version: 66.11
glider: 170
mission: 10
dive: 326
start: 1 5 113 21 15 10
data:
$ID,170
$MISSION,10
$DIVE,326
$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,-143505.25
$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,2475
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,103
$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
$GPS1,050113,210051,2142.931,11954.657,28,1.4,43,-3.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-71.1
$GPS2,050113,211441,2142.801,11954.418,16,0.9,16,-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,72.1,10430,-14.5,-8.684,-16.79
$D_GRID,2844
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.50,-180.0,0.0,0.0,0,80,0.00,0.00,-57.20,0.000,2,0.000,0.000,136,2425,1855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.50,-180.0,3.1,-1.6,10,180,11.23,2.00,-73.05,0.000,4,0.235,0.050,2881,1123,3588,0,0,0,0,0,0,25.38,26.18,26.60
$GC,264,-0.49,-180.0,19.9,-14.5,42,271,0.00,2.12,0.00,0.000,6,0.000,0.047,2881,2481,3588,0,0,0,0,0,0,28.83,26.15,28.83
$GC,455,-0.47,-180.0,47.8,-16.3,64,461,0.00,1.92,0.00,0.000,4,0.000,0.053,2881,3704,3588,0,0,0,0,0,0,28.83,26.20,28.83
$GC,494,-0.45,-180.0,52.4,-17.1,66,500,0.00,1.75,0.00,0.000,6,0.000,0.024,2881,2471,3588,0,0,0,0,0,0,28.83,26.45,28.83
$GC,681,-0.43,-180.0,83.5,-13.2,76,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2471,3588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,860,-0.43,-180.0,104.3,-11.8,85,865,0.00,1.98,0.00,0.000,4,0.000,0.032,2881,1113,3588,0,0,0,0,0,0,28.83,26.37,28.83
$GC,923,-0.44,-180.0,110.7,-10.2,88,929,0.00,2.10,0.00,0.000,6,0.000,0.044,2880,2485,3588,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1130,-0.45,-180.0,129.4,-9.5,98,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2484,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1307,-0.46,-180.0,146.8,-9.3,107,1313,0.00,1.90,0.00,0.000,4,0.000,0.052,2881,3704,3588,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1341,-0.48,-180.0,149.0,-9.3,108,1346,0.00,1.75,0.00,0.000,6,0.000,0.024,2881,2481,3589,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1538,-0.52,-180.0,166.9,-8.1,118,1543,0.00,1.90,0.00,0.000,4,0.000,0.049,2881,3693,3588,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1571,-0.56,-180.0,168.8,-7.7,119,1576,0.00,1.75,0.00,0.000,6,0.000,0.023,2881,2480,3588,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1767,-0.59,-180.0,183.2,-7.2,129,1772,0.00,1.92,0.00,0.000,4,0.000,0.049,2881,3699,3588,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1876,-0.64,-180.0,190.9,-7.2,134,1882,0.12,1.77,0.00,0.000,6,0.086,0.023,2807,2479,3588,0,0,0,0,0,0,26.42,26.55,28.83
$GC,2078,-0.62,-180.0,213.1,-11.1,144,2083,0.12,1.92,0.00,0.000,4,0.151,0.047,2850,3695,3588,0,0,0,0,0,0,26.32,26.29,28.83
$GC,2135,-0.62,-180.0,217.5,-10.1,146,2142,0.00,1.80,0.00,0.000,6,0.000,0.024,2850,2470,3587,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2323,-0.62,-180.0,235.6,-9.3,156,2329,0.00,2.03,0.00,0.000,4,0.000,0.031,2850,1080,3586,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2376,-0.63,-180.0,240.2,-9.7,158,2381,0.00,2.15,0.00,0.000,6,0.000,0.041,2850,2483,3586,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2570,-0.64,-180.0,260.7,-10.1,168,2575,0.00,1.90,0.00,0.000,4,0.000,0.054,2850,3696,3585,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2618,-0.64,-180.0,264.9,-9.6,170,2623,0.00,1.77,0.00,0.000,6,0.000,0.024,2850,2461,3585,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2938,-0.65,-180.0,290.2,-7.2,186,2944,0.00,2.00,0.00,0.000,4,0.000,0.030,2850,1084,3583,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3023,-0.67,-180.0,296.4,-7.3,190,3029,0.00,2.15,0.00,0.000,6,0.000,0.040,2849,2481,3583,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3348,-0.70,-180.0,321.7,-8.5,206,3353,0.00,1.90,0.00,0.000,4,0.000,0.053,2850,3698,3581,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3401,-0.74,-180.0,325.5,-8.7,208,3407,0.12,1.77,0.00,0.000,6,0.085,0.024,2776,2466,3581,0,0,0,0,0,0,26.42,26.54,28.83
$GC,3716,-0.72,-180.0,367.6,-13.7,224,3721,0.12,1.98,0.00,0.000,4,0.159,0.027,2819,1093,3579,0,0,0,0,0,0,26.30,26.44,28.83
$GC,3764,-0.71,-180.0,372.6,-12.2,226,3769,0.00,2.12,0.00,0.000,6,0.000,0.041,2819,2474,3579,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4083,-0.71,-180.0,400.3,-7.6,242,4088,0.00,1.90,0.00,0.000,4,0.000,0.053,2819,3698,3577,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4127,-0.71,-180.0,403.3,-7.0,244,4132,0.00,1.77,0.00,0.000,6,0.000,0.024,2819,2456,3576,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4451,-0.71,-180.0,426.6,-7.9,260,4457,0.00,1.95,0.00,0.000,4,0.000,0.042,2819,1112,3575,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4516,-0.72,-180.0,432.0,-8.3,263,4522,0.00,2.10,0.00,0.000,6,0.000,0.041,2818,2482,3574,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4840,-0.72,-180.0,462.2,-10.0,279,4845,0.00,1.90,0.00,0.000,4,0.000,0.054,2819,3693,3572,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4887,-0.73,-180.0,466.3,-9.8,281,4893,0.00,1.75,0.00,0.000,6,0.000,0.025,2819,2510,3571,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5206,-0.73,-180.0,496.0,-8.9,297,5211,0.00,2.12,0.00,0.000,4,0.000,0.028,2819,1054,3569,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5285,-0.73,-180.0,501.4,-8.6,300,5292,0.00,2.20,0.00,0.000,6,0.000,0.041,2819,2487,3569,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5590,-0.74,-180.0,529.0,-8.7,316,5595,0.00,1.90,0.00,0.000,4,0.000,0.054,2819,3692,3567,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5648,-0.75,-180.0,533.1,-9.0,318,5656,0.00,1.83,0.00,0.000,6,0.000,0.025,2819,2477,3567,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5954,-0.75,-180.0,563.0,-9.4,334,5960,0.00,2.08,0.00,0.000,4,0.000,0.028,2819,1057,3565,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6033,-0.76,-180.0,568.9,-9.2,337,6041,0.00,2.20,0.00,0.000,6,0.000,0.041,2819,2479,3564,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6339,-0.77,-180.0,596.7,-8.5,353,6345,0.00,1.90,0.00,0.000,4,0.000,0.054,2820,3693,3563,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6363,-0.78,-180.0,598.5,-8.4,354,6369,0.00,1.83,0.00,0.000,6,0.000,0.027,2819,2452,3563,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6690,-0.78,-180.0,625.2,-8.1,365,6696,0.00,2.00,0.00,0.000,4,0.000,0.028,2819,1072,3561,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6738,-0.79,-180.0,628.2,-8.1,366,6744,0.00,2.17,0.00,0.000,6,0.000,0.040,2819,2481,3561,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7060,-0.80,-180.0,656.2,-8.6,377,7065,0.00,1.90,0.00,0.000,4,0.000,0.054,2819,3693,3559,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7094,-0.81,-180.0,659.3,-8.5,378,7099,0.00,1.83,0.00,0.000,6,0.000,0.027,2819,2446,3559,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7432,-0.82,-180.0,687.7,-8.7,389,7437,0.00,1.95,0.00,0.000,4,0.000,0.028,2821,1097,3557,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7499,-0.83,-180.0,693.7,-8.8,391,7505,0.12,2.12,0.00,0.000,6,0.090,0.041,2754,2483,3557,0,0,0,0,0,0,26.25,26.25,28.83
$GC,7831,-0.81,-180.0,736.9,-13.6,402,7837,0.12,1.92,0.00,0.000,4,0.159,0.053,2797,3698,3555,0,0,0,0,0,0,26.27,26.17,28.83
$GC,7920,-0.79,-180.0,744.7,-12.4,404,7927,0.00,1.80,0.00,0.000,6,0.000,0.027,2795,2477,3555,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8227,-0.79,-180.0,778.2,-10.1,415,8232,0.00,2.00,0.00,0.000,4,0.000,0.027,2795,1095,3554,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8260,-0.79,-180.0,781.8,-10.1,416,8265,0.00,2.15,0.00,0.000,6,0.000,0.041,2795,2487,3553,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8596,-0.79,-180.0,813.4,-9.2,427,8601,0.00,1.92,0.00,0.000,4,0.000,0.054,2795,3699,3552,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8653,-0.79,-180.0,816.5,-8.9,428,8660,0.00,1.80,0.00,0.000,6,0.000,0.028,2795,2463,3552,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8960,-0.79,-180.0,845.3,-8.8,439,8965,0.00,1.98,0.00,0.000,4,0.000,0.055,2795,3694,3550,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9003,-0.79,-180.0,848.4,-9.0,440,9008,0.00,1.77,0.00,0.000,6,0.000,0.028,2795,2482,3550,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9327,-0.79,-180.0,880.7,-9.7,451,9328,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2476,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9628,-0.79,-180.0,909.5,-9.7,461,9633,0.00,1.98,0.00,0.000,4,0.000,0.056,2795,3692,3547,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9661,-0.79,-180.0,912.9,-9.6,462,9666,0.00,1.80,0.00,0.000,6,0.000,0.028,2795,2474,3547,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9995,-0.79,-180.0,945.6,-10.0,473,10001,0.00,1.98,0.00,0.000,4,0.000,0.056,2795,3698,3547,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10030,-0.79,-180.0,949.1,-10.0,474,10035,0.00,1.83,0.00,0.000,6,0.000,0.028,2795,2462,3546,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10365,-0.79,-180.0,982.0,-9.6,485,10371,0.00,2.00,0.00,0.000,4,0.000,0.056,2794,3698,3546,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10415,-0.79,-180.0,985.4,-9.5,486,10420,0.00,1.80,0.00,0.000,6,0.000,0.028,2795,2474,3545,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,10460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10461,begin apogee
$GC,10467,-0.15,0.0,991.0,-9.2,488,10628,0.57,0.00,151.77,1.493,6,0.108,0.000,2995,2114,2851,0,0,0,0,0,0,25.82,28.83,22.86
$STATE,10630,end apogee,CONTROL_FINISHED_OK
$STATE,10630,begin climb
$GC,10633,0.50,180.0,997.6,0.0,493,10813,0.57,2.28,170.55,1.440,4,0.049,0.032,3226,757,2116,0,0,0,0,0,0,24.62,23.75,22.23
$GC,10937,0.47,180.0,977.0,11.9,503,10942,0.00,2.20,0.00,0.000,6,0.000,0.036,3226,2125,2108,0,0,0,0,0,0,28.83,25.29,28.83
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$STATE,20986,end climb,SURFACE_DEPTH_REACHED
$STATE,20986,begin surface coast
$FINISH,1.6,1.013157
$STATE,21012,end surface coast,CONTROL_FINISHED_OK
$STATE,21012,begin surface
$SM_CCo,21093,0.00,0.000,0,0,792,505.56
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$IRIDIUM_FIX,2136.49,11957.35,050113,212141
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.03
$INTERNAL_PRESSURE,9.45898
$TCM_TEMP,23.80
$XPDR_PINGS,3
$SC_FREEKB,3895008
$24V_AH,22.2,64.997
$10V_AH,9.9,32.567
$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,22.750,234.400,622.575,0.000,0.000,0.000,0.000,479.750,0.750,0.000,17.310,3345.371,14107.000,836.507,3076.804,541.814,0.000,2780.013,0.000,2478.837,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,55.845,1492.515,0.000,0.000,0.000,0.000,131.580,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21062.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.578,0.000,0.000,0.000
$MEM,324264
$DATA_FILE_SIZE,36758,982
$CAP_FILE_SIZE,266449,0
$CFSIZE,260034560,217948160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.122,254.5,1
$GPS,060113,030759,2143.594,11955.418,37,0.8,37,-3.0