version: 66.11
glider: 170
mission: 10
dive: 223
start: 12 20 112 17 18 26
data:
$ID,170
$MISSION,10
$DIVE,223
$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,410
$T_MISSION,430
$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,-143375.06
$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,71
$R_STBD_OVSHOOT,34
$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
$GPS1,201212,170904,2000.785,11953.292,92,0.8,92,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-74.1
$GPS2,201212,171759,2001.005,11953.021,16,1.2,16,-2.6
$SPEED_LIMITS,0.139,0.274
$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,8.8,192973,-14.0,-8.049,-16.39
$D_GRID,3490
$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,-0.48,-170.3,0.0,0.0,0,75,0.00,0.00,-52.83,0.000,2,0.000,0.000,134,2617,1866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.48,-170.3,3.1,-1.5,9,145,11.25,1.80,-48.50,0.000,4,0.238,0.077,2886,3690,3465,0,0,0,0,0,0,25.41,26.01,26.51
$GC,190,-0.40,-170.3,21.9,-28.8,28,197,0.08,1.62,0.00,0.000,6,0.155,0.025,2913,2588,3466,0,0,0,0,0,0,25.94,26.27,28.83
$GC,386,-0.37,-170.3,64.6,-17.3,44,391,0.00,1.77,0.00,0.000,4,0.000,0.057,2911,3700,3465,0,0,0,0,0,0,28.83,26.15,28.83
$GC,500,-0.36,-170.3,77.4,-12.1,49,505,0.00,1.58,0.00,0.000,6,0.000,0.022,2911,2568,3466,0,0,0,0,0,0,28.83,26.43,28.83
$GC,693,-0.36,-170.3,98.8,-9.0,59,698,0.00,1.95,0.00,0.000,4,0.000,0.032,2911,1245,3466,0,0,0,0,0,0,28.83,26.35,28.83
$GC,771,-0.37,-170.3,103.8,-8.1,62,778,0.00,2.12,0.00,0.000,6,0.000,0.047,2911,2603,3466,0,0,0,0,0,0,28.83,26.27,28.83
$GC,957,-0.37,-170.3,117.3,-7.3,72,962,0.00,1.70,0.00,0.000,4,0.000,0.053,2909,3699,3466,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1009,-0.37,-170.3,120.9,-8.0,74,1015,0.00,1.52,0.00,0.000,6,0.000,0.023,2909,2622,3466,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1205,-0.38,-170.3,135.6,-6.6,84,1211,0.00,2.08,0.00,0.000,4,0.000,0.039,2909,1214,3466,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1269,-0.40,-170.3,140.2,-6.9,87,1275,0.00,2.15,0.00,0.000,6,0.000,0.047,2909,2607,3466,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1476,-0.41,-170.3,156.4,-7.2,97,1481,0.00,1.70,0.00,0.000,4,0.000,0.053,2909,3695,3466,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1500,-0.42,-170.3,158.2,-7.1,98,1505,0.00,1.58,0.00,0.000,6,0.000,0.024,2909,2602,3466,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1705,-0.44,-170.3,175.2,-8.8,108,1710,0.00,2.08,0.00,0.000,4,0.000,0.037,2908,1193,3465,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1783,-0.46,-170.3,180.3,-8.2,111,1790,0.00,2.17,0.00,0.000,6,0.000,0.045,2909,2602,3465,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1969,-0.48,-170.3,193.9,-6.8,121,1974,0.00,2.10,0.00,0.000,4,0.000,0.033,2909,1186,3464,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2022,-0.50,-170.3,196.9,-6.8,123,2028,0.00,2.17,0.00,0.000,6,0.000,0.044,2909,2605,3464,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2217,-0.52,-170.3,211.2,-7.0,133,2223,0.00,2.08,0.00,0.000,4,0.000,0.028,2909,1196,3463,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2246,-0.54,-170.3,213.2,-7.2,134,2251,0.00,2.15,0.00,0.000,6,0.000,0.042,2909,2604,3463,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2447,-0.56,-170.3,228.0,-7.5,144,2449,0.12,0.00,0.00,0.000,6,0.090,0.000,2840,2605,3462,0,0,0,0,0,0,26.61,28.83,28.83
$GC,2624,-0.54,-170.3,247.6,-11.0,153,2630,0.12,2.08,0.00,0.000,4,0.142,0.026,2884,1195,3462,0,0,0,0,0,0,26.39,26.45,28.83
$GC,2702,-0.54,-170.3,253.0,-8.8,156,2709,0.00,2.15,0.00,0.000,6,0.000,0.043,2884,2600,3461,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3009,-0.56,-170.3,276.7,-7.7,172,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2600,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3309,-0.57,-170.3,300.9,-8.0,187,3316,0.00,2.08,0.00,0.000,4,0.000,0.028,2884,1198,3458,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3361,-0.58,-170.3,304.5,-7.9,189,3366,0.00,2.17,0.00,0.000,6,0.000,0.041,2884,2605,3458,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3679,-0.59,-170.3,327.9,-6.6,205,3684,0.00,2.10,0.00,0.000,4,0.000,0.028,2884,1196,3455,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3743,-0.61,-170.3,332.1,-6.7,208,3749,0.00,2.15,0.00,0.000,6,0.000,0.041,2884,2607,3455,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4067,-0.62,-170.3,355.6,-7.7,224,4069,0.10,0.00,0.00,0.000,6,0.103,0.000,2822,2607,3453,0,0,0,0,0,0,26.63,28.83,28.83
$GC,4369,-0.60,-170.3,393.3,-13.0,239,4371,0.12,0.00,0.00,0.000,6,0.146,0.000,2860,2607,3452,0,0,0,0,0,0,26.41,28.83,28.83
$GC,4668,-0.60,-170.3,424.0,-9.8,254,4674,0.00,2.10,0.00,0.000,4,0.000,0.028,2860,1197,3450,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4742,-0.61,-170.3,430.3,-9.8,257,4747,0.00,2.17,0.00,0.000,6,0.000,0.041,2859,2601,3450,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5055,-0.61,-170.3,459.1,-8.1,273,5060,0.00,1.73,0.00,0.000,4,0.000,0.053,2860,3688,3449,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5103,-0.61,-170.3,462.5,-7.9,275,5109,0.00,1.60,0.00,0.000,6,0.000,0.027,2860,2555,3448,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5423,-0.62,-170.3,485.9,-7.3,291,5428,0.00,1.80,0.00,0.000,4,0.000,0.052,2860,3688,3446,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5452,-0.63,-170.3,487.5,-7.2,292,5457,0.00,1.52,0.00,0.000,6,0.000,0.028,2860,2609,3446,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5771,-0.63,-170.3,510.9,-7.5,308,5776,0.00,2.03,0.00,0.000,4,0.000,0.028,2860,1228,3445,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5877,-0.64,-170.3,519.3,-8.0,313,5883,0.00,2.12,0.00,0.000,6,0.000,0.042,2860,2599,3444,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6201,-0.65,-170.3,548.0,-9.0,329,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2599,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6502,-0.66,-170.3,574.2,-8.2,344,6508,0.00,2.05,0.00,0.000,4,0.000,0.028,2860,1218,3442,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6601,-0.67,-170.3,581.2,-8.2,348,6608,0.00,2.15,0.00,0.000,6,0.000,0.041,2859,2611,3442,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6927,-0.68,-170.3,605.2,-6.9,364,6932,0.00,2.05,0.00,0.000,4,0.000,0.027,2860,1224,3440,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6980,-0.69,-170.3,607.7,-7.0,365,6986,0.00,2.12,0.00,0.000,6,0.000,0.041,2860,2604,3440,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7295,-0.70,-170.3,630.2,-6.7,376,7302,0.12,2.05,0.00,0.000,4,0.088,0.024,2781,1215,3437,0,0,0,0,0,0,26.60,26.45,28.83
$GC,7364,-0.70,-170.3,637.2,-8.7,378,7370,0.15,2.17,0.00,0.000,6,0.153,0.043,2825,2608,3437,0,0,0,0,0,0,26.01,26.28,28.83
$GC,7695,-0.69,-170.3,667.5,-8.4,389,7701,0.00,2.05,0.00,0.000,4,0.000,0.027,2824,1221,3436,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7748,-0.68,-170.3,670.5,-8.4,390,7754,0.00,2.15,0.00,0.000,6,0.000,0.042,2823,2615,3436,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8063,-0.68,-170.3,699.4,-9.0,401,8064,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2613,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8362,-0.67,-170.3,728.8,-10.0,411,8368,0.00,1.73,0.00,0.000,4,0.000,0.054,2824,3698,3434,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8411,-0.66,-170.3,732.3,-10.0,412,8416,0.00,1.60,0.00,0.000,6,0.000,0.029,2824,2602,3434,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8731,-0.66,-170.3,766.1,-10.2,423,8736,0.00,2.03,0.00,0.000,4,0.000,0.027,2824,1213,3433,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8788,-0.66,-170.3,769.7,-10.4,424,8795,0.00,2.15,0.00,0.000,6,0.000,0.043,2824,2599,3433,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9094,-0.66,-170.3,801.4,-9.5,435,9095,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2599,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9395,-0.65,-170.3,827.1,-8.1,445,9396,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2599,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9694,-0.65,-170.3,848.6,-6.8,455,9695,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2599,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9995,-0.65,-170.3,868.6,-6.9,465,9996,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2599,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10294,-0.65,-170.3,891.9,-8.3,475,10295,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2599,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10594,-0.65,-170.3,919.3,-9.3,485,10599,0.00,2.08,0.00,0.000,4,0.000,0.028,2824,1220,3425,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10701,-0.65,-170.3,928.1,-9.5,488,10706,0.00,2.15,0.00,0.000,6,0.000,0.043,2823,2604,3426,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11019,-0.65,-170.3,961.6,-10.5,499,11025,0.00,1.75,0.00,0.000,4,0.000,0.055,2824,3699,3425,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11077,-0.65,-170.3,965.3,-10.7,500,11084,0.00,1.65,0.00,0.000,6,0.000,0.030,2823,2601,3425,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,11291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11291,begin apogee
$GC,11297,-0.15,0.0,990.4,-10.6,508,11449,0.50,0.00,143.07,1.491,6,0.111,0.000,2997,2099,2769,0,0,0,0,0,0,25.80,28.83,23.29
$STATE,11451,end apogee,CONTROL_FINISHED_OK
$STATE,11451,begin climb
$GC,11453,0.48,170.3,998.5,0.0,513,11626,0.55,2.62,160.25,1.440,4,0.047,0.051,3217,3523,2073,0,0,0,0,0,0,24.67,23.66,22.46
$GC,11685,0.43,170.3,986.3,9.7,520,11693,0.15,2.22,0.00,0.000,6,0.155,0.027,3188,2150,2068,0,0,0,0,0,0,24.40,24.65,28.83
$GC,11992,0.41,170.3,947.5,12.1,531,11993,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2150,2063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12290,0.39,170.3,909.3,12.9,541,12295,0.00,2.20,0.00,0.000,4,0.000,0.035,3198,716,2062,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,20610,end climb,SURFACE_DEPTH_REACHED
$STATE,20610,begin surface coast
$FINISH,1.6,1.021620
$STATE,20644,end surface coast,CONTROL_FINISHED_OK
$STATE,20644,begin surface
$SM_CCo,20723,0.00,0.000,0,0,458,566.89
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$IRIDIUM_FIX,1948.12,11952.94,201212,101024
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.85
$INTERNAL_PRESSURE,9.43945
$TCM_TEMP,23.80
$XPDR_PINGS,3
$SC_FREEKB,3934464
$24V_AH,22.5,49.275
$10V_AH,9.9,23.189
$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
$DEVICE_SECS,23.275,190.600,645.950,0.000,0.000,0.000,0.000,319.375,0.750,0.000,18.037,3181.332,14053.727,793.792,2804.417,407.781,0.000,2481.712,0.000,2347.669,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20685.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.380,0.000,0.000,0.000
$MEM,323752
$DATA_FILE_SIZE,36675,941
$CAP_FILE_SIZE,244022,0
$CFSIZE,260034560,227434496
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.117,256.9,1
$GPS,201212,230505,2003.986,11952.380,39,1.0,39,-2.6