version: 66.11
glider: 170
mission: 10
dive: 391
start: 1 20 113 6 25 24
data:
$ID,170
$MISSION,10
$DIVE,391
$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,-143623.67
$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,58
$R_STBD_OVSHOOT,48
$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
$GPS1,200113,061506,2142.049,11959.621,34,1.0,34,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-67.3
$GPS2,200113,062454,2141.964,11959.623,22,0.9,22,-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,169.3,299958,-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,-175.2,0.0,0.0,0,87,0.00,0.00,-62.58,0.000,2,0.000,0.000,133,2495,2147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.55,-175.2,3.2,-1.7,11,163,11.32,0.00,-53.95,0.000,6,0.236,0.000,2851,2493,3567,0,0,0,0,0,0,25.06,28.83,26.61
$GC,356,-0.52,-175.2,30.3,-13.1,56,361,0.00,1.30,0.00,0.000,4,0.000,0.027,2849,1582,3567,0,0,0,0,0,0,28.83,26.36,28.83
$GC,393,-0.48,-175.2,35.0,-13.4,59,400,0.00,1.38,0.00,0.000,6,0.000,0.040,2849,2466,3567,0,0,0,0,0,0,28.83,26.22,28.83
$GC,592,-0.45,-175.2,61.8,-13.3,75,598,0.12,1.27,0.00,0.000,4,0.150,0.021,2892,1576,3567,0,0,0,0,0,0,26.24,26.43,28.83
$GC,636,-0.45,-175.2,67.3,-12.2,77,642,0.00,1.40,0.00,0.000,6,0.000,0.039,2892,2481,3567,0,0,0,0,0,0,28.83,26.25,28.83
$GC,840,-0.45,-175.2,89.2,-10.6,87,845,0.00,1.38,0.00,0.000,4,0.000,0.053,2892,3355,3567,0,0,0,0,0,0,28.83,26.17,28.83
$GC,878,-0.45,-175.2,91.3,-10.1,88,884,0.00,1.30,0.00,0.000,6,0.000,0.023,2892,2416,3567,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1064,-0.53,-175.2,107.5,-7.8,98,1070,0.00,1.50,0.00,0.000,4,0.000,0.051,2892,3351,3568,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1154,-0.61,-175.2,113.6,-7.2,102,1160,0.12,1.30,0.00,0.000,6,0.047,0.023,2806,2402,3568,0,0,0,0,0,0,26.37,26.52,28.83
$GC,1356,-0.58,-175.2,131.8,-9.6,112,1362,0.12,1.15,0.00,0.000,4,0.153,0.021,2850,1568,3568,0,0,0,0,0,0,26.28,26.46,28.83
$GC,1422,-0.58,-175.2,137.1,-8.3,115,1427,0.00,1.40,0.00,0.000,6,0.000,0.038,2849,2480,3569,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1627,-0.64,-175.2,152.0,-7.7,125,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2480,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1806,-0.71,-175.2,169.6,-10.1,134,1812,0.12,1.30,0.00,0.000,4,0.084,0.023,2767,1578,3569,0,0,0,0,0,0,26.53,26.46,28.83
$GC,1840,-0.76,-175.2,172.3,-10.3,135,1845,0.00,1.38,0.00,0.000,6,0.000,0.037,2767,2473,3569,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2034,-0.70,-175.2,195.5,-10.6,145,2041,0.12,1.38,0.00,0.000,4,0.156,0.050,2809,3361,3569,0,0,0,0,0,0,26.26,26.21,28.83
$GC,2080,-0.66,-175.2,199.8,-10.0,147,2086,0.00,1.30,0.00,0.000,6,0.000,0.022,2809,2425,3569,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2284,-0.66,-175.2,219.3,-9.8,157,2289,0.00,1.10,0.00,0.000,4,0.000,0.024,2809,1626,3569,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2411,-0.66,-175.2,231.5,-9.9,163,2416,0.00,1.30,0.00,0.000,6,0.000,0.037,2809,2469,3569,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2614,-0.66,-175.2,250.5,-8.8,173,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2469,3568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2918,-0.70,-175.2,277.9,-9.7,188,2923,0.00,1.20,0.00,0.000,4,0.000,0.024,2809,1620,3567,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2945,-0.74,-175.2,280.6,-9.7,189,2951,0.00,1.33,0.00,0.000,6,0.000,0.039,2809,2481,3567,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3264,-0.78,-175.2,310.8,-9.0,205,3270,0.00,1.23,0.00,0.000,4,0.000,0.024,2809,1617,3565,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3302,-0.82,-175.2,312.8,-8.6,206,3309,0.08,1.33,0.00,0.000,6,0.063,0.039,2755,2476,3565,0,0,0,0,0,0,26.22,26.30,28.83
$GC,3608,-0.78,-175.2,344.9,-10.1,222,3614,0.10,1.38,0.00,0.000,4,0.164,0.050,2782,3350,3564,0,0,0,0,0,0,26.38,26.20,28.83
$GC,3667,-0.74,-175.2,349.2,-9.9,224,3673,0.00,1.23,0.00,0.000,6,0.000,0.024,2782,2467,3563,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3973,-0.72,-175.2,377.8,-9.1,240,3978,0.00,1.17,0.00,0.000,4,0.000,0.024,2782,1606,3562,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4025,-0.72,-175.2,381.8,-9.3,242,4031,0.00,1.35,0.00,0.000,6,0.000,0.040,2782,2477,3561,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4340,-0.72,-175.2,413.3,-10.1,258,4345,0.00,1.38,0.00,0.000,4,0.000,0.052,2782,3349,3559,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4372,-0.72,-175.2,415.8,-10.3,259,4377,0.00,1.23,0.00,0.000,6,0.000,0.025,2782,2481,3559,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4685,-0.72,-175.2,450.1,-10.7,275,4691,0.00,1.20,0.00,0.000,4,0.000,0.024,2782,1607,3556,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4710,-0.72,-175.2,452.7,-10.8,276,4716,0.00,1.35,0.00,0.000,6,0.000,0.040,2782,2480,3557,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5034,-0.70,-175.2,487.9,-11.2,292,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2480,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5336,-0.70,-175.2,521.2,-10.5,307,5341,0.00,1.38,0.00,0.000,4,0.000,0.053,2782,3347,3552,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5374,-0.70,-175.2,523.8,-10.5,308,5381,0.00,1.25,0.00,0.000,6,0.000,0.026,2782,2484,3552,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5680,-0.70,-175.2,552.5,-8.7,324,5685,0.00,1.25,0.00,0.000,4,0.000,0.024,2780,1593,3550,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5713,-0.70,-175.2,554.5,-8.6,325,5718,0.00,1.38,0.00,0.000,6,0.000,0.040,2782,2474,3550,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6026,-0.70,-175.2,582.9,-9.2,341,6032,0.00,1.40,0.00,0.000,4,0.000,0.052,2782,3357,3549,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6070,-0.70,-175.2,587.2,-9.4,343,6076,0.00,1.27,0.00,0.000,6,0.000,0.028,2782,2476,3548,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6397,-0.70,-175.2,618.9,-9.6,356,6403,0.00,1.23,0.00,0.000,4,0.000,0.025,2782,1606,3546,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6431,-0.70,-175.2,622.5,-9.6,357,6436,0.00,1.38,0.00,0.000,6,0.000,0.039,2782,2484,3546,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6768,-0.70,-175.2,653.3,-9.1,368,6773,0.00,1.38,0.00,0.000,4,0.000,0.053,2782,3348,3544,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6846,-0.70,-175.2,659.6,-9.1,370,6851,0.00,1.27,0.00,0.000,6,0.000,0.028,2781,2480,3544,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7165,-0.70,-175.2,691.5,-9.6,381,7170,0.00,1.25,0.00,0.000,4,0.000,0.024,2782,1594,3542,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7192,-0.70,-175.2,691.5,-9.6,381,7199,0.00,1.38,0.00,0.000,6,0.000,0.041,2782,2469,3542,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7498,-0.70,-175.2,724.7,-9.7,392,7503,0.00,1.40,0.00,0.000,4,0.000,0.053,2782,3353,3541,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7532,-0.70,-175.2,727.9,-9.7,393,7538,0.00,1.30,0.00,0.000,6,0.000,0.028,2782,2469,3540,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7868,-0.70,-175.2,758.5,-9.1,404,7874,0.00,1.23,0.00,0.000,4,0.000,0.025,2781,1602,3539,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7947,-0.70,-175.2,764.7,-9.3,406,7952,0.00,1.38,0.00,0.000,6,0.000,0.041,2782,2481,3539,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8266,-0.70,-175.2,794.0,-8.8,417,8267,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2482,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8566,-0.70,-175.2,822.9,-10.0,427,8571,0.00,1.27,0.00,0.000,4,0.000,0.025,2782,1603,3536,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8630,-0.70,-175.2,829.3,-10.0,429,8635,0.00,1.38,0.00,0.000,6,0.000,0.041,2781,2472,3536,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8965,-0.70,-175.2,863.2,-10.3,440,8970,0.00,1.40,0.00,0.000,4,0.000,0.054,2782,3351,3534,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8999,-0.70,-175.2,866.8,-10.3,441,9005,0.00,1.30,0.00,0.000,6,0.000,0.028,2782,2474,3534,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9335,-0.70,-175.2,901.3,-10.4,452,9341,0.00,1.25,0.00,0.000,4,0.000,0.026,2782,1600,3533,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9364,-0.70,-175.2,901.3,-10.4,452,9370,0.00,1.38,0.00,0.000,6,0.000,0.042,2782,2473,3533,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9670,-0.70,-175.2,935.0,-10.0,463,9671,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2473,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9969,-0.70,-175.2,963.4,-9.0,473,9970,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2473,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10270,-0.70,-175.2,989.6,-8.9,483,10276,0.00,1.27,0.00,0.000,4,0.000,0.026,2782,1592,3531,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,10302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10302,begin apogee
$GC,10309,-0.17,0.0,992.7,-8.8,484,10471,0.57,0.00,151.98,1.485,6,0.111,0.000,2978,2128,2853,0,0,0,0,0,0,25.72,28.83,22.66
$STATE,10472,end apogee,CONTROL_FINISHED_OK
$STATE,10473,begin climb
$GC,10475,0.55,175.2,1000.2,0.0,489,10654,0.65,1.48,171.10,1.442,4,0.054,0.044,3221,2991,2136,0,0,0,0,0,0,24.69,23.77,22.09
$GC,10728,0.47,175.2,987.8,9.8,498,10735,0.10,1.33,0.00,0.000,6,0.136,0.025,3192,2144,2129,0,0,0,0,0,0,24.90,25.21,28.83
$GC,11058,0.44,181.6,959.1,8.3,509,11069,0.00,1.33,5.07,1.009,4,0.000,0.043,3193,2996,2111,0,0,0,0,0,0,28.83,26.05,23.89
$GC,11188,0.39,181.6,948.1,8.8,513,11195,0.10,1.33,0.00,0.000,6,0.130,0.026,3162,2115,2110,0,0,0,0,0,0,25.98,26.34,28.83
$GC,11519,0.41,244.3,925.8,6.4,524,11582,0.00,1.50,58.28,1.430,4,0.000,0.046,3162,2998,1856,0,0,0,0,0,0,28.83,25.23,23.49
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$STATE,20680,end climb,SURFACE_DEPTH_REACHED
$STATE,20680,begin surface coast
$FINISH,1.6,1.010051
$STATE,20712,end surface coast,CONTROL_FINISHED_OK
$STATE,20712,begin surface
$SM_CCo,20793,0.00,0.000,0,0,910,476.62
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$TT8_MAMPS,0.025466,0.025466
$HUMID,54.05
$INTERNAL_PRESSURE,9.44921
$TCM_TEMP,23.20
$XPDR_PINGS,1
$SC_FREEKB,3870176
$24V_AH,22.1,80.621
$10V_AH,9.7,40.267
$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,22.900,132.525,601.725,0.000,0.000,0.000,0.000,339.150,0.250,0.000,22.714,3227.006,13938.869,802.485,2833.629,562.510,0.000,2510.683,0.000,2372.116,0.000,0.543,0.000
$DEVICE_MAMPS,236.385,53.550,1484.865,0.000,0.000,0.000,0.000,134.640,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.581,0.000,0.000,0.000
$MEM,324312
$DATA_FILE_SIZE,36620,962
$CAP_FILE_SIZE,243195,0
$CFSIZE,260034560,210460672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.077,318.9,1
$GPS,200113,121322,2140.290,11959.875,45,0.9,45,-3.0