version: 66.11
glider: 170
mission: 10
dive: 327
start: 1 6 113 3 20 54
data:
$ID,170
$MISSION,10
$DIVE,327
$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,-143506.5
$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,2475
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,38
$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
$GPS1,060113,030759,2143.594,11955.418,37,0.8,37,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-74.1
$GPS2,060113,032024,2143.538,11955.271,17,2.0,18,-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,75.8,8573,-14.5,-8.684,-16.79
$D_GRID,2827
$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,21,-0.50,-180.0,0.0,0.0,0,78,0.00,0.00,-54.88,0.000,2,0.000,0.000,128,2508,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.50,-180.0,3.1,-1.5,10,164,11.43,2.17,-62.12,0.000,4,0.238,0.045,2886,1074,3588,0,0,0,0,0,0,25.25,26.21,26.60
$GC,206,-0.49,-180.0,14.7,-14.9,31,212,0.00,2.17,0.00,0.000,6,0.000,0.043,2886,2470,3588,0,0,0,0,0,0,28.83,26.10,28.83
$GC,402,-0.48,-180.0,42.9,-14.8,57,407,0.00,1.92,0.00,0.000,4,0.000,0.056,2886,3698,3588,0,0,0,0,0,0,28.83,26.17,28.83
$GC,419,-0.46,-180.0,45.1,-14.4,58,427,0.00,1.80,0.00,0.000,6,0.000,0.024,2886,2459,3588,0,0,0,0,0,0,28.83,26.42,28.83
$GC,617,-0.45,-180.0,73.0,-12.4,70,623,0.00,2.00,0.00,0.000,4,0.000,0.031,2886,1080,3588,0,0,0,0,0,0,28.83,26.37,28.83
$GC,662,-0.45,-180.0,77.6,-10.6,72,668,0.00,2.17,0.00,0.000,6,0.000,0.042,2886,2487,3588,0,0,0,0,0,0,28.83,26.25,28.83
$GC,866,-0.45,-180.0,97.0,-9.3,82,871,0.00,1.90,0.00,0.000,4,0.000,0.054,2886,3699,3588,0,0,0,0,0,0,28.83,26.25,28.83
$GC,940,-0.46,-180.0,102.6,-8.8,85,945,0.00,1.77,0.00,0.000,6,0.000,0.022,2886,2464,3588,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1134,-0.47,-180.0,121.5,-8.7,95,1139,0.00,2.00,0.00,0.000,4,0.000,0.036,2886,1081,3588,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1182,-0.48,-180.0,124.9,-8.0,97,1187,0.00,2.15,0.00,0.000,6,0.000,0.041,2886,2479,3589,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1383,-0.53,-180.0,140.8,-7.9,107,1388,0.00,1.90,0.00,0.000,4,0.000,0.054,2886,3694,3589,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1538,-0.59,-180.0,152.5,-7.9,114,1543,0.00,1.75,0.00,0.000,6,0.000,0.022,2886,2475,3589,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1732,-0.64,-180.0,168.9,-7.8,124,1739,0.12,1.92,0.00,0.000,4,0.090,0.047,2806,3707,3589,0,0,0,0,0,0,26.55,26.29,28.83
$GC,1788,-0.66,-180.0,173.1,-8.4,126,1793,0.00,1.75,0.00,0.000,6,0.000,0.023,2805,2470,3589,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1982,-0.65,-180.0,194.4,-10.7,136,1988,0.12,2.03,0.00,0.000,4,0.157,0.029,2850,1082,3589,0,0,0,0,0,0,26.31,26.44,28.83
$GC,2078,-0.65,-180.0,202.3,-9.3,140,2083,0.00,2.15,0.00,0.000,6,0.000,0.041,2849,2480,3588,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2271,-0.65,-180.0,221.7,-9.7,150,2276,0.00,1.90,0.00,0.000,4,0.000,0.054,2849,3694,3588,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2303,-0.66,-180.0,223.9,-9.8,151,2310,0.00,1.75,0.00,0.000,6,0.000,0.023,2849,2485,3588,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2501,-0.67,-180.0,242.3,-8.4,161,2506,0.00,2.05,0.00,0.000,4,0.000,0.030,2850,1073,3588,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2548,-0.68,-180.0,246.1,-8.3,163,2555,0.00,2.15,0.00,0.000,6,0.000,0.041,2849,2480,3587,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2751,-0.69,-180.0,261.9,-7.5,173,2757,0.00,1.90,0.00,0.000,4,0.000,0.054,2849,3706,3586,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2796,-0.71,-180.0,265.3,-7.4,175,2802,0.00,1.83,0.00,0.000,6,0.000,0.024,2849,2466,3586,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3120,-0.74,-180.0,289.4,-7.6,191,3126,0.12,2.03,0.00,0.000,4,0.087,0.028,2768,1074,3584,0,0,0,0,0,0,26.58,26.45,28.83
$GC,3231,-0.72,-180.0,301.0,-11.8,196,3238,0.17,2.15,0.00,0.000,6,0.147,0.042,2820,2481,3584,0,0,0,0,0,0,26.03,26.29,28.83
$GC,3551,-0.72,-180.0,333.7,-10.0,212,3556,0.00,1.90,0.00,0.000,4,0.000,0.054,2821,3696,3582,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3618,-0.72,-180.0,340.0,-10.0,215,3623,0.00,1.77,0.00,0.000,6,0.000,0.024,2820,2463,3582,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3936,-0.72,-180.0,370.4,-9.2,231,3941,0.00,2.00,0.00,0.000,4,0.000,0.031,2820,1082,3579,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3993,-0.72,-180.0,374.6,-9.2,233,4001,0.00,2.12,0.00,0.000,6,0.000,0.041,2821,2476,3579,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4300,-0.72,-180.0,403.5,-8.6,249,4306,0.00,1.92,0.00,0.000,4,0.000,0.054,2820,3699,3577,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4349,-0.72,-180.0,407.4,-8.6,251,4354,0.00,1.77,0.00,0.000,6,0.000,0.024,2820,2453,3576,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4668,-0.72,-180.0,433.6,-7.9,267,4673,0.00,1.95,0.00,0.000,4,0.000,0.028,2820,1109,3575,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4721,-0.73,-180.0,437.1,-8.0,269,4726,0.00,2.12,0.00,0.000,6,0.000,0.041,2820,2483,3576,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5035,-0.73,-180.0,463.3,-8.4,285,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2484,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5337,-0.73,-180.0,489.2,-8.9,300,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2484,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5637,-0.73,-180.0,514.4,-8.3,315,5643,0.00,2.05,0.00,0.000,4,0.000,0.027,2820,1098,3569,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5683,-0.74,-180.0,518.5,-8.4,317,5689,0.00,2.15,0.00,0.000,6,0.000,0.041,2820,2480,3569,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6008,-0.75,-180.0,542.3,-7.0,333,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2480,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6310,-0.76,-180.0,565.2,-7.7,348,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2480,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6611,-0.77,-180.0,589.4,-8.4,363,6616,0.00,1.92,0.00,0.000,4,0.000,0.054,2820,3692,3564,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6670,-0.77,-180.0,593.6,-8.7,365,6677,0.00,1.75,0.00,0.000,6,0.000,0.027,2820,2485,3563,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6977,-0.78,-180.0,622.4,-9.3,377,6983,0.00,2.00,0.00,0.000,4,0.000,0.027,2820,1097,3562,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7016,-0.80,-180.0,625.9,-9.3,378,7021,0.00,2.15,0.00,0.000,6,0.000,0.041,2820,2483,3561,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7346,-0.81,-180.0,657.3,-9.2,389,7351,0.00,1.92,0.00,0.000,4,0.000,0.054,2820,3693,3560,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7411,-0.82,-180.0,662.7,-8.7,391,7416,0.00,1.77,0.00,0.000,6,0.000,0.027,2820,2472,3559,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7747,-0.83,-180.0,688.9,-7.7,402,7752,0.12,2.00,0.00,0.000,4,0.090,0.025,2749,1088,3558,0,0,0,0,0,0,26.55,26.42,28.83
$GC,7863,-0.82,-180.0,699.7,-10.5,405,7870,0.12,2.15,0.00,0.000,6,0.167,0.042,2782,2480,3557,0,0,0,0,0,0,25.98,26.22,28.83
$GC,8180,-0.81,-180.0,734.3,-10.1,416,8186,0.00,1.92,0.00,0.000,4,0.000,0.054,2782,3693,3556,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8245,-0.80,-180.0,740.8,-10.0,418,8251,0.00,1.77,0.00,0.000,6,0.000,0.027,2782,2476,3556,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8582,-0.79,-180.0,773.7,-9.7,429,8587,0.00,2.00,0.00,0.000,4,0.000,0.028,2782,1091,3555,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8635,-0.78,-180.0,777.3,-9.8,430,8641,0.00,2.17,0.00,0.000,6,0.000,0.042,2782,2485,3555,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8951,-0.78,-180.0,810.1,-10.2,441,8956,0.00,1.90,0.00,0.000,4,0.000,0.055,2782,3692,3553,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9039,-0.77,-180.0,816.7,-10.3,443,9046,0.00,1.75,0.00,0.000,6,0.000,0.028,2782,2478,3552,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9344,-0.76,-180.0,850.5,-10.2,454,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2472,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9645,-0.75,-180.0,881.3,-10.4,464,9651,0.00,1.98,0.00,0.000,4,0.000,0.056,2782,3700,3550,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9683,-0.74,-180.0,885.0,-10.5,465,9689,0.00,1.80,0.00,0.000,6,0.000,0.028,2783,2468,3550,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10014,-0.73,-180.0,919.5,-10.3,476,10019,0.10,2.00,0.00,0.000,4,0.169,0.054,2808,3690,3550,0,0,0,0,0,0,26.39,26.09,28.83
$GC,10048,-0.73,-180.0,922.8,-10.0,477,10054,0.00,1.80,0.00,0.000,6,0.000,0.028,2808,2469,3549,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10385,-0.74,-180.0,950.4,-8.4,488,10386,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2463,3548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10683,-0.75,-180.0,977.3,-9.2,498,10689,0.00,1.98,0.00,0.000,4,0.000,0.056,2809,3692,3547,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10731,-0.76,-180.0,980.4,-9.3,499,10736,0.00,1.80,0.00,0.000,6,0.000,0.028,2809,2467,3547,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,10837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10837,begin apogee
$GC,10844,-0.15,0.0,991.8,-9.4,503,11005,0.55,0.00,152.82,1.496,6,0.103,0.000,3000,2101,2852,0,0,0,0,0,0,25.84,28.83,22.80
$STATE,11006,end apogee,CONTROL_FINISHED_OK
$STATE,11006,begin climb
$GC,11009,0.50,180.0,1001.1,0.0,508,11191,0.57,2.60,172.23,1.448,4,0.048,0.051,3218,3533,2117,0,0,0,0,0,0,24.54,23.69,22.20
$GC,11233,0.46,180.0,992.0,8.8,516,11238,0.00,2.25,0.00,0.000,6,0.000,0.028,3227,2165,2111,0,0,0,0,0,0,28.83,24.59,28.83
$GC,11566,0.42,180.0,952.9,11.7,527,11568,0.15,0.00,0.00,0.000,6,0.160,0.000,3185,2165,2106,0,0,0,0,0,0,25.93,28.83,28.83
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$STATE,21073,end climb,SURFACE_DEPTH_REACHED
$STATE,21073,begin surface coast
$FINISH,1.5,1.022579
$STATE,21089,end surface coast,CONTROL_FINISHED_OK
$STATE,21089,begin surface
$SM_CCo,21169,0.00,0.000,0,0,639,543.09
$SM_GC,2.53,8.52,0.52,0.00,0.045,0.048,0.000,139,2488,639,-9.06,-1.05,543.09,0,0,0,0,0,0,25.93,26.30,28.83
$IRIDIUM_FIX,2134.17,11952.17,060113,030343
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.09
$INTERNAL_PRESSURE,9.43945
$TCM_TEMP,23.20
$XPDR_PINGS,3
$SC_FREEKB,3894624
$24V_AH,22.2,65.254
$10V_AH,9.8,32.698
$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,23.475,219.125,662.775,0.000,0.000,0.000,0.000,449.175,0.750,0.000,18.959,3269.670,14261.104,865.425,2966.385,535.853,0.000,2724.691,0.000,2396.607,0.000,0.544,0.000
$DEVICE_MAMPS,237.915,55.845,1496.340,0.000,0.000,0.000,0.000,133.875,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21143.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.411,0.000,0.000,0.000
$MEM,324208
$DATA_FILE_SIZE,36665,968
$CAP_FILE_SIZE,261336,0
$CFSIZE,260034560,217829376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.157,244.9,1
$GPS,060113,091458,2143.669,11956.612,37,0.8,37,-3.0