version: 66.11
glider: 170
mission: 10
dive: 318
start: 1 3 113 20 30 53
data:
$ID,170
$MISSION,10
$DIVE,318
$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,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,185
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51760
$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,-143495.25
$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,62
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2853
$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
$GPS1,030113,202030,2133.173,11949.917,41,0.7,41,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-73.3
$GPS2,030113,203023,2133.229,11949.704,15,1.6,16,-3.0
$SPEED_LIMITS,0.150,0.288
$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,74.8,28087,-14.5,-8.684,-16.79
$D_GRID,3025
$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,-0.50,-180.0,0.0,0.0,0,103,0.00,0.00,-79.50,0.000,2,0.000,0.000,134,2615,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.50,-180.0,3.2,-1.8,14,174,11.30,2.15,-44.28,0.000,4,0.236,0.043,2887,1189,3587,0,0,0,0,0,0,25.38,26.22,26.58
$GC,239,-0.49,-180.0,17.6,-16.7,37,246,0.00,2.20,0.00,0.000,6,0.000,0.046,2887,2592,3588,0,0,0,0,0,0,28.83,26.10,28.83
$GC,429,-0.47,-180.0,47.9,-15.0,60,435,0.00,1.75,0.00,0.000,4,0.000,0.057,2886,3701,3588,0,0,0,0,0,0,28.83,26.18,28.83
$GC,454,-0.45,-180.0,51.9,-15.9,62,459,0.00,1.62,0.00,0.000,6,0.000,0.024,2887,2570,3588,0,0,0,0,0,0,28.83,26.45,28.83
$GC,659,-0.43,-180.0,81.4,-13.6,72,664,0.00,1.95,0.00,0.000,4,0.000,0.030,2887,1222,3587,0,0,0,0,0,0,28.83,26.39,28.83
$GC,686,-0.42,-180.0,84.7,-13.4,73,691,0.00,2.15,0.00,0.000,6,0.000,0.044,2889,2608,3587,0,0,0,0,0,0,28.83,26.25,28.83
$GC,885,-0.42,-180.0,112.4,-12.5,83,890,0.00,2.12,0.00,0.000,4,0.000,0.043,2888,1216,3587,0,0,0,0,0,0,28.83,26.26,28.83
$GC,957,-0.42,-180.0,119.5,-11.1,86,963,0.00,2.17,0.00,0.000,6,0.000,0.046,2887,2619,3587,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1152,-0.43,-180.0,139.6,-10.6,96,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2619,3588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1332,-0.44,-180.0,154.9,-8.0,105,1338,0.00,2.05,0.00,0.000,4,0.000,0.031,2887,1228,3588,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1386,-0.45,-180.0,158.4,-7.8,107,1391,0.00,2.12,0.00,0.000,6,0.000,0.046,2887,2602,3588,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1583,-0.49,-180.0,173.7,-7.3,117,1588,0.00,1.70,0.00,0.000,4,0.000,0.051,2887,3700,3588,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1670,-0.53,-180.0,179.7,-6.9,121,1676,0.00,1.58,0.00,0.000,6,0.000,0.023,2887,2574,3589,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1872,-0.56,-180.0,195.1,-8.4,131,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2574,3588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2049,-0.61,-180.0,211.7,-9.4,140,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2574,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2230,-0.65,-180.0,226.1,-7.8,149,2237,0.12,1.75,0.00,0.000,4,0.090,0.046,2797,3703,3587,0,0,0,0,0,0,26.57,26.30,28.83
$GC,2250,-0.70,-180.0,226.1,-7.8,149,2256,0.00,1.55,0.00,0.000,6,0.000,0.024,2797,2606,3587,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2437,-0.68,-180.0,248.8,-10.9,159,2442,0.12,2.00,0.00,0.000,4,0.155,0.028,2840,1222,3587,0,0,0,0,0,0,26.32,26.42,28.83
$GC,2537,-0.68,-180.0,255.1,-7.3,163,2545,0.00,2.12,0.00,0.000,6,0.000,0.046,2840,2605,3586,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2841,-0.68,-180.0,281.6,-10.1,179,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2605,3585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3144,-0.68,-180.0,311.3,-9.7,194,3149,0.00,2.08,0.00,0.000,4,0.000,0.037,2840,1213,3583,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3212,-0.69,-180.0,317.6,-9.6,197,3218,0.00,2.12,0.00,0.000,6,0.000,0.043,2840,2605,3583,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3532,-0.69,-180.0,346.4,-8.3,213,3537,0.00,2.05,0.00,0.000,4,0.000,0.028,2840,1217,3581,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3591,-0.70,-180.0,349.7,-7.8,215,3597,0.00,2.15,0.00,0.000,6,0.000,0.042,2843,2612,3581,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3896,-0.71,-180.0,374.6,-8.3,231,3901,0.00,2.05,0.00,0.000,4,0.000,0.028,2840,1213,3578,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3961,-0.72,-180.0,380.3,-8.8,234,3966,0.00,2.15,0.00,0.000,6,0.000,0.042,2840,2606,3578,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4285,-0.73,-180.0,409.7,-9.4,250,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2607,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4587,-0.74,-180.0,435.0,-7.6,265,4592,0.00,2.05,0.00,0.000,4,0.000,0.040,2840,1211,3574,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4651,-0.76,-180.0,440.2,-7.8,268,4657,0.10,2.15,0.00,0.000,6,0.103,0.042,2779,2604,3573,0,0,0,0,0,0,26.30,26.31,28.83
$GC,4976,-0.74,-180.0,476.3,-11.3,284,4982,0.12,2.03,0.00,0.000,4,0.151,0.024,2822,1218,3572,0,0,0,0,0,0,26.33,26.45,28.83
$GC,5009,-0.73,-180.0,478.7,-11.2,285,5016,0.00,2.12,0.00,0.000,6,0.000,0.042,2822,2602,3572,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5324,-0.73,-180.0,507.7,-8.9,301,5329,0.00,2.03,0.00,0.000,4,0.000,0.027,2822,1218,3569,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5402,-0.73,-180.0,513.2,-8.8,304,5410,0.00,2.15,0.00,0.000,6,0.000,0.042,2822,2607,3569,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5707,-0.73,-180.0,537.7,-7.3,320,5713,0.00,2.05,0.00,0.000,4,0.000,0.027,2822,1221,3567,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5736,-0.74,-180.0,539.7,-7.5,321,5741,0.00,2.15,0.00,0.000,6,0.000,0.042,2822,2608,3567,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6056,-0.75,-180.0,563.8,-7.8,337,6061,0.00,2.05,0.00,0.000,4,0.000,0.027,2822,1221,3565,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6083,-0.75,-180.0,565.7,-7.9,338,6090,0.00,2.12,0.00,0.000,6,0.000,0.042,2822,2599,3565,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6403,-0.76,-180.0,591.4,-8.3,354,6409,0.00,2.03,0.00,0.000,4,0.000,0.027,2822,1217,3563,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6447,-0.77,-180.0,595.5,-8.8,356,6452,0.00,2.12,0.00,0.000,6,0.000,0.041,2822,2599,3563,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6784,-0.77,-180.0,627.3,-9.5,368,6789,0.00,2.03,0.00,0.000,4,0.000,0.027,2822,1217,3561,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6856,-0.78,-180.0,633.2,-9.1,370,6861,0.00,2.12,0.00,0.000,6,0.000,0.041,2822,2602,3561,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7183,-0.79,-180.0,657.9,-7.1,381,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2602,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7480,-0.80,-180.0,678.6,-7.0,391,7485,0.00,2.03,0.00,0.000,4,0.000,0.027,2822,1221,3558,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7564,-0.81,-180.0,683.2,-7.0,393,7569,0.00,2.12,0.00,0.000,6,0.000,0.041,2822,2604,3557,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7879,-0.82,-180.0,707.6,-7.4,404,7885,0.12,2.05,0.00,0.000,4,0.090,0.027,2750,1216,3555,0,0,0,0,0,0,26.56,26.19,28.83
$GC,7923,-0.82,-180.0,711.2,-8.0,405,7929,0.12,2.17,0.00,0.000,6,0.169,0.043,2782,2609,3556,0,0,0,0,0,0,25.98,26.24,28.83
$GC,8249,-0.81,-180.0,748.5,-11.7,416,8254,0.00,1.73,0.00,0.000,4,0.000,0.055,2782,3700,3554,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8308,-0.80,-180.0,752.5,-11.6,417,8315,0.00,1.62,0.00,0.000,6,0.000,0.028,2782,2586,3554,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8613,-0.79,-180.0,789.0,-10.8,428,8618,0.00,1.98,0.00,0.000,4,0.000,0.027,2786,1218,3553,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8657,-0.78,-180.0,792.8,-11.0,429,8662,0.00,2.15,0.00,0.000,6,0.000,0.043,2782,2606,3552,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8983,-0.77,-180.0,827.6,-10.1,440,8988,0.00,1.73,0.00,0.000,4,0.000,0.054,2782,3697,3554,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9035,-0.76,-180.0,831.1,-10.1,441,9040,0.00,1.58,0.00,0.000,6,0.000,0.029,2782,2608,3551,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9351,-0.75,-180.0,860.5,-8.1,452,9352,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2606,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9649,-0.74,-180.0,885.4,-8.8,462,9650,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2606,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9950,-0.73,-180.0,913.4,-9.3,472,9952,0.10,0.00,0.00,0.000,6,0.164,0.000,2809,2606,3548,0,0,0,0,0,0,26.41,28.83,28.83
$GC,10251,-0.74,-180.0,937.4,-8.1,482,10257,0.00,2.03,0.00,0.000,4,0.000,0.028,2809,1221,3547,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10290,-0.75,-180.0,940.4,-8.1,483,10296,0.00,2.17,0.00,0.000,6,0.000,0.044,2809,2606,3546,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10621,-0.76,-180.0,970.2,-8.8,494,10627,0.00,2.05,0.00,0.000,4,0.000,0.028,2810,1223,3546,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10650,-0.76,-180.0,970.2,-8.8,494,10657,0.00,2.17,0.00,0.000,6,0.000,0.044,2809,2607,3545,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,10893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10893,begin apogee
$GC,10900,-0.15,0.0,991.7,-7.5,503,11061,0.55,0.00,152.15,1.495,6,0.102,0.000,3002,2122,2853,0,0,0,0,0,0,25.84,28.83,22.87
$STATE,11063,end apogee,CONTROL_FINISHED_OK
$STATE,11063,begin climb
$GC,11065,0.50,180.0,998.9,0.0,508,11245,0.57,2.28,170.95,1.446,4,0.047,0.033,3240,760,2117,0,0,0,0,0,0,24.59,23.73,22.24
$GC,11292,0.46,180.0,986.0,10.3,516,11299,0.15,2.25,0.00,0.000,6,0.145,0.037,3199,2124,2111,0,0,0,0,0,0,24.39,24.55,28.83
$GC,11623,0.43,180.0,950.2,11.0,527,11628,0.00,2.28,0.00,0.000,4,0.000,0.051,3199,3541,2107,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11702,0.41,180.0,942.0,12.1,529,11708,0.00,2.10,0.00,0.000,6,0.000,0.028,3207,2137,2106,0,0,0,0,0,0,28.83,26.23,28.83
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$STATE,20445,end climb,SURFACE_DEPTH_REACHED
$STATE,20445,begin surface coast
$FINISH,1.7,1.009669
$STATE,20479,end surface coast,CONTROL_FINISHED_OK
$STATE,20479,begin surface
$SM_CCo,20560,0.00,0.000,0,0,780,508.51
$SM_GC,2.65,8.48,0.73,0.00,0.051,0.046,0.000,136,2604,780,-9.06,-1.22,508.51,0,0,0,0,0,0,25.88,26.31,28.83
$IRIDIUM_FIX,2124.90,11949.87,030113,141453
$TT8_MAMPS,0.025466,0.025466
$HUMID,52.59
$INTERNAL_PRESSURE,9.45898
$TCM_TEMP,22.40
$XPDR_PINGS,3
$SC_FREEKB,3898080
$24V_AH,22.2,63.042
$10V_AH,10.0,31.521
$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,23.500,205.025,617.700,0.000,0.000,0.000,0.000,358.975,0.750,0.000,17.257,3245.645,13690.141,803.797,2894.349,503.535,0.000,2565.438,0.000,2405.618,0.000,0.544,0.000
$DEVICE_MAMPS,236.385,56.610,1494.810,0.000,0.000,0.000,0.000,134.640,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20534.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.435,0.000,0.000,0.000
$MEM,324336
$DATA_FILE_SIZE,36710,949
$CAP_FILE_SIZE,251392,0
$CFSIZE,260034560,218968064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.143,305.4,1
$GPS,040113,021440,2134.902,11950.724,29,0.9,29,-3.0