version: 66.11
glider: 170
mission: 10
dive: 210
start: 12 17 112 8 28 16
data:
$ID,170
$MISSION,10
$DIVE,210
$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,-143358.72
$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,70
$R_STBD_OVSHOOT,35
$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
$GPS1,171212,081805,1918.127,11959.181,26,1.0,26,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-74.7
$GPS2,171212,082747,1918.250,11959.407,17,1.1,17,-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,353.8,271782,-14.9,-8.684,-17.18
$D_GRID,4171
$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,-170.3,0.0,0.0,0,91,0.00,0.00,-69.38,0.000,2,0.000,0.000,141,2623,2024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.51,-170.3,3.0,-0.6,12,155,11.43,1.77,-41.95,0.000,4,0.244,0.074,2878,3692,3464,0,0,0,0,0,0,25.36,25.89,26.46
$GC,209,-0.48,-170.3,21.5,-16.5,32,215,0.00,1.62,0.00,0.000,6,0.000,0.027,2879,2611,3464,0,0,0,0,0,0,28.83,26.15,28.83
$GC,398,-0.46,-170.3,45.9,-13.7,53,403,0.00,1.73,0.00,0.000,4,0.000,0.055,2878,3684,3465,0,0,0,0,0,0,28.83,26.03,28.83
$GC,632,-0.46,-170.3,73.5,-11.1,66,637,0.00,1.60,0.00,0.000,6,0.000,0.025,2878,2590,3465,0,0,0,0,0,0,28.83,26.36,28.83
$GC,825,-0.44,-170.3,96.4,-11.0,76,831,0.00,2.05,0.00,0.000,4,0.000,0.032,2878,1199,3465,0,0,0,0,0,0,28.83,26.31,28.83
$GC,955,-0.44,-170.3,108.3,-9.5,82,960,0.00,2.20,0.00,0.000,6,0.000,0.050,2878,2589,3465,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1153,-0.44,-170.3,129.1,-11.2,92,1159,0.10,2.10,0.00,0.000,4,0.163,0.034,2908,1203,3464,0,0,0,0,0,0,26.40,26.27,28.83
$GC,1191,-0.44,-170.3,131.7,-11.2,93,1199,0.00,2.20,0.00,0.000,6,0.000,0.048,2908,2609,3465,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1379,-0.45,-170.3,148.4,-7.8,103,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2609,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1558,-0.47,-170.3,158.6,-5.2,112,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2609,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1738,-0.49,-170.3,168.8,-5.9,121,1744,0.00,2.10,0.00,0.000,4,0.000,0.031,2908,1190,3463,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1812,-0.51,-170.3,172.8,-6.2,124,1817,0.00,2.17,0.00,0.000,6,0.000,0.044,2908,2608,3463,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2007,-0.53,-170.3,186.2,-7.4,134,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2609,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2186,-0.56,-170.3,201.7,-8.8,143,2188,0.12,0.00,0.00,0.000,6,0.091,0.000,2838,2609,3462,0,0,0,0,0,0,26.59,28.83,28.83
$GC,2366,-0.54,-170.3,222.7,-11.4,152,2371,0.12,2.12,0.00,0.000,4,0.142,0.037,2881,1187,3461,0,0,0,0,0,0,26.36,26.28,28.83
$GC,2472,-0.55,-170.3,231.6,-8.0,157,2477,0.00,2.17,0.00,0.000,6,0.000,0.044,2881,2604,3461,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2676,-0.56,-170.3,247.7,-8.2,167,2682,0.00,2.10,0.00,0.000,4,0.000,0.028,2881,1185,3459,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2735,-0.58,-170.3,251.7,-8.7,169,2742,0.00,2.20,0.00,0.000,6,0.000,0.043,2881,2607,3459,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3041,-0.59,-170.3,278.8,-8.3,185,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2607,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3343,-0.61,-170.3,301.1,-7.0,200,3348,0.00,2.12,0.00,0.000,4,0.000,0.029,2881,1185,3456,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3471,-0.63,-170.3,309.6,-6.8,206,3476,0.10,2.20,0.00,0.000,6,0.107,0.041,2822,2605,3455,0,0,0,0,0,0,26.30,26.33,28.83
$GC,3790,-0.62,-170.3,344.9,-12.1,222,3795,0.00,2.10,0.00,0.000,4,0.000,0.026,2821,1187,3454,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3888,-0.61,-170.3,355.2,-12.2,226,3896,0.12,2.17,0.00,0.000,6,0.154,0.041,2858,2605,3453,0,0,0,0,0,0,26.11,26.32,28.83
$GC,4193,-0.61,-170.3,390.8,-10.6,242,4199,0.00,2.10,0.00,0.000,4,0.000,0.026,2858,1190,3452,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4303,-0.62,-170.3,401.0,-9.6,247,4308,0.00,2.17,0.00,0.000,6,0.000,0.042,2858,2607,3451,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4622,-0.63,-170.3,430.5,-9.0,263,4627,0.00,1.73,0.00,0.000,4,0.000,0.054,2858,3701,3449,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4660,-0.64,-170.3,432.6,-8.9,264,4667,0.00,1.65,0.00,0.000,6,0.000,0.028,2858,2546,3449,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4965,-0.65,-170.3,459.5,-8.3,280,4970,0.00,2.00,0.00,0.000,4,0.000,0.028,2858,1180,3447,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4998,-0.66,-170.3,461.4,-8.4,281,5004,0.00,2.20,0.00,0.000,6,0.000,0.042,2858,2609,3449,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5313,-0.67,-170.3,487.2,-7.8,297,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2609,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5614,-0.68,-170.3,508.8,-7.0,312,5620,0.00,2.10,0.00,0.000,4,0.000,0.027,2858,1185,3444,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5643,-0.69,-170.3,510.7,-7.0,313,5648,0.00,2.20,0.00,0.000,6,0.000,0.042,2858,2599,3444,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5961,-0.70,-170.3,534.8,-9.0,329,5963,0.10,0.00,0.00,0.000,6,0.102,0.000,2797,2599,3442,0,0,0,0,0,0,26.62,28.83,28.83
$GC,6262,-0.68,-170.3,580.0,-15.5,344,6268,0.12,2.12,0.00,0.000,4,0.148,0.026,2838,1180,3441,0,0,0,0,0,0,26.32,26.43,28.83
$GC,6347,-0.68,-170.3,591.0,-12.7,348,6352,0.00,2.22,0.00,0.000,6,0.000,0.042,2837,2607,3440,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6672,-0.68,-170.3,624.8,-9.8,360,6677,0.00,2.12,0.00,0.000,4,0.000,0.027,2838,1179,3439,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6744,-0.68,-170.3,630.5,-9.4,362,6750,0.00,2.22,0.00,0.000,6,0.000,0.043,2838,2603,3439,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7069,-0.68,-170.3,654.3,-6.3,373,7075,0.00,1.75,0.00,0.000,4,0.000,0.054,2838,3691,3438,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7097,-0.68,-170.3,654.3,-6.3,373,7104,0.00,1.65,0.00,0.000,6,0.000,0.029,2837,2561,3437,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7403,-0.68,-170.3,675.9,-7.1,384,7408,0.00,1.95,0.00,0.000,4,0.000,0.027,2838,1214,3436,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7441,-0.69,-170.3,678.3,-7.2,385,7447,0.00,2.17,0.00,0.000,6,0.000,0.043,2838,2606,3436,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7769,-0.69,-170.3,706.7,-9.1,396,7775,0.00,2.08,0.00,0.000,4,0.000,0.027,2838,1213,3435,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7803,-0.69,-170.3,709.8,-9.2,397,7808,0.00,2.15,0.00,0.000,6,0.000,0.043,2838,2603,3435,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8139,-0.70,-170.3,742.1,-9.9,408,8144,0.00,2.05,0.00,0.000,4,0.000,0.027,2838,1220,3434,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8172,-0.70,-170.3,745.7,-10.0,409,8177,0.00,2.17,0.00,0.000,6,0.000,0.043,2838,2604,3434,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8507,-0.71,-170.3,777.7,-9.4,420,8513,0.00,2.08,0.00,0.000,4,0.000,0.027,2838,1209,3433,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8575,-0.72,-170.3,783.7,-9.2,422,8581,0.00,2.15,0.00,0.000,6,0.000,0.043,2838,2601,3432,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8905,-0.72,-170.3,812.2,-8.0,433,8911,0.00,2.05,0.00,0.000,4,0.000,0.028,2838,1211,3431,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8943,-0.73,-170.3,814.9,-7.9,434,8948,0.00,2.15,0.00,0.000,6,0.000,0.043,2838,2601,3431,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9274,-0.74,-170.3,838.4,-7.0,445,9279,0.00,2.05,0.00,0.000,4,0.000,0.028,2838,1211,3430,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9321,-0.75,-170.3,841.0,-7.1,446,9327,0.00,2.17,0.00,0.000,6,0.000,0.043,2838,2607,3430,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9642,-0.76,-170.3,866.1,-7.8,457,9648,0.00,2.08,0.00,0.000,4,0.000,0.028,2838,1219,3428,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9695,-0.77,-170.3,869.1,-8.1,458,9701,0.10,2.15,0.00,0.000,6,0.117,0.043,2790,2605,3428,0,0,0,0,0,0,26.15,26.20,28.83
$GC,10011,-0.75,-170.3,909.4,-12.5,469,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2606,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10310,-0.73,-170.3,946.2,-12.0,479,10315,0.00,1.70,0.00,0.000,4,0.000,0.055,2790,3692,3427,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10357,-0.72,-170.3,950.3,-12.0,480,10363,0.00,1.58,0.00,0.000,6,0.000,0.030,2790,2599,3427,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10678,-0.70,-170.3,989.0,-11.5,491,10684,0.12,2.03,0.00,0.000,4,0.174,0.025,2830,1217,3426,0,0,0,0,0,0,26.24,26.37,28.83
$STATE,10710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10710,begin apogee
$GC,10716,-0.15,0.0,992.6,-11.0,492,10868,0.47,0.00,142.55,1.483,6,0.111,0.000,2997,2129,2769,0,0,0,0,0,0,25.83,28.83,23.34
$STATE,10869,end apogee,CONTROL_FINISHED_OK
$STATE,10869,begin climb
$GC,10872,0.51,170.3,998.8,0.0,497,11044,0.57,2.50,160.43,1.434,4,0.050,0.050,3223,3525,2073,0,0,0,0,0,0,24.63,23.63,22.51
$GC,11067,0.47,196.9,990.1,7.8,503,11097,0.00,2.28,25.10,1.348,6,0.000,0.028,3227,2154,1966,0,0,0,0,0,0,28.83,24.25,22.73
$GC,11411,0.44,196.9,940.7,13.5,515,11417,0.12,2.22,0.00,0.000,4,0.166,0.034,3197,720,1958,0,0,0,0,0,0,25.56,25.71,28.83
$GC,11500,0.42,196.9,933.6,12.3,517,11506,0.00,2.17,0.00,0.000,6,0.000,0.038,3199,2120,1956,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11806,0.40,196.9,899.9,10.0,528,11811,0.00,2.28,0.00,0.000,4,0.000,0.051,3199,3535,1955,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11839,0.38,196.9,896.0,10.3,529,11845,0.00,2.15,0.00,0.000,6,0.000,0.028,3203,2115,1955,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,19809,end climb,SURFACE_DEPTH_REACHED
$STATE,19809,begin surface coast
$FINISH,1.6,0.998233
$STATE,19831,end surface coast,CONTROL_FINISHED_OK
$STATE,19831,begin surface
$SM_CCo,19910,0.00,0.000,0,0,459,566.64
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$IRIDIUM_FIX,1909.23,11958.29,171212,020219
$TT8_MAMPS,0.025466,0.025466
$HUMID,53.78
$INTERNAL_PRESSURE,9.42968
$TCM_TEMP,22.90
$XPDR_PINGS,3
$SC_FREEKB,3939456
$24V_AH,22.5,46.277
$10V_AH,9.9,21.571
$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,22.625,201.825,649.000,0.000,0.000,0.000,0.000,367.850,0.750,0.000,19.927,3136.398,13297.234,822.426,2833.300,390.748,0.000,2543.076,0.000,2325.873,0.000,0.543,0.000
$DEVICE_MAMPS,244.035,74.205,1483.335,0.000,0.000,0.000,0.000,134.640,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19875.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.724,0.000,0.000,0.000
$MEM,323752
$DATA_FILE_SIZE,33335,911
$CAP_FILE_SIZE,240771,0
$CFSIZE,260034560,229048320
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.089,241.7,1
$GPS,171212,140122,1920.558,11957.519,39,0.8,39,-2.5