version: 66.11
glider: 170
mission: 10
dive: 205
start: 12 16 112 7 17 17
data:
$ID,170
$MISSION,10
$DIVE,205
$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,-143351.25
$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,75
$R_STBD_OVSHOOT,40
$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
$GPS1,161212,070804,1903.508,11959.973,39,0.9,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-77.2
$GPS2,161212,071648,1903.636,12000.164,19,1.0,19,-2.4
$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,0.4,298847,-14.9,-8.684,-17.18
$D_GRID,3289
$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,20,-0.51,-170.3,0.0,0.0,0,79,0.00,0.00,-56.15,0.000,2,0.000,0.000,137,2622,1890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.51,-170.3,3.2,-2.4,10,154,11.38,1.75,-52.60,0.000,4,0.243,0.076,2881,3684,3463,0,0,0,0,0,0,25.44,25.90,26.45
$GC,203,-0.44,-170.3,23.5,-30.7,31,210,0.00,1.62,0.00,0.000,6,0.000,0.024,2881,2607,3464,0,0,0,0,0,0,28.83,26.20,28.83
$GC,408,-0.42,-170.3,52.8,-12.4,51,414,0.12,2.10,0.00,0.000,4,0.160,0.032,2923,1200,3464,0,0,0,0,0,0,26.10,26.19,28.83
$GC,547,-0.43,-170.3,64.4,-8.9,57,554,0.00,2.17,0.00,0.000,6,0.000,0.047,2923,2592,3464,0,0,0,0,0,0,28.83,26.14,28.83
$GC,733,-0.44,-170.3,79.4,-7.6,67,738,0.00,1.75,0.00,0.000,4,0.000,0.055,2923,3700,3464,0,0,0,0,0,0,28.83,26.20,28.83
$GC,776,-0.46,-170.3,83.4,-8.7,69,781,0.00,1.60,0.00,0.000,6,0.000,0.024,2923,2585,3464,0,0,0,0,0,0,28.83,26.48,28.83
$GC,980,-0.48,-170.3,102.5,-9.6,79,986,0.00,2.03,0.00,0.000,4,0.000,0.031,2923,1215,3464,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1118,-0.51,-170.3,113.5,-8.4,85,1126,0.12,2.15,0.00,0.000,6,0.087,0.047,2854,2607,3464,0,0,0,0,0,0,26.30,26.28,28.83
$GC,1307,-0.49,-170.3,131.4,-8.6,95,1312,0.12,1.73,0.00,0.000,4,0.143,0.051,2894,3703,3464,0,0,0,0,0,0,26.32,26.27,28.83
$GC,1359,-0.49,-170.3,134.5,-7.7,97,1365,0.00,1.60,0.00,0.000,6,0.000,0.024,2894,2581,3464,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1555,-0.50,-170.3,147.2,-7.2,107,1560,0.00,2.00,0.00,0.000,4,0.000,0.029,2894,1219,3464,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1669,-0.52,-170.3,156.0,-8.5,112,1675,0.00,2.12,0.00,0.000,6,0.000,0.044,2894,2603,3464,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1863,-0.54,-170.3,176.2,-10.0,122,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2603,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2043,-0.56,-170.3,191.5,-7.7,131,2049,0.00,2.05,0.00,0.000,4,0.000,0.032,2894,1217,3462,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2088,-0.57,-170.3,194.5,-7.2,133,2094,0.00,2.12,0.00,0.000,6,0.000,0.043,2894,2608,3462,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2294,-0.59,-170.3,209.4,-7.5,143,2300,0.10,2.05,0.00,0.000,4,0.105,0.024,2834,1225,3462,0,0,0,0,0,0,26.60,26.46,28.83
$GC,2372,-0.59,-170.3,216.9,-10.5,146,2380,0.00,2.12,0.00,0.000,6,0.000,0.043,2834,2614,3461,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2558,-0.58,-170.3,243.5,-13.8,156,2564,0.10,2.05,0.00,0.000,4,0.167,0.025,2864,1225,3460,0,0,0,0,0,0,26.45,26.46,28.83
$GC,2597,-0.56,-170.3,246.6,-13.4,157,2604,0.00,2.12,0.00,0.000,6,0.000,0.043,2863,2598,3460,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2782,-0.56,-170.3,263.8,-7.3,167,2787,0.00,1.70,0.00,0.000,4,0.000,0.053,2863,3700,3459,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2815,-0.56,-170.3,265.3,-6.7,168,2820,0.00,1.58,0.00,0.000,6,0.000,0.027,2864,2569,3459,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3128,-0.56,-170.3,283.0,-7.6,184,3133,0.00,1.80,0.00,0.000,4,0.000,0.054,2862,3703,3457,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3226,-0.57,-170.3,291.4,-10.1,188,3233,0.00,1.58,0.00,0.000,6,0.000,0.026,2863,2604,3456,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3532,-0.58,-170.3,333.7,-12.7,204,3537,0.00,2.00,0.00,0.000,4,0.000,0.027,2864,1232,3454,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3731,-0.59,-170.3,354.2,-10.3,213,3738,0.00,2.12,0.00,0.000,6,0.000,0.042,2863,2603,3454,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4038,-0.60,-170.3,374.1,-4.4,229,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2603,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4339,-0.61,-170.3,390.1,-6.4,244,4344,0.00,2.05,0.00,0.000,4,0.000,0.034,2863,1229,3452,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4444,-0.62,-170.3,397.0,-6.7,249,4449,0.00,2.10,0.00,0.000,6,0.000,0.042,2864,2600,3451,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4767,-0.63,-170.3,422.3,-8.2,265,4773,0.00,2.00,0.00,0.000,4,0.000,0.027,2864,1231,3449,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4815,-0.64,-170.3,426.0,-8.6,267,4821,0.00,2.10,0.00,0.000,6,0.000,0.042,2864,2599,3448,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5134,-0.65,-170.3,451.4,-7.8,283,5139,0.00,1.73,0.00,0.000,4,0.000,0.054,2864,3691,3447,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5159,-0.67,-170.3,453.4,-7.9,284,5164,0.00,1.60,0.00,0.000,6,0.000,0.028,2864,2610,3447,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5483,-0.68,-170.3,481.3,-8.4,300,5488,0.00,2.05,0.00,0.000,4,0.000,0.028,2864,1214,3445,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5551,-0.70,-170.3,486.6,-8.3,303,5557,0.12,2.12,0.00,0.000,6,0.092,0.042,2793,2599,3445,0,0,0,0,0,0,26.30,26.31,28.83
$GC,5871,-0.67,-170.3,525.2,-12.7,319,5873,0.15,0.00,0.00,0.000,6,0.152,0.000,2836,2599,3443,0,0,0,0,0,0,26.28,28.83,28.83
$GC,6171,-0.67,-170.3,560.8,-11.5,334,6176,0.00,1.73,0.00,0.000,4,0.000,0.055,2836,3687,3442,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6194,-0.67,-170.3,563.5,-11.3,335,6199,0.00,1.58,0.00,0.000,6,0.000,0.028,2837,2596,3442,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6517,-0.67,-170.3,595.7,-9.5,351,6522,0.00,2.03,0.00,0.000,4,0.000,0.027,2837,1219,3441,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6574,-0.67,-170.3,599.8,-9.5,353,6581,0.00,2.12,0.00,0.000,6,0.000,0.042,2837,2598,3440,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6880,-0.67,-170.3,629.7,-9.4,364,6886,0.00,2.05,0.00,0.000,4,0.000,0.027,2837,1223,3439,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6943,-0.67,-170.3,635.8,-9.6,366,6948,0.00,2.15,0.00,0.000,6,0.000,0.042,2837,2601,3439,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7278,-0.67,-170.3,669.1,-10.3,377,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2601,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7576,-0.67,-170.3,697.7,-9.2,387,7582,0.00,2.05,0.00,0.000,4,0.000,0.027,2837,1225,3437,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7614,-0.68,-170.3,700.7,-9.2,388,7620,0.00,2.12,0.00,0.000,6,0.000,0.042,2837,2599,3437,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7944,-0.68,-170.3,730.8,-9.3,399,7950,0.00,2.05,0.00,0.000,4,0.000,0.028,2837,1227,3435,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7997,-0.69,-170.3,734.3,-9.4,400,8002,0.00,2.15,0.00,0.000,6,0.000,0.043,2837,2602,3436,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8311,-0.70,-170.3,768.8,-10.5,411,8312,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2603,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8610,-0.70,-170.3,797.6,-9.0,421,8615,0.00,2.05,0.00,0.000,4,0.000,0.028,2837,1215,3433,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8678,-0.71,-170.3,803.1,-8.8,423,8684,0.00,2.15,0.00,0.000,6,0.000,0.043,2837,2602,3433,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9009,-0.72,-170.3,828.8,-7.4,434,9010,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2603,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9308,-0.73,-170.3,853.9,-8.9,444,9314,0.00,2.08,0.00,0.000,4,0.000,0.028,2837,1215,3431,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9366,-0.74,-170.3,857.0,-9.1,445,9373,0.00,2.15,0.00,0.000,6,0.000,0.043,2837,2600,3431,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9674,-0.74,-170.3,884.2,-7.9,456,9679,0.00,2.08,0.00,0.000,4,0.000,0.028,2836,1217,3429,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9727,-0.75,-170.3,887.0,-7.8,457,9732,0.00,2.17,0.00,0.000,6,0.000,0.044,2837,2601,3431,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10043,-0.76,-170.3,909.9,-6.5,468,10044,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2602,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10340,-0.77,-170.3,933.0,-8.7,478,10346,0.12,2.05,0.00,0.000,4,0.094,0.026,2767,1222,3427,0,0,0,0,0,0,26.56,26.38,28.83
$GC,10414,-0.77,-170.3,941.3,-11.0,480,10420,0.12,2.15,0.00,0.000,6,0.175,0.044,2799,2600,3427,0,0,0,0,0,0,25.89,26.16,28.83
$GC,10739,-0.76,-170.3,984.0,-12.4,491,10744,0.00,1.75,0.00,0.000,4,0.000,0.057,2799,3693,3426,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10792,-0.75,-170.3,988.4,-12.4,492,10797,0.00,1.60,0.00,0.000,6,0.000,0.031,2800,2607,3426,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,10802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10802,begin apogee
$GC,10809,-0.15,0.0,992.3,-12.3,493,10960,0.57,0.00,142.73,1.492,6,0.119,0.000,2994,2110,2768,0,0,0,0,0,0,25.70,28.83,23.33
$STATE,10962,end apogee,CONTROL_FINISHED_OK
$STATE,10962,begin climb
$GC,10964,0.51,170.3,1001.1,0.0,498,11138,0.60,2.60,159.68,1.450,4,0.050,0.051,3227,3524,2072,0,0,0,0,0,0,24.62,23.63,22.52
$GC,11150,0.47,194.5,992.6,7.9,504,11180,0.00,2.30,23.02,1.356,6,0.000,0.028,3227,2149,1976,0,0,0,0,0,0,28.83,24.14,22.70
$GC,11503,0.43,194.5,939.6,14.8,516,11509,0.12,2.20,0.00,0.000,4,0.166,0.034,3199,719,1966,0,0,0,0,0,0,25.56,25.71,28.83
$GC,11557,0.41,194.5,934.9,14.7,517,11562,0.00,2.22,0.00,0.000,6,0.000,0.038,3199,2126,1964,0,0,0,0,0,0,28.83,25.77,28.83
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$STATE,19631,end climb,SURFACE_DEPTH_REACHED
$STATE,19631,begin surface coast
$FINISH,1.5,1.008539
$STATE,19647,end surface coast,CONTROL_FINISHED_OK
$STATE,19647,begin surface
$SM_CCo,19726,0.00,0.000,0,0,514,553.40
$SM_GC,2.47,8.48,0.75,0.00,0.041,0.050,0.000,144,2608,514,-9.05,-0.93,553.40,0,0,0,0,0,0,25.96,26.29,28.83
$IRIDIUM_FIX,1853.26,11953.74,161212,010123
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.87
$INTERNAL_PRESSURE,9.36132
$TCM_TEMP,21.60
$XPDR_PINGS,3
$SC_FREEKB,3941376
$24V_AH,22.5,45.225
$10V_AH,9.8,21.032
$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,23.300,198.925,642.375,0.000,0.000,0.000,0.000,310.875,0.750,0.000,21.004,3146.537,13101.771,819.174,2793.589,377.463,0.000,2481.073,0.000,2338.081,0.000,0.542,0.000
$DEVICE_MAMPS,242.505,76.500,1491.750,0.000,0.000,0.000,0.000,137.700,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19688.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.280,0.000,0.000,0.000
$MEM,323844
$DATA_FILE_SIZE,33379,893
$CAP_FILE_SIZE,239937,0
$CFSIZE,260034560,229593088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.119,255.5,1
$GPS,161212,124705,1906.466,11958.877,25,0.9,25,-2.4