,0.000,6,0.000,0.030,2821,2604,3431,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9570,-0.71,-170.3,853.0,-7.5,450,9575,0.00,2.05,0.00,0.000,4,0.000,0.028,2821,1210,3430,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9672,-0.71,-170.3,860.2,-7.5,453,9678,0.00,2.17,0.00,0.000,6,0.000,0.044,2821,2599,3428,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9998,-0.71,-170.3,881.1,-6.1,464,9999,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2599,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10296,-0.71,-170.3,899.8,-6.4,474,10302,0.00,2.08,0.00,0.000,4,0.000,0.028,2821,1214,3427,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10366,-0.71,-170.3,903.9,-6.4,476,10371,0.00,2.17,0.00,0.000,6,0.000,0.044,2821,2598,3427,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10696,-0.71,-170.3,927.9,-7.8,487,10697,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2598,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10994,-0.71,-170.3,955.4,-9.8,497,10995,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2598,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11294,-0.71,-170.3,986.6,-10.5,507,11300,0.00,2.08,0.00,0.000,4,0.000,0.028,2821,1203,3424,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,11326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11326,begin apogee
$GC,11333,-0.15,0.0,990.3,-10.6,508,11484,0.50,0.00,142.70,1.493,6,0.111,0.000,2996,2128,2769,0,0,0,0,0,0,25.79,28.83,23.29
$STATE,11486,end apogee,CONTROL_FINISHED_OK
$STATE,11486,begin climb
$GC,11488,0.51,170.3,999.3,0.0,513,11660,0.60,0.00,160.00,1.449,6,0.048,0.000,3230,2128,2072,0,0,0,0,0,0,24.60,28.83,22.49
$GC,11959,0.47,170.3,950.9,14.5,529,11964,0.00,2.15,0.00,0.000,4,0.000,0.034,3240,747,2063,0,0,0,0,0,0,28.83,25.66,28.83
$GC,11981,0.43,170.3,950.9,14.5,529,11987,0.17,2.17,0.00,0.000,6,0.145,0.039,3190,2129,2063,0,0,0,0,0,0,25.44,25.67,28.83
$GC,12297,0.41,170.3,906.0,13.5,540,12302,0.00,2.25,0.00,0.000,4,0.000,0.050,3190,3530,2061,0,0,0,0,0,0,28.83,25.97,28.83
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$STATE,20917,end climb,SURFACE_DEPTH_REACHED
$STATE,20917,begin surface coast
$FINISH,2.4,1.021244
$STATE,20923,end surface coast,CONTROL_FINISHED_OK
$STATE,20923,begin surface
$SM_CCo,21004,0.00,0.000,0,0,482,561.00
$SM_GC,2.29,8.40,2.95,0.00,0.046,0.034,0.000,142,2607,482,-9.06,-0.90,561.00,0,0,0,0,0,0,25.75,26.05,28.83
$IRIDIUM_FIX,1902.38,11959.13,161212,202058
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.60
$INTERNAL_PRESSURE,9.35155
$TCM_TEMP,22.40
$XPDR_PINGS,2
$SC_FREEKB,3939840
$24V_AH,22.5,46.038
$10V_AH,9.8,21.452
$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,23.525,214.475,578.675,0.000,0.000,0.000,0.000,300.825,0.500,0.000,15.284,3320.027,14126.774,788.616,2866.282,395.798,0.000,2489.057,0.000,2431.517,0.000,0.544,0.000
$DEVICE_MAMPS,242.505,71.910,1493.280,0.000,0.000,0.000,0.000,137.700,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20961.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.681,0.000,0.000,0.000
$MEM,323752
$DATA_FILE_SIZE,36662,972
$CAP_FILE_SIZE,255594,0
$CFSIZE,260034560,229158912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.058, 48.5,1
$GPS,171212,081805,1918.127,11959.181,26,1.0,26,-2.5