version: 66.11
glider: 170
mission: 10
dive: 221
start: 12 20 112 4 32 52
data:
$ID,170
$MISSION,10
$DIVE,221
$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,-143372.56
$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,97
$R_STBD_OVSHOOT,39
$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
$GPS1,201212,042333,1954.462,11954.727,44,1.1,44,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-70.8
$GPS2,201212,043226,1954.539,11954.589,17,0.7,19,-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,358.2,204786,-14.0,-8.049,-16.39
$D_GRID,3597
$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,-170.3,0.0,0.0,0,79,0.00,0.00,-56.38,0.000,2,0.000,0.000,133,2617,1743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.48,-170.3,3.1,-1.6,10,165,11.32,0.00,-65.85,0.000,6,0.239,0.000,2890,2617,3464,0,0,0,0,0,0,25.40,28.83,26.51
$GC,356,-0.42,-170.3,64.3,-24.5,45,362,0.00,1.73,0.00,0.000,4,0.000,0.055,2890,3690,3464,0,0,0,0,0,0,28.83,26.13,28.83
$GC,460,-0.38,-170.3,81.3,-15.4,50,467,0.12,1.55,0.00,0.000,6,0.147,0.024,2928,2631,3464,0,0,0,0,0,0,26.10,26.42,28.83
$GC,667,-0.38,-170.3,101.0,-7.8,60,672,0.00,2.10,0.00,0.000,4,0.000,0.031,2928,1207,3465,0,0,0,0,0,0,28.83,26.32,28.83
$GC,725,-0.39,-170.3,104.2,-7.4,62,733,0.00,2.17,0.00,0.000,6,0.000,0.049,2928,2584,3464,0,0,0,0,0,0,28.83,26.14,28.83
$GC,910,-0.41,-170.3,123.1,-11.6,72,915,0.00,2.05,0.00,0.000,4,0.000,0.033,2928,1213,3465,0,0,0,0,0,0,28.83,26.33,28.83
$GC,974,-0.42,-170.3,129.8,-10.9,75,979,0.00,2.17,0.00,0.000,6,0.000,0.050,2928,2600,3465,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1179,-0.45,-170.3,139.8,-3.2,85,1184,0.00,2.10,0.00,0.000,4,0.000,0.036,2928,1215,3465,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1223,-0.47,-170.3,141.4,-3.3,87,1228,0.00,2.20,0.00,0.000,6,0.000,0.054,2928,2598,3465,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1428,-0.53,-170.3,154.0,-8.0,97,1434,0.12,2.12,0.00,0.000,4,0.097,0.037,2862,1214,3465,0,0,0,0,0,0,26.52,26.31,28.83
$GC,1486,-0.57,-170.3,158.6,-9.1,99,1493,0.00,2.15,0.00,0.000,6,0.000,0.044,2861,2622,3464,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1672,-0.56,-170.3,178.6,-9.1,109,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2623,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1852,-0.56,-170.3,196.8,-11.0,118,1857,0.00,2.10,0.00,0.000,4,0.000,0.028,2862,1196,3464,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1896,-0.56,-170.3,201.6,-11.0,120,1901,0.00,2.15,0.00,0.000,6,0.000,0.044,2861,2602,3464,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2099,-0.55,-170.3,221.7,-10.1,130,2104,0.00,2.08,0.00,0.000,4,0.000,0.028,2861,1202,3463,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2146,-0.55,-170.3,225.8,-10.0,132,2152,0.00,2.15,0.00,0.000,6,0.000,0.044,2861,2603,3463,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2344,-0.55,-170.3,246.0,-9.7,142,2350,0.00,1.67,0.00,0.000,4,0.000,0.051,2861,3696,3462,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2382,-0.55,-170.3,248.4,-9.7,143,2388,0.00,1.60,0.00,0.000,6,0.000,0.025,2861,2559,3462,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2568,-0.55,-170.3,268.8,-10.6,153,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2559,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2869,-0.55,-170.3,300.2,-10.0,168,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2559,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3170,-0.55,-170.3,325.3,-7.6,183,3175,0.00,1.90,0.00,0.000,4,0.000,0.028,2861,1240,3457,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3284,-0.56,-170.3,333.0,-7.3,188,3289,0.00,2.08,0.00,0.000,6,0.000,0.041,2861,2599,3456,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3597,-0.56,-170.3,357.3,-8.1,204,3602,0.00,2.00,0.00,0.000,4,0.000,0.026,2861,1236,3454,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3644,-0.56,-170.3,360.7,-8.2,206,3649,0.00,2.10,0.00,0.000,6,0.000,0.041,2861,2608,3454,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3962,-0.57,-170.3,388.1,-8.5,222,3968,0.00,2.03,0.00,0.000,4,0.000,0.027,2861,1234,3452,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4050,-0.58,-170.3,395.4,-8.7,226,4055,0.00,2.10,0.00,0.000,6,0.000,0.041,2861,2606,3451,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4368,-0.58,-170.3,423.7,-9.0,242,4374,0.00,2.03,0.00,0.000,4,0.000,0.027,2862,1242,3449,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4421,-0.59,-170.3,427.5,-9.0,244,4426,0.00,2.10,0.00,0.000,6,0.000,0.041,2861,2613,3449,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4736,-0.60,-170.3,453.3,-7.5,260,4741,0.00,2.05,0.00,0.000,4,0.000,0.028,2862,1239,3447,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4780,-0.61,-170.3,456.9,-7.7,262,4786,0.00,2.10,0.00,0.000,6,0.000,0.041,2861,2612,3446,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5103,-0.62,-170.3,482.8,-8.3,278,5109,0.00,1.73,0.00,0.000,4,0.000,0.053,2861,3688,3445,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5142,-0.63,-170.3,484.8,-8.4,279,5149,0.00,1.58,0.00,0.000,6,0.000,0.028,2861,2623,3444,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5447,-0.64,-170.3,513.0,-8.9,295,5453,0.00,2.08,0.00,0.000,4,0.000,0.028,2861,1211,3443,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5520,-0.65,-170.3,518.8,-9.0,298,5526,0.00,2.15,0.00,0.000,6,0.000,0.041,2861,2610,3443,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5833,-0.66,-170.3,547.1,-8.4,314,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2611,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6137,-0.67,-170.3,570.7,-7.5,329,6142,0.00,2.10,0.00,0.000,4,0.000,0.027,2863,1207,3440,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6210,-0.68,-170.3,575.5,-7.4,332,6215,0.00,2.15,0.00,0.000,6,0.000,0.041,2861,2603,3439,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6524,-0.70,-170.3,597.0,-6.8,348,6526,0.12,0.00,0.00,0.000,6,0.088,0.000,2793,2603,3437,0,0,0,0,0,0,26.60,28.83,28.83
$GC,6835,-0.67,-170.3,634.7,-12.8,359,6841,0.12,2.08,0.00,0.000,4,0.164,0.024,2834,1216,3436,0,0,0,0,0,0,26.29,26.43,28.83
$GC,6903,-0.66,-170.3,642.0,-12.0,361,6908,0.00,2.15,0.00,0.000,6,0.000,0.042,2834,2609,3436,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7232,-0.66,-170.3,676.7,-10.4,372,7237,0.00,2.10,0.00,0.000,4,0.000,0.027,2834,1204,3435,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7284,-0.66,-170.3,680.0,-10.4,373,7289,0.00,2.15,0.00,0.000,6,0.000,0.042,2834,2599,3434,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7597,-0.66,-170.3,711.6,-9.0,384,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2599,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7898,-0.66,-170.3,735.0,-7.5,394,7903,0.00,2.08,0.00,0.000,4,0.000,0.028,2834,1214,3433,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7981,-0.66,-170.3,739.7,-7.5,396,7986,0.00,2.17,0.00,0.000,6,0.000,0.042,2834,2605,3432,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8297,-0.66,-170.3,763.9,-7.5,407,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2606,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8595,-0.66,-170.3,786.9,-7.9,417,8600,0.00,2.10,0.00,0.000,4,0.000,0.027,2834,1203,3429,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8647,-0.66,-170.3,789.8,-8.1,418,8652,0.00,2.17,0.00,0.000,6,0.000,0.042,2835,2606,3429,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8961,-0.66,-170.3,818.7,-9.0,429,8966,0.00,2.10,0.00,0.000,4,0.000,0.028,2834,1206,3428,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9012,-0.66,-170.3,821.8,-9.1,430,9017,0.00,2.17,0.00,0.000,6,0.000,0.042,2834,2609,3427,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9326,-0.66,-170.3,851.6,-8.9,441,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2609,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9625,-0.66,-170.3,876.8,-8.2,451,9631,0.00,1.70,0.00,0.000,4,0.000,0.055,2834,3690,3425,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9677,-0.66,-170.3,879.4,-8.1,452,9682,0.00,1.60,0.00,0.000,6,0.000,0.031,2834,2599,3426,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9992,-0.66,-170.3,903.2,-7.0,463,9997,0.00,2.08,0.00,0.000,4,0.000,0.028,2834,1198,3425,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10056,-0.66,-170.3,907.7,-6.9,465,10061,0.00,2.22,0.00,0.000,6,0.000,0.042,2834,2611,3424,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10391,-0.66,-170.3,929.1,-6.2,476,10392,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2611,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10689,-0.66,-170.3,948.8,-6.6,486,10694,0.00,2.12,0.00,0.000,4,0.000,0.028,2833,1198,3423,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10794,-0.66,-170.3,955.0,-6.5,489,10800,0.00,2.20,0.00,0.000,6,0.000,0.043,2834,2610,3423,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11119,-0.66,-170.3,977.7,-7.0,500,11124,0.00,2.12,0.00,0.000,4,0.000,0.028,2834,1197,3422,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11167,-0.66,-170.3,980.3,-7.1,501,11173,0.00,2.20,0.00,0.000,6,0.000,0.043,2834,2611,3422,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,11303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11303,begin apogee
$GC,11309,-0.15,0.0,991.4,-7.2,506,11462,0.47,0.00,143.23,1.496,6,0.105,0.000,3000,2098,2769,0,0,0,0,0,0,25.86,28.83,23.19
$STATE,11463,end apogee,CONTROL_FINISHED_OK
$STATE,11463,begin climb
$GC,11466,0.48,170.3,997.2,0.0,511,11639,0.55,2.28,161.30,1.449,4,0.051,0.034,3214,753,2071,0,0,0,0,0,0,24.56,23.63,22.42
$GC,11667,0.44,192.5,988.8,7.3,517,11695,0.00,2.30,21.08,1.346,6,0.000,0.038,3214,2124,1982,0,0,0,0,0,0,28.83,24.22,22.68
$GC,12003,0.42,192.5,948.0,11.1,529,12005,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2125,1975,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21985,end climb,SURFACE_DEPTH_REACHED
$STATE,21985,begin surface coast
$FINISH,1.6,1.016808
$STATE,22006,end surface coast,CONTROL_FINISHED_OK
$STATE,22006,begin surface
$SM_CCo,22086,0.00,0.000,0,0,503,555.85
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$IRIDIUM_FIX,1943.54,11951.80,191212,222246
$TT8_MAMPS,0.025466,0.025466
$HUMID,51.41
$INTERNAL_PRESSURE,9.43945
$TCM_TEMP,23.80
$XPDR_PINGS,1
$SC_FREEKB,3935232
$24V_AH,22.4,48.815
$10V_AH,9.8,22.940
$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
$DEVICE_SECS,22.600,222.900,647.225,0.000,0.000,0.000,0.000,321.875,0.250,0.000,20.051,3322.796,15113.156,860.261,2886.918,419.279,0.000,2607.000,0.000,2426.303,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22043.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.387,0.000,0.000,0.000
$MEM,323752
$DATA_FILE_SIZE,36698,1001
$CAP_FILE_SIZE,259696,0
$CFSIZE,260034560,227667968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.030,273.1,1
$GPS,201212,104204,1957.838,11953.349,29,0.9,29,-2.6