version: 66.11
glider: 170
mission: 10
dive: 395
start: 1 21 113 6 45 11
data:
$ID,170
$MISSION,10
$DIVE,395
$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,-143628.67
$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,57
$R_STBD_OVSHOOT,53
$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
$GPS1,210113,063429,2135.806,12000.708,37,0.9,37,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-72.9
$GPS2,210113,064441,2135.829,12000.685,30,1.1,30,-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,172.7,288597,-14.4,-8.462,-16.72
$D_GRID,2804
$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,-175.2,0.0,0.0,0,73,0.00,0.00,-49.78,0.000,2,0.000,0.000,136,2503,2057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.55,-175.2,3.0,-1.3,9,156,11.52,1.35,-57.88,0.000,4,0.242,0.046,2853,1582,3569,0,0,0,0,0,0,25.04,26.28,26.60
$GC,247,-0.51,-175.2,19.9,-11.8,39,255,0.00,1.38,0.00,0.000,6,0.000,0.039,2855,2467,3569,0,0,0,0,0,0,28.83,26.16,28.83
$GC,439,-0.48,-175.2,43.7,-12.5,61,444,0.00,1.40,0.00,0.000,4,0.000,0.052,2852,3353,3569,0,0,0,0,0,0,28.83,26.12,28.83
$GC,466,-0.45,-175.2,46.7,-12.7,63,473,0.10,1.30,0.00,0.000,6,0.109,0.025,2892,2463,3569,0,0,0,0,0,0,26.09,26.39,28.83
$GC,653,-0.45,-175.2,68.0,-11.5,74,658,0.00,1.23,0.00,0.000,4,0.000,0.025,2892,1594,3569,0,0,0,0,0,0,28.83,26.41,28.83
$GC,778,-0.45,-175.2,83.2,-12.4,80,783,0.00,1.38,0.00,0.000,6,0.000,0.039,2892,2479,3570,0,0,0,0,0,0,28.83,26.27,28.83
$GC,982,-0.52,-175.2,103.1,-9.0,90,987,0.00,1.27,0.00,0.000,4,0.000,0.025,2892,1587,3570,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1127,-0.59,-175.2,115.8,-8.6,97,1132,0.10,1.38,0.00,0.000,6,0.054,0.039,2815,2480,3570,0,0,0,0,0,0,26.21,26.27,28.83
$GC,1333,-0.61,-175.2,134.6,-9.2,107,1339,0.00,1.38,0.00,0.000,4,0.000,0.051,2815,3358,3571,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1377,-0.63,-175.2,139.0,-9.4,109,1383,0.00,1.27,0.00,0.000,6,0.000,0.024,2815,2426,3570,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1585,-0.66,-175.2,158.9,-9.9,119,1590,0.00,1.48,0.00,0.000,4,0.000,0.050,2815,3351,3572,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1603,-0.68,-175.2,158.9,-9.9,119,1610,0.00,1.20,0.00,0.000,6,0.000,0.023,2815,2475,3571,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1790,-0.71,-175.2,179.2,-9.6,129,1795,0.00,1.40,0.00,0.000,4,0.000,0.050,2815,3359,3571,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1848,-0.73,-175.2,183.4,-9.4,131,1855,0.00,1.23,0.00,0.000,6,0.000,0.023,2815,2466,3571,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2034,-0.77,-175.2,201.1,-8.5,141,2039,0.00,1.15,0.00,0.000,4,0.000,0.025,2815,1635,3571,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2072,-0.80,-175.2,203.2,-8.4,142,2079,0.08,1.30,0.00,0.000,6,0.058,0.039,2757,2480,3571,0,0,0,0,0,0,26.22,26.28,28.83
$GC,2260,-0.74,-175.2,223.8,-10.9,152,2267,0.12,1.38,0.00,0.000,4,0.155,0.049,2797,3373,3572,0,0,0,0,0,0,26.23,26.20,28.83
$GC,2335,-0.71,-175.2,230.0,-9.5,155,2341,0.00,1.25,0.00,0.000,6,0.000,0.023,2797,2467,3571,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2530,-0.68,-175.2,248.1,-9.1,165,2535,0.00,1.15,0.00,0.000,4,0.000,0.024,2797,1632,3570,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2618,-0.68,-175.2,255.9,-9.3,169,2623,0.00,1.30,0.00,0.000,6,0.000,0.038,2797,2478,3570,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2937,-0.71,-175.2,285.2,-9.2,185,2943,0.00,1.38,0.00,0.000,4,0.000,0.051,2797,3358,3570,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3022,-0.71,-175.2,293.1,-9.3,189,3028,0.00,1.23,0.00,0.000,6,0.000,0.024,2797,2471,3569,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3347,-0.73,-175.2,321.5,-8.7,205,3352,0.00,1.42,0.00,0.000,4,0.000,0.050,2797,3357,3568,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3414,-0.76,-175.2,327.2,-8.8,208,3420,0.00,1.23,0.00,0.000,6,0.000,0.024,2797,2473,3567,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3734,-0.78,-175.2,354.1,-8.0,224,3739,0.00,1.17,0.00,0.000,4,0.000,0.024,2797,1621,3566,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3849,-0.81,-175.2,362.3,-7.9,229,3855,0.00,1.33,0.00,0.000,6,0.000,0.040,2797,2479,3565,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4165,-0.84,-175.2,387.0,-7.7,245,4170,0.00,1.38,0.00,0.000,4,0.000,0.052,2797,3352,3563,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4238,-0.86,-175.2,392.2,-7.9,248,4244,0.08,1.23,0.00,0.000,6,0.063,0.025,2741,2485,3562,0,0,0,0,0,0,26.32,26.51,28.83
$GC,4552,-0.81,-175.2,430.1,-12.2,264,4554,0.12,0.00,0.00,0.000,6,0.158,0.000,2776,2485,3561,0,0,0,0,0,0,26.28,28.83,28.83
$GC,4855,-0.78,-175.2,460.4,-9.9,279,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2484,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5155,-0.76,-175.2,488.8,-9.3,294,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2484,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5456,-0.74,-175.2,515.7,-9.3,309,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2485,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5754,-0.71,-175.2,546.7,-10.8,324,5761,0.10,1.40,0.00,0.000,4,0.178,0.050,2805,3357,3553,0,0,0,0,0,0,26.35,26.15,28.83
$GC,5809,-0.71,-175.2,551.5,-10.5,326,5815,0.00,1.25,0.00,0.000,6,0.000,0.028,2805,2499,3553,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6123,-0.76,-175.2,580.3,-7.9,342,6128,0.00,1.38,0.00,0.000,4,0.000,0.052,2805,3347,3552,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6169,-0.80,-175.2,584.0,-8.2,344,6174,0.00,1.27,0.00,0.000,6,0.000,0.027,2805,2460,3552,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6484,-0.85,-175.2,606.1,-6.6,358,6490,0.12,1.20,0.00,0.000,4,0.091,0.021,2738,1606,3550,0,0,0,0,0,0,26.51,26.45,28.83
$GC,6671,-0.80,-175.2,622.1,-8.8,364,6678,0.10,1.38,0.00,0.000,6,0.139,0.041,2773,2478,3549,0,0,0,0,0,0,25.91,26.23,28.83
$GC,7006,-0.80,-175.2,647.7,-7.9,375,7012,0.00,1.25,0.00,0.000,4,0.000,0.024,2773,1608,3547,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7071,-0.80,-175.2,653.4,-8.4,377,7077,0.00,1.38,0.00,0.000,6,0.000,0.040,2773,2480,3547,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7408,-0.80,-175.2,688.6,-11.5,388,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2480,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7705,-0.80,-175.2,723.8,-11.7,398,7710,0.00,1.38,0.00,0.000,4,0.000,0.053,2773,3344,3544,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7747,-0.80,-175.2,727.7,-11.6,399,7753,0.00,1.25,0.00,0.000,6,0.000,0.028,2773,2478,3544,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8074,-0.80,-175.2,763.1,-10.3,410,8080,0.00,1.23,0.00,0.000,4,0.000,0.025,2772,1611,3543,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8123,-0.80,-175.2,766.9,-10.3,411,8128,0.00,1.35,0.00,0.000,6,0.000,0.041,2773,2470,3543,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8442,-0.80,-175.2,798.7,-9.2,422,8447,0.00,1.25,0.00,0.000,4,0.000,0.024,2773,1603,3541,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8475,-0.80,-175.2,801.9,-9.3,423,8481,0.00,1.38,0.00,0.000,6,0.000,0.041,2773,2474,3541,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8812,-0.80,-175.2,833.9,-9.5,434,8817,0.00,1.25,0.00,0.000,4,0.000,0.024,2773,1611,3540,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8879,-0.80,-175.2,840.5,-9.7,436,8885,0.00,1.35,0.00,0.000,6,0.000,0.041,2773,2470,3540,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9210,-0.80,-175.2,874.3,-10.5,447,9211,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2470,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9509,-0.80,-175.2,906.3,-10.7,457,9514,0.00,1.40,0.00,0.000,4,0.000,0.053,2773,3348,3537,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9536,-0.80,-175.2,906.3,-10.7,457,9542,0.00,1.27,0.00,0.000,6,0.000,0.029,2773,2488,3537,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9843,-0.80,-175.2,938.8,-9.0,468,9844,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2487,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10142,-0.80,-175.2,962.3,-7.5,478,10148,0.00,1.27,0.00,0.000,4,0.000,0.024,2773,1596,3535,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10180,-0.80,-175.2,964.9,-7.3,479,10185,0.00,1.40,0.00,0.000,6,0.000,0.043,2773,2481,3535,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10513,-0.80,-175.2,988.8,-7.3,490,10518,0.00,1.40,0.00,0.000,4,0.000,0.054,2773,3356,3534,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,10544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10544,begin apogee
$GC,10552,-0.17,0.0,991.7,-7.4,491,10716,0.60,0.00,153.12,1.482,6,0.121,0.000,2973,2118,2853,0,0,0,0,0,0,25.59,28.83,22.62
$STATE,10718,end apogee,CONTROL_FINISHED_OK
$STATE,10718,begin climb
$GC,10721,0.55,175.2,998.2,0.0,496,10903,0.65,1.58,169.88,1.439,4,0.052,0.047,3217,2999,2137,0,0,0,0,0,0,24.71,23.77,22.08
$GC,11051,0.48,175.2,976.2,11.5,507,11057,0.10,1.33,0.00,0.000,6,0.135,0.026,3188,2134,2128,0,0,0,0,0,0,25.53,25.86,28.83
$GC,11369,0.45,186.5,947.2,8.1,518,11383,0.00,1.42,9.62,1.240,4,0.000,0.044,3188,3000,2093,0,0,0,0,0,0,28.83,25.98,23.87
$GC,11416,0.42,196.7,944.0,8.1,519,11432,0.00,1.35,11.15,1.267,6,0.000,0.027,3191,2111,2050,0,0,0,0,0,0,28.83,26.19,23.88
$GC,11734,0.40,196.7,915.0,8.8,530,11739,0.00,1.40,0.00,0.000,4,0.000,0.044,3191,2994,2046,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11792,0.37,196.7,911.7,8.9,531,11799,0.10,1.33,0.00,0.000,6,0.125,0.027,3159,2112,2046,0,0,0,0,0,0,26.03,26.37,28.83
$GC,12102,0.39,245.5,887.6,6.9,542,12158,0.00,1.50,45.03,1.408,4,0.000,0.044,3159,3002,1851,0,0,0,0,0,0,28.83,25.39,23.63
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$STATE,21194,end climb,SURFACE_DEPTH_REACHED
$STATE,21195,begin surface coast
$FINISH,1.7,1.020677
$STATE,21232,end surface coast,CONTROL_FINISHED_OK
$STATE,21232,begin surface
$SM_CCo,21312,0.00,0.000,0,0,989,457.24
$SM_GC,2.67,8.48,0.57,0.00,0.050,0.041,0.000,133,2476,989,-9.02,-1.39,457.24,0,0,0,0,0,0,25.90,26.33,28.83
$IRIDIUM_FIX,2127.21,12001.37,210113,000047
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.68
$INTERNAL_PRESSURE,9.44921
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3868640
$24V_AH,22.1,81.545
$10V_AH,9.5,40.797
$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,23.725,145.275,583.475,0.000,0.000,0.000,0.000,352.825,0.000,0.000,31.057,3427.174,14076.398,803.379,3011.603,589.918,0.000,2596.870,0.000,2514.412,0.000,0.543,0.000
$DEVICE_MAMPS,241.740,54.315,1481.805,0.000,0.000,0.000,0.000,133.875,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21289.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.461,0.000,0.000,0.000
$MEM,324280
$DATA_FILE_SIZE,36658,987
$CAP_FILE_SIZE,258416,0
$CFSIZE,260034560,209948672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.073,339.3,1
$GPS,210113,124134,2134.742,12001.179,30,1.2,30,-3.0