version: 66.11
glider: 170
mission: 10
dive: 294
start: 12 28 112 11 13 2
data:
$ID,170
$MISSION,10
$DIVE,294
$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,-143464.86
$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,38
$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
$GPS1,281212,110236,2041.697,11954.697,39,0.9,39,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-72.3
$GPS2,281212,111235,2041.518,11954.515,18,1.0,19,-2.8
$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,7.2,117946,-14.0,-8.049,-16.39
$D_GRID,3242
$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,21,-0.48,-170.3,0.0,0.0,0,87,0.00,0.00,-63.88,0.000,2,0.000,0.000,137,2618,1940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.48,-170.3,3.2,-1.8,11,152,11.62,1.77,-44.17,0.000,4,0.246,0.068,2886,3692,3464,0,0,0,0,0,0,25.29,26.03,26.53
$GC,212,-0.43,-170.3,23.7,-24.0,32,218,0.00,1.58,0.00,0.000,6,0.000,0.024,2886,2578,3465,0,0,0,0,0,0,28.83,26.28,28.83
$GC,408,-0.39,-170.3,63.1,-16.2,48,414,0.12,1.98,0.00,0.000,4,0.171,0.028,2928,1221,3464,0,0,0,0,0,0,26.13,26.27,28.83
$GC,433,-0.36,-170.3,66.0,-14.3,49,438,0.00,2.15,0.00,0.000,6,0.000,0.047,2928,2597,3464,0,0,0,0,0,0,28.83,26.16,28.83
$GC,637,-0.38,-170.3,83.8,-8.2,59,643,0.00,2.05,0.00,0.000,4,0.000,0.036,2928,1219,3464,0,0,0,0,0,0,28.83,26.32,28.83
$GC,671,-0.40,-170.3,85.7,-7.8,60,676,0.00,2.15,0.00,0.000,6,0.000,0.043,2928,2619,3464,0,0,0,0,0,0,28.83,26.27,28.83
$GC,866,-0.46,-170.3,101.3,-7.8,70,872,0.00,1.65,0.00,0.000,4,0.000,0.051,2928,3696,3464,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1100,-0.54,-170.3,119.3,-9.2,81,1106,0.17,1.55,0.00,0.000,6,0.094,0.024,2860,2570,3465,0,0,0,0,0,0,26.31,26.55,28.83
$GC,1295,-0.57,-170.3,138.4,-8.8,91,1301,0.00,1.88,0.00,0.000,4,0.000,0.028,2860,1257,3465,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1353,-0.58,-170.3,142.3,-8.6,93,1360,0.00,2.05,0.00,0.000,6,0.000,0.044,2860,2603,3465,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1540,-0.57,-170.3,157.1,-6.9,103,1546,0.00,1.70,0.00,0.000,4,0.000,0.050,2860,3701,3465,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1578,-0.57,-170.3,159.1,-7.2,104,1585,0.00,1.50,0.00,0.000,6,0.000,0.024,2860,2584,3465,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1765,-0.57,-170.3,177.7,-10.4,114,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2584,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1944,-0.57,-170.3,199.3,-12.4,123,1949,0.00,1.92,0.00,0.000,4,0.000,0.028,2860,1255,3464,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2016,-0.57,-170.3,206.5,-11.6,126,2022,0.00,2.05,0.00,0.000,6,0.000,0.043,2860,2602,3464,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2210,-0.57,-170.3,226.9,-10.1,136,2215,0.00,1.70,0.00,0.000,4,0.000,0.050,2860,3701,3464,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2253,-0.58,-170.3,231.3,-10.3,138,2259,0.00,1.52,0.00,0.000,6,0.000,0.024,2860,2587,3464,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2459,-0.58,-170.3,248.3,-7.4,148,2465,0.00,1.92,0.00,0.000,4,0.000,0.028,2860,1258,3463,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2524,-0.58,-170.3,252.7,-6.7,151,2530,0.00,2.08,0.00,0.000,6,0.000,0.042,2860,2610,3463,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2849,-0.59,-170.3,271.8,-6.4,167,2854,0.00,1.67,0.00,0.000,4,0.000,0.051,2860,3690,3461,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2882,-0.60,-170.3,273.4,-6.5,168,2887,0.00,1.50,0.00,0.000,6,0.000,0.025,2860,2593,3461,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3196,-0.60,-170.3,298.1,-8.2,184,3201,0.00,1.95,0.00,0.000,4,0.000,0.028,2860,1250,3459,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3301,-0.61,-170.3,306.9,-8.5,189,3306,0.00,2.08,0.00,0.000,6,0.000,0.041,2860,2602,3459,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3625,-0.62,-170.3,337.8,-10.4,205,3630,0.00,1.98,0.00,0.000,4,0.000,0.028,2860,1247,3457,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3652,-0.63,-170.3,340.4,-10.4,206,3657,0.00,2.08,0.00,0.000,6,0.000,0.042,2860,2610,3457,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3970,-0.64,-170.3,368.2,-6.9,222,3976,0.00,1.67,0.00,0.000,4,0.000,0.052,2860,3697,3456,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3995,-0.65,-170.3,369.6,-6.5,223,4001,0.00,1.55,0.00,0.000,6,0.000,0.026,2860,2603,3456,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4320,-0.66,-170.3,384.6,-4.0,239,4325,0.00,1.98,0.00,0.000,4,0.000,0.028,2860,1242,3453,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4430,-0.67,-170.3,389.4,-4.7,244,4436,0.00,2.10,0.00,0.000,6,0.000,0.041,2860,2609,3453,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4749,-0.70,-170.3,411.9,-8.5,260,4755,0.12,1.67,0.00,0.000,4,0.087,0.050,2781,3696,3452,0,0,0,0,0,0,26.59,26.25,28.83
$GC,4764,-0.73,-170.3,411.9,-8.5,260,4770,0.12,1.55,0.00,0.000,6,0.153,0.026,2817,2591,3451,0,0,0,0,0,0,26.19,26.55,28.83
$GC,5079,-0.72,-170.3,449.4,-11.4,276,5084,0.00,1.95,0.00,0.000,4,0.000,0.028,2817,1249,3450,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5240,-0.72,-170.3,465.4,-10.9,283,5247,0.00,2.08,0.00,0.000,6,0.000,0.042,2817,2605,3449,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5545,-0.71,-170.3,501.5,-11.5,299,5551,0.00,1.70,0.00,0.000,4,0.000,0.052,2818,3693,3447,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5574,-0.70,-170.3,504.2,-11.4,300,5579,0.00,1.52,0.00,0.000,6,0.000,0.027,2817,2603,3447,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5893,-0.69,-170.3,540.8,-11.5,316,5898,0.00,1.98,0.00,0.000,4,0.000,0.027,2817,1230,3446,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5947,-0.69,-170.3,545.8,-11.4,318,5952,0.00,2.10,0.00,0.000,6,0.000,0.042,2817,2599,3445,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6260,-0.68,-170.3,583.9,-12.2,334,6266,0.00,2.03,0.00,0.000,4,0.000,0.027,2818,1223,3443,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6294,-0.67,-170.3,586.9,-12.4,335,6300,0.00,2.12,0.00,0.000,6,0.000,0.041,2817,2610,3443,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6630,-0.67,-170.3,637.3,-16.0,348,6635,0.00,2.05,0.00,0.000,4,0.000,0.028,2817,1224,3441,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6673,-0.67,-170.3,643.0,-16.2,349,6678,0.00,2.15,0.00,0.000,6,0.000,0.042,2817,2607,3441,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6998,-0.66,-170.3,701.8,-17.9,360,7004,0.00,2.05,0.00,0.000,4,0.000,0.028,2818,1225,3440,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7056,-0.66,-170.3,708.1,-17.8,361,7063,0.00,2.12,0.00,0.000,6,0.000,0.042,2817,2608,3440,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7363,-0.66,-170.3,759.1,-13.9,372,7368,0.00,2.05,0.00,0.000,4,0.000,0.028,2818,1226,3439,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7426,-0.66,-170.3,766.7,-12.6,374,7431,0.00,2.15,0.00,0.000,6,0.000,0.042,2818,2608,3439,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7762,-0.66,-170.3,790.0,-4.7,385,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2609,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8059,-0.66,-170.3,799.5,-3.0,395,8065,0.00,2.03,0.00,0.000,4,0.000,0.028,2818,1229,3436,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8103,-0.66,-170.3,800.7,-3.2,396,8109,0.00,2.12,0.00,0.000,6,0.000,0.042,2818,2607,3435,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8429,-0.66,-170.3,815.0,-5.1,407,8434,0.00,2.05,0.00,0.000,4,0.000,0.028,2817,1227,3434,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8462,-0.66,-170.3,816.8,-5.1,408,8468,0.00,2.12,0.00,0.000,6,0.000,0.042,2817,2599,3433,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8799,-0.66,-170.3,837.9,-6.9,419,8805,0.00,2.03,0.00,0.000,4,0.000,0.028,2818,1222,3432,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8842,-0.66,-170.3,840.5,-7.1,420,8848,0.00,2.15,0.00,0.000,6,0.000,0.042,2818,2610,3432,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9167,-0.66,-170.3,866.9,-8.4,431,9168,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2610,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9467,-0.66,-170.3,895.2,-9.8,441,9473,0.00,2.05,0.00,0.000,4,0.000,0.028,2817,1232,3430,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9570,-0.66,-170.3,904.3,-9.8,444,9576,0.00,2.12,0.00,0.000,6,0.000,0.042,2818,2609,3429,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9894,-0.66,-170.3,938.4,-10.1,455,9899,0.00,2.03,0.00,0.000,4,0.000,0.028,2818,1235,3428,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9936,-0.66,-170.3,941.9,-10.1,456,9941,0.00,2.12,0.00,0.000,6,0.000,0.043,2817,2609,3429,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10260,-0.66,-170.3,973.0,-9.2,467,10266,0.00,2.03,0.00,0.000,4,0.000,0.028,2818,1237,3428,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10317,-0.66,-170.3,976.1,-9.1,468,10324,0.00,2.12,0.00,0.000,6,0.000,0.043,2818,2601,3428,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,10472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10472,begin apogee
$GC,10479,-0.15,0.0,991.6,-8.5,474,10630,0.52,0.00,144.32,1.486,6,0.109,0.000,2999,2127,2769,0,0,0,0,0,0,25.79,28.83,23.08
$STATE,10631,end apogee,CONTROL_FINISHED_OK
$STATE,10631,begin climb
$GC,10634,0.48,170.3,997.9,0.0,479,10807,0.55,2.50,161.35,1.439,4,0.054,0.049,3209,3529,2073,0,0,0,0,0,0,24.60,23.68,22.32
$GC,10892,0.44,170.3,979.8,12.1,487,10897,0.00,2.17,0.00,0.000,6,0.000,0.028,3214,2157,2068,0,0,0,0,0,0,28.83,24.94,28.83
$GC,11207,0.41,170.3,935.8,12.8,498,11213,0.12,2.20,0.00,0.000,4,0.163,0.034,3185,716,2063,0,0,0,0,0,0,25.90,26.04,28.83
$GC,11275,0.38,170.3,929.0,11.6,500,11280,0.00,2.17,0.00,0.000,6,0.000,0.038,3185,2129,2061,0,0,0,0,0,0,28.83,26.07,28.83
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$STATE,19309,end climb,SURFACE_DEPTH_REACHED
$STATE,19309,begin surface coast
$FINISH,1.5,1.014894
$STATE,19330,end surface coast,CONTROL_FINISHED_OK
$STATE,19330,begin surface
$SM_CCo,19410,0.00,0.000,0,0,765,491.58
$SM_GC,2.59,8.35,0.73,0.00,0.042,0.046,0.000,130,2607,765,-9.07,-1.19,491.58,0,0,0,0,0,0,26.00,26.34,28.83
$IRIDIUM_FIX,2034.08,11954.98,281212,040404
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.17
$INTERNAL_PRESSURE,9.42968
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3907296
$24V_AH,22.3,57.490
$10V_AH,9.8,28.371
$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,23.200,212.700,591.950,0.000,0.000,0.000,0.000,370.975,0.000,0.000,20.297,3077.803,12870.961,786.890,2783.857,473.672,0.000,2511.790,0.000,2293.457,0.000,0.543,0.000
$DEVICE_MAMPS,245.565,68.085,1486.395,0.000,0.000,0.000,0.000,134.640,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.659,0.000,0.000,0.000
$MEM,323892
$DATA_FILE_SIZE,33430,874
$CAP_FILE_SIZE,240346,0
$CFSIZE,260034560,222060544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.223,204.6,1
$GPS,281212,163804,2042.775,11953.830,54,0.8,54,-2.8