version: 66.11
glider: 170
mission: 10
dive: 390
start: 1 20 113 0 18 16
data:
$ID,170
$MISSION,10
$DIVE,390
$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,-143622.42
$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,0.0099999998
$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,54
$R_STBD_OVSHOOT,55
$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
$GPS1,200113,000428,2143.279,11959.191,41,0.9,41,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-74.4
$GPS2,200113,001748,2143.190,11959.153,21,0.8,21,-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,156.5,302232,-14.4,-8.462,-16.72
$D_GRID,2762
$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,-175.2,0.0,0.0,0,81,0.00,0.00,-56.90,0.000,2,0.000,0.000,137,2504,2062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.55,-175.2,3.1,-1.8,10,158,11.32,0.00,-55.97,0.000,6,0.236,0.000,2850,2502,3568,0,0,0,0,0,0,25.04,28.83,26.62
$GC,349,-0.51,-175.2,32.4,-12.7,53,354,0.00,1.33,0.00,0.000,4,0.000,0.025,2850,1571,3570,0,0,0,0,0,0,28.83,26.37,28.83
$GC,407,-0.47,-175.2,39.6,-13.1,58,416,0.08,1.38,0.00,0.000,6,0.120,0.041,2881,2455,3569,0,0,0,0,0,0,26.03,26.24,28.83
$GC,596,-0.47,-175.2,61.7,-11.6,72,601,0.00,1.42,0.00,0.000,4,0.000,0.054,2880,3359,3569,0,0,0,0,0,0,28.83,26.17,28.83
$GC,640,-0.47,-175.2,66.9,-11.6,74,645,0.00,1.33,0.00,0.000,6,0.000,0.025,2880,2405,3568,0,0,0,0,0,0,28.83,26.47,28.83
$GC,843,-0.47,-175.2,89.6,-11.3,84,848,0.00,1.15,0.00,0.000,4,0.000,0.027,2880,1582,3569,0,0,0,0,0,0,28.83,26.43,28.83
$GC,958,-0.47,-175.2,101.2,-11.1,89,963,0.00,1.38,0.00,0.000,6,0.000,0.040,2879,2474,3569,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1151,-0.47,-175.2,120.8,-8.8,99,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2474,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1333,-0.56,-175.2,137.4,-9.4,108,1338,0.00,1.38,0.00,0.000,4,0.000,0.053,2880,3350,3569,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1419,-0.65,-175.2,144.5,-8.3,112,1424,0.12,1.30,0.00,0.000,6,0.047,0.024,2794,2420,3570,0,0,0,0,0,0,26.38,26.51,28.83
$GC,1625,-0.61,-175.2,163.7,-10.1,122,1631,0.12,1.17,0.00,0.000,4,0.151,0.023,2837,1583,3570,0,0,0,0,0,0,26.27,26.44,28.83
$GC,1834,-0.61,-175.2,183.4,-9.8,132,1839,0.00,1.38,0.00,0.000,6,0.000,0.040,2837,2476,3570,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2034,-0.65,-175.2,204.0,-10.3,142,2039,0.00,1.38,0.00,0.000,4,0.000,0.053,2837,3353,3569,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2112,-0.70,-175.2,209.4,-8.7,145,2118,0.00,1.30,0.00,0.000,6,0.000,0.023,2837,2411,3570,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2298,-0.76,-175.2,223.7,-7.7,155,2305,0.12,1.50,0.00,0.000,4,0.088,0.048,2758,3365,3569,0,0,0,0,0,0,26.53,26.22,28.83
$GC,2338,-0.79,-175.2,226.3,-8.3,156,2345,0.00,1.33,0.00,0.000,6,0.000,0.022,2757,2429,3570,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2525,-0.74,-175.2,252.1,-13.6,166,2531,0.12,1.15,0.00,0.000,4,0.158,0.023,2800,1607,3569,0,0,0,0,0,0,26.25,26.46,28.83
$GC,2622,-0.71,-175.2,263.1,-12.7,170,2627,0.00,1.35,0.00,0.000,6,0.000,0.039,2800,2483,3568,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2936,-0.71,-175.2,295.6,-7.8,186,2941,0.00,1.38,0.00,0.000,4,0.000,0.052,2800,3359,3567,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2960,-0.71,-175.2,297.6,-7.7,187,2966,0.00,1.25,0.00,0.000,6,0.000,0.024,2800,2448,3567,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3285,-0.71,-175.2,324.3,-8.3,203,3290,0.00,1.12,0.00,0.000,4,0.000,0.025,2800,1634,3564,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3404,-0.71,-175.2,333.3,-9.0,208,3410,0.00,1.30,0.00,0.000,6,0.000,0.040,2800,2477,3565,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3708,-0.71,-175.2,363.3,-9.4,224,3713,0.00,1.38,0.00,0.000,4,0.000,0.051,2800,3354,3563,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3731,-0.71,-175.2,365.5,-9.4,225,3736,0.00,1.23,0.00,0.000,6,0.000,0.024,2800,2485,3563,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4056,-0.74,-175.2,394.0,-8.4,241,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2487,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4358,-0.77,-175.2,417.6,-7.2,256,4363,0.00,1.40,0.00,0.000,4,0.000,0.050,2800,3351,3558,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4437,-0.80,-175.2,422.7,-7.5,259,4444,0.00,1.23,0.00,0.000,6,0.000,0.025,2802,2470,3558,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4742,-0.83,-175.2,446.9,-7.6,275,4748,0.00,1.17,0.00,0.000,4,0.000,0.024,2800,1610,3556,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4768,-0.86,-175.2,448.8,-7.7,276,4773,0.10,1.35,0.00,0.000,6,0.060,0.040,2741,2474,3556,0,0,0,0,0,0,26.22,26.29,28.83
$GC,5092,-0.81,-175.2,484.0,-10.7,292,5098,0.12,1.40,0.00,0.000,4,0.161,0.050,2779,3354,3554,0,0,0,0,0,0,26.22,26.20,28.83
$GC,5137,-0.77,-175.2,488.2,-10.2,294,5143,0.00,1.25,0.00,0.000,6,0.000,0.026,2780,2477,3553,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5461,-0.77,-175.2,517.0,-9.0,310,5466,0.00,1.20,0.00,0.000,4,0.000,0.024,2780,1606,3551,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5519,-0.77,-175.2,521.1,-9.2,312,5527,0.00,1.35,0.00,0.000,6,0.000,0.041,2780,2473,3550,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5825,-0.77,-175.2,551.8,-10.1,328,5830,0.00,1.40,0.00,0.000,4,0.000,0.052,2781,3357,3549,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5869,-0.77,-175.2,556.3,-10.3,330,5875,0.00,1.27,0.00,0.000,6,0.000,0.027,2781,2469,3549,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6194,-0.77,-175.2,592.5,-11.5,346,6199,0.00,1.20,0.00,0.000,4,0.000,0.024,2781,1596,3547,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6252,-0.77,-175.2,597.5,-11.6,348,6259,0.00,1.38,0.00,0.000,6,0.000,0.041,2780,2476,3547,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6558,-0.77,-175.2,632.8,-10.3,359,6563,0.00,1.38,0.00,0.000,4,0.000,0.052,2780,3347,3545,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6595,-0.77,-175.2,636.4,-10.3,360,6601,0.00,1.25,0.00,0.000,6,0.000,0.027,2781,2478,3545,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6927,-0.77,-175.2,663.2,-7.5,371,6932,0.00,1.23,0.00,0.000,4,0.000,0.025,2781,1605,3543,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7015,-0.77,-175.2,668.0,-7.3,373,7022,0.00,1.35,0.00,0.000,6,0.000,0.040,2782,2471,3542,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7322,-0.77,-175.2,693.0,-8.1,384,7327,0.00,1.40,0.00,0.000,4,0.000,0.052,2781,3352,3540,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7349,-0.77,-175.2,693.0,-8.1,384,7357,0.00,1.27,0.00,0.000,6,0.000,0.028,2781,2473,3541,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7656,-0.77,-175.2,722.1,-8.9,395,7661,0.00,1.23,0.00,0.000,4,0.000,0.025,2781,1604,3539,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7753,-0.77,-175.2,730.7,-9.2,398,7758,0.00,1.38,0.00,0.000,6,0.000,0.041,2781,2483,3538,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8084,-0.77,-175.2,760.8,-9.1,409,8089,0.00,1.27,0.00,0.000,4,0.000,0.024,2781,1598,3537,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8148,-0.77,-175.2,766.7,-8.9,411,8153,0.00,1.40,0.00,0.000,6,0.000,0.041,2781,2482,3536,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8484,-0.77,-175.2,795.6,-8.6,422,8489,0.00,1.27,0.00,0.000,4,0.000,0.025,2781,1602,3535,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8521,-0.77,-175.2,798.9,-8.8,423,8527,0.00,1.38,0.00,0.000,6,0.000,0.041,2780,2479,3535,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8852,-0.77,-175.2,827.5,-8.6,434,8857,0.00,1.27,0.00,0.000,4,0.000,0.025,2781,1602,3533,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8907,-0.77,-175.2,830.6,-8.6,435,8912,0.00,1.38,0.00,0.000,6,0.000,0.041,2781,2475,3533,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9221,-0.77,-175.2,859.4,-8.7,446,9226,0.00,1.40,0.00,0.000,4,0.000,0.054,2780,3353,3533,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9254,-0.77,-175.2,862.1,-8.6,447,9259,0.00,1.30,0.00,0.000,6,0.000,0.029,2780,2482,3532,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9591,-0.77,-175.2,886.5,-6.9,458,9596,0.00,1.27,0.00,0.000,4,0.000,0.025,2781,1588,3532,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9664,-0.77,-175.2,891.1,-6.9,460,9669,0.00,1.40,0.00,0.000,6,0.000,0.041,2781,2476,3531,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9990,-0.77,-175.2,914.5,-7.1,471,9995,0.00,1.40,0.00,0.000,4,0.000,0.053,2781,3352,3530,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10033,-0.77,-175.2,917.1,-7.2,472,10038,0.00,1.30,0.00,0.000,6,0.000,0.029,2780,2470,3530,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10361,-0.77,-175.2,942.2,-7.9,483,10366,0.00,1.25,0.00,0.000,4,0.000,0.026,2781,1593,3529,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10395,-0.77,-175.2,945.6,-8.3,484,10400,0.00,1.40,0.00,0.000,6,0.000,0.042,2780,2472,3528,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10731,-0.77,-175.2,975.8,-9.2,495,10736,0.00,1.40,0.00,0.000,4,0.000,0.054,2781,3348,3528,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10778,-0.77,-175.2,979.2,-9.3,496,10784,0.00,1.30,0.00,0.000,6,0.000,0.030,2781,2478,3527,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,10884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10885,begin apogee
$GC,10891,-0.17,0.0,990.8,-9.4,500,11053,0.57,0.00,152.15,1.489,6,0.109,0.000,2978,2111,2852,0,0,0,0,0,0,25.74,28.83,22.62
$STATE,11055,end apogee,CONTROL_FINISHED_OK
$STATE,11055,begin climb
$GC,11058,0.55,175.2,999.9,0.0,505,11238,0.65,1.55,171.12,1.446,4,0.054,0.045,3221,2995,2137,0,0,0,0,0,0,24.68,23.75,22.06
$GC,11296,0.47,175.2,991.7,8.5,513,11302,0.12,1.35,0.00,0.000,6,0.131,0.026,3186,2150,2129,0,0,0,0,0,0,24.70,25.01,28.83
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$STATE,21234,end climb,SURFACE_DEPTH_REACHED
$STATE,21234,begin surface coast
$FINISH,1.9,1.022962
$STATE,21256,end surface coast,CONTROL_FINISHED_OK
$STATE,21256,begin surface
$SM_CCo,21336,0.00,0.000,0,0,805,502.37
$SM_GC,2.46,8.38,0.52,0.00,0.040,0.048,0.000,134,2480,805,-9.02,-1.36,502.37,0,0,0,0,0,0,25.91,26.30,28.83
$IRIDIUM_FIX,2136.49,12002.53,200113,000025
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.04
$INTERNAL_PRESSURE,9.44921
$TCM_TEMP,23.20
$XPDR_PINGS,1
$SC_FREEKB,3870560
$24V_AH,22.1,80.381
$10V_AH,9.5,40.139
$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,22.950,142.000,626.000,0.000,0.000,0.000,0.000,491.250,0.250,0.000,22.680,3355.556,14252.198,833.965,3079.062,596.647,0.000,2747.781,0.000,2478.860,0.000,0.544,0.000
$DEVICE_MAMPS,236.385,53.550,1489.455,0.000,0.000,0.000,0.000,128.520,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21307.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.367,0.000,0.000,0.000
$MEM,324292
$DATA_FILE_SIZE,36732,977
$CAP_FILE_SIZE,257433,0
$CFSIZE,260034560,210575360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.081,305.8,1
$GPS,200113,061506,2142.049,11959.621,34,1.0,34,-3.0