version: 66.11
glider: 170
mission: 10
dive: 384
start: 1 18 113 12 7 51
data:
$ID,170
$MISSION,10
$DIVE,384
$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,-143614.92
$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,59
$R_STBD_OVSHOOT,47
$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
$GPS1,180113,115505,2151.973,12000.755,31,1.0,31,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-72.7
$GPS2,180113,120723,2151.948,12000.841,22,0.9,22,-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,169.7,12948,-14.6,-8.462,-16.91
$D_GRID,1646
$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,19,begin dive
$GC,22,-0.55,-170.3,0.0,0.0,0,81,0.00,0.00,-56.53,0.000,2,0.000,0.000,132,2491,2009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.55,-170.3,3.1,-1.2,10,171,11.40,1.35,-63.40,0.000,4,0.239,0.050,2851,1592,3548,0,0,0,0,0,0,25.17,26.22,26.61
$GC,230,-0.53,-170.3,16.2,-14.3,35,237,0.00,1.38,0.00,0.000,6,0.000,0.042,2851,2472,3548,0,0,0,0,0,0,28.83,26.16,28.83
$GC,426,-0.50,-170.3,44.0,-14.0,60,432,0.00,1.38,0.00,0.000,4,0.000,0.049,2851,3354,3548,0,0,0,0,0,0,28.83,26.19,28.83
$GC,471,-0.47,-170.3,50.2,-13.6,64,477,0.00,1.30,0.00,0.000,6,0.000,0.024,2851,2426,3548,0,0,0,0,0,0,28.83,26.47,28.83
$GC,677,-0.46,-170.3,76.4,-12.1,74,682,0.12,1.10,0.00,0.000,4,0.145,0.023,2895,1643,3549,0,0,0,0,0,0,26.26,26.41,28.83
$GC,689,-0.44,-170.3,76.4,-12.1,74,694,0.00,1.27,0.00,0.000,6,0.000,0.040,2895,2473,3548,0,0,0,0,0,0,28.83,26.28,28.83
$GC,883,-0.50,-170.3,95.0,-8.8,84,888,0.00,1.23,0.00,0.000,4,0.000,0.030,2895,1646,3549,0,0,0,0,0,0,28.83,26.38,28.83
$GC,971,-0.55,-170.3,101.6,-7.8,88,977,0.10,1.27,0.00,0.000,6,0.056,0.037,2825,2486,3549,0,0,0,0,0,0,26.26,26.33,28.83
$GC,1173,-0.54,-170.3,120.1,-10.8,98,1178,0.12,1.33,0.00,0.000,4,0.138,0.045,2868,3345,3549,0,0,0,0,0,0,26.31,26.25,28.83
$GC,1241,-0.54,-170.3,126.2,-9.5,101,1248,0.00,1.20,0.00,0.000,6,0.000,0.026,2869,2487,3549,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1443,-0.60,-170.3,144.5,-9.0,111,1449,0.00,1.35,0.00,0.000,4,0.000,0.047,2869,3345,3549,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1488,-0.65,-170.3,148.8,-9.2,113,1495,0.10,1.23,0.00,0.000,6,0.053,0.024,2803,2452,3549,0,0,0,0,0,0,26.37,26.53,28.83
$GC,1696,-0.63,-170.3,172.8,-11.7,123,1701,0.00,1.42,0.00,0.000,4,0.000,0.047,2802,3353,3549,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1721,-0.61,-170.3,175.8,-11.8,124,1727,0.10,1.20,0.00,0.000,6,0.119,0.024,2841,2486,3549,0,0,0,0,0,0,26.17,26.53,28.83
$GC,1927,-0.61,-170.3,195.6,-9.8,134,1932,0.00,1.38,0.00,0.000,4,0.000,0.049,2841,3348,3549,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1954,-0.61,-170.3,197.6,-9.3,135,1959,0.00,1.23,0.00,0.000,6,0.000,0.026,2841,2474,3549,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2156,-0.65,-170.3,214.5,-8.6,145,2161,0.00,1.38,0.00,0.000,4,0.000,0.047,2841,3345,3549,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2199,-0.69,-170.3,218.3,-8.4,147,2205,0.00,1.23,0.00,0.000,6,0.000,0.026,2841,2458,3549,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2406,-0.73,-170.3,235.6,-8.4,157,2413,0.12,1.40,0.00,0.000,4,0.092,0.045,2768,3360,3548,0,0,0,0,0,0,26.52,26.25,28.83
$GC,2446,-0.76,-170.3,238.3,-8.7,158,2452,0.00,1.23,0.00,0.000,6,0.000,0.025,2768,2483,3548,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2633,-0.72,-170.3,261.8,-11.5,168,2639,0.12,1.20,0.00,0.000,4,0.148,0.021,2810,1626,3548,0,0,0,0,0,0,26.27,26.46,28.83
$GC,2739,-0.72,-170.3,272.0,-9.5,173,2744,0.00,1.30,0.00,0.000,6,0.000,0.037,2810,2473,3548,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3063,-0.74,-170.3,301.6,-9.1,189,3069,0.00,1.35,0.00,0.000,4,0.000,0.049,2810,3346,3546,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3127,-0.74,-170.3,306.8,-8.1,192,3134,0.00,1.23,0.00,0.000,6,0.000,0.026,2810,2474,3546,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3453,-0.76,-170.3,333.1,-7.8,208,3458,0.00,1.20,0.00,0.000,4,0.000,0.024,2810,1613,3544,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3486,-0.78,-170.3,334.9,-7.8,209,3491,0.00,1.33,0.00,0.000,6,0.000,0.038,2810,2478,3544,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3800,-0.80,-170.3,361.1,-8.2,225,3806,0.12,1.35,0.00,0.000,4,0.098,0.046,2742,3342,3542,0,0,0,0,0,0,26.50,26.25,28.83
$GC,3895,-0.77,-170.3,370.7,-11.3,229,3902,0.10,1.23,0.00,0.000,6,0.135,0.025,2779,2473,3541,0,0,0,0,0,0,26.13,26.53,28.83
$GC,4211,-0.75,-170.3,404.0,-10.1,245,4216,0.00,1.20,0.00,0.000,4,0.000,0.024,2780,1614,3539,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4306,-0.74,-170.3,412.5,-9.8,249,4311,0.00,1.33,0.00,0.000,6,0.000,0.038,2780,2476,3538,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4619,-0.72,-170.3,443.4,-9.4,265,4625,0.00,1.23,0.00,0.000,4,0.000,0.024,2779,1617,3535,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4648,-0.70,-170.3,445.5,-9.1,266,4653,0.00,1.33,0.00,0.000,6,0.000,0.039,2780,2476,3536,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4968,-0.69,-170.3,474.2,-8.1,282,4973,0.12,1.25,0.00,0.000,4,0.159,0.021,2821,1608,3534,0,0,0,0,0,0,26.26,26.47,28.83
$GC,5003,-0.68,-170.3,476.1,-7.9,283,5008,0.00,1.35,0.00,0.000,6,0.000,0.038,2822,2483,3534,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5317,-0.72,-170.3,497.7,-7.0,299,5322,0.00,1.25,0.00,0.000,4,0.000,0.024,2821,1618,3532,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5343,-0.76,-170.3,499.4,-6.9,300,5348,0.08,1.33,0.00,0.000,6,0.066,0.038,2773,2470,3532,0,0,0,0,0,0,26.21,26.31,28.83
$GC,5668,-0.74,-170.3,531.5,-9.7,316,5673,0.00,1.38,0.00,0.000,4,0.000,0.050,2768,3349,3530,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5753,-0.72,-170.3,540.0,-10.1,320,5759,0.08,1.25,0.00,0.000,6,0.125,0.027,2798,2486,3530,0,0,0,0,0,0,26.20,26.50,28.83
$GC,6078,-0.74,-170.3,564.9,-7.2,336,6084,0.00,1.25,0.00,0.000,4,0.000,0.024,2798,1598,3528,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6092,-0.76,-170.3,564.9,-7.2,336,6097,0.00,1.35,0.00,0.000,6,0.000,0.039,2798,2469,3528,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6406,-0.79,-170.3,588.0,-7.2,352,6411,0.00,1.38,0.00,0.000,4,0.000,0.050,2798,3346,3526,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6502,-0.80,-170.3,594.2,-7.4,356,6508,0.00,1.27,0.00,0.000,6,0.000,0.028,2798,2466,3526,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6818,-0.82,-170.3,618.3,-7.3,368,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2465,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7117,-0.85,-170.3,641.3,-8.0,378,7124,0.12,1.38,0.00,0.000,4,0.106,0.047,2739,3352,3522,0,0,0,0,0,0,26.47,26.17,28.83
$GC,7243,-0.83,-170.3,654.9,-10.9,382,7249,0.00,1.27,0.00,0.000,6,0.000,0.027,2739,2473,3522,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7580,-0.79,-170.3,695.0,-12.3,393,7586,0.12,1.23,0.00,0.000,4,0.164,0.021,2779,1611,3520,0,0,0,0,0,0,26.21,26.46,28.83
$GC,7711,-0.78,-170.3,709.0,-10.9,397,7716,0.00,1.35,0.00,0.000,6,0.000,0.040,2779,2477,3519,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8041,-0.77,-170.3,743.6,-10.6,408,8047,0.00,1.38,0.00,0.000,4,0.000,0.052,2779,3347,3519,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8071,-0.76,-170.3,743.6,-10.6,408,8078,0.00,1.27,0.00,0.000,6,0.000,0.028,2779,2482,3518,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8378,-0.75,-170.3,779.5,-10.6,419,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2483,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8676,-0.74,-170.3,810.4,-10.3,429,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2483,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8977,-0.73,-170.3,840.4,-10.0,439,8978,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2482,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9276,-0.72,-170.3,866.3,-8.1,449,9282,0.00,1.27,0.00,0.000,4,0.000,0.025,2780,1586,3514,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9392,-0.71,-170.3,873.5,-7.7,452,9398,0.00,1.40,0.00,0.000,6,0.000,0.041,2779,2476,3513,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9709,-0.70,-170.3,898.2,-7.3,463,9710,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2476,3513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10008,-0.70,-170.3,923.5,-8.7,473,10013,0.12,1.30,0.00,0.000,4,0.164,0.023,2821,1585,3512,0,0,0,0,0,0,26.22,26.40,28.83
$GC,10051,-0.70,-170.3,926.1,-8.4,474,10056,0.00,1.40,0.00,0.000,6,0.000,0.041,2821,2473,3514,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10378,-0.72,-170.3,951.5,-8.0,485,10379,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2473,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10675,-0.77,-170.3,977.5,-8.6,495,10680,0.00,1.40,0.00,0.000,4,0.000,0.052,2821,3350,3510,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10723,-0.81,-170.3,980.4,-8.5,496,10729,0.10,1.30,0.00,0.000,6,0.059,0.030,2754,2481,3509,0,0,0,0,0,0,26.25,26.42,28.83
$STATE,10830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10830,begin apogee
$GC,10837,-0.17,0.0,993.0,-10.2,500,10994,0.65,0.00,147.65,1.487,6,0.117,0.000,2973,2100,2852,0,0,0,0,0,0,25.64,28.83,22.69
$STATE,10995,end apogee,CONTROL_FINISHED_OK
$STATE,10996,begin climb
$GC,10998,0.55,170.3,1000.9,0.0,505,11171,0.68,1.55,165.18,1.443,4,0.054,0.043,3222,2996,2157,0,0,0,0,0,0,24.68,23.76,22.08
$GC,11370,0.50,170.3,969.7,12.4,518,11376,0.08,1.30,0.00,0.000,6,0.146,0.026,3200,2140,2147,0,0,0,0,0,0,25.70,26.01,28.83
$GC,11705,0.47,170.3,936.7,9.2,529,11710,0.00,1.38,0.00,0.000,4,0.000,0.043,3200,3001,2145,0,0,0,0,0,0,28.83,26.19,28.83
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$STATE,21060,end climb,SURFACE_DEPTH_REACHED
$STATE,21060,begin surface coast
$FINISH,1.7,1.010168
$STATE,21094,end surface coast,CONTROL_FINISHED_OK
$STATE,21094,begin surface
$SM_CCo,21174,0.00,0.000,0,0,981,459.20
$SM_GC,2.66,8.27,0.55,0.00,0.041,0.043,0.000,134,2497,981,-9.02,-1.05,459.20,0,0,0,0,0,0,25.87,26.34,28.83
$IRIDIUM_FIX,2143.45,11954.49,180113,111105
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.01
$INTERNAL_PRESSURE,9.45898
$TCM_TEMP,23.20
$XPDR_PINGS,1
$SC_FREEKB,3872864
$24V_AH,22.1,78.934
$10V_AH,9.7,39.361
$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,23.625,137.700,564.175,0.000,0.000,0.000,0.000,426.775,0.250,0.000,24.937,3428.439,14029.225,756.386,3083.030,595.518,0.000,2635.189,0.000,2542.014,0.000,0.543,0.000
$DEVICE_MAMPS,238.680,52.020,1487.160,0.000,0.000,0.000,0.000,137.700,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21144.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.501,0.000,0.000,0.000
$MEM,324228
$DATA_FILE_SIZE,36667,980
$CAP_FILE_SIZE,263750,0
$CFSIZE,260034560,211316736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.105,267.5,1
$GPS,180113,180204,2150.309,12000.429,39,0.9,39,-3.0