version: 66.11
glider: 170
mission: 10
dive: 290
start: 12 27 112 9 59 31
data:
$ID,170
$MISSION,10
$DIVE,290
$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,-143459.48
$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,74
$R_STBD_OVSHOOT,48
$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
$GPS1,271212,094834,2032.064,11955.296,26,1.1,26,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-70.3
$GPS2,271212,095904,2032.016,11955.148,38,0.9,39,-2.7
$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,8.9,135423,-14.0,-8.049,-16.39
$D_GRID,3294
$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,-170.3,0.0,0.0,0,91,0.00,0.00,-67.45,0.000,2,0.000,0.000,133,2600,1969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.48,-170.3,3.1,-1.8,12,157,11.43,1.77,-42.88,0.000,4,0.240,0.069,2886,3676,3465,0,0,0,0,0,0,25.26,26.03,26.55
$GC,261,-0.44,-170.3,31.4,-24.2,39,267,0.00,1.55,0.00,0.000,6,0.000,0.023,2886,2550,3464,0,0,0,0,0,0,28.83,26.37,28.83
$GC,458,-0.38,-170.3,75.9,-20.3,53,463,0.12,1.90,0.00,0.000,4,0.179,0.026,2926,1249,3464,0,0,0,0,0,0,26.13,26.32,28.83
$GC,554,-0.37,-170.3,88.5,-14.7,57,559,0.00,2.05,0.00,0.000,6,0.000,0.044,2926,2590,3464,0,0,0,0,0,0,28.83,26.25,28.83
$GC,747,-0.38,-170.3,108.6,-12.6,67,753,0.00,1.73,0.00,0.000,4,0.000,0.051,2924,3701,3464,0,0,0,0,0,0,28.83,26.23,28.83
$GC,786,-0.39,-170.3,111.5,-12.8,68,793,0.00,1.52,0.00,0.000,6,0.000,0.024,2923,2581,3464,0,0,0,0,0,0,28.83,26.52,28.83
$GC,973,-0.44,-170.3,123.0,-5.3,78,979,0.00,1.75,0.00,0.000,4,0.000,0.050,2924,3689,3464,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1041,-0.48,-170.3,127.6,-6.7,81,1046,0.00,1.50,0.00,0.000,6,0.000,0.024,2924,2624,3464,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1240,-0.53,-170.3,145.1,-8.7,91,1246,0.12,2.00,0.00,0.000,4,0.095,0.024,2852,1235,3464,0,0,0,0,0,0,26.53,26.42,28.83
$GC,1259,-0.59,-170.3,145.1,-8.7,91,1266,0.00,2.10,0.00,0.000,6,0.000,0.043,2851,2603,3464,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1445,-0.58,-170.3,168.3,-11.0,101,1450,0.00,1.67,0.00,0.000,4,0.000,0.051,2851,3688,3464,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1518,-0.57,-170.3,175.0,-10.4,104,1523,0.00,1.52,0.00,0.000,6,0.000,0.023,2852,2575,3465,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1712,-0.56,-170.3,198.7,-11.8,114,1718,0.00,1.90,0.00,0.000,4,0.000,0.028,2851,1258,3465,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1740,-0.55,-170.3,201.6,-11.6,115,1745,0.00,2.05,0.00,0.000,6,0.000,0.042,2851,2611,3464,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1939,-0.55,-170.3,219.8,-8.0,125,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2611,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2119,-0.55,-170.3,234.8,-8.7,134,2124,0.00,2.00,0.00,0.000,4,0.000,0.027,2851,1252,3464,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2156,-0.55,-170.3,236.9,-8.8,135,2163,0.00,2.05,0.00,0.000,6,0.000,0.043,2851,2602,3464,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2342,-0.55,-170.3,257.1,-10.4,145,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2603,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2644,-0.55,-170.3,289.5,-10.3,160,2649,0.00,2.00,0.00,0.000,4,0.000,0.030,2851,1251,3461,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2691,-0.55,-170.3,293.9,-10.0,162,2696,0.00,2.08,0.00,0.000,6,0.000,0.042,2852,2600,3461,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3009,-0.55,-170.3,317.9,-7.3,178,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2601,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3311,-0.55,-170.3,339.3,-7.4,193,3317,0.00,1.98,0.00,0.000,4,0.000,0.027,2851,1253,3457,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3364,-0.55,-170.3,342.8,-7.6,195,3369,0.00,2.05,0.00,0.000,6,0.000,0.041,2851,2602,3457,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3677,-0.56,-170.3,369.9,-8.8,211,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2602,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3979,-0.56,-170.3,395.7,-8.6,226,3984,0.00,2.00,0.00,0.000,4,0.000,0.027,2851,1248,3453,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4043,-0.56,-170.3,401.3,-8.6,229,4048,0.00,2.08,0.00,0.000,6,0.000,0.041,2852,2612,3452,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4367,-0.57,-170.3,426.7,-7.9,245,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2612,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4669,-0.58,-170.3,451.5,-8.2,260,4675,0.00,2.03,0.00,0.000,4,0.000,0.028,2851,1247,3449,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4738,-0.58,-170.3,457.1,-8.3,263,4743,0.00,2.10,0.00,0.000,6,0.000,0.041,2851,2609,3448,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5056,-0.59,-170.3,482.5,-8.2,279,5061,0.00,1.98,0.00,0.000,4,0.000,0.028,2852,1257,3446,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5113,-0.60,-170.3,486.4,-8.6,281,5120,0.00,2.05,0.00,0.000,6,0.000,0.041,2852,2601,3446,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5419,-0.61,-170.3,514.6,-8.6,297,5420,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2601,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5722,-0.62,-170.3,535.4,-6.1,312,5727,0.00,2.00,0.00,0.000,4,0.000,0.027,2851,1250,3443,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5787,-0.63,-170.3,539.4,-5.9,315,5792,0.00,2.08,0.00,0.000,6,0.000,0.041,2852,2610,3443,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6111,-0.64,-170.3,555.3,-5.1,331,6117,0.00,1.98,0.00,0.000,4,0.000,0.027,2851,1258,3442,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6161,-0.65,-170.3,558.1,-5.8,333,6166,0.00,2.05,0.00,0.000,6,0.000,0.041,2851,2601,3440,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6479,-0.66,-170.3,583.7,-9.0,349,6484,0.00,2.00,0.00,0.000,4,0.000,0.027,2851,1249,3439,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6527,-0.68,-170.3,587.7,-9.1,351,6533,0.00,2.10,0.00,0.000,6,0.000,0.041,2851,2606,3439,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6848,-0.69,-170.3,620.4,-10.4,364,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2606,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7148,-0.70,-170.3,650.7,-9.8,374,7153,0.00,2.00,0.00,0.000,4,0.000,0.027,2851,1254,3436,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7220,-0.71,-170.3,656.7,-9.6,376,7225,0.00,2.08,0.00,0.000,6,0.000,0.041,2851,2609,3436,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7547,-0.72,-170.3,684.3,-7.9,387,7552,0.00,2.00,0.00,0.000,4,0.000,0.028,2852,1257,3435,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7611,-0.73,-170.3,689.5,-7.8,389,7617,0.12,2.10,0.00,0.000,6,0.096,0.041,2790,2606,3434,0,0,0,0,0,0,26.22,26.25,28.83
$GC,7948,-0.72,-170.3,727.3,-11.7,400,7953,0.00,1.73,0.00,0.000,4,0.000,0.054,2790,3700,3432,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8042,-0.70,-170.3,739.1,-12.2,403,8047,0.12,1.52,0.00,0.000,6,0.151,0.028,2825,2624,3432,0,0,0,0,0,0,26.14,26.51,28.83
$GC,8375,-0.70,-170.3,775.2,-11.2,414,8380,0.00,2.08,0.00,0.000,4,0.000,0.042,2826,1214,3431,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8462,-0.70,-170.3,782.5,-11.5,416,8470,0.00,2.15,0.00,0.000,6,0.000,0.042,2826,2611,3431,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8769,-0.70,-170.3,820.9,-11.8,427,8774,0.00,2.08,0.00,0.000,4,0.000,0.028,2826,1215,3431,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8811,-0.70,-170.3,825.0,-11.9,428,8816,0.00,2.15,0.00,0.000,6,0.000,0.042,2826,2597,3430,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9136,-0.70,-170.3,864.2,-11.9,439,9142,0.00,2.05,0.00,0.000,4,0.000,0.028,2826,1215,3429,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9184,-0.70,-170.3,868.5,-12.1,440,9190,0.00,2.15,0.00,0.000,6,0.000,0.043,2825,2605,3429,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9503,-0.70,-170.3,908.7,-11.9,451,9504,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2605,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9803,-0.70,-170.3,940.8,-10.0,461,9809,0.00,2.08,0.00,0.000,4,0.000,0.028,2826,1211,3427,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9875,-0.70,-170.3,946.6,-9.5,463,9881,0.00,2.15,0.00,0.000,6,0.000,0.043,2826,2602,3427,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10202,-0.70,-170.3,971.2,-6.9,474,10207,0.00,2.05,0.00,0.000,4,0.000,0.028,2826,1225,3426,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10254,-0.70,-170.3,973.7,-6.7,475,10259,0.00,2.12,0.00,0.000,6,0.000,0.043,2825,2601,3426,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,10505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10505,begin apogee
$GC,10513,-0.15,0.0,990.2,-6.1,484,10663,0.50,0.00,143.57,1.480,6,0.111,0.000,2998,2107,2769,0,0,0,0,0,0,25.79,28.83,23.14
$STATE,10664,end apogee,CONTROL_FINISHED_OK
$STATE,10665,begin climb
$GC,10667,0.48,170.3,993.1,0.0,489,10840,0.57,2.53,162.00,1.433,4,0.054,0.049,3215,3523,2072,0,0,0,0,0,0,24.61,23.68,22.35
$GC,10888,0.44,170.3,975.7,11.8,496,10895,0.12,2.20,0.00,0.000,6,0.161,0.027,3193,2150,2067,0,0,0,0,0,0,24.38,24.60,28.83
$GC,11211,0.42,170.3,936.4,10.9,507,11216,0.00,2.17,0.00,0.000,4,0.000,0.036,3201,719,2062,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11275,0.40,170.3,929.7,10.3,509,11280,0.00,2.17,0.00,0.000,6,0.000,0.037,3200,2126,2060,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11611,0.37,170.3,897.5,9.0,520,11616,0.00,2.22,0.00,0.000,4,0.000,0.050,3201,3539,2060,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11658,0.35,170.3,893.8,9.2,521,11664,0.15,2.12,0.00,0.000,6,0.154,0.028,3164,2115,2060,0,0,0,0,0,0,25.99,26.34,28.83
$GC,11979,0.35,198.6,869.6,7.2,532,12007,0.00,0.00,24.40,1.353,6,0.000,0.000,3165,2115,1959,0,0,0,0,0,0,28.83,28.83,24.32
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$STATE,19916,end climb,SURFACE_DEPTH_REACHED
$STATE,19916,begin surface coast
$FINISH,1.5,1.004778
$STATE,19961,end surface coast,CONTROL_FINISHED_OK
$STATE,19961,begin surface
$SM_CCo,20040,0.00,0.000,0,0,863,467.54
$SM_GC,2.43,8.50,0.70,0.00,0.053,0.040,0.000,136,2600,863,-9.06,-1.33,467.54,0,0,0,0,0,0,25.86,26.41,28.83
$IRIDIUM_FIX,2024.87,11957.83,271212,030333
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.29
$INTERNAL_PRESSURE,9.45898
$TCM_TEMP,23.30
$XPDR_PINGS,3
$SC_FREEKB,3908832
$24V_AH,22.4,56.557
$10V_AH,9.9,27.861
$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,22.550,206.800,575.200,0.000,0.000,0.000,0.000,387.950,0.750,0.000,40.225,3072.393,13574.998,792.060,2743.174,471.990,0.000,2473.529,0.000,2223.586,0.000,0.543,0.000
$DEVICE_MAMPS,240.210,68.850,1479.510,0.000,0.000,0.000,0.000,130.050,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19999.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.632,0.000,0.000,0.000
$MEM,323912
$DATA_FILE_SIZE,33350,927
$CAP_FILE_SIZE,239711,0
$CFSIZE,260034560,222568448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.178,214.0,1
$GPS,271212,153434,2033.529,11954.253,25,0.8,25,-2.8