version: 66.11
glider: 170
mission: 10
dive: 379
start: 1 17 113 5 45 3
data:
$ID,170
$MISSION,10
$DIVE,379
$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,-143572.64
$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,63
$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
$GPS1,170113,053628,2159.154,12001.870,37,0.9,37,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-73.7
$GPS2,170113,054435,2159.067,12001.871,17,0.9,17,-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,164.4,26251,-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,21,-0.57,-180.0,0.0,0.0,0,69,0.00,0.00,-44.88,0.000,2,0.000,0.000,132,2494,1812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.57,-180.0,3.0,-1.0,8,170,11.32,1.30,-75.57,0.000,4,0.235,0.056,2848,1598,3584,0,0,0,0,0,0,25.01,26.15,26.62
$GC,389,-0.54,-180.0,41.4,-15.6,56,395,0.00,1.38,0.00,0.000,6,0.000,0.046,2848,2469,3585,0,0,0,0,0,0,28.83,26.17,28.83
$GC,587,-0.51,-180.0,68.8,-13.1,69,592,0.00,1.40,0.00,0.000,4,0.000,0.051,2848,3363,3585,0,0,0,0,0,0,28.83,26.17,28.83
$GC,651,-0.48,-180.0,76.7,-12.1,72,656,0.00,1.33,0.00,0.000,6,0.000,0.023,2847,2443,3585,0,0,0,0,0,0,28.83,26.46,28.83
$GC,855,-0.47,-180.0,98.8,-11.7,82,861,0.12,1.17,0.00,0.000,4,0.152,0.027,2891,1627,3585,0,0,0,0,0,0,26.26,26.38,28.83
$GC,941,-0.47,-180.0,108.6,-11.5,86,947,0.00,1.33,0.00,0.000,6,0.000,0.046,2891,2476,3585,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1148,-0.53,-180.0,127.4,-6.9,96,1153,0.00,1.38,0.00,0.000,4,0.000,0.052,2892,3357,3586,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1237,-0.60,-180.0,132.9,-6.4,100,1242,0.10,1.25,0.00,0.000,6,0.057,0.023,2818,2488,3586,0,0,0,0,0,0,26.34,26.52,28.83
$GC,1437,-0.60,-180.0,152.1,-10.5,110,1442,0.00,1.25,0.00,0.000,4,0.000,0.029,2818,1614,3586,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1504,-0.60,-180.0,159.0,-10.6,113,1509,0.00,1.35,0.00,0.000,6,0.000,0.044,2818,2478,3586,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1703,-0.60,-180.0,181.8,-12.3,123,1708,0.00,1.38,0.00,0.000,4,0.000,0.051,2818,3360,3587,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1770,-0.60,-180.0,190.0,-12.7,126,1776,0.00,1.27,0.00,0.000,6,0.000,0.023,2818,2475,3587,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1970,-0.60,-180.0,209.4,-7.5,136,1976,0.00,1.25,0.00,0.000,4,0.000,0.029,2818,1605,3587,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2019,-0.60,-180.0,212.7,-7.4,138,2024,0.00,1.35,0.00,0.000,6,0.000,0.044,2818,2472,3587,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2219,-0.60,-180.0,230.1,-8.9,148,2224,0.00,1.27,0.00,0.000,4,0.000,0.031,2818,1609,3587,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2296,-0.60,-180.0,236.3,-9.3,151,2303,0.00,1.35,0.00,0.000,6,0.000,0.044,2818,2476,3587,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2483,-0.60,-180.0,257.7,-11.6,161,2488,0.00,1.27,0.00,0.000,4,0.000,0.029,2818,1609,3586,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2515,-0.60,-180.0,260.3,-11.6,162,2521,0.00,1.35,0.00,0.000,6,0.000,0.042,2817,2477,3586,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2830,-0.60,-180.0,290.7,-7.3,178,2835,0.00,1.38,0.00,0.000,4,0.000,0.050,2817,3357,3585,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2895,-0.60,-180.0,295.1,-6.8,181,2900,0.00,1.30,0.00,0.000,6,0.000,0.025,2817,2428,3585,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3219,-0.63,-180.0,318.3,-7.5,197,3225,0.00,1.10,0.00,0.000,4,0.000,0.028,2818,1653,3583,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3245,-0.66,-180.0,320.2,-7.6,198,3251,0.00,1.30,0.00,0.000,6,0.000,0.042,2818,2484,3582,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3570,-0.70,-180.0,345.3,-7.9,214,3575,0.00,1.35,0.00,0.000,4,0.000,0.050,2818,3348,3581,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3676,-0.73,-180.0,353.9,-8.4,219,3682,0.00,1.20,0.00,0.000,6,0.000,0.026,2818,2486,3580,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4000,-0.77,-180.0,384.7,-9.6,235,4005,0.00,1.20,0.00,0.000,4,0.000,0.028,2818,1648,3578,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4053,-0.80,-180.0,389.0,-9.9,237,4059,0.10,1.27,0.00,0.000,6,0.057,0.041,2755,2471,3578,0,0,0,0,0,0,26.24,26.29,28.83
$GC,4368,-0.80,-180.0,425.6,-11.0,253,4373,0.00,1.23,0.00,0.000,4,0.000,0.027,2755,1634,3576,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4440,-0.78,-180.0,433.0,-11.6,256,4446,0.00,1.30,0.00,0.000,6,0.000,0.042,2755,2468,3576,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4754,-0.76,-180.0,469.6,-10.7,272,4756,0.12,0.00,0.00,0.000,6,0.158,0.000,2791,2469,3573,0,0,0,0,0,0,26.31,28.83,28.83
$GC,5055,-0.76,-180.0,496.3,-9.3,287,5061,0.00,1.23,0.00,0.000,4,0.000,0.026,2791,1630,3572,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5089,-0.76,-180.0,498.6,-9.3,288,5094,0.00,1.33,0.00,0.000,6,0.000,0.041,2791,2480,3572,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5402,-0.76,-180.0,531.7,-10.9,304,5407,0.00,1.38,0.00,0.000,4,0.000,0.050,2791,3354,3570,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5446,-0.76,-180.0,536.5,-11.1,306,5451,0.00,1.25,0.00,0.000,6,0.000,0.028,2792,2475,3570,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5770,-0.76,-180.0,575.5,-12.3,322,5775,0.00,1.42,0.00,0.000,4,0.000,0.051,2792,3351,3569,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5814,-0.76,-180.0,581.0,-12.2,324,5819,0.00,1.25,0.00,0.000,6,0.000,0.028,2792,2482,3567,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6131,-0.76,-180.0,616.0,-10.3,337,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2480,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6428,-0.76,-180.0,640.8,-7.5,347,6433,0.00,1.42,0.00,0.000,4,0.000,0.051,2792,3357,3564,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6483,-0.76,-180.0,643.4,-7.5,348,6488,0.00,1.27,0.00,0.000,6,0.000,0.028,2792,2470,3564,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6797,-0.76,-180.0,670.0,-8.3,359,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2469,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7097,-0.76,-180.0,698.6,-10.1,369,7102,0.00,1.42,0.00,0.000,4,0.000,0.053,2792,3344,3561,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7130,-0.76,-180.0,701.8,-9.9,370,7136,0.00,1.27,0.00,0.000,6,0.000,0.027,2790,2465,3561,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7467,-0.76,-180.0,731.8,-8.5,381,7472,0.00,1.45,0.00,0.000,4,0.000,0.052,2791,3357,3558,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7525,-0.76,-180.0,735.3,-8.8,382,7532,0.00,1.27,0.00,0.000,6,0.000,0.028,2792,2470,3558,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7833,-0.77,-180.0,765.2,-7.7,393,7838,0.00,1.42,0.00,0.000,4,0.000,0.053,2792,3346,3558,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7898,-0.77,-180.0,770.3,-7.5,395,7903,0.00,1.27,0.00,0.000,6,0.000,0.028,2792,2469,3558,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8233,-0.77,-180.0,798.2,-9.6,406,8238,0.00,1.45,0.00,0.000,4,0.000,0.053,2791,3357,3556,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8316,-0.77,-180.0,804.2,-9.6,408,8321,0.00,1.27,0.00,0.000,6,0.000,0.028,2792,2477,3556,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8629,-0.77,-180.0,834.5,-9.4,419,8634,0.00,1.23,0.00,0.000,4,0.000,0.027,2792,1627,3553,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8687,-0.77,-180.0,837.8,-9.6,420,8694,0.00,1.33,0.00,0.000,6,0.000,0.043,2792,2471,3553,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8993,-0.77,-180.0,867.6,-8.7,431,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2471,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9293,-0.77,-180.0,892.6,-8.1,441,9298,0.00,1.40,0.00,0.000,4,0.000,0.054,2792,3351,3551,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9341,-0.77,-180.0,895.4,-8.2,442,9347,0.00,1.27,0.00,0.000,6,0.000,0.029,2792,2480,3551,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9663,-0.77,-180.0,921.4,-7.5,453,9668,0.00,1.42,0.00,0.000,4,0.000,0.054,2792,3350,3550,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9701,-0.77,-180.0,923.9,-7.4,454,9707,0.00,1.27,0.00,0.000,6,0.000,0.030,2792,2485,3550,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10032,-0.77,-180.0,947.2,-7.0,465,10033,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2484,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10332,-0.77,-180.0,970.0,-7.8,475,10333,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2484,3548,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10568,begin apogee
$GC,10575,-0.17,0.0,990.5,-8.5,483,10741,0.55,0.00,155.73,1.486,6,0.117,0.000,2978,2103,2853,0,0,0,0,0,0,25.72,28.83,22.58
$STATE,10743,end apogee,CONTROL_FINISHED_OK
$STATE,10743,begin climb
$GC,10745,0.57,180.0,998.4,0.0,488,10930,0.68,1.40,173.23,1.447,4,0.060,0.033,3226,1272,2115,0,0,0,0,0,0,24.56,23.74,22.04
$GC,10979,0.51,180.0,987.4,9.3,496,10985,0.00,1.40,0.00,0.000,6,0.000,0.039,3226,2112,2111,0,0,0,0,0,0,28.83,24.72,28.83
$GC,11301,0.47,180.0,950.6,10.9,507,11307,0.12,1.35,0.00,0.000,4,0.156,0.045,3184,3002,2106,0,0,0,0,0,0,26.03,26.08,28.83
$GC,11427,0.45,180.0,937.4,10.3,511,11433,0.00,1.27,0.00,0.000,6,0.000,0.027,3187,2168,2106,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11764,0.43,180.0,905.3,9.8,522,11769,0.00,1.33,0.00,0.000,4,0.000,0.045,3187,2999,2103,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11812,0.41,180.0,901.9,9.6,523,11817,0.00,1.35,0.00,0.000,6,0.000,0.028,3188,2084,2104,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12133,0.39,180.0,869.1,10.0,534,12138,0.00,1.48,0.00,0.000,4,0.000,0.044,3188,3008,2103,0,0,0,0,0,0,28.83,26.24,28.83
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$STATE,20382,end climb,SURFACE_DEPTH_REACHED
$STATE,20382,begin surface coast
$FINISH,1.6,1.022007
$STATE,20413,end surface coast,CONTROL_FINISHED_OK
$STATE,20413,begin surface
$SM_CCo,20493,0.00,0.000,0,0,765,512.19
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$IRIDIUM_FIX,2150.42,12000.83,160113,232340
$TT8_MAMPS,0.025466,0.025466
$HUMID,54.76
$INTERNAL_PRESSURE,9.43945
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3874784
$24V_AH,22.0,77.719
$10V_AH,9.7,38.693
$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,22.375,139.450,637.875,0.000,0.000,0.000,0.000,273.075,0.000,0.000,18.258,3163.000,13718.377,809.295,2731.295,541.183,0.000,2472.567,0.000,2349.174,0.000,0.542,0.000
$DEVICE_MAMPS,234.855,55.845,1485.630,0.000,0.000,0.000,0.000,130.815,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20441.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.246,0.000,0.000,0.000
$MEM,324280
$DATA_FILE_SIZE,36720,934
$CAP_FILE_SIZE,244906,0
$CFSIZE,260034560,211959808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.057,335.5,1
$GPS,170113,112752,2157.418,12002.349,36,1.0,36,-3.1