version: 66.11
glider: 170
mission: 10
dive: 383
start: 1 18 113 5 53 27
data:
$ID,170
$MISSION,10
$DIVE,383
$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,390
$T_MISSION,420
$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,-143613.67
$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,3035
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,25
$C_ROLL_DIVE,2475
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,54
$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
$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
$GPS1,180113,054236,2153.659,12000.173,34,0.8,34,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-77.4
$GPS2,180113,055259,2153.584,12000.277,17,0.9,17,-3.1
$SPEED_LIMITS,0.147,0.278
$TGT_NAME,W2
$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,154.2,15905,-14.6,-8.462,-16.91
$D_GRID,1609
$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,-0.55,-170.3,0.0,0.0,0,81,0.00,0.00,-57.22,0.000,2,0.000,0.000,138,2498,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.55,-170.3,3.2,-0.8,10,146,11.60,1.30,-40.83,0.000,4,0.245,0.045,2849,1572,3548,0,0,0,0,0,0,25.03,26.22,26.60
$GC,263,-0.53,-170.3,23.6,-13.7,42,269,0.00,1.38,0.00,0.000,6,0.000,0.040,2851,2460,3548,0,0,0,0,0,0,28.83,26.19,28.83
$GC,468,-0.50,-170.3,53.3,-15.1,62,473,0.00,1.40,0.00,0.000,4,0.000,0.048,2849,3361,3548,0,0,0,0,0,0,28.83,26.19,28.83
$GC,527,-0.47,-170.3,59.4,-14.4,64,534,0.08,1.33,0.00,0.000,6,0.114,0.024,2880,2402,3548,0,0,0,0,0,0,26.19,26.48,28.83
$GC,711,-0.47,-170.3,83.6,-11.6,74,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2401,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,892,-0.48,-170.3,100.3,-8.2,83,898,0.00,1.50,0.00,0.000,4,0.000,0.047,2879,3378,3549,0,0,0,0,0,0,28.83,26.22,28.83
$GC,917,-0.49,-170.3,102.2,-7.7,84,923,0.00,1.35,0.00,0.000,6,0.000,0.025,2880,2397,3549,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1122,-0.54,-170.3,118.8,-8.7,94,1127,0.00,1.15,0.00,0.000,4,0.000,0.026,2880,1573,3549,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1216,-0.60,-170.3,126.1,-8.7,98,1222,0.08,1.38,0.00,0.000,6,0.063,0.037,2820,2474,3549,0,0,0,0,0,0,26.22,26.32,28.83
$GC,1412,-0.62,-170.3,147.2,-10.7,108,1417,0.00,1.30,0.00,0.000,4,0.000,0.024,2820,1572,3550,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1457,-0.64,-170.3,152.0,-10.4,110,1462,0.00,1.38,0.00,0.000,6,0.000,0.037,2820,2473,3550,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1662,-0.66,-170.3,170.7,-8.8,120,1667,0.00,1.30,0.00,0.000,4,0.000,0.024,2820,1572,3550,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1730,-0.68,-170.3,176.4,-8.8,123,1736,0.00,1.38,0.00,0.000,6,0.000,0.037,2820,2473,3550,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1932,-0.71,-170.3,191.9,-7.3,133,1938,0.00,1.30,0.00,0.000,4,0.000,0.024,2820,1570,3550,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2007,-0.73,-170.3,196.8,-7.3,136,2012,0.00,1.40,0.00,0.000,6,0.000,0.037,2820,2485,3550,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2201,-0.76,-170.3,211.7,-7.8,146,2206,0.00,1.33,0.00,0.000,4,0.000,0.024,2820,1572,3550,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2254,-0.78,-170.3,215.4,-8.3,148,2260,0.08,1.38,0.00,0.000,6,0.061,0.037,2763,2472,3550,0,0,0,0,0,0,26.25,26.33,28.83
$GC,2451,-0.74,-170.3,239.4,-12.5,158,2457,0.12,1.38,0.00,0.000,4,0.162,0.045,2805,3373,3550,0,0,0,0,0,0,26.25,26.25,28.83
$GC,2479,-0.72,-170.3,242.4,-12.1,159,2484,0.00,1.35,0.00,0.000,6,0.000,0.025,2805,2398,3549,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2678,-0.71,-170.3,260.9,-9.1,169,2683,0.00,1.15,0.00,0.000,4,0.000,0.024,2805,1572,3548,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2706,-0.70,-170.3,263.1,-9.0,170,2712,0.00,1.40,0.00,0.000,6,0.000,0.039,2805,2480,3548,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3025,-0.69,-170.3,287.7,-7.5,186,3030,0.00,1.30,0.00,0.000,4,0.000,0.024,2805,1582,3547,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3109,-0.69,-170.3,294.6,-8.1,190,3114,0.00,1.38,0.00,0.000,6,0.000,0.038,2805,2472,3547,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3434,-0.68,-170.3,321.2,-8.4,206,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2471,3544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3736,-0.68,-170.3,340.8,-6.5,221,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2472,3543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4034,-0.68,-170.3,363.6,-7.6,236,4040,0.00,1.30,0.00,0.000,4,0.000,0.024,2805,1570,3541,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4092,-0.68,-170.3,367.0,-7.5,238,4099,0.00,1.40,0.00,0.000,6,0.000,0.037,2805,2479,3540,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4398,-0.71,-170.3,392.0,-8.7,254,4403,0.00,1.30,0.00,0.000,4,0.000,0.024,2805,1574,3539,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4504,-0.73,-170.3,402.1,-9.9,259,4509,0.00,1.40,0.00,0.000,6,0.000,0.038,2805,2476,3538,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4828,-0.76,-170.3,436.2,-10.3,275,4833,0.00,1.38,0.00,0.000,4,0.000,0.049,2805,3352,3536,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4887,-0.78,-170.3,440.8,-10.5,277,4894,0.00,1.33,0.00,0.000,6,0.000,0.026,2805,2408,3536,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5192,-0.80,-170.3,471.2,-9.2,293,5198,0.00,1.17,0.00,0.000,4,0.000,0.024,2805,1573,3535,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5205,-0.82,-170.3,471.2,-9.2,293,5211,0.08,1.40,0.00,0.000,6,0.070,0.038,2739,2481,3534,0,0,0,0,0,0,26.23,26.31,28.83
$GC,5520,-0.78,-170.3,507.2,-11.3,309,5521,0.15,0.00,0.00,0.000,6,0.158,0.000,2780,2482,3533,0,0,0,0,0,0,26.20,28.83,28.83
$GC,5822,-0.77,-170.3,535.5,-9.2,324,5827,0.00,1.33,0.00,0.000,4,0.000,0.024,2781,1565,3531,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5867,-0.76,-170.3,539.8,-9.3,326,5872,0.00,1.40,0.00,0.000,6,0.000,0.039,2781,2467,3531,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6191,-0.74,-170.3,565.9,-7.9,342,6196,0.00,1.30,0.00,0.000,4,0.000,0.024,2781,1565,3530,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6236,-0.73,-170.3,569.7,-8.2,344,6241,0.00,1.42,0.00,0.000,6,0.000,0.039,2781,2481,3529,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6559,-0.72,-170.3,599.8,-9.7,360,6565,0.00,1.38,0.00,0.000,4,0.000,0.050,2781,3357,3528,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6608,-0.71,-170.3,603.3,-10.1,362,6613,0.00,1.33,0.00,0.000,6,0.000,0.028,2781,2439,3528,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6930,-0.70,-170.3,639.4,-11.0,373,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2440,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7227,-0.69,-170.3,667.1,-8.6,383,7233,0.12,1.42,0.00,0.000,4,0.153,0.047,2823,3350,3526,0,0,0,0,0,0,26.25,26.16,28.83
$GC,7262,-0.69,-170.3,669.7,-8.1,384,7267,0.00,1.27,0.00,0.000,6,0.000,0.029,2824,2492,3525,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7600,-0.73,-170.3,691.4,-7.1,395,7605,0.00,1.27,0.00,0.000,4,0.000,0.024,2824,1593,3524,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7706,-0.78,-170.3,699.1,-7.8,398,7712,0.08,1.38,0.00,0.000,6,0.069,0.039,2777,2478,3523,0,0,0,0,0,0,26.16,26.27,28.83
$GC,8032,-0.79,-170.3,729.9,-9.1,409,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2479,3523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8332,-0.81,-170.3,757.6,-9.2,419,8337,0.00,1.38,0.00,0.000,4,0.000,0.050,2777,3347,3521,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8365,-0.82,-170.3,760.8,-9.1,420,8371,0.00,1.30,0.00,0.000,6,0.000,0.029,2777,2474,3521,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8702,-0.84,-170.3,790.3,-8.8,431,8708,0.00,1.25,0.00,0.000,4,0.000,0.026,2777,1596,3519,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8876,-0.83,-170.3,805.6,-9.8,436,8882,0.00,1.38,0.00,0.000,6,0.000,0.040,2776,2476,3518,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9193,-0.82,-170.3,843.4,-12.1,447,9198,0.00,1.30,0.00,0.000,4,0.000,0.024,2777,1586,3517,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9260,-0.81,-170.3,851.7,-12.2,449,9265,0.00,1.40,0.00,0.000,6,0.000,0.040,2776,2478,3517,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9591,-0.80,-170.3,889.1,-10.8,460,9596,0.00,1.38,0.00,0.000,4,0.000,0.052,2777,3343,3516,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9634,-0.79,-170.3,892.9,-10.8,461,9639,0.00,1.30,0.00,0.000,6,0.000,0.028,2777,2465,3515,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9960,-0.78,-170.3,926.3,-9.7,472,9967,0.00,1.23,0.00,0.000,4,0.000,0.024,2777,1585,3514,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10050,-0.77,-170.3,932.2,-9.1,474,10056,0.00,1.40,0.00,0.000,6,0.000,0.040,2776,2476,3514,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10358,-0.77,-170.3,958.7,-7.8,485,10364,0.00,1.27,0.00,0.000,4,0.000,0.025,2777,1591,3513,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10402,-0.76,-170.3,961.6,-7.7,486,10408,0.00,1.40,0.00,0.000,6,0.000,0.041,2777,2482,3513,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10728,-0.76,-170.3,989.4,-8.7,497,10733,0.00,1.38,0.00,0.000,4,0.000,0.053,2777,3345,3512,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,10759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10759,begin apogee
$GC,10769,-0.17,0.0,992.5,-8.8,498,10923,0.60,0.00,147.38,1.485,6,0.119,0.000,2978,2090,2854,0,0,0,0,0,0,25.68,28.83,22.73
$STATE,10925,end apogee,CONTROL_FINISHED_OK
$STATE,10925,begin climb
$GC,10928,0.55,170.3,999.6,0.0,503,11103,0.65,1.58,165.12,1.440,4,0.057,0.044,3216,2997,2157,0,0,0,0,0,0,24.69,23.79,22.12
$GC,11182,0.50,170.3,988.6,8.8,511,11189,0.00,1.33,0.00,0.000,6,0.000,0.026,3222,2135,2150,0,0,0,0,0,0,28.83,25.27,28.83
$GC,11489,0.46,170.3,956.8,9.4,522,11495,0.12,1.38,0.00,0.000,4,0.161,0.040,3181,3016,2147,0,0,0,0,0,0,26.04,26.12,28.83
$GC,11548,0.41,170.3,953.5,9.2,523,11555,0.00,1.33,0.00,0.000,6,0.000,0.026,3186,2122,2146,0,0,0,0,0,0,28.83,26.33,28.83
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$STATE,21517,end climb,SURFACE_DEPTH_REACHED
$STATE,21518,begin surface coast
$FINISH,1.7,1.023603
$STATE,21547,end surface coast,CONTROL_FINISHED_OK
$STATE,21547,begin surface
$SM_CCo,21627,0.00,0.000,0,0,783,507.77
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$TT8_MAMPS,0.026215,0.026215
$HUMID,55.23
$INTERNAL_PRESSURE,9.42968
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3873248
$24V_AH,22.1,78.705
$10V_AH,9.5,39.228
$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,23.550,144.950,619.325,0.000,0.000,0.000,0.000,372.125,0.000,0.000,18.525,3461.404,14314.784,800.157,3058.459,596.250,0.000,2633.811,0.000,2558.220,0.000,0.542,0.000
$DEVICE_MAMPS,244.800,52.785,1484.865,0.000,0.000,0.000,0.000,134.640,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21601.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.410,0.000,0.000,0.000
$MEM,324304
$DATA_FILE_SIZE,40016,996
$CAP_FILE_SIZE,265091,0
$CFSIZE,260034560,211439616
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.095,272.6,1
$GPS,180113,115505,2151.973,12000.755,31,1.0,31,-3.1