version: 66.11
glider: 170
mission: 10
dive: 389
start: 1 19 113 18 13 36
data:
$ID,170
$MISSION,10
$DIVE,389
$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,180
$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,-143621.17
$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,0.0099999998
$PITCH_ADJ_DBAND,2
$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,67
$R_STBD_OVSHOOT,77
$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
$GPS1,190113,180328,2145.016,11959.486,48,0.8,48,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-72.4
$GPS2,190113,181306,2144.989,11959.425,19,0.9,19,-3.0
$SPEED_LIMITS,0.147,0.282
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,161.5,305560,-14.4,-8.462,-16.72
$D_GRID,2492
$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,-175.2,0.0,0.0,0,84,0.00,0.00,-60.30,0.000,2,0.000,0.000,134,2537,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.55,-175.2,3.3,-2.0,11,156,11.30,1.42,-51.62,0.000,4,0.235,0.048,2854,1591,3569,0,0,0,0,0,0,25.08,26.22,26.60
$GC,206,-0.52,-175.2,13.6,-11.9,31,213,0.00,1.33,0.00,0.000,6,0.000,0.041,2854,2433,3569,0,0,0,0,0,0,28.83,26.13,28.83
$GC,401,-0.48,-175.2,40.4,-12.3,57,407,0.00,1.45,0.00,0.000,4,0.000,0.052,2854,3356,3569,0,0,0,0,0,0,28.83,26.14,28.83
$GC,436,-0.45,-175.2,44.8,-12.3,60,442,0.08,1.30,0.00,0.000,6,0.116,0.023,2887,2450,3569,0,0,0,0,0,0,26.16,26.46,28.83
$GC,634,-0.45,-175.2,65.4,-10.4,72,639,0.00,1.17,0.00,0.000,4,0.000,0.025,2887,1612,3568,0,0,0,0,0,0,28.83,26.42,28.83
$GC,721,-0.45,-175.2,75.2,-11.2,76,727,0.00,1.33,0.00,0.000,6,0.000,0.039,2887,2472,3569,0,0,0,0,0,0,28.83,26.26,28.83
$GC,921,-0.45,-175.2,96.1,-10.1,86,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2472,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1102,-0.52,-175.2,110.7,-7.3,95,1107,0.00,1.38,0.00,0.000,4,0.000,0.051,2887,3354,3569,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1127,-0.59,-175.2,112.6,-7.2,96,1133,0.10,1.25,0.00,0.000,6,0.049,0.023,2809,2457,3570,0,0,0,0,0,0,26.36,26.52,28.83
$GC,1334,-0.57,-175.2,134.8,-11.9,106,1340,0.12,1.40,0.00,0.000,4,0.144,0.044,2852,3355,3570,0,0,0,0,0,0,26.28,26.21,28.83
$GC,1446,-0.59,-175.2,145.4,-9.5,111,1451,0.00,1.23,0.00,0.000,6,0.000,0.024,2852,2464,3570,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1647,-0.66,-175.2,162.8,-8.2,121,1653,0.00,1.42,0.00,0.000,4,0.000,0.047,2852,3361,3570,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1666,-0.73,-175.2,162.8,-8.2,121,1673,0.12,1.23,0.00,0.000,6,0.045,0.024,2765,2472,3570,0,0,0,0,0,0,26.39,26.53,28.83
$GC,1854,-0.67,-175.2,189.5,-14.9,131,1856,0.17,0.00,0.00,0.000,6,0.144,0.000,2819,2471,3570,0,0,0,0,0,0,26.17,28.83,28.83
$GC,2031,-0.67,-175.2,209.5,-10.6,140,2036,0.00,1.17,0.00,0.000,4,0.000,0.027,2819,1627,3570,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2117,-0.67,-175.2,217.9,-9.8,144,2122,0.00,1.30,0.00,0.000,6,0.000,0.038,2819,2475,3570,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2322,-0.70,-175.2,234.8,-7.7,154,2327,0.00,1.38,0.00,0.000,4,0.000,0.050,2819,3355,3570,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2401,-0.70,-175.2,239.9,-7.8,157,2408,0.00,1.23,0.00,0.000,6,0.000,0.024,2819,2461,3570,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2588,-0.75,-175.2,255.7,-8.2,167,2594,0.00,1.15,0.00,0.000,4,0.000,0.048,2819,1640,3570,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2623,-0.79,-175.2,257.9,-8.3,168,2629,0.08,1.27,0.00,0.000,6,0.055,0.038,2753,2469,3569,0,0,0,0,0,0,26.25,26.31,28.83
$GC,2937,-0.74,-175.2,295.3,-12.3,184,2943,0.12,1.20,0.00,0.000,4,0.157,0.021,2794,1629,3567,0,0,0,0,0,0,26.25,26.47,28.83
$GC,3057,-0.74,-175.2,305.9,-10.1,189,3064,0.00,1.30,0.00,0.000,6,0.000,0.039,2794,2474,3567,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3363,-0.74,-175.2,337.3,-9.8,205,3368,0.00,1.38,0.00,0.000,4,0.000,0.051,2794,3353,3566,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3401,-0.74,-175.2,339.8,-9.9,206,3408,0.00,1.20,0.00,0.000,6,0.000,0.024,2794,2489,3565,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3707,-0.74,-175.2,367.8,-8.5,222,3713,0.00,1.20,0.00,0.000,4,0.000,0.024,2794,1627,3564,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3767,-0.74,-175.2,371.4,-8.1,224,3773,0.00,1.30,0.00,0.000,6,0.000,0.039,2794,2472,3562,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4072,-0.74,-175.2,400.4,-9.7,240,4077,0.00,1.38,0.00,0.000,4,0.000,0.050,2794,3353,3562,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4105,-0.74,-175.2,402.7,-9.8,241,4110,0.00,1.23,0.00,0.000,6,0.000,0.025,2794,2472,3561,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4419,-0.74,-175.2,434.4,-10.3,257,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2472,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4722,-0.74,-175.2,464.7,-9.8,272,4727,0.00,1.42,0.00,0.000,4,0.000,0.050,2794,3354,3558,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4754,-0.74,-175.2,467.4,-10.0,273,4759,0.00,1.23,0.00,0.000,6,0.000,0.027,2794,2488,3557,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5068,-0.74,-175.2,495.4,-8.0,289,5074,0.00,1.23,0.00,0.000,4,0.000,0.024,2794,1606,3556,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5132,-0.74,-175.2,500.6,-8.1,292,5138,0.00,1.35,0.00,0.000,6,0.000,0.039,2794,2478,3555,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5457,-0.76,-175.2,526.0,-8.0,308,5462,0.00,1.38,0.00,0.000,4,0.000,0.051,2794,3350,3553,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5475,-0.79,-175.2,526.0,-8.0,308,5482,0.00,1.25,0.00,0.000,6,0.000,0.027,2794,2478,3553,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5781,-0.81,-175.2,553.7,-8.8,324,5786,0.00,1.23,0.00,0.000,4,0.000,0.024,2794,1605,3550,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5804,-0.81,-175.2,555.9,-8.9,325,5809,0.00,1.35,0.00,0.000,6,0.000,0.041,2794,2478,3551,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6129,-0.84,-175.2,584.5,-8.8,341,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2475,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6450,-0.88,-175.2,611.0,-8.1,355,6455,0.12,1.38,0.00,0.000,4,0.091,0.049,2723,3356,3548,0,0,0,0,0,0,26.51,26.17,28.83
$GC,6575,-0.83,-175.2,625.2,-11.2,359,6580,0.12,1.27,0.00,0.000,6,0.139,0.027,2764,2480,3546,0,0,0,0,0,0,25.99,26.49,28.83
$GC,6909,-0.80,-175.2,658.7,-10.2,370,6914,0.00,1.23,0.00,0.000,4,0.000,0.024,2765,1608,3545,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6933,-0.77,-175.2,658.7,-10.2,370,6938,0.00,1.35,0.00,0.000,6,0.000,0.041,2764,2470,3544,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7248,-0.74,-175.2,695.8,-11.4,381,7254,0.12,1.35,0.00,0.000,4,0.165,0.048,2806,3354,3544,0,0,0,0,0,0,26.23,26.15,28.83
$GC,7283,-0.74,-175.2,699.5,-11.2,382,7289,0.00,1.30,0.00,0.000,6,0.000,0.028,2807,2470,3543,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7620,-0.79,-175.2,730.0,-8.9,393,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2469,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7918,-0.83,-175.2,755.0,-8.1,403,7924,0.12,1.42,0.00,0.000,4,0.091,0.049,2740,3354,3540,0,0,0,0,0,0,26.51,26.13,28.83
$GC,8153,-0.78,-175.2,779.3,-11.6,410,8159,0.12,1.27,0.00,0.000,6,0.132,0.028,2782,2485,3538,0,0,0,0,0,0,25.99,26.46,28.83
$GC,8470,-0.78,-175.2,808.0,-7.6,421,8476,0.00,1.42,0.00,0.000,4,0.000,0.053,2782,3359,3538,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8498,-0.78,-175.2,808.0,-7.6,421,8505,0.00,1.30,0.00,0.000,6,0.000,0.029,2782,2469,3538,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8806,-0.78,-175.2,832.4,-7.0,432,8811,0.00,1.45,0.00,0.000,4,0.000,0.052,2782,3359,3536,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8853,-0.78,-175.2,834.8,-6.9,433,8858,0.00,1.30,0.00,0.000,6,0.000,0.029,2782,2482,3536,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9175,-0.78,-175.2,859.8,-8.2,444,9180,0.00,1.27,0.00,0.000,4,0.000,0.025,2782,1588,3535,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9217,-0.78,-175.2,862.9,-8.4,445,9222,0.00,1.40,0.00,0.000,6,0.000,0.041,2783,2475,3534,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9541,-0.78,-175.2,892.1,-8.7,456,9546,0.00,1.30,0.00,0.000,4,0.000,0.026,2782,1585,3533,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9585,-0.78,-175.2,895.1,-8.7,457,9590,0.00,1.40,0.00,0.000,6,0.000,0.043,2782,2471,3533,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9908,-0.78,-175.2,927.6,-10.1,468,9913,0.00,1.40,0.00,0.000,4,0.000,0.053,2783,3349,3532,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9931,-0.78,-175.2,927.6,-10.1,468,9937,0.00,1.30,0.00,0.000,6,0.000,0.030,2782,2468,3532,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10245,-0.78,-175.2,960.6,-9.7,479,10250,0.00,1.25,0.00,0.000,4,0.000,0.026,2783,1592,3531,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10297,-0.78,-175.2,963.9,-9.7,480,10302,0.00,1.40,0.00,0.000,6,0.000,0.042,2782,2476,3531,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,10609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10609,begin apogee
$GC,10618,-0.17,0.0,992.1,-8.0,491,10781,0.57,0.00,151.98,1.487,6,0.112,0.000,2978,2104,2853,0,0,0,0,0,0,25.70,28.83,22.63
$STATE,10783,end apogee,CONTROL_FINISHED_OK
$STATE,10783,begin climb
$GC,10786,0.55,175.2,997.5,0.0,496,10963,0.65,0.00,170.43,1.439,6,0.055,0.000,3219,2104,2138,0,0,0,0,0,0,24.68,28.83,22.06
$GC,11242,0.49,175.2,955.3,11.6,512,11247,0.00,1.45,0.00,0.000,4,0.000,0.047,3219,2997,2126,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11390,0.42,175.2,940.2,12.1,516,11397,0.15,1.27,0.00,0.000,6,0.129,0.027,3172,2138,2125,0,0,0,0,0,0,25.90,26.32,28.83
$GC,11698,0.43,197.4,912.2,7.7,527,11726,0.00,1.40,19.50,1.362,4,0.000,0.044,3172,2998,2047,0,0,0,0,0,0,28.83,25.82,23.87
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$STATE,20866,end climb,SURFACE_DEPTH_REACHED
$STATE,20866,begin surface coast
$FINISH,1.7,1.010711
$STATE,20890,end surface coast,CONTROL_FINISHED_OK
$STATE,20890,begin surface
$SM_CCo,20971,0.00,0.000,0,0,833,495.51
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$IRIDIUM_FIX,2136.49,11919.95,190113,111153
$TT8_MAMPS,0.025466,0.025466
$HUMID,53.58
$INTERNAL_PRESSURE,9.45898
$TCM_TEMP,23.50
$XPDR_PINGS,2
$SC_FREEKB,3870944
$24V_AH,22.1,80.139
$10V_AH,9.5,40.005
$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,23.450,144.400,618.800,0.000,0.000,0.000,0.000,332.200,0.500,0.000,20.751,3337.281,13884.329,792.448,2929.233,589.725,0.000,2560.116,0.000,2473.196,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,52.785,1487.160,0.000,0.000,0.000,0.000,135.405,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20945.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.389,0.000,0.000,0.000
$MEM,324300
$DATA_FILE_SIZE,36645,962
$CAP_FILE_SIZE,254748,0
$CFSIZE,260034560,210702336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.125,268.8,1
$GPS,200113,000428,2143.279,11959.191,41,0.9,41,-3.0