version: 66.11
glider: 170
mission: 10
dive: 338
start: 1 8 113 23 1 23
data:
$ID,170
$MISSION,10
$DIVE,338
$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,175
$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,-143520.73
$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,0.0070000002
$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,77
$R_STBD_OVSHOOT,40
$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
$GPS1,080113,225134,2154.230,12009.001,26,0.9,26,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-73.5
$GPS2,080113,230054,2154.160,12008.937,19,2.0,19,-3.1
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$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,71.4,50991,-14.9,-8.684,-17.18
$D_GRID,1499
$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,-0.51,-170.3,0.0,0.0,0,79,0.00,0.00,-54.85,0.000,2,0.000,0.000,134,2490,1923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.51,-170.3,3.0,-1.2,10,175,11.35,2.05,-69.97,0.000,4,0.236,0.039,2882,1088,3548,0,0,0,0,0,0,25.21,26.21,26.60
$GC,219,-0.50,-170.3,13.3,-13.2,33,226,0.00,2.12,0.00,0.000,6,0.000,0.040,2882,2474,3549,0,0,0,0,0,0,28.83,26.14,28.83
$GC,410,-0.47,-170.3,42.4,-15.3,59,415,0.00,1.92,0.00,0.000,4,0.000,0.050,2883,3701,3549,0,0,0,0,0,0,28.83,26.17,28.83
$GC,447,-0.45,-170.3,47.6,-15.7,62,453,0.00,1.80,0.00,0.000,6,0.000,0.024,2882,2430,3549,0,0,0,0,0,0,28.83,26.47,28.83
$GC,645,-0.44,-170.3,74.4,-12.8,73,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2430,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,823,-0.44,-170.3,93.7,-10.8,82,828,0.00,1.88,0.00,0.000,4,0.000,0.027,2883,1113,3549,0,0,0,0,0,0,28.83,26.41,28.83
$GC,901,-0.44,-170.3,101.3,-11.8,85,908,0.00,2.08,0.00,0.000,6,0.000,0.037,2883,2483,3549,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1086,-0.50,-170.3,120.7,-8.7,95,1092,0.00,1.88,0.00,0.000,4,0.000,0.048,2882,3694,3549,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1145,-0.56,-170.3,124.3,-8.3,97,1152,0.00,1.75,0.00,0.000,6,0.000,0.024,2883,2465,3550,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1331,-0.61,-170.3,139.5,-7.6,107,1337,0.00,1.90,0.00,0.000,4,0.000,0.047,2883,3689,3550,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1350,-0.66,-170.3,139.5,-7.6,107,1357,0.15,1.73,0.00,0.000,6,0.076,0.024,2805,2461,3550,0,0,0,0,0,0,26.41,26.54,28.83
$GC,1538,-0.63,-170.3,162.4,-12.5,117,1544,0.12,1.95,0.00,0.000,4,0.161,0.027,2846,1114,3550,0,0,0,0,0,0,26.27,26.43,28.83
$GC,1666,-0.63,-170.3,175.4,-9.4,123,1671,0.00,2.05,0.00,0.000,6,0.000,0.037,2847,2482,3549,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1867,-0.64,-170.3,191.9,-8.5,133,1872,0.00,1.88,0.00,0.000,4,0.000,0.048,2847,3695,3550,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1894,-0.65,-170.3,194.1,-8.6,134,1899,0.00,1.73,0.00,0.000,6,0.000,0.024,2847,2465,3550,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2094,-0.66,-170.3,213.0,-9.7,144,2099,0.00,1.95,0.00,0.000,4,0.000,0.027,2847,1108,3549,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2152,-0.67,-170.3,217.3,-9.9,146,2158,0.00,2.08,0.00,0.000,6,0.000,0.037,2848,2477,3549,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2340,-0.68,-170.3,233.6,-7.3,156,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2477,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2518,-0.69,-170.3,246.7,-7.7,165,2523,0.00,1.98,0.00,0.000,4,0.000,0.025,2847,1111,3549,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2567,-0.71,-170.3,250.5,-8.1,167,2572,0.00,2.08,0.00,0.000,6,0.000,0.037,2847,2477,3549,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2886,-0.72,-170.3,277.7,-8.5,183,2892,0.00,1.88,0.00,0.000,4,0.000,0.049,2847,3688,3547,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2936,-0.74,-170.3,281.8,-8.9,185,2941,0.12,1.73,0.00,0.000,6,0.086,0.024,2781,2459,3547,0,0,0,0,0,0,26.42,26.55,28.83
$GC,3255,-0.71,-170.3,321.7,-11.9,201,3261,0.12,1.92,0.00,0.000,4,0.155,0.024,2823,1110,3545,0,0,0,0,0,0,26.29,26.44,28.83
$GC,3294,-0.69,-170.3,324.5,-11.9,202,3301,0.00,2.08,0.00,0.000,6,0.000,0.038,2823,2488,3545,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3599,-0.69,-170.3,355.9,-9.2,218,3604,0.00,2.03,0.00,0.000,4,0.000,0.025,2823,1108,3543,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3647,-0.70,-170.3,359.8,-9.1,220,3652,0.00,2.10,0.00,0.000,6,0.000,0.037,2823,2486,3543,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3966,-0.70,-170.3,387.9,-9.0,236,3971,0.00,1.88,0.00,0.000,4,0.000,0.049,2823,3691,3542,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3989,-0.70,-170.3,390.2,-9.2,237,3995,0.00,1.75,0.00,0.000,6,0.000,0.026,2823,2471,3541,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4314,-0.70,-170.3,421.0,-9.2,253,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2469,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4616,-0.70,-170.3,446.8,-8.9,268,4621,0.00,1.95,0.00,0.000,4,0.000,0.025,2823,1109,3537,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4694,-0.71,-170.3,452.3,-8.5,271,4700,0.00,2.08,0.00,0.000,6,0.000,0.038,2822,2475,3537,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5000,-0.72,-170.3,476.8,-7.5,287,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2474,3535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5302,-0.73,-170.3,499.6,-8.0,302,5307,0.00,2.00,0.00,0.000,4,0.000,0.038,2823,1109,3533,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5347,-0.74,-170.3,503.5,-8.5,304,5352,0.00,2.10,0.00,0.000,6,0.000,0.038,2823,2481,3533,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5671,-0.75,-170.3,533.4,-9.3,320,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2481,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5973,-0.76,-170.3,559.7,-8.9,335,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2482,3530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6274,-0.78,-170.3,584.4,-7.9,350,6279,0.00,2.00,0.00,0.000,4,0.000,0.026,2823,1111,3529,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6313,-0.80,-170.3,586.6,-8.0,351,6320,0.00,2.08,0.00,0.000,6,0.000,0.038,2823,2473,3529,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6639,-0.81,-170.3,617.5,-9.3,365,6645,0.12,2.03,0.00,0.000,4,0.098,0.024,2756,1104,3527,0,0,0,0,0,0,26.51,26.42,28.83
$GC,6669,-0.83,-170.3,617.5,-9.3,365,6676,0.00,2.12,0.00,0.000,6,0.000,0.040,2756,2481,3527,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6974,-0.80,-170.3,662.4,-13.7,376,6980,0.12,1.92,0.00,0.000,4,0.161,0.050,2794,3696,3525,0,0,0,0,0,0,26.25,26.20,28.83
$GC,7010,-0.77,-170.3,666.5,-13.4,377,7015,0.00,1.77,0.00,0.000,6,0.000,0.028,2796,2495,3524,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7345,-0.77,-170.3,700.8,-10.0,388,7350,0.00,2.05,0.00,0.000,4,0.000,0.026,2796,1092,3523,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7383,-0.77,-170.3,704.4,-10.1,389,7389,0.00,2.12,0.00,0.000,6,0.000,0.040,2796,2483,3523,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7714,-0.77,-170.3,737.8,-9.9,400,7715,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2483,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8012,-0.77,-170.3,766.0,-9.5,410,8013,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2483,3520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8313,-0.77,-170.3,794.7,-9.7,420,8318,0.00,1.92,0.00,0.000,4,0.000,0.052,2796,3696,3519,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8346,-0.77,-170.3,797.9,-9.6,421,8352,0.00,1.80,0.00,0.000,6,0.000,0.028,2796,2486,3519,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8682,-0.77,-170.3,830.1,-9.8,432,8683,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2485,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8981,-0.77,-170.3,859.7,-9.8,442,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2485,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9280,-0.77,-170.3,886.8,-8.9,452,9286,0.00,1.95,0.00,0.000,4,0.000,0.054,2796,3695,3515,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9334,-0.77,-170.3,889.5,-8.6,453,9339,0.00,1.80,0.00,0.000,6,0.000,0.028,2796,2470,3515,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9650,-0.77,-170.3,916.2,-8.0,464,9651,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2468,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9949,-0.77,-170.3,939.4,-7.5,474,9955,0.00,1.98,0.00,0.000,4,0.000,0.054,2796,3696,3513,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10007,-0.77,-170.3,942.1,-7.6,475,10014,0.00,1.80,0.00,0.000,6,0.000,0.028,2796,2472,3513,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10313,-0.77,-170.3,967.5,-8.1,486,10314,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2471,3511,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10581,begin apogee
$GC,10588,-0.15,0.0,991.2,-9.1,495,10743,0.60,0.00,146.15,1.495,6,0.109,0.000,3001,2118,2851,0,0,0,0,0,0,25.78,28.83,22.79
$STATE,10745,end apogee,CONTROL_FINISHED_OK
$STATE,10745,begin climb
$GC,10748,0.51,170.3,999.0,0.0,500,10924,0.57,2.55,164.18,1.447,4,0.050,0.049,3218,3530,2157,0,0,0,0,0,0,24.62,23.70,22.14
$GC,10968,0.46,205.3,991.3,7.5,507,11009,0.00,2.22,33.15,1.381,6,0.000,0.027,3227,2149,2014,0,0,0,0,0,0,28.83,24.68,22.56
$GC,11308,0.42,205.3,949.4,11.5,519,11314,0.12,2.15,0.00,0.000,4,0.161,0.031,3197,720,2006,0,0,0,0,0,0,25.90,26.04,28.83
$GC,11397,0.39,205.3,943.3,10.5,521,11404,0.00,2.17,0.00,0.000,6,0.000,0.036,3197,2128,2004,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11704,0.38,207.0,913.9,8.6,532,11709,0.00,2.20,0.00,0.000,4,0.000,0.049,3197,3533,2004,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11825,0.35,207.0,904.5,9.6,535,11832,0.15,2.15,0.00,0.000,6,0.151,0.028,3157,2109,2003,0,0,0,0,0,0,26.04,26.39,28.83
$GC,12130,0.38,274.3,882.1,6.4,546,12196,0.00,2.25,61.17,1.413,4,0.000,0.034,3158,719,1733,0,0,0,0,0,0,28.83,25.25,23.68
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$STATE,20173,end climb,SURFACE_DEPTH_REACHED
$STATE,20173,begin surface coast
$FINISH,1.5,1.023221
$STATE,20199,end surface coast,CONTROL_FINISHED_OK
$STATE,20202,begin surface
$SM_CCo,20281,0.00,0.000,0,0,990,457.24
$SM_GC,2.54,8.40,0.55,0.00,0.045,0.032,0.000,136,2514,990,-9.06,-1.22,457.24,0,0,0,0,0,0,25.89,26.41,28.83
$IRIDIUM_FIX,2143.45,12006.86,080113,161638
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.78
$INTERNAL_PRESSURE,9.45898
$TCM_TEMP,23.40
$XPDR_PINGS,1
$SC_FREEKB,3890400
$24V_AH,22.1,67.915
$10V_AH,9.8,34.127
$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,23.550,206.575,574.150,0.000,0.000,0.000,0.000,319.425,0.250,0.000,20.128,3035.501,13842.374,792.859,2637.766,516.620,0.000,2410.211,0.000,2190.366,0.000,0.544,0.000
$DEVICE_MAMPS,236.385,53.550,1494.810,0.000,0.000,0.000,0.000,136.935,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20252.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.528,0.000,0.000,0.000
$MEM,324316
$DATA_FILE_SIZE,36673,932
$CAP_FILE_SIZE,243838,0
$CFSIZE,260034560,216473600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.135,266.8,1
$GPS,090113,044034,2155.237,12009.970,31,0.9,31,-3.1