version: 66.11
glider: 170
mission: 10
dive: 382
start: 1 17 113 23 48 39
data:
$ID,170
$MISSION,10
$DIVE,382
$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,-143612.42
$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,56
$R_STBD_OVSHOOT,44
$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
$GPS1,170113,233705,2154.311,12000.778,30,1.0,30,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-73.3
$GPS2,170113,234811,2154.479,12000.569,18,1.0,18,-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,165.9,17582,-14.6,-8.462,-16.91
$D_GRID,1360
$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,-0.55,-170.3,0.0,0.0,0,73,0.00,0.00,-49.22,0.000,2,0.000,0.000,135,2483,1779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.55,-170.3,3.1,-1.4,8,193,11.23,1.35,-95.88,0.000,4,0.236,0.046,2852,1530,3549,0,0,0,0,0,0,25.35,26.29,26.63
$GC,355,-0.53,-170.3,27.6,-11.1,56,361,0.00,1.45,0.00,0.000,6,0.000,0.035,2852,2478,3548,0,0,0,0,0,0,28.83,26.26,28.83
$GC,559,-0.50,-170.3,55.8,-13.8,74,564,0.00,1.27,0.00,0.000,4,0.000,0.023,2852,1568,3548,0,0,0,0,0,0,28.83,26.44,28.83
$GC,606,-0.47,-170.3,61.7,-13.8,76,612,0.00,1.40,0.00,0.000,6,0.000,0.035,2852,2486,3548,0,0,0,0,0,0,28.83,26.31,28.83
$GC,807,-0.45,-170.3,87.4,-13.6,86,813,0.12,1.30,0.00,0.000,4,0.145,0.021,2896,1567,3549,0,0,0,0,0,0,26.27,26.46,28.83
$GC,881,-0.46,-170.3,94.2,-11.0,89,886,0.00,1.38,0.00,0.000,6,0.000,0.034,2896,2476,3548,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1076,-0.52,-170.3,110.3,-8.5,99,1081,0.00,1.27,0.00,0.000,4,0.000,0.023,2896,1567,3549,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1206,-0.58,-170.3,120.4,-7.6,105,1211,0.10,1.38,0.00,0.000,6,0.062,0.034,2816,2477,3549,0,0,0,0,0,0,26.27,26.35,28.83
$GC,1408,-0.60,-170.3,139.6,-10.1,115,1413,0.00,1.35,0.00,0.000,4,0.000,0.047,2816,3347,3549,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1481,-0.61,-170.3,146.6,-10.6,118,1487,0.00,1.30,0.00,0.000,6,0.000,0.024,2816,2389,3549,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1676,-0.60,-170.3,166.5,-9.4,128,1681,0.00,1.12,0.00,0.000,4,0.000,0.023,2816,1546,3549,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1723,-0.59,-170.3,170.2,-8.8,130,1729,0.00,1.40,0.00,0.000,6,0.000,0.035,2816,2468,3549,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1922,-0.59,-170.3,188.7,-9.6,140,1928,0.00,1.35,0.00,0.000,4,0.000,0.047,2816,3346,3548,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1941,-0.59,-170.3,188.7,-9.6,140,1948,0.00,1.30,0.00,0.000,6,0.000,0.025,2816,2416,3549,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2127,-0.60,-170.3,208.9,-9.5,150,2132,0.00,1.48,0.00,0.000,4,0.000,0.046,2815,3351,3549,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2234,-0.61,-170.3,218.1,-8.7,155,2240,0.00,1.30,0.00,0.000,6,0.000,0.025,2816,2420,3549,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2442,-0.64,-170.3,233.9,-7.7,165,2447,0.00,1.48,0.00,0.000,4,0.000,0.047,2816,3352,3549,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2501,-0.66,-170.3,237.4,-7.6,167,2508,0.00,1.30,0.00,0.000,6,0.000,0.025,2815,2422,3548,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2686,-0.68,-170.3,254.1,-8.5,177,2691,0.00,1.48,0.00,0.000,4,0.000,0.047,2816,3355,3548,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2723,-0.71,-170.3,256.2,-8.6,178,2730,0.00,1.30,0.00,0.000,6,0.000,0.025,2816,2425,3548,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3030,-0.74,-170.3,283.0,-8.0,194,3035,0.00,1.10,0.00,0.000,4,0.000,0.024,2816,1606,3546,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3089,-0.76,-170.3,286.4,-7.7,196,3096,0.00,1.33,0.00,0.000,6,0.000,0.035,2816,2480,3546,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3395,-0.79,-170.3,309.7,-7.8,212,3400,0.00,1.35,0.00,0.000,4,0.000,0.049,2816,3346,3544,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3460,-0.82,-170.3,315.4,-8.6,215,3465,0.10,1.23,0.00,0.000,6,0.061,0.027,2753,2486,3543,0,0,0,0,0,0,26.34,26.52,28.83
$GC,3784,-0.78,-170.3,354.8,-11.7,231,3790,0.00,1.23,0.00,0.000,4,0.000,0.022,2753,1604,3541,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3873,-0.75,-170.3,363.8,-10.6,235,3879,0.10,1.33,0.00,0.000,6,0.140,0.037,2789,2471,3541,0,0,0,0,0,0,26.03,26.34,28.83
$GC,4193,-0.74,-170.3,391.8,-9.1,251,4198,0.00,1.23,0.00,0.000,4,0.000,0.023,2789,1599,3539,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4231,-0.72,-170.3,394.1,-9.5,252,4238,0.00,1.35,0.00,0.000,6,0.000,0.037,2789,2480,3538,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4537,-0.71,-170.3,426.3,-9.8,268,4542,0.00,1.25,0.00,0.000,4,0.000,0.023,2789,1598,3537,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4570,-0.70,-170.3,429.0,-10.2,269,4576,0.00,1.35,0.00,0.000,6,0.000,0.037,2789,2476,3536,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4885,-0.69,-170.3,461.6,-9.7,285,4890,0.00,1.38,0.00,0.000,4,0.000,0.050,2789,3349,3534,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4935,-0.68,-170.3,465.6,-9.3,287,4940,0.00,1.25,0.00,0.000,6,0.000,0.027,2789,2474,3534,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5254,-0.67,-170.3,491.7,-8.1,303,5260,0.10,1.20,0.00,0.000,4,0.173,0.021,2818,1602,3532,0,0,0,0,0,0,26.37,26.48,28.83
$GC,5269,-0.66,-170.3,491.7,-8.1,303,5274,0.00,1.35,0.00,0.000,6,0.000,0.038,2818,2477,3532,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5583,-0.70,-170.3,515.0,-7.4,319,5588,0.00,1.25,0.00,0.000,4,0.000,0.024,2818,1588,3531,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5602,-0.74,-170.3,515.0,-7.4,319,5608,0.00,1.38,0.00,0.000,6,0.000,0.038,2818,2476,3531,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5908,-0.77,-170.3,539.7,-7.5,335,5913,0.00,1.38,0.00,0.000,4,0.000,0.050,2818,3348,3529,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6019,-0.81,-170.3,547.5,-7.4,340,6025,0.10,1.25,0.00,0.000,6,0.060,0.028,2755,2492,3528,0,0,0,0,0,0,26.32,26.48,28.83
$GC,6339,-0.78,-170.3,581.3,-11.1,356,6344,0.00,1.27,0.00,0.000,4,0.000,0.024,2755,1578,3527,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6412,-0.75,-170.3,588.5,-11.2,359,6418,0.08,1.40,0.00,0.000,6,0.142,0.039,2798,2478,3528,0,0,0,0,0,0,25.94,26.28,28.83
$GC,6730,-0.77,-170.3,614.5,-7.7,372,6735,0.00,1.27,0.00,0.000,4,0.000,0.024,2798,1576,3525,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6774,-0.79,-170.3,617.6,-7.9,373,6779,0.00,1.40,0.00,0.000,6,0.000,0.037,2798,2482,3524,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7101,-0.81,-170.3,643.4,-7.4,384,7106,0.00,1.38,0.00,0.000,4,0.000,0.051,2798,3349,3523,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7124,-0.83,-170.3,643.4,-7.4,384,7130,0.00,1.27,0.00,0.000,6,0.000,0.029,2798,2485,3522,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7440,-0.86,-170.3,670.8,-8.7,395,7446,0.12,1.27,0.00,0.000,4,0.106,0.022,2740,1571,3521,0,0,0,0,0,0,26.46,26.44,28.83
$GC,7495,-0.87,-170.3,674.8,-9.5,396,7500,0.00,1.40,0.00,0.000,6,0.000,0.040,2743,2468,3520,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7811,-0.83,-170.3,719.3,-12.7,407,7816,0.00,1.40,0.00,0.000,4,0.000,0.051,2739,3351,3519,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7891,-0.79,-170.3,727.5,-12.4,409,7898,0.10,1.30,0.00,0.000,6,0.137,0.028,2775,2464,3519,0,0,0,0,0,0,26.08,26.48,28.83
$GC,8214,-0.78,-170.3,762.5,-10.3,420,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2462,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8512,-0.77,-170.3,794.9,-10.8,430,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2462,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8812,-0.75,-170.3,829.7,-11.9,440,8813,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2462,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9112,-0.74,-170.3,863.8,-10.9,450,9117,0.00,1.45,0.00,0.000,4,0.000,0.052,2775,3351,3514,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9160,-0.73,-170.3,867.4,-10.7,451,9166,0.00,1.30,0.00,0.000,6,0.000,0.029,2776,2470,3514,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9483,-0.72,-170.3,895.7,-7.5,462,9488,0.00,1.42,0.00,0.000,4,0.000,0.052,2776,3346,3513,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9511,-0.71,-170.3,895.7,-7.5,462,9517,0.00,1.27,0.00,0.000,6,0.000,0.030,2776,2486,3513,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9819,-0.70,-170.3,919.7,-7.7,473,9825,0.12,1.27,0.00,0.000,4,0.164,0.022,2818,1585,3512,0,0,0,0,0,0,26.22,26.41,28.83
$GC,9868,-0.70,-170.3,922.2,-7.7,474,9873,0.00,1.40,0.00,0.000,6,0.000,0.041,2819,2475,3512,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10189,-0.72,-170.3,943.9,-7.2,485,10194,0.00,1.40,0.00,0.000,4,0.000,0.054,2818,3351,3511,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10218,-0.74,-170.3,943.9,-7.2,485,10225,0.00,1.30,0.00,0.000,6,0.000,0.031,2818,2484,3511,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10525,-0.76,-170.3,968.5,-7.7,496,10530,0.00,1.30,0.00,0.000,4,0.000,0.026,2818,1559,3509,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10590,-0.78,-170.3,973.8,-7.9,498,10596,0.08,1.45,0.00,0.000,6,0.077,0.040,2778,2476,3509,0,0,0,0,0,0,26.08,26.20,28.83
$STATE,10772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10772,begin apogee
$GC,10778,-0.17,0.0,992.2,-10.1,504,10936,0.60,0.00,147.80,1.488,6,0.116,0.000,2981,2101,2853,0,0,0,0,0,0,25.70,28.83,22.66
$STATE,10937,end apogee,CONTROL_FINISHED_OK
$STATE,10937,begin climb
$GC,10940,0.55,170.3,1001.1,0.0,509,11111,0.65,0.00,165.73,1.443,6,0.057,0.000,3220,2101,2158,0,0,0,0,0,0,24.66,28.83,22.07
$GC,11407,0.51,170.3,971.2,8.9,525,11412,0.00,1.45,0.00,0.000,4,0.000,0.046,3220,3006,2147,0,0,0,0,0,0,28.83,26.02,28.83
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$STATE,21045,end climb,SURFACE_DEPTH_REACHED
$STATE,21045,begin surface coast
$FINISH,1.7,1.023301
$STATE,21083,end surface coast,CONTROL_FINISHED_OK
$STATE,21083,begin surface
$SM_CCo,21163,0.00,0.000,0,0,1005,453.31
$SM_GC,2.60,8.43,0.52,0.00,0.052,0.044,0.000,139,2487,1005,-9.01,-1.30,453.31,0,0,0,0,0,0,25.79,26.32,28.83
$IRIDIUM_FIX,2148.09,11959.67,170113,171734
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.81
$INTERNAL_PRESSURE,9.46875
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3873632
$24V_AH,22.1,78.466
$10V_AH,9.5,39.094
$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,23.050,145.050,578.925,0.000,0.000,0.000,0.000,381.450,0.000,0.000,19.447,3460.589,13861.212,798.509,3066.978,598.572,0.000,2649.844,0.000,2562.942,0.000,0.542,0.000
$DEVICE_MAMPS,235.620,53.550,1487.925,0.000,0.000,0.000,0.000,139.230,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21135.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.903,0.000,0.000,0.000
$MEM,324240
$DATA_FILE_SIZE,36759,994
$CAP_FILE_SIZE,266010,0
$CFSIZE,260034560,211570688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.160,299.2,1
$GPS,180113,054236,2153.659,12000.173,34,0.8,34,-3.1