version: 66.11
glider: 170
mission: 10
dive: 404
start: 1 23 113 14 1 35
data:
$ID,170
$MISSION,10
$DIVE,404
$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,9
$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,-143706.12
$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,65
$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,21.5
$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
$GPS1,230113,134359,2124.156,12002.475,40,1.0,40,-3.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-72.6
$GPS2,230113,140106,2124.117,12002.277,20,1.2,20,-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,166.6,266934,-14.4,-8.462,-16.72
$D_GRID,2866
$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,-175.2,0.0,0.0,0,76,0.00,0.00,-52.60,0.000,2,0.000,0.000,135,2496,2118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.55,-175.2,3.0,-1.5,9,154,11.57,1.38,-54.50,0.000,4,0.242,0.052,2854,1598,3568,0,0,0,0,0,0,24.99,26.14,26.60
$GC,266,-0.52,-175.2,23.1,-14.1,42,273,0.00,1.38,0.00,0.000,6,0.000,0.044,2853,2468,3569,0,0,0,0,0,0,28.83,26.11,28.83
$GC,461,-0.48,-175.2,48.0,-11.8,62,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2469,3568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,641,-0.45,-175.2,69.1,-11.4,72,648,0.12,1.30,0.00,0.000,4,0.153,0.028,2898,1586,3568,0,0,0,0,0,0,26.22,26.32,28.83
$GC,681,-0.45,-175.2,71.8,-11.3,73,687,0.00,1.38,0.00,0.000,6,0.000,0.039,2898,2481,3568,0,0,0,0,0,0,28.83,26.25,28.83
$GC,867,-0.54,-175.2,90.8,-9.5,83,873,0.12,1.30,0.00,0.000,4,0.088,0.022,2810,1594,3569,0,0,0,0,0,0,26.50,26.40,28.83
$GC,895,-0.61,-175.2,93.6,-9.9,84,900,0.00,1.35,0.00,0.000,6,0.000,0.038,2809,2474,3568,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1094,-0.61,-175.2,114.2,-9.5,94,1099,0.00,1.38,0.00,0.000,4,0.000,0.051,2809,3347,3569,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1137,-0.61,-175.2,118.1,-9.0,96,1142,0.00,1.27,0.00,0.000,6,0.000,0.024,2809,2421,3569,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1342,-0.64,-175.2,137.1,-9.9,106,1347,0.00,1.50,0.00,0.000,4,0.000,0.050,2809,3354,3569,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1415,-0.64,-175.2,144.1,-10.5,109,1420,0.00,1.30,0.00,0.000,6,0.000,0.024,2810,2404,3569,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1609,-0.64,-175.2,166.0,-10.6,119,1615,0.00,1.52,0.00,0.000,4,0.000,0.049,2809,3357,3569,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1627,-0.64,-175.2,166.0,-10.6,119,1634,0.00,1.30,0.00,0.000,6,0.000,0.023,2809,2415,3569,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1814,-0.62,-175.2,185.3,-9.2,129,1820,0.00,1.15,0.00,0.000,4,0.000,0.025,2809,1596,3569,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1848,-0.60,-175.2,187.7,-9.7,130,1854,0.08,1.35,0.00,0.000,6,0.124,0.038,2840,2477,3570,0,0,0,0,0,0,26.06,26.29,28.83
$GC,2045,-0.66,-175.2,204.4,-8.2,140,2050,0.00,1.38,0.00,0.000,4,0.000,0.050,2839,3351,3569,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2166,-0.72,-175.2,213.1,-8.1,145,2173,0.08,1.30,0.00,0.000,6,0.055,0.024,2776,2403,3569,0,0,0,0,0,0,26.34,26.51,28.83
$GC,2348,-0.72,-175.2,230.8,-9.1,155,2353,0.00,1.52,0.00,0.000,4,0.000,0.050,2776,3349,3569,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2422,-0.72,-175.2,236.9,-9.5,158,2427,0.00,1.27,0.00,0.000,6,0.000,0.024,2776,2422,3569,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2616,-0.69,-175.2,256.5,-9.9,168,2622,0.12,1.17,0.00,0.000,4,0.154,0.021,2820,1592,3568,0,0,0,0,0,0,26.26,26.44,28.83
$GC,2660,-0.69,-175.2,260.3,-9.2,170,2666,0.00,1.38,0.00,0.000,6,0.000,0.038,2818,2479,3567,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2985,-0.74,-175.2,287.3,-8.1,186,2990,0.00,1.38,0.00,0.000,4,0.000,0.050,2820,3350,3567,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3070,-0.79,-175.2,294.2,-8.1,190,3076,0.08,1.30,0.00,0.000,6,0.054,0.024,2751,2419,3566,0,0,0,0,0,0,26.35,26.50,28.83
$GC,3395,-0.75,-175.2,331.1,-11.9,206,3396,0.15,0.00,0.00,0.000,6,0.151,0.000,2794,2417,3564,0,0,0,0,0,0,26.20,28.83,28.83
$GC,3699,-0.77,-175.2,357.7,-8.3,221,3704,0.00,1.17,0.00,0.000,4,0.000,0.024,2795,1586,3563,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3711,-0.79,-175.2,357.7,-8.3,221,3716,0.00,1.38,0.00,0.000,6,0.000,0.038,2795,2477,3563,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4025,-0.82,-175.2,385.4,-8.4,237,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2476,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4327,-0.85,-175.2,409.9,-8.3,252,4332,0.00,1.38,0.00,0.000,4,0.000,0.051,2795,3347,3560,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4406,-0.87,-175.2,415.8,-8.9,255,4413,0.08,1.30,0.00,0.000,6,0.054,0.026,2738,2432,3559,0,0,0,0,0,0,26.34,26.48,28.83
$GC,4712,-0.82,-175.2,454.1,-12.4,271,4718,0.12,1.15,0.00,0.000,4,0.165,0.021,2779,1614,3557,0,0,0,0,0,0,26.20,26.44,28.83
$GC,4745,-0.77,-175.2,456.8,-11.9,272,4751,0.00,1.33,0.00,0.000,6,0.000,0.040,2779,2467,3556,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5061,-0.79,-175.2,485.6,-8.5,288,5066,0.00,1.23,0.00,0.000,4,0.000,0.024,2778,1618,3555,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5089,-0.81,-175.2,487.7,-8.4,289,5094,0.00,1.33,0.00,0.000,6,0.000,0.040,2778,2474,3555,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5408,-0.81,-175.2,511.9,-7.0,305,5414,0.00,1.40,0.00,0.000,4,0.000,0.052,2778,3351,3553,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5457,-0.81,-175.2,515.1,-7.0,307,5462,0.00,1.25,0.00,0.000,6,0.000,0.028,2779,2494,3553,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5778,-0.84,-175.2,537.4,-7.3,323,5783,0.00,1.27,0.00,0.000,4,0.000,0.025,2778,1602,3551,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5811,-0.86,-175.2,539.3,-7.5,324,5816,0.00,1.35,0.00,0.000,6,0.000,0.040,2779,2471,3551,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6124,-0.86,-175.2,566.7,-9.1,340,6130,0.00,1.40,0.00,0.000,4,0.000,0.051,2779,3353,3549,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6203,-0.86,-175.2,572.5,-9.1,343,6210,0.00,1.27,0.00,0.000,6,0.000,0.028,2779,2481,3549,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6529,-0.86,-175.2,606.0,-9.6,359,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2481,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6829,-0.86,-175.2,633.1,-8.7,369,6834,0.00,1.42,0.00,0.000,4,0.000,0.051,2779,3352,3545,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6933,-0.86,-175.2,640.9,-8.3,372,6938,0.00,1.30,0.00,0.000,6,0.000,0.028,2779,2459,3545,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7260,-0.86,-175.2,666.7,-7.4,383,7265,0.00,1.45,0.00,0.000,4,0.000,0.051,2779,3348,3544,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7303,-0.86,-175.2,669.5,-7.4,384,7308,0.00,1.27,0.00,0.000,6,0.000,0.029,2779,2487,3544,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7630,-0.86,-175.2,694.8,-7.6,395,7635,0.00,1.27,0.00,0.000,4,0.000,0.025,2779,1599,3543,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7643,-0.86,-175.2,694.8,-7.6,395,7648,0.00,1.38,0.00,0.000,6,0.000,0.041,2779,2473,3542,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7969,-0.86,-175.2,720.8,-7.5,406,7974,0.00,1.40,0.00,0.000,4,0.000,0.053,2779,3351,3541,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8072,-0.86,-175.2,728.3,-7.7,409,8077,0.00,1.30,0.00,0.000,6,0.000,0.028,2779,2464,3541,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8399,-0.86,-175.2,755.5,-8.4,420,8404,0.00,1.45,0.00,0.000,4,0.000,0.051,2778,3357,3539,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8457,-0.88,-175.2,758.8,-8.4,421,8465,0.00,1.30,0.00,0.000,6,0.000,0.028,2779,2473,3539,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8765,-0.90,-175.2,790.5,-9.5,432,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2473,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9064,-0.90,-175.2,818.3,-9.2,442,9069,0.00,1.45,0.00,0.000,4,0.000,0.053,2778,3356,3537,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9076,-0.90,-175.2,818.3,-9.2,442,9082,0.08,1.30,0.00,0.000,6,0.065,0.030,2730,2490,3537,0,0,0,0,0,0,26.24,26.41,28.83
$GC,9403,-0.84,-175.2,857.1,-11.7,453,9409,0.12,1.30,0.00,0.000,4,0.159,0.022,2768,1594,3536,0,0,0,0,0,0,26.17,26.37,28.83
$GC,9620,-0.84,-175.2,876.9,-8.5,460,9625,0.00,1.40,0.00,0.000,6,0.000,0.041,2768,2474,3535,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9956,-0.84,-175.2,901.8,-7.1,471,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2474,3534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10255,-0.84,-175.2,924.6,-7.7,481,10261,0.00,1.30,0.00,0.000,4,0.000,0.027,2768,1598,3533,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10293,-0.84,-175.2,927.2,-7.6,482,10299,0.00,1.40,0.00,0.000,6,0.000,0.042,2768,2480,3533,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10625,-0.84,-175.2,954.1,-8.4,493,10630,0.00,1.40,0.00,0.000,4,0.000,0.054,2768,3354,3532,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10668,-0.84,-175.2,957.3,-8.5,494,10673,0.00,1.33,0.00,0.000,6,0.000,0.030,2768,2467,3532,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10994,-0.84,-175.2,986.7,-8.8,505,10999,0.00,1.25,0.00,0.000,4,0.000,0.026,2768,1603,3532,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,11055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11055,begin apogee
$GC,11064,-0.17,0.0,992.4,-8.7,507,11223,0.60,0.00,152.57,1.488,6,0.111,0.000,2973,2126,2853,0,0,0,0,0,0,25.63,28.83,22.56
$STATE,11225,end apogee,CONTROL_FINISHED_OK
$STATE,11225,begin climb
$GC,11228,0.55,175.2,999.5,0.0,512,11410,0.65,1.50,170.00,1.440,4,0.049,0.047,3224,2984,2137,0,0,0,0,0,0,24.63,23.75,22.02
$GC,11449,0.46,175.2,986.8,9.9,520,11455,0.12,1.38,0.00,0.000,6,0.130,0.026,3187,2140,2131,0,0,0,0,0,0,24.49,24.77,28.83
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$STATE,21426,end climb,SURFACE_DEPTH_REACHED
$STATE,21427,begin surface coast
$FINISH,1.7,1.022082
$STATE,21458,end surface coast,CONTROL_FINISHED_OK
$STATE,21458,begin surface
$SM_CCo,21479,10.10,0.062,0,0,1017,450.13
$SM_GC,2.32,8.45,0.75,10.10,0.049,0.029,0.062,131,2467,1017,-9.02,2.43,450.13,0,0,0,0,0,0,25.86,26.41,25.97
$IRIDIUM_FIX,2113.32,11954.74,230113,131328
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.16
$INTERNAL_PRESSURE,9.40038
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,3865312
$24V_AH,22.0,83.608
$10V_AH,9.6,41.989
$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,23.825,143.300,556.100,10.100,0.000,0.000,0.000,517.600,0.000,0.000,21.388,3438.468,14514.039,776.372,3154.966,618.799,0.000,2721.833,0.000,2514.037,0.000,0.542,0.000
$DEVICE_MAMPS,241.740,53.550,1487.925,61.965,0.000,0.000,0.000,137.700,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21523.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.610,0.000,0.000,0.000
$MEM,324300
$DATA_FILE_SIZE,39994,1001
$CAP_FILE_SIZE,262657,0
$CFSIZE,260034560,208797696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.082, 59.0,1
$GPS,230113,200134,2123.270,12003.721,66,0.9,66,-3.0