version: 66.11
glider: 170
mission: 10
dive: 319
start: 1 4 113 2 25 1
data:
$ID,170
$MISSION,10
$DIVE,319
$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,-143496.5
$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,61
$R_STBD_OVSHOOT,41
$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
$GPS1,040113,021440,2134.902,11950.724,29,0.9,29,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-75.1
$GPS2,040113,022432,2134.896,11950.630,33,1.5,34,-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,73.3,24698,-14.5,-8.684,-16.79
$D_GRID,2997
$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,-180.0,0.0,0.0,0,82,0.00,0.00,-58.55,0.000,2,0.000,0.000,135,2618,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.50,-180.0,3.1,-1.7,10,163,11.48,2.12,-57.50,0.000,4,0.242,0.048,2882,1203,3587,0,0,0,0,0,0,25.22,26.18,26.60
$GC,224,-0.49,-180.0,17.4,-14.6,34,231,0.00,2.20,0.00,0.000,6,0.000,0.050,2882,2592,3588,0,0,0,0,0,0,28.83,26.09,28.83
$GC,415,-0.46,-180.0,48.8,-16.2,57,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2591,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,605,-0.44,-180.0,77.3,-14.3,67,611,0.00,2.10,0.00,0.000,4,0.000,0.041,2882,1216,3587,0,0,0,0,0,0,28.83,26.23,28.83
$GC,718,-0.44,-180.0,91.5,-13.1,72,724,0.00,2.15,0.00,0.000,6,0.000,0.044,2882,2609,3587,0,0,0,0,0,0,28.83,26.29,28.83
$GC,912,-0.44,-180.0,113.7,-9.4,82,917,0.00,2.08,0.00,0.000,4,0.000,0.030,2882,1203,3587,0,0,0,0,0,0,28.83,26.33,28.83
$GC,960,-0.44,-180.0,117.2,-8.4,84,965,0.00,2.17,0.00,0.000,6,0.000,0.046,2882,2604,3587,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1161,-0.45,-180.0,132.5,-7.8,94,1166,0.00,1.70,0.00,0.000,4,0.000,0.051,2879,3700,3588,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1209,-0.47,-180.0,136.4,-8.3,96,1214,0.00,1.60,0.00,0.000,6,0.000,0.023,2880,2538,3588,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1407,-0.48,-180.0,154.8,-8.8,106,1412,0.00,1.95,0.00,0.000,4,0.000,0.034,2880,1193,3588,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1503,-0.50,-180.0,161.9,-8.3,110,1508,0.00,2.17,0.00,0.000,6,0.000,0.045,2880,2599,3588,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1697,-0.54,-180.0,177.8,-8.1,120,1703,0.00,2.08,0.00,0.000,4,0.000,0.031,2880,1192,3588,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1804,-0.56,-180.0,186.6,-8.2,125,1811,0.00,2.17,0.00,0.000,6,0.000,0.042,2880,2610,3588,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2011,-0.59,-180.0,204.3,-8.8,135,2016,0.00,1.67,0.00,0.000,4,0.000,0.051,2880,3692,3588,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2099,-0.64,-180.0,211.2,-8.1,139,2105,0.10,1.60,0.00,0.000,6,0.101,0.025,2808,2541,3588,0,0,0,0,0,0,26.43,26.57,28.83
$GC,2300,-0.62,-180.0,232.7,-11.2,149,2306,0.12,1.95,0.00,0.000,4,0.143,0.032,2853,1198,3587,0,0,0,0,0,0,26.35,26.38,28.83
$GC,2348,-0.62,-180.0,237.0,-10.2,151,2354,0.00,2.17,0.00,0.000,6,0.000,0.043,2852,2608,3587,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2548,-0.63,-180.0,254.4,-8.8,161,2554,0.00,2.08,0.00,0.000,4,0.000,0.029,2853,1193,3587,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2613,-0.65,-180.0,260.1,-8.8,164,2618,0.00,2.17,0.00,0.000,6,0.000,0.042,2852,2608,3586,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2937,-0.66,-180.0,287.1,-8.2,180,2942,0.00,2.08,0.00,0.000,4,0.000,0.029,2852,1195,3585,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2996,-0.68,-180.0,290.8,-8.4,182,3003,0.00,2.15,0.00,0.000,6,0.000,0.042,2852,2598,3585,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3301,-0.69,-180.0,318.3,-8.6,198,3306,0.00,2.08,0.00,0.000,4,0.000,0.028,2852,1197,3583,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3340,-0.71,-180.0,320.5,-8.6,199,3347,0.00,2.17,0.00,0.000,6,0.000,0.041,2852,2608,3583,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3645,-0.72,-180.0,347.3,-8.4,215,3652,0.10,2.08,0.00,0.000,4,0.103,0.026,2790,1197,3581,0,0,0,0,0,0,26.60,26.44,28.83
$GC,3685,-0.73,-180.0,350.0,-8.9,216,3692,0.00,2.15,0.00,0.000,6,0.000,0.042,2789,2601,3581,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3990,-0.72,-180.0,389.2,-12.0,232,3995,0.00,2.08,0.00,0.000,4,0.000,0.027,2789,1184,3578,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4054,-0.70,-180.0,396.5,-11.5,235,4061,0.12,2.20,0.00,0.000,6,0.157,0.043,2825,2609,3578,0,0,0,0,0,0,26.10,26.29,28.83
$GC,4380,-0.70,-180.0,424.6,-8.5,251,4385,0.00,2.08,0.00,0.000,4,0.000,0.028,2826,1195,3576,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4434,-0.71,-180.0,428.3,-8.5,253,4440,0.00,2.17,0.00,0.000,6,0.000,0.041,2826,2604,3576,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4748,-0.71,-180.0,456.3,-9.2,269,4753,0.00,2.10,0.00,0.000,4,0.000,0.027,2826,1184,3574,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4776,-0.72,-180.0,458.5,-9.3,270,4781,0.00,2.20,0.00,0.000,6,0.000,0.042,2826,2603,3574,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5095,-0.72,-180.0,488.5,-9.1,286,5101,0.00,2.10,0.00,0.000,4,0.000,0.028,2826,1188,3572,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5144,-0.73,-180.0,492.5,-9.1,288,5149,0.00,2.20,0.00,0.000,6,0.000,0.042,2826,2606,3571,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5463,-0.74,-180.0,521.1,-8.9,304,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2606,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5765,-0.75,-180.0,548.1,-9.1,319,5770,0.00,2.08,0.00,0.000,4,0.000,0.027,2826,1192,3568,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5824,-0.76,-180.0,552.4,-9.1,321,5831,0.00,2.20,0.00,0.000,6,0.000,0.041,2826,2610,3567,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6130,-0.76,-180.0,579.6,-8.4,337,6136,0.00,2.08,0.00,0.000,4,0.000,0.027,2826,1195,3565,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6196,-0.77,-180.0,585.2,-8.5,340,6201,0.00,2.15,0.00,0.000,6,0.000,0.041,2825,2599,3565,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6530,-0.78,-180.0,611.9,-7.7,354,6535,0.00,2.08,0.00,0.000,4,0.000,0.027,2825,1185,3564,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6594,-0.80,-180.0,616.8,-7.5,356,6599,0.00,2.20,0.00,0.000,6,0.000,0.041,2826,2611,3563,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6930,-0.81,-180.0,642.4,-8.1,367,6936,0.12,2.10,0.00,0.000,4,0.093,0.025,2753,1184,3561,0,0,0,0,0,0,26.55,26.41,28.83
$GC,6989,-0.81,-180.0,646.4,-8.8,368,6996,0.12,2.22,0.00,0.000,6,0.170,0.042,2785,2610,3561,0,0,0,0,0,0,25.99,26.25,28.83
$GC,7297,-0.79,-180.0,681.9,-10.3,379,7303,0.00,2.10,0.00,0.000,4,0.000,0.027,2786,1193,3559,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7346,-0.78,-180.0,685.7,-10.2,380,7351,0.00,2.17,0.00,0.000,6,0.000,0.042,2784,2605,3559,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7667,-0.77,-180.0,720.0,-10.7,391,7672,0.00,2.08,0.00,0.000,4,0.000,0.026,2786,1188,3558,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7725,-0.77,-180.0,723.9,-10.9,392,7732,0.00,2.20,0.00,0.000,6,0.000,0.042,2785,2605,3558,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8031,-0.76,-180.0,758.0,-10.2,403,8037,0.00,2.08,0.00,0.000,4,0.000,0.027,2785,1190,3557,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8126,-0.75,-180.0,767.7,-10.1,406,8131,0.00,2.20,0.00,0.000,6,0.000,0.041,2786,2611,3556,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8462,-0.74,-180.0,804.1,-11.4,417,8463,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2612,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8759,-0.73,-180.0,835.5,-10.0,427,8765,0.00,2.10,0.00,0.000,4,0.000,0.027,2786,1183,3554,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8833,-0.73,-180.0,841.7,-9.9,429,8838,0.00,2.22,0.00,0.000,6,0.000,0.042,2786,2607,3553,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9159,-0.72,-180.0,874.9,-10.3,440,9165,0.12,2.10,0.00,0.000,4,0.161,0.025,2829,1185,3552,0,0,0,0,0,0,26.27,26.39,28.83
$GC,9193,-0.72,-180.0,878.3,-9.9,441,9198,0.00,2.22,0.00,0.000,6,0.000,0.043,2829,2601,3552,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9529,-0.74,-180.0,904.4,-7.8,452,9535,0.00,2.08,0.00,0.000,4,0.000,0.028,2829,1195,3551,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9568,-0.75,-180.0,907.4,-7.9,453,9573,0.00,2.20,0.00,0.000,6,0.000,0.042,2829,2603,3551,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9899,-0.77,-180.0,931.8,-7.0,464,9906,0.00,2.10,0.00,0.000,4,0.000,0.028,2829,1192,3549,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9934,-0.79,-180.0,934.3,-6.9,465,9940,0.00,2.20,0.00,0.000,6,0.000,0.042,2829,2602,3549,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10271,-0.80,-180.0,954.5,-5.8,476,10277,0.12,2.10,0.00,0.000,4,0.091,0.025,2753,1193,3548,0,0,0,0,0,0,26.55,26.37,28.83
$GC,10306,-0.81,-180.0,957.6,-6.3,477,10313,0.12,2.22,0.00,0.000,6,0.166,0.043,2787,2604,3548,0,0,0,0,0,0,25.90,26.15,28.83
$GC,10643,-0.81,-180.0,989.2,-9.8,488,10649,0.00,2.10,0.00,0.000,4,0.000,0.026,2787,1192,3547,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,10675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10675,begin apogee
$GC,10682,-0.15,0.0,992.9,-9.9,489,10843,0.60,0.00,153.02,1.493,6,0.109,0.000,2996,2123,2853,0,0,0,0,0,0,25.78,28.83,22.82
$STATE,10845,end apogee,CONTROL_FINISHED_OK
$STATE,10845,begin climb
$GC,10847,0.50,180.0,1000.4,0.0,494,11029,0.57,2.55,173.27,1.450,4,0.047,0.050,3226,3529,2117,0,0,0,0,0,0,24.53,23.68,22.21
$GC,11058,0.47,223.2,993.4,7.3,501,11108,0.12,2.30,40.85,1.392,6,0.166,0.028,3204,2132,1942,0,0,0,0,0,0,24.18,24.40,22.35
$GC,11432,0.45,223.2,948.8,11.3,514,11437,0.00,2.17,0.00,0.000,4,0.000,0.035,3216,715,1932,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,21204,end climb,SURFACE_DEPTH_REACHED
$STATE,21204,begin surface coast
$FINISH,1.7,1.009770
$STATE,21225,end surface coast,CONTROL_FINISHED_OK
$STATE,21225,begin surface
$SM_CCo,21305,0.00,0.000,0,0,636,543.83
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$IRIDIUM_FIX,2124.90,11949.87,030113,202012
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.95
$INTERNAL_PRESSURE,9.45898
$TCM_TEMP,23.90
$XPDR_PINGS,4
$SC_FREEKB,3897696
$24V_AH,22.2,63.292
$10V_AH,9.8,31.652
$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,23.225,233.850,659.950,0.000,0.000,0.000,0.000,346.800,1.000,0.000,34.815,3354.264,14146.625,903.875,2953.730,524.521,0.000,2671.066,0.000,2465.328,0.000,0.543,0.000
$DEVICE_MAMPS,241.740,51.255,1493.280,0.000,0.000,0.000,0.000,133.110,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21276.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.339,0.000,0.000,0.000
$MEM,324284
$DATA_FILE_SIZE,36690,973
$CAP_FILE_SIZE,261244,0
$CFSIZE,260034560,218841088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.117,275.6,1
$GPS,040113,082123,2136.508,11951.704,39,0.9,39,-3.0