version: 66.11
glider: 170
mission: 10
dive: 212
start: 12 17 112 20 11 33
data:
$ID,170
$MISSION,10
$DIVE,212
$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,-143361.31
$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,64
$R_STBD_OVSHOOT,52
$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
$GPS1,171212,200205,1924.311,11958.311,32,1.1,32,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-72.9
$GPS2,171212,201107,1924.384,11958.233,15,0.9,16,-2.5
$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,358.8,260439,-14.0,-8.049,-16.39
$D_GRID,4176
$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,-0.48,-170.3,0.0,0.0,0,91,0.00,0.00,-67.78,0.000,2,0.000,0.000,139,2621,1969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.48,-170.3,3.0,-2.3,12,160,11.57,1.77,-48.35,0.000,4,0.248,0.073,2892,3676,3466,0,0,0,0,0,0,25.38,26.01,26.48
$GC,390,-0.45,-170.3,59.7,-12.1,48,395,0.00,1.60,0.00,0.000,6,0.000,0.022,2893,2586,3466,0,0,0,0,0,0,28.83,26.39,28.83
$GC,593,-0.43,-170.3,87.9,-12.4,58,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2586,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,774,-0.42,-170.3,107.8,-12.3,67,779,0.00,2.03,0.00,0.000,4,0.000,0.031,2895,1205,3466,0,0,0,0,0,0,28.83,26.35,28.83
$GC,817,-0.41,-170.3,112.8,-12.0,69,823,0.00,2.15,0.00,0.000,6,0.000,0.047,2892,2591,3466,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1021,-0.41,-170.3,135.0,-11.2,79,1027,0.00,1.73,0.00,0.000,4,0.000,0.053,2892,3692,3466,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1089,-0.41,-170.3,140.8,-9.4,82,1094,0.00,1.58,0.00,0.000,6,0.000,0.024,2892,2555,3466,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1289,-0.42,-170.3,155.9,-7.6,92,1295,0.00,1.92,0.00,0.000,4,0.000,0.032,2893,1245,3466,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1384,-0.43,-170.3,162.6,-7.9,96,1389,0.00,2.10,0.00,0.000,6,0.000,0.044,2893,2610,3465,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1580,-0.43,-170.3,178.2,-7.8,106,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2611,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1758,-0.44,-170.3,192.8,-8.5,115,1763,0.00,2.00,0.00,0.000,4,0.000,0.029,2893,1253,3464,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1785,-0.46,-170.3,195.0,-8.9,116,1791,0.00,2.08,0.00,0.000,6,0.000,0.042,2893,2613,3465,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1984,-0.47,-170.3,214.0,-9.1,126,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2613,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2165,-0.48,-170.3,228.7,-7.8,135,2170,0.00,2.05,0.00,0.000,4,0.000,0.040,2893,1239,3463,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2203,-0.49,-170.3,230.5,-7.5,136,2210,0.00,2.08,0.00,0.000,6,0.000,0.041,2893,2600,3463,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2388,-0.51,-170.3,244.4,-7.3,146,2393,0.00,1.67,0.00,0.000,4,0.000,0.052,2893,3687,3461,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2426,-0.52,-170.3,246.3,-7.7,147,2433,0.00,1.50,0.00,0.000,6,0.000,0.027,2893,2608,3461,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2612,-0.54,-170.3,264.7,-9.0,157,2617,0.00,2.00,0.00,0.000,4,0.000,0.028,2893,1238,3460,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2727,-0.56,-170.3,273.3,-8.1,162,2732,0.00,2.08,0.00,0.000,6,0.000,0.041,2892,2601,3460,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3041,-0.57,-170.3,292.0,-6.9,178,3046,0.00,2.03,0.00,0.000,4,0.000,0.026,2893,1236,3458,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3108,-0.59,-170.3,296.5,-7.1,181,3114,0.10,2.10,0.00,0.000,6,0.109,0.041,2837,2610,3457,0,0,0,0,0,0,26.32,26.36,28.83
$GC,3427,-0.58,-170.3,329.6,-9.7,197,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2610,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3729,-0.57,-170.3,360.9,-10.8,212,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2609,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4028,-0.56,-170.3,393.0,-11.0,227,4034,0.12,2.03,0.00,0.000,4,0.147,0.025,2881,1238,3452,0,0,0,0,0,0,26.36,26.46,28.83
$GC,4072,-0.56,-170.3,397.0,-10.0,229,4077,0.00,2.10,0.00,0.000,6,0.000,0.042,2881,2599,3452,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4396,-0.57,-170.3,421.7,-7.9,245,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2599,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4698,-0.59,-170.3,446.6,-8.0,260,4703,0.00,2.03,0.00,0.000,4,0.000,0.027,2881,1237,3449,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4785,-0.61,-170.3,453.4,-8.0,264,4790,0.00,2.10,0.00,0.000,6,0.000,0.042,2880,2604,3449,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5103,-0.62,-170.3,474.6,-6.1,280,5109,0.00,2.05,0.00,0.000,4,0.000,0.027,2881,1226,3446,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5147,-0.64,-170.3,477.4,-6.2,282,5154,0.12,2.12,0.00,0.000,6,0.093,0.041,2818,2603,3447,0,0,0,0,0,0,26.31,26.32,28.83
$GC,5472,-0.62,-170.3,507.4,-8.6,298,5478,0.12,1.70,0.00,0.000,4,0.153,0.051,2862,3694,3445,0,0,0,0,0,0,26.34,26.25,28.83
$GC,5507,-0.61,-170.3,509.1,-8.0,299,5512,0.00,1.60,0.00,0.000,6,0.000,0.028,2862,2603,3445,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5820,-0.62,-170.3,523.8,-4.8,315,5826,0.00,2.03,0.00,0.000,4,0.000,0.027,2862,1223,3443,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5905,-0.63,-170.3,528.6,-5.7,319,5910,0.00,2.12,0.00,0.000,6,0.000,0.041,2862,2600,3443,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6228,-0.64,-170.3,552.5,-8.3,335,6234,0.00,2.05,0.00,0.000,4,0.000,0.027,2862,1226,3443,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6302,-0.66,-170.3,558.2,-8.7,338,6307,0.00,2.12,0.00,0.000,6,0.000,0.041,2862,2606,3441,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6615,-0.66,-170.3,587.2,-8.8,354,6621,0.00,2.08,0.00,0.000,4,0.000,0.027,2861,1213,3440,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6669,-0.68,-170.3,591.0,-8.7,356,6674,0.00,2.15,0.00,0.000,6,0.000,0.042,2862,2607,3440,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6994,-0.69,-170.3,614.9,-6.5,369,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2608,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7293,-0.70,-170.3,634.7,-6.8,379,7299,0.12,2.08,0.00,0.000,4,0.090,0.025,2784,1220,3437,0,0,0,0,0,0,26.60,26.44,28.83
$GC,7356,-0.70,-170.3,641.9,-8.8,381,7362,0.15,2.17,0.00,0.000,6,0.159,0.043,2825,2610,3437,0,0,0,0,0,0,25.96,26.27,28.83
$GC,7692,-0.69,-170.3,674.6,-9.7,392,7697,0.00,2.08,0.00,0.000,4,0.000,0.027,2825,1219,3436,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7755,-0.68,-170.3,680.9,-9.7,394,7761,0.00,2.15,0.00,0.000,6,0.000,0.042,2825,2604,3436,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8091,-0.67,-170.3,711.5,-9.1,405,8096,0.00,1.73,0.00,0.000,4,0.000,0.054,2825,3696,3435,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8172,-0.67,-170.3,717.2,-8.9,407,8178,0.00,1.62,0.00,0.000,6,0.000,0.029,2825,2598,3435,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8488,-0.67,-170.3,743.9,-7.8,418,8493,0.00,2.03,0.00,0.000,4,0.000,0.028,2825,1221,3434,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8535,-0.67,-170.3,746.6,-7.8,419,8541,0.00,2.15,0.00,0.000,6,0.000,0.043,2825,2603,3434,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8855,-0.67,-170.3,771.7,-7.6,430,8861,0.00,2.08,0.00,0.000,4,0.000,0.027,2825,1211,3433,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8883,-0.67,-170.3,771.7,-7.6,430,8891,0.00,2.15,0.00,0.000,6,0.000,0.043,2825,2599,3433,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9189,-0.67,-170.3,797.6,-7.7,441,9190,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2599,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9489,-0.67,-170.3,821.9,-8.3,451,9494,0.00,2.05,0.00,0.000,4,0.000,0.028,2825,1215,3430,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9526,-0.67,-170.3,824.8,-8.4,452,9531,0.00,2.17,0.00,0.000,6,0.000,0.044,2825,2601,3430,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9853,-0.67,-170.3,854.1,-9.1,463,9859,0.00,2.05,0.00,0.000,4,0.000,0.028,2825,1218,3429,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9891,-0.67,-170.3,857.2,-9.1,464,9896,0.00,2.15,0.00,0.000,6,0.000,0.043,2825,2604,3429,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10220,-0.67,-170.3,885.3,-8.1,475,10221,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2604,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10520,-0.67,-170.3,908.2,-7.8,485,10526,0.00,2.08,0.00,0.000,4,0.000,0.027,2825,1218,3427,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10584,-0.67,-170.3,913.3,-7.8,487,10590,0.00,2.17,0.00,0.000,6,0.000,0.042,2825,2603,3427,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10919,-0.67,-170.3,942.2,-9.1,498,10920,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2603,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11217,-0.67,-170.3,970.3,-9.4,508,11223,0.00,2.08,0.00,0.000,4,0.000,0.027,2825,1217,3425,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11325,-0.67,-170.3,979.1,-9.5,511,11330,0.00,2.17,0.00,0.000,6,0.000,0.043,2825,2599,3425,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,11431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11431,begin apogee
$GC,11437,-0.15,0.0,990.2,-9.1,515,11589,0.50,0.00,143.43,1.488,6,0.113,0.000,2998,2117,2769,0,0,0,0,0,0,25.77,28.83,23.28
$STATE,11590,end apogee,CONTROL_FINISHED_OK
$STATE,11590,begin climb
$GC,11593,0.48,170.3,997.2,0.0,520,11765,0.57,2.55,162.43,1.440,4,0.050,0.049,3219,3530,2072,0,0,0,0,0,0,24.60,23.63,22.49
$GC,11799,0.43,170.3,983.6,10.3,527,11805,0.15,2.28,0.00,0.000,6,0.156,0.028,3189,2145,2069,0,0,0,0,0,0,24.13,24.34,28.83
$GC,12133,0.41,170.3,949.7,9.7,538,12139,0.00,2.20,0.00,0.000,4,0.000,0.036,3198,718,2062,0,0,0,0,0,0,28.83,25.82,28.83
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$STATE,22187,end climb,SURFACE_DEPTH_REACHED
$STATE,22187,begin surface coast
$FINISH,1.6,1.009710
$STATE,22214,end surface coast,CONTROL_FINISHED_OK
$STATE,22214,begin surface
$SM_CCo,22293,0.00,0.000,0,0,544,545.79
$SM_GC,2.59,8.32,0.73,0.00,0.047,0.049,0.000,137,2602,544,-9.06,-1.30,545.79,0,0,0,0,0,0,25.84,26.10,28.83
$IRIDIUM_FIX,1913.80,11958.29,171212,141434
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.09
$INTERNAL_PRESSURE,9.40038
$TCM_TEMP,22.30
$XPDR_PINGS,2
$SC_FREEKB,3938688
$24V_AH,22.5,46.720
$10V_AH,9.8,21.820
$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,22.900,226.675,631.200,0.000,0.000,0.000,0.000,330.125,0.500,0.000,18.153,3410.821,15177.005,859.005,2950.576,423.436,0.000,2619.826,0.000,2476.700,0.000,0.543,0.000
$DEVICE_MAMPS,247.860,72.675,1487.925,0.000,0.000,0.000,0.000,135.405,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22255.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.363,0.000,0.000,0.000
$MEM,323780
$DATA_FILE_SIZE,36655,1013
$CAP_FILE_SIZE,263103,0
$CFSIZE,260034560,228782080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.110, 39.1,1
$GPS,181212,022422,1928.805,11958.959,39,0.9,39,-2.5