version: 66.11
glider: 170
mission: 10
dive: 380
start: 1 17 113 11 37 59
data:
$ID,170
$MISSION,10
$DIVE,380
$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,-143573.89
$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,66
$R_STBD_OVSHOOT,46
$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
$GPS1,170113,112752,2157.418,12002.349,36,1.0,36,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-71.9
$GPS2,170113,113730,2157.433,12002.211,18,1.1,18,-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,186.2,23337,-14.8,-8.919,-17.07
$D_GRID,1267
$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,-0.57,-180.0,0.0,0.0,0,74,0.00,0.00,-50.55,0.000,2,0.000,0.000,134,2500,1878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.57,-180.0,3.0,-1.0,9,171,11.30,1.33,-72.38,0.000,4,0.236,0.056,2849,1619,3587,0,0,0,0,0,0,25.15,26.10,26.61
$GC,382,-0.54,-180.0,37.5,-13.0,55,389,0.00,1.33,0.00,0.000,6,0.000,0.047,2849,2462,3587,0,0,0,0,0,0,28.83,26.19,28.83
$GC,580,-0.52,-180.0,69.7,-16.2,69,585,0.00,1.40,0.00,0.000,4,0.000,0.051,2849,3356,3587,0,0,0,0,0,0,28.83,26.19,28.83
$GC,644,-0.50,-180.0,80.2,-16.1,72,650,0.00,1.30,0.00,0.000,6,0.000,0.024,2849,2444,3588,0,0,0,0,0,0,28.83,26.50,28.83
$GC,848,-0.48,-180.0,102.4,-9.6,82,853,0.00,1.15,0.00,0.000,4,0.000,0.028,2849,1639,3588,0,0,0,0,0,0,28.83,26.40,28.83
$GC,922,-0.47,-180.0,108.1,-8.9,85,928,0.08,1.30,0.00,0.000,6,0.119,0.045,2880,2472,3587,0,0,0,0,0,0,26.06,26.26,28.83
$GC,1118,-0.52,-180.0,126.5,-9.6,95,1124,0.00,1.25,0.00,0.000,4,0.000,0.031,2880,1627,3588,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1226,-0.58,-180.0,136.1,-8.9,100,1233,0.08,1.33,0.00,0.000,6,0.058,0.042,2817,2484,3588,0,0,0,0,0,0,26.22,26.29,28.83
$GC,1434,-0.60,-180.0,154.1,-8.2,110,1439,0.00,1.25,0.00,0.000,4,0.000,0.028,2817,1630,3589,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1453,-0.62,-180.0,154.1,-8.2,110,1461,0.00,1.30,0.00,0.000,6,0.000,0.041,2817,2475,3589,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1638,-0.64,-180.0,175.6,-11.3,120,1643,0.00,1.23,0.00,0.000,4,0.000,0.028,2817,1631,3588,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1697,-0.66,-180.0,180.4,-10.9,122,1703,0.00,1.30,0.00,0.000,6,0.000,0.041,2817,2475,3589,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1882,-0.67,-180.0,199.0,-8.5,132,1887,0.00,1.23,0.00,0.000,4,0.000,0.027,2817,1629,3589,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1920,-0.69,-180.0,200.9,-8.3,133,1927,0.00,1.30,0.00,0.000,6,0.000,0.041,2817,2475,3589,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2107,-0.71,-180.0,215.3,-7.4,143,2113,0.00,1.23,0.00,0.000,4,0.000,0.027,2817,1628,3589,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2196,-0.72,-180.0,224.4,-10.9,147,2201,0.00,1.30,0.00,0.000,6,0.000,0.041,2817,2475,3589,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2396,-0.75,-180.0,242.0,-9.4,157,2401,0.00,1.23,0.00,0.000,4,0.000,0.027,2816,1631,3589,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2428,-0.78,-180.0,244.4,-9.7,158,2433,0.00,1.30,0.00,0.000,6,0.000,0.041,2817,2474,3588,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2622,-0.81,-180.0,265.1,-10.0,168,2628,0.12,1.25,0.00,0.000,4,0.089,0.024,2739,1623,3587,0,0,0,0,0,0,26.53,26.44,28.83
$GC,2675,-0.81,-180.0,270.4,-10.7,170,2682,0.08,1.33,0.00,0.000,6,0.146,0.041,2767,2477,3587,0,0,0,0,0,0,26.03,26.30,28.83
$GC,2991,-0.79,-180.0,309.4,-12.2,186,2996,0.00,1.38,0.00,0.000,4,0.000,0.050,2767,3358,3586,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3024,-0.77,-180.0,312.5,-12.3,187,3029,0.00,1.25,0.00,0.000,6,0.000,0.024,2767,2457,3586,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3338,-0.74,-180.0,352.9,-11.8,203,3344,0.00,1.15,0.00,0.000,4,0.000,0.028,2767,1650,3584,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3512,-0.73,-180.0,371.1,-10.8,211,3518,0.08,1.27,0.00,0.000,6,0.132,0.041,2798,2473,3583,0,0,0,0,0,0,26.07,26.32,28.83
$GC,3827,-0.73,-180.0,399.8,-8.8,227,3832,0.00,1.38,0.00,0.000,4,0.000,0.051,2795,3349,3582,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3859,-0.73,-180.0,402.0,-8.9,228,3865,0.00,1.23,0.00,0.000,6,0.000,0.025,2794,2475,3582,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4173,-0.73,-180.0,429.8,-7.8,244,4178,0.00,1.20,0.00,0.000,4,0.000,0.027,2795,1633,3579,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4197,-0.73,-180.0,431.7,-7.7,245,4202,0.00,1.30,0.00,0.000,6,0.000,0.041,2795,2471,3579,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4521,-0.75,-180.0,454.8,-7.0,261,4526,0.00,1.38,0.00,0.000,4,0.000,0.050,2795,3347,3577,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4589,-0.76,-180.0,459.7,-7.4,264,4594,0.00,1.23,0.00,0.000,6,0.000,0.027,2795,2478,3576,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4908,-0.79,-180.0,482.1,-7.4,280,4914,0.00,1.40,0.00,0.000,4,0.000,0.050,2795,3345,3574,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4977,-0.81,-180.0,487.2,-7.7,283,4982,0.00,1.23,0.00,0.000,6,0.000,0.027,2795,2482,3574,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5296,-0.84,-180.0,514.7,-8.8,299,5301,0.00,1.40,0.00,0.000,4,0.000,0.051,2795,3349,3572,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5370,-0.86,-180.0,520.6,-9.0,302,5376,0.08,1.25,0.00,0.000,6,0.061,0.028,2740,2472,3571,0,0,0,0,0,0,26.34,26.52,28.83
$GC,5685,-0.82,-180.0,559.5,-12.1,318,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2470,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5987,-0.79,-180.0,594.3,-12.1,333,5993,0.12,1.42,0.00,0.000,4,0.164,0.049,2779,3360,3567,0,0,0,0,0,0,26.22,26.18,28.83
$GC,6032,-0.77,-180.0,599.3,-11.3,335,6037,0.00,1.27,0.00,0.000,6,0.000,0.028,2780,2480,3567,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6358,-0.77,-180.0,630.0,-9.4,346,6363,0.00,1.23,0.00,0.000,4,0.000,0.027,2780,1627,3566,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6435,-0.77,-180.0,636.7,-9.9,348,6440,0.00,1.33,0.00,0.000,6,0.000,0.041,2780,2475,3566,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6754,-0.77,-180.0,671.1,-10.4,359,6759,0.00,1.38,0.00,0.000,4,0.000,0.052,2780,3346,3564,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6796,-0.77,-180.0,674.7,-10.4,360,6801,0.00,1.25,0.00,0.000,6,0.000,0.028,2780,2478,3564,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7122,-0.77,-180.0,708.9,-9.9,371,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2477,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7420,-0.77,-180.0,737.7,-9.6,381,7425,0.00,1.23,0.00,0.000,4,0.000,0.027,2780,1625,3561,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7467,-0.77,-180.0,740.9,-9.5,382,7473,0.00,1.33,0.00,0.000,6,0.000,0.042,2781,2472,3561,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7790,-0.77,-180.0,769.7,-8.1,393,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2471,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8087,-0.77,-180.0,794.7,-8.4,403,8092,0.00,1.40,0.00,0.000,4,0.000,0.052,2780,3352,3558,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8114,-0.77,-180.0,794.7,-8.4,403,8121,0.00,1.27,0.00,0.000,6,0.000,0.029,2780,2482,3558,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8423,-0.76,-180.0,827.2,-9.9,414,8428,0.00,1.42,0.00,0.000,4,0.000,0.053,2780,3354,3557,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8459,-0.76,-180.0,830.9,-10.0,415,8465,0.00,1.30,0.00,0.000,6,0.000,0.029,2780,2465,3557,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8791,-0.76,-180.0,863.9,-9.8,426,8796,0.00,1.45,0.00,0.000,4,0.000,0.052,2780,3351,3556,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8838,-0.76,-180.0,867.1,-9.4,427,8843,0.00,1.27,0.00,0.000,6,0.000,0.029,2780,2488,3555,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9159,-0.76,-180.0,892.8,-7.4,438,9161,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2487,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9457,-0.76,-180.0,915.9,-7.8,448,9462,0.00,1.40,0.00,0.000,4,0.000,0.053,2780,3347,3553,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9545,-0.76,-180.0,921.8,-8.7,450,9551,0.00,1.30,0.00,0.000,6,0.000,0.028,2783,2449,3553,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9852,-0.76,-180.0,953.3,-9.7,461,9857,0.00,1.48,0.00,0.000,4,0.000,0.054,2778,3347,3552,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9885,-0.76,-180.0,956.3,-9.4,462,9890,0.00,1.27,0.00,0.000,6,0.000,0.030,2780,2493,3551,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10221,-0.76,-180.0,984.9,-8.1,473,10222,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2494,3551,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10276,begin apogee
$GC,10283,-0.17,0.0,990.0,-8.5,475,10449,0.57,0.00,156.23,1.483,6,0.114,0.000,2975,2100,2852,0,0,0,0,0,0,25.73,28.83,22.63
$STATE,10451,end apogee,CONTROL_FINISHED_OK
$STATE,10451,begin climb
$GC,10454,0.57,180.0,997.9,0.0,480,10639,0.68,1.62,172.68,1.443,4,0.054,0.047,3226,2994,2116,0,0,0,0,0,0,24.62,23.74,22.05
$GC,10728,0.51,180.0,985.5,10.1,489,10735,0.00,1.33,0.00,0.000,6,0.000,0.027,3230,2135,2110,0,0,0,0,0,0,28.83,25.30,28.83
$GC,11036,0.47,180.0,947.7,11.1,500,11038,0.15,0.00,0.00,0.000,6,0.154,0.000,3187,2135,2107,0,0,0,0,0,0,26.02,28.83,28.83
$GC,11335,0.45,180.0,920.2,9.7,510,11340,0.00,1.38,0.00,0.000,4,0.000,0.044,3187,2995,2105,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11473,0.43,180.0,908.8,9.1,514,11479,0.00,1.30,0.00,0.000,6,0.000,0.028,3191,2120,2104,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11795,0.41,183.6,879.5,8.8,525,11800,0.00,1.38,0.00,0.000,4,0.000,0.045,3191,2996,2103,0,0,0,0,0,0,28.83,26.24,28.83
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$STATE,20587,end climb,SURFACE_DEPTH_REACHED
$STATE,20587,begin surface coast
$FINISH,1.6,1.011909
$STATE,20624,end surface coast,CONTROL_FINISHED_OK
$STATE,20624,begin surface
$SM_CCo,20704,0.00,0.000,0,0,458,587.74
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$IRIDIUM_FIX,2150.42,12004.01,170113,050547
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.85
$INTERNAL_PRESSURE,9.41992
$TCM_TEMP,23.50
$XPDR_PINGS,1
$SC_FREEKB,3874400
$24V_AH,22.0,77.978
$10V_AH,9.5,38.823
$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
$DEVICE_SECS,22.500,133.175,701.500,0.000,0.000,0.000,0.000,337.325,0.250,0.000,18.943,3229.667,13733.768,865.903,2878.556,559.194,0.000,2624.756,0.000,2416.410,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20678.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.791,0.000,0.000,0.000
$MEM,324292
$DATA_FILE_SIZE,36676,962
$CAP_FILE_SIZE,250254,0
$CFSIZE,260034560,211832832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.120,303.1,1
$GPS,170113,172422,2156.105,12001.166,38,0.9,38,-3.1