version: 66.11
glider: 170
mission: 10
dive: 377
start: 1 16 113 17 59 59
data:
$ID,170
$MISSION,10
$DIVE,377
$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,370
$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,-143570.14
$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,25
$C_ROLL_DIVE,2475
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,78
$R_STBD_OVSHOOT,45
$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
$GPS1,160113,174952,2200.681,12002.324,40,0.8,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-76.7
$GPS2,160113,175930,2200.693,12002.221,20,0.9,20,-3.1
$SPEED_LIMITS,0.154,0.290
$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,159.1,29313,-14.8,-8.919,-17.07
$D_GRID,1141
$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,22,-0.51,-180.0,0.0,0.0,0,81,0.00,0.00,-56.90,0.000,2,0.000,0.000,132,2495,2005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.51,-180.0,3.1,-1.7,10,163,11.40,1.35,-59.95,0.000,4,0.235,0.054,2883,1615,3588,0,0,0,0,0,0,25.14,26.18,26.60
$GC,301,-0.50,-180.0,26.7,-15.9,47,307,0.00,1.35,0.00,0.000,6,0.000,0.048,2882,2462,3589,0,0,0,0,0,0,28.83,26.13,28.83
$GC,486,-0.49,-180.0,49.4,-12.1,66,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2462,3588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,676,-0.49,-180.0,72.9,-12.5,76,682,0.00,1.42,0.00,0.000,4,0.000,0.054,2883,3364,3588,0,0,0,0,0,0,28.83,26.20,28.83
$GC,725,-0.49,-180.0,78.3,-12.3,78,730,0.00,1.27,0.00,0.000,6,0.000,0.023,2882,2469,3589,0,0,0,0,0,0,28.83,26.51,28.83
$GC,923,-0.49,-180.0,101.7,-10.2,88,928,0.00,1.23,0.00,0.000,4,0.000,0.031,2883,1626,3589,0,0,0,0,0,0,28.83,26.39,28.83
$GC,971,-0.50,-180.0,105.7,-9.4,90,977,0.00,1.33,0.00,0.000,6,0.000,0.044,2883,2476,3589,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1172,-0.56,-180.0,120.3,-7.2,100,1179,0.00,1.38,0.00,0.000,4,0.000,0.052,2885,3358,3589,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1213,-0.63,-180.0,122.5,-7.7,101,1220,0.08,1.25,0.00,0.000,6,0.059,0.024,2817,2465,3589,0,0,0,0,0,0,26.34,26.48,28.83
$GC,1400,-0.66,-180.0,143.3,-10.6,111,1405,0.00,1.40,0.00,0.000,4,0.000,0.047,2817,3351,3590,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1478,-0.66,-180.0,150.5,-10.6,114,1486,0.00,1.23,0.00,0.000,6,0.000,0.023,2817,2481,3590,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1664,-0.65,-180.0,170.4,-9.3,124,1669,0.00,1.23,0.00,0.000,4,0.000,0.031,2817,1632,3590,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1791,-0.64,-180.0,182.3,-9.5,130,1796,0.00,1.33,0.00,0.000,6,0.000,0.047,2816,2475,3590,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1997,-0.62,-180.0,202.1,-9.5,140,1999,0.12,0.00,0.00,0.000,6,0.151,0.000,2854,2475,3590,0,0,0,0,0,0,26.32,28.83,28.83
$GC,2176,-0.67,-180.0,216.8,-8.2,149,2182,0.00,1.25,0.00,0.000,4,0.000,0.037,2854,1629,3590,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2303,-0.72,-180.0,227.0,-7.8,155,2310,0.08,1.33,0.00,0.000,6,0.057,0.043,2793,2474,3589,0,0,0,0,0,0,26.25,26.29,28.83
$GC,2511,-0.73,-180.0,245.8,-9.0,165,2517,0.00,1.23,0.00,0.000,4,0.000,0.029,2793,1632,3589,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2570,-0.73,-180.0,250.2,-9.0,167,2577,0.00,1.33,0.00,0.000,6,0.000,0.044,2793,2479,3589,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2876,-0.72,-180.0,281.6,-9.9,183,2882,0.00,1.38,0.00,0.000,4,0.000,0.051,2792,3361,3588,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2930,-0.71,-180.0,286.0,-9.8,185,2935,0.00,1.25,0.00,0.000,6,0.000,0.023,2793,2502,3588,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3244,-0.70,-180.0,315.9,-8.5,201,3249,0.12,1.30,0.00,0.000,4,0.155,0.027,2836,1607,3587,0,0,0,0,0,0,26.28,26.41,28.83
$GC,3331,-0.72,-180.0,321.2,-6.3,205,3336,0.00,1.38,0.00,0.000,6,0.000,0.043,2836,2479,3586,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3655,-0.77,-180.0,341.4,-7.2,221,3660,0.12,1.35,0.00,0.000,4,0.090,0.049,2754,3367,3584,0,0,0,0,0,0,26.53,26.25,28.83
$GC,3718,-0.77,-180.0,348.1,-9.9,224,3724,0.12,1.33,0.00,0.000,6,0.121,0.023,2799,2451,3583,0,0,0,0,0,0,26.11,26.51,28.83
$GC,4042,-0.77,-180.0,384.2,-11.7,240,4047,0.00,1.17,0.00,0.000,4,0.000,0.028,2799,1626,3581,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4075,-0.77,-180.0,386.9,-11.6,241,4080,0.00,1.33,0.00,0.000,6,0.000,0.042,2799,2475,3581,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4388,-0.80,-180.0,420.3,-9.2,257,4394,0.00,1.25,0.00,0.000,4,0.000,0.028,2799,1625,3580,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4443,-0.83,-180.0,424.0,-8.7,259,4448,0.00,1.33,0.00,0.000,6,0.000,0.042,2798,2475,3579,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4756,-0.85,-180.0,451.9,-8.7,275,4761,0.00,1.38,0.00,0.000,4,0.000,0.051,2800,3357,3578,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4850,-0.88,-180.0,459.4,-9.0,279,4855,0.00,1.27,0.00,0.000,6,0.000,0.025,2799,2452,3577,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5164,-0.91,-180.0,489.9,-9.3,295,5170,0.12,1.17,0.00,0.000,4,0.094,0.024,2731,1632,3575,0,0,0,0,0,0,26.52,26.44,28.83
$GC,5318,-0.87,-180.0,508.4,-13.1,302,5325,0.10,1.33,0.00,0.000,6,0.142,0.043,2765,2477,3574,0,0,0,0,0,0,25.97,26.28,28.83
$GC,5635,-0.85,-180.0,544.4,-11.0,318,5640,0.00,1.38,0.00,0.000,4,0.000,0.053,2765,3348,3572,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5707,-0.83,-180.0,551.7,-11.1,321,5712,0.00,1.23,0.00,0.000,6,0.000,0.025,2765,2487,3572,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6021,-0.81,-180.0,587.7,-10.7,337,6027,0.00,1.23,0.00,0.000,4,0.000,0.028,2765,1633,3569,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6181,-0.79,-180.0,604.6,-10.9,344,6187,0.08,1.33,0.00,0.000,6,0.135,0.042,2794,2479,3568,0,0,0,0,0,0,26.03,26.27,28.83
$GC,6512,-0.79,-180.0,635.7,-9.0,355,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2479,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6810,-0.79,-180.0,661.4,-8.6,365,6816,0.00,1.38,0.00,0.000,4,0.000,0.052,2794,3351,3566,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6864,-0.79,-180.0,664.3,-8.5,366,6870,0.00,1.25,0.00,0.000,6,0.000,0.028,2794,2482,3565,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7180,-0.79,-180.0,690.7,-7.9,377,7185,0.00,1.42,0.00,0.000,4,0.000,0.053,2794,3355,3564,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7208,-0.79,-180.0,690.7,-7.9,377,7215,0.00,1.27,0.00,0.000,6,0.000,0.028,2793,2476,3564,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7513,-0.79,-180.0,716.7,-7.7,388,7518,0.00,1.23,0.00,0.000,4,0.000,0.028,2794,1622,3562,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7586,-0.79,-180.0,722.0,-8.0,390,7592,0.00,1.35,0.00,0.000,6,0.000,0.042,2794,2482,3562,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7914,-0.79,-180.0,750.7,-8.7,401,7919,0.00,1.27,0.00,0.000,4,0.000,0.026,2794,1614,3560,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7952,-0.79,-180.0,753.9,-8.8,402,7957,0.00,1.35,0.00,0.000,6,0.000,0.043,2794,2473,3559,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8283,-0.79,-180.0,782.0,-8.3,413,8289,0.00,1.40,0.00,0.000,4,0.000,0.054,2794,3353,3558,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8336,-0.79,-180.0,785.1,-8.4,414,8342,0.00,1.27,0.00,0.000,6,0.000,0.028,2794,2472,3558,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8653,-0.79,-180.0,813.0,-7.8,425,8658,0.00,1.45,0.00,0.000,4,0.000,0.053,2794,3356,3557,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8691,-0.79,-180.0,815.8,-7.7,426,8696,0.00,1.27,0.00,0.000,6,0.000,0.028,2794,2478,3557,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9023,-0.79,-180.0,843.9,-8.6,437,9029,0.00,1.23,0.00,0.000,4,0.000,0.028,2794,1620,3556,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9112,-0.80,-180.0,849.8,-8.7,439,9119,0.00,1.35,0.00,0.000,6,0.000,0.043,2794,2478,3556,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9418,-0.81,-180.0,880.0,-9.3,450,9419,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2479,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9718,-0.82,-180.0,906.1,-8.5,460,9723,0.00,1.27,0.00,0.000,4,0.000,0.027,2794,1613,3553,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9761,-0.83,-180.0,908.9,-8.5,461,9766,0.00,1.38,0.00,0.000,6,0.000,0.044,2794,2480,3553,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10088,-0.84,-180.0,936.2,-8.1,472,10094,0.00,1.40,0.00,0.000,4,0.000,0.054,2793,3357,3551,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10132,-0.85,-180.0,939.2,-8.0,473,10138,0.00,1.30,0.00,0.000,6,0.000,0.029,2794,2471,3551,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10461,-0.86,-180.0,964.3,-7.3,484,10466,0.00,1.23,0.00,0.000,4,0.000,0.027,2794,1616,3550,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10525,-0.87,-180.0,969.4,-7.4,486,10530,0.00,1.38,0.00,0.000,6,0.000,0.044,2793,2479,3550,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,10826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10828,begin apogee
$GC,10835,-0.15,0.0,990.7,-6.7,496,10998,0.60,0.00,155.85,1.476,6,0.106,0.000,3001,2106,2853,0,0,0,0,0,0,25.77,28.83,22.65
$STATE,11000,end apogee,CONTROL_FINISHED_OK
$STATE,11000,begin climb
$GC,11003,0.51,180.0,996.1,0.0,501,11187,0.57,1.62,171.98,1.443,4,0.048,0.047,3220,3000,2118,0,0,0,0,0,0,24.63,23.74,22.09
$GC,11386,0.46,180.0,965.6,11.7,514,11391,0.00,1.30,0.00,0.000,6,0.000,0.028,3226,2129,2110,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11708,0.42,180.0,928.6,10.7,525,11710,0.15,0.00,0.00,0.000,6,0.155,0.000,3182,2129,2106,0,0,0,0,0,0,26.08,28.83,28.83
$GC,12007,0.41,188.2,902.5,8.6,535,12021,0.00,1.42,7.10,1.152,4,0.000,0.045,3182,3008,2085,0,0,0,0,0,0,28.83,26.11,23.93
$GC,12065,0.39,188.9,899.1,8.9,536,12072,0.00,1.33,0.00,0.000,6,0.000,0.028,3186,2113,2084,0,0,0,0,0,0,28.83,26.28,28.83
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$STATE,20086,end climb,SURFACE_DEPTH_REACHED
$STATE,20086,begin surface coast
$FINISH,1.6,1.009276
$STATE,20117,end surface coast,CONTROL_FINISHED_OK
$STATE,20117,begin surface
$SM_CCo,20197,0.00,0.000,0,0,780,508.51
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$IRIDIUM_FIX,2152.74,12002.00,160113,111127
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.74
$INTERNAL_PRESSURE,9.42968
$TCM_TEMP,23.20
$XPDR_PINGS,2
$SC_FREEKB,3875424
$24V_AH,22.1,77.219
$10V_AH,9.7,38.455
$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,23.300,133.275,631.425,0.000,0.000,0.000,0.000,333.825,0.500,0.000,21.012,3248.719,13276.606,807.047,2877.293,548.238,0.000,2544.235,0.000,2416.915,0.000,0.542,0.000
$DEVICE_MAMPS,234.855,54.315,1475.685,0.000,0.000,0.000,0.000,134.640,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20170.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.541,0.000,0.000,0.000
$MEM,324264
$DATA_FILE_SIZE,36720,924
$CAP_FILE_SIZE,247974,0
$CFSIZE,260034560,212180992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.123,313.7,1
$GPS,160113,233752,2159.770,12002.696,36,0.9,36,-3.1