version: 66.11
glider: 170
mission: 10
dive: 73
start: 11 15 112 16 50 27
data:
$ID,170
$MISSION,10
$DIVE,73
$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,330
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,9
$N_NOCOMM,2
$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,-143179.34
$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,3010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,46
$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
$GPS1,151112,164228,2139.459,12020.395,38,0.8,38,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-69.7
$GPS2,151112,164941,2139.398,12020.459,35,0.8,35,-3.0
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,W2
$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,280.1,36690,-15.6,-10.000,-17.73
$D_GRID,684
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.43,-194.6,0.0,0.0,0,85,0.00,0.00,-64.18,0.000,2,0.000,0.000,140,2620,1900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.43,-194.6,3.1,-2.6,11,161,10.70,2.15,-52.40,0.000,4,0.238,0.044,2866,1191,3564,0,0,0,0,0,0,25.96,26.25,26.51
$GC,253,-0.33,-194.6,35.0,-25.8,37,261,0.12,2.20,0.00,0.000,6,0.185,0.050,2898,2587,3564,0,0,0,0,0,0,26.15,26.27,28.83
$GC,451,-0.22,-194.6,91.5,-25.2,50,457,0.12,1.77,0.00,0.000,4,0.184,0.062,2936,3701,3563,0,0,0,0,0,0,26.27,26.34,28.83
$GC,499,-0.15,-194.6,98.6,-18.2,52,505,0.00,1.62,0.00,0.000,6,0.000,0.024,2936,2562,3563,0,0,0,0,0,0,28.83,26.48,28.83
$GC,697,-0.15,-194.6,124.4,-12.4,62,704,0.00,1.92,0.00,0.000,4,0.000,0.031,2936,1230,3564,0,0,0,0,0,0,28.83,26.48,28.83
$GC,725,-0.15,-194.6,126.7,-11.2,63,731,0.00,2.15,0.00,0.000,6,0.000,0.046,2936,2614,3564,0,0,0,0,0,0,28.83,26.45,28.83
$GC,924,-0.17,-194.6,146.2,-9.9,73,929,0.00,1.73,0.00,0.000,4,0.000,0.065,2936,3695,3564,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1049,-0.23,-194.6,154.3,-5.8,79,1055,0.00,1.58,0.00,0.000,6,0.000,0.024,2936,2610,3564,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1254,-0.29,-194.6,166.9,-6.0,89,1259,0.00,1.75,0.00,0.000,4,0.000,0.063,2936,3691,3564,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1312,-0.35,-194.6,169.7,-6.3,91,1319,0.12,1.58,0.00,0.000,6,0.094,0.024,2862,2599,3564,0,0,0,0,0,0,26.53,26.66,28.83
$GC,1499,-0.32,-194.6,194.6,-14.9,101,1504,0.12,2.00,0.00,0.000,4,0.164,0.028,2906,1213,3564,0,0,0,0,0,0,26.51,26.61,28.83
$GC,1571,-0.32,-194.6,202.5,-12.8,104,1577,0.00,2.15,0.00,0.000,6,0.000,0.047,2904,2604,3564,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1766,-0.36,-194.6,222.6,-9.3,114,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2604,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1946,-0.40,-194.6,237.4,-8.3,123,1951,0.00,2.08,0.00,0.000,4,0.000,0.031,2904,1205,3564,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1989,-0.44,-194.6,241.0,-8.4,125,1995,0.12,2.17,0.00,0.000,6,0.087,0.047,2833,2605,3563,0,0,0,0,0,0,26.64,26.61,28.83
$GC,2194,-0.42,-194.6,267.3,-12.6,135,2200,0.12,1.67,0.00,0.000,4,0.158,0.050,2876,3709,3563,0,0,0,0,0,0,26.57,26.63,28.83
$GC,2283,-0.45,-194.6,274.4,-8.5,139,2288,0.00,1.60,0.00,0.000,6,0.000,0.025,2876,2597,3562,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2602,-0.47,-194.6,304.3,-9.4,155,2607,0.00,1.77,0.00,0.000,4,0.000,0.063,2876,3697,3562,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2654,-0.50,-194.6,307.2,-7.5,157,2659,0.00,1.60,0.00,0.000,6,0.000,0.025,2876,2557,3561,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2967,-0.53,-194.6,336.9,-10.4,173,2969,0.12,0.00,0.00,0.000,6,0.093,0.000,2803,2557,3560,0,0,0,0,0,0,26.72,28.83,28.83
$GC,3268,-0.47,-194.6,393.8,-20.5,188,3270,0.20,0.00,0.00,0.000,6,0.152,0.000,2863,2554,3558,0,0,0,0,0,0,26.58,28.83,28.83
$GC,3568,-0.49,-194.6,431.7,-10.2,203,3573,0.00,1.90,0.00,0.000,4,0.000,0.029,2866,1228,3555,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3635,-0.51,-194.6,437.1,-8.9,206,3640,0.00,2.15,0.00,0.000,6,0.000,0.051,2863,2606,3555,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3954,-0.54,-194.6,461.4,-8.2,222,3959,0.00,1.73,0.00,0.000,4,0.000,0.060,2863,3691,3554,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4021,-0.57,-194.6,467.0,-8.8,225,4027,0.12,1.55,0.00,0.000,6,0.089,0.026,2792,2631,3554,0,0,0,0,0,0,26.71,26.76,28.83
$GC,4340,-0.52,-194.6,514.2,-14.2,241,4347,0.12,2.08,0.00,0.000,4,0.171,0.028,2834,1196,3552,0,0,0,0,0,0,26.60,26.72,28.83
$GC,4430,-0.52,-194.6,522.7,-9.9,245,4436,0.00,2.17,0.00,0.000,6,0.000,0.051,2833,2598,3551,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4748,-0.52,-194.6,550.9,-9.2,261,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2600,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5049,-0.52,-194.6,580.3,-10.1,276,5055,0.00,2.08,0.00,0.000,4,0.000,0.033,2834,1202,3547,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5103,-0.53,-194.6,584.6,-9.9,278,5109,0.00,2.20,0.00,0.000,6,0.000,0.053,2834,2599,3547,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5427,-0.53,-194.6,615.9,-9.5,292,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2599,3544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5728,-0.54,-194.6,643.8,-9.0,302,5733,0.00,2.10,0.00,0.000,4,0.000,0.034,2834,1198,3542,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5792,-0.56,-194.6,649.7,-8.9,304,5797,0.00,2.20,0.00,0.000,6,0.000,0.043,2834,2622,3542,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6127,-0.57,-194.6,679.1,-8.7,315,6132,0.00,1.67,0.00,0.000,4,0.000,0.056,2834,3695,3539,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6155,-0.59,-194.6,679.1,-8.7,315,6161,0.00,1.65,0.00,0.000,6,0.000,0.031,2834,2576,3539,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,6188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6188,begin apogee
$GC,6194,-0.11,0.0,685.0,-9.0,317,6355,0.38,0.00,152.43,1.239,6,0.117,0.000,2967,1934,2769,0,0,0,0,0,0,26.62,28.83,24.18
$STATE,6357,end apogee,CONTROL_FINISHED_OK
$STATE,6357,begin climb
$GC,6359,0.43,194.6,689.2,0.0,322,6531,0.50,0.00,164.43,1.204,6,0.088,0.000,3143,1934,1974,0,0,0,0,0,0,25.08,28.83,23.96
$GC,6855,0.55,314.4,660.4,5.9,339,6963,0.12,2.17,99.65,1.194,4,0.091,0.039,3223,580,1486,0,0,0,0,0,0,26.01,24.84,24.09
$GC,7037,0.55,314.4,642.3,10.7,345,7043,0.12,2.20,0.00,0.000,6,0.137,0.037,3187,1957,1482,0,0,0,0,0,0,25.43,25.50,28.83
$GC,7373,0.62,407.5,617.3,6.8,356,7461,0.00,2.25,78.43,1.178,4,0.000,0.037,3187,594,1106,0,0,0,0,0,0,28.83,24.98,24.22
$GC,7538,0.72,522.8,607.8,6.0,361,7650,0.17,2.15,102.12,1.158,6,0.073,0.034,3272,1963,637,0,0,0,0,0,0,25.62,25.60,24.07
$GC,7959,0.71,522.8,531.6,19.7,381,7965,0.12,2.15,0.00,0.000,4,0.158,0.034,3240,580,632,0,0,0,0,0,0,25.90,25.98,28.83
$GC,8058,0.75,522.8,520.0,13.4,385,8065,0.00,2.12,0.00,0.000,6,0.000,0.034,3240,1958,632,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8363,0.78,522.8,481.0,10.7,401,8369,0.00,2.17,0.00,0.000,4,0.000,0.049,3239,3354,631,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8482,0.81,522.8,467.7,13.0,406,8488,0.00,2.08,0.00,0.000,6,0.000,0.028,3240,1972,631,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8786,0.84,522.8,425.1,13.3,422,8792,0.12,2.17,0.00,0.000,4,0.093,0.046,3317,3357,630,0,0,0,0,0,0,26.47,26.42,28.83
$GC,8810,0.85,522.8,421.0,14.1,423,8816,0.15,2.10,0.00,0.000,6,0.165,0.029,3281,1954,629,0,0,0,0,0,0,26.33,26.47,28.83
$GC,9134,0.82,522.8,354.2,19.9,439,9140,0.00,2.12,0.00,0.000,4,0.000,0.039,3285,554,629,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9167,0.79,522.8,349.6,19.9,440,9172,0.00,2.10,0.00,0.000,6,0.000,0.036,3285,1951,629,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9480,0.77,522.8,294.0,16.3,456,9486,0.00,2.20,0.00,0.000,4,0.000,0.050,3285,3357,628,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9548,0.75,522.8,283.1,16.8,459,9554,0.12,2.12,0.00,0.000,6,0.164,0.028,3250,1938,628,0,0,0,0,0,0,26.45,26.59,28.83
$GC,9866,0.77,522.8,239.5,13.5,475,9872,0.00,2.20,0.00,0.000,4,0.000,0.047,3250,3358,628,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9930,0.80,522.8,229.8,15.1,478,9935,0.00,2.10,0.00,0.000,6,0.000,0.028,3253,1944,628,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10134,0.83,522.8,198.7,16.1,488,10140,0.00,2.20,0.00,0.000,4,0.000,0.047,3253,3362,628,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10158,0.86,522.8,194.5,16.2,489,10165,0.10,2.10,0.00,0.000,6,0.109,0.028,3316,1947,628,0,0,0,0,0,0,26.58,26.63,28.83
$GC,10365,0.83,522.8,148.9,21.9,499,10370,0.12,2.05,0.00,0.000,4,0.155,0.035,3283,557,628,0,0,0,0,0,0,26.52,26.61,28.83
$GC,10409,0.83,522.8,141.9,17.9,501,10414,0.00,2.10,0.00,0.000,6,0.000,0.034,3282,1956,628,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10613,0.88,528.4,121.5,9.8,511,10623,0.00,2.17,4.80,0.631,4,0.000,0.046,3282,3361,613,0,0,0,0,0,0,28.83,26.53,25.75
$GC,10676,0.93,546.4,115.5,9.4,514,10700,0.00,2.10,17.70,0.806,6,0.000,0.027,3282,1938,541,0,0,0,0,0,0,28.83,26.60,25.56
$GC,10899,1.08,696.2,102.0,4.9,525,10925,0.20,2.25,19.02,0.789,4,0.067,0.044,3391,3355,459,0,0,0,0,0,0,26.44,26.08,25.41
$GC,10948,1.13,722.1,95.9,9.1,527,10953,0.00,2.10,0.00,0.000,6,0.000,0.027,3393,1952,459,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11147,1.10,722.1,54.9,21.5,537,11153,0.00,2.22,0.00,0.000,4,0.000,0.047,3393,3364,459,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11194,1.08,722.1,45.4,21.1,540,11201,0.12,2.12,0.00,0.000,6,0.155,0.028,3357,1947,459,0,0,0,0,0,0,26.24,26.36,28.83
$GC,11381,1.11,722.1,19.1,11.7,563,11388,0.00,2.10,0.00,0.000,4,0.000,0.038,3362,546,459,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11420,1.18,722.1,14.1,12.4,570,11428,0.00,2.12,0.00,0.000,6,0.000,0.032,3362,1963,459,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,11524,end climb,SURFACE_DEPTH_REACHED
$STATE,11524,begin surface coast
$FINISH,1.5,1.022001
$STATE,11556,end surface coast,CONTROL_FINISHED_OK
$STATE,11556,begin surface
$SM_CCo,11634,0.00,0.000,0,0,459,566.64
$SM_GC,2.38,8.38,0.98,0.00,0.053,0.041,0.000,138,2607,459,-8.94,-1.10,566.64,0,0,0,0,0,0,26.39,26.48,28.83
$IRIDIUM_FIX,2127.21,12022.06,151112,111127
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.11
$INTERNAL_PRESSURE,9.45898
$TCM_TEMP,23.80
$XPDR_PINGS,1
$SC_FREEKB,3992096
$24V_AH,24.0,15.419
$10V_AH,9.9,5.981
$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,22.775,118.900,638.575,0.000,0.000,0.000,0.000,252.850,0.250,0.000,36.641,1981.515,7303.663,710.873,1864.720,220.441,0.000,1891.607,0.000,1496.671,0.000,0.543,0.000
$DEVICE_MAMPS,237.915,65.025,1238.535,0.000,0.000,0.000,0.000,130.815,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11579.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.424,0.000,0.000,0.000
$MEM,324620
$DATA_FILE_SIZE,23418,596
$CAP_FILE_SIZE,159612,0
$CFSIZE,260034560,244785152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.267, 82.2,1
$GPS,151112,200534,2139.504,12020.571,36,1.1,37,-3.0