version: 66.11
glider: 170
mission: 10
dive: 211
start: 12 17 112 14 10 4
data:
$ID,170
$MISSION,10
$DIVE,211
$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,-143359.97
$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,73
$R_STBD_OVSHOOT,28
$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
$GPS1,171212,140122,1920.558,11957.519,39,0.8,39,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-74.1
$GPS2,171212,140935,1920.491,11957.400,14,1.5,14,-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,19.6,267667,-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,19,-0.51,-170.3,0.0,0.0,0,84,0.00,0.00,-61.70,0.000,2,0.000,0.000,134,2612,1848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.51,-170.3,3.1,-1.6,11,165,11.43,1.83,-57.70,0.000,4,0.243,0.080,2882,3688,3465,0,0,0,0,0,0,25.43,25.94,26.49
$GC,282,-0.44,-170.3,38.8,-24.4,41,287,0.00,1.58,0.00,0.000,6,0.000,0.026,2882,2612,3465,0,0,0,0,0,0,28.83,26.25,28.83
$GC,487,-0.42,-170.3,79.0,-24.2,54,492,0.12,2.12,0.00,0.000,4,0.161,0.045,2925,1194,3465,0,0,0,0,0,0,26.15,26.22,28.83
$GC,550,-0.43,-170.3,97.2,-27.7,57,556,0.00,2.20,0.00,0.000,6,0.000,0.045,2925,2609,3465,0,0,0,0,0,0,28.83,26.22,28.83
$GC,756,-0.45,-170.3,103.0,6.2,67,761,0.00,1.70,0.00,0.000,4,0.000,0.052,2925,3692,3465,0,0,0,0,0,0,28.83,26.23,28.83
$GC,794,-0.47,-170.3,103.6,2.8,68,800,0.00,1.58,0.00,0.000,6,0.000,0.023,2925,2542,3465,0,0,0,0,0,0,28.83,26.50,28.83
$GC,981,-0.49,-170.3,122.8,-7.0,78,987,0.12,1.98,0.00,0.000,4,0.089,0.026,2849,1189,3465,0,0,0,0,0,0,26.52,26.38,28.83
$GC,1076,-0.49,-170.3,129.3,-7.7,82,1082,0.15,2.20,0.00,0.000,6,0.145,0.045,2894,2605,3465,0,0,0,0,0,0,26.08,26.32,28.83
$GC,1272,-0.50,-170.3,154.0,-14.6,92,1278,0.00,2.08,0.00,0.000,4,0.000,0.028,2893,1199,3465,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1320,-0.51,-170.3,160.6,-14.8,94,1325,0.00,2.17,0.00,0.000,6,0.000,0.044,2893,2613,3465,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1520,-0.53,-170.3,177.8,-6.3,104,1525,0.00,1.67,0.00,0.000,4,0.000,0.052,2893,3690,3465,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1547,-0.54,-170.3,179.4,-6.3,105,1553,0.00,1.58,0.00,0.000,6,0.000,0.024,2893,2551,3465,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1748,-0.56,-170.3,194.3,-7.9,115,1754,0.00,1.90,0.00,0.000,4,0.000,0.031,2893,1250,3464,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1802,-0.57,-170.3,197.8,-7.7,117,1807,0.00,2.10,0.00,0.000,6,0.000,0.043,2894,2613,3464,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1996,-0.59,-170.3,206.1,-3.2,127,2001,0.00,2.00,0.00,0.000,4,0.000,0.028,2892,1248,3462,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2034,-0.61,-170.3,207.3,-3.8,128,2042,0.12,2.10,0.00,0.000,6,0.092,0.042,2822,2609,3462,0,0,0,0,0,0,26.34,26.34,28.83
$GC,2220,-0.58,-170.3,230.7,-12.8,138,2222,0.15,0.00,0.00,0.000,6,0.143,0.000,2868,2609,3462,0,0,0,0,0,0,26.31,28.83,28.83
$GC,2399,-0.58,-170.3,256.0,-16.6,147,2404,0.00,2.03,0.00,0.000,4,0.000,0.028,2868,1243,3460,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2482,-0.59,-170.3,270.1,-17.0,151,2488,0.00,2.10,0.00,0.000,6,0.000,0.044,2868,2610,3460,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2806,-0.60,-170.3,298.1,-7.2,167,2811,0.00,1.70,0.00,0.000,4,0.000,0.054,2868,3698,3458,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2839,-0.60,-170.3,299.7,-7.3,168,2845,0.00,1.52,0.00,0.000,6,0.000,0.027,2868,2596,3458,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3153,-0.61,-170.3,333.0,-12.0,184,3159,0.00,1.98,0.00,0.000,4,0.000,0.028,2867,1243,3456,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3251,-0.63,-170.3,343.6,-12.6,188,3258,0.00,2.10,0.00,0.000,6,0.000,0.042,2867,2601,3455,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3557,-0.64,-170.3,386.4,-13.6,204,3563,0.00,2.00,0.00,0.000,4,0.000,0.027,2868,1236,3453,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3605,-0.65,-170.3,392.2,-13.4,206,3610,0.00,2.12,0.00,0.000,6,0.000,0.042,2867,2610,3453,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3924,-0.66,-170.3,425.8,-8.6,222,3929,0.00,2.00,0.00,0.000,4,0.000,0.027,2868,1247,3451,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4001,-0.68,-170.3,431.1,-8.3,225,4009,0.12,2.10,0.00,0.000,6,0.090,0.042,2797,2611,3451,0,0,0,0,0,0,26.33,26.34,28.83
$GC,4307,-0.65,-170.3,469.2,-11.9,241,4312,0.12,1.67,0.00,0.000,4,0.161,0.052,2836,3691,3449,0,0,0,0,0,0,26.29,26.26,28.83
$GC,4425,-0.65,-170.3,477.8,-7.7,246,4431,0.00,1.58,0.00,0.000,6,0.000,0.027,2837,2600,3448,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4731,-0.65,-170.3,504.9,-8.9,262,4736,0.00,1.98,0.00,0.000,4,0.000,0.028,2837,1234,3446,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4783,-0.65,-170.3,508.7,-9.0,264,4788,0.00,2.12,0.00,0.000,6,0.000,0.042,2836,2602,3446,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5096,-0.65,-170.3,539.6,-10.0,280,5102,0.00,2.00,0.00,0.000,4,0.000,0.027,2837,1239,3444,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5124,-0.65,-170.3,542.0,-10.0,281,5129,0.00,2.12,0.00,0.000,6,0.000,0.042,2837,2610,3444,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5442,-0.65,-170.3,573.2,-9.3,297,5447,0.00,1.70,0.00,0.000,4,0.000,0.054,2839,3693,3444,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5474,-0.65,-170.3,575.2,-9.0,298,5479,0.00,1.55,0.00,0.000,6,0.000,0.028,2837,2603,3444,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5788,-0.65,-170.3,598.7,-6.4,314,5793,0.00,2.03,0.00,0.000,4,0.000,0.027,2837,1217,3442,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5875,-0.65,-170.3,602.9,-6.6,317,5881,0.00,2.15,0.00,0.000,6,0.000,0.042,2837,2599,3441,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6181,-0.65,-170.3,624.7,-7.2,328,6187,0.00,2.05,0.00,0.000,4,0.000,0.027,2837,1222,3439,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6219,-0.65,-170.3,627.3,-7.3,329,6224,0.00,2.15,0.00,0.000,6,0.000,0.042,2837,2601,3439,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6547,-0.65,-170.3,655.7,-9.1,340,6553,0.00,1.73,0.00,0.000,4,0.000,0.054,2837,3694,3438,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6631,-0.66,-170.3,661.7,-9.4,342,6637,0.00,1.58,0.00,0.000,6,0.000,0.029,2837,2591,3438,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6945,-0.66,-170.3,693.3,-9.2,353,6946,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2590,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7244,-0.66,-170.3,720.2,-8.8,363,7249,0.00,2.00,0.00,0.000,4,0.000,0.028,2837,1217,3434,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7311,-0.66,-170.3,725.7,-8.7,365,7316,0.00,2.17,0.00,0.000,6,0.000,0.042,2837,2610,3435,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7641,-0.67,-170.3,754.9,-9.0,376,7646,0.00,2.05,0.00,0.000,4,0.000,0.027,2836,1222,3434,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7688,-0.67,-170.3,758.0,-8.9,377,7694,0.00,2.15,0.00,0.000,6,0.000,0.042,2837,2603,3434,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8009,-0.68,-170.3,784.2,-7.4,388,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2603,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8307,-0.69,-170.3,805.1,-6.8,398,8313,0.00,2.05,0.00,0.000,4,0.000,0.028,2837,1224,3431,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8396,-0.70,-170.3,809.6,-6.9,400,8402,0.00,2.15,0.00,0.000,6,0.000,0.042,2837,2600,3430,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8702,-0.70,-170.3,826.5,-4.5,411,8707,0.00,2.05,0.00,0.000,4,0.000,0.028,2837,1227,3429,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8745,-0.71,-170.3,828.0,-4.4,412,8750,0.00,2.15,0.00,0.000,6,0.000,0.043,2837,2600,3428,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9070,-0.72,-170.3,841.8,-4.6,423,9076,0.00,1.75,0.00,0.000,4,0.000,0.056,2837,3700,3427,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9109,-0.73,-170.3,843.7,-4.9,424,9114,0.00,1.58,0.00,0.000,6,0.000,0.031,2837,2613,3427,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9439,-0.74,-170.3,867.9,-8.3,435,9444,0.00,2.08,0.00,0.000,4,0.000,0.028,2837,1202,3427,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9512,-0.75,-170.3,874.2,-9.0,437,9518,0.00,2.17,0.00,0.000,6,0.000,0.043,2837,2603,3427,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9837,-0.75,-170.3,910.5,-11.7,448,9842,0.00,2.08,0.00,0.000,4,0.000,0.028,2837,1202,3425,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9895,-0.76,-170.3,914.7,-11.8,449,9901,0.00,2.20,0.00,0.000,6,0.000,0.043,2837,2611,3425,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10201,-0.77,-170.3,951.6,-10.3,460,10208,0.12,2.10,0.00,0.000,4,0.096,0.027,2768,1204,3424,0,0,0,0,0,0,26.55,26.36,28.83
$GC,10239,-0.77,-170.3,955.9,-10.5,461,10245,0.12,2.20,0.00,0.000,6,0.168,0.044,2801,2599,3424,0,0,0,0,0,0,25.89,26.16,28.83
$GC,10569,-0.77,-170.3,987.9,-8.6,472,10570,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2599,3423,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10596,begin apogee
$GC,10602,-0.15,0.0,990.4,-8.4,473,10754,0.57,0.00,142.57,1.489,6,0.120,0.000,2996,2099,2769,0,0,0,0,0,0,25.69,28.83,23.33
$STATE,10756,end apogee,CONTROL_FINISHED_OK
$STATE,10756,begin climb
$GC,10758,0.51,170.3,993.0,0.0,478,10928,0.60,0.00,161.10,1.440,6,0.050,0.000,3228,2099,2072,0,0,0,0,0,0,24.65,28.83,22.51
$GC,11228,0.47,170.3,938.2,13.1,494,11234,0.00,2.38,0.00,0.000,4,0.000,0.050,3228,3534,2064,0,0,0,0,0,0,28.83,25.61,28.83
$GC,11246,0.44,170.3,938.2,13.1,494,11252,0.15,2.15,0.00,0.000,6,0.160,0.028,3187,2149,2064,0,0,0,0,0,0,25.49,25.80,28.83
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$STATE,20947,end climb,SURFACE_DEPTH_REACHED
$STATE,20947,begin surface coast
$FINISH,1.8,1.021327
$STATE,20972,end surface coast,CONTROL_FINISHED_OK
$STATE,20973,begin surface
$SM_CCo,21052,0.00,0.000,0,0,457,567.13
$SM_GC,2.41,8.62,0.70,0.00,0.052,0.041,0.000,140,2608,457,-9.06,-1.36,567.13,0,0,0,0,0,0,25.81,26.08,28.83
$IRIDIUM_FIX,1909.23,12000.27,171212,080828
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.34
$INTERNAL_PRESSURE,9.39062
$TCM_TEMP,23.10
$XPDR_PINGS,2
$SC_FREEKB,3939072
$24V_AH,22.5,46.494
$10V_AH,9.9,21.693
$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,23.450,227.750,617.000,0.000,0.000,0.000,0.000,291.725,0.500,0.000,16.210,3293.073,14120.635,865.521,2843.075,412.012,0.000,2565.083,0.000,2419.631,0.000,0.543,0.000
$DEVICE_MAMPS,243.270,79.560,1489.455,0.000,0.000,0.000,0.000,135.405,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21009.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.681,0.000,0.000,0.000
$MEM,323744
$DATA_FILE_SIZE,36645,966
$CAP_FILE_SIZE,257681,0
$CFSIZE,260034560,228917248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.079, 16.0,1
$GPS,171212,200205,1924.311,11958.311,32,1.1,32,-2.5