version: 66.11
glider: 170
mission: 10
dive: 407
start: 1 24 113 7 49 44
data:
$ID,170
$MISSION,10
$DIVE,407
$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,360
$T_MISSION,380
$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,190
$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,-143709.88
$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,84
$R_STBD_OVSHOOT,38
$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
$GPS1,240113,073905,2120.479,12002.538,39,0.8,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-74.9
$GPS2,240113,074917,2120.392,12002.475,19,0.9,19,-2.9
$SPEED_LIMITS,0.159,0.297
$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,172.4,260042,-14.9,-9.167,-17.17
$D_GRID,2856
$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,-0.57,-184.9,0.0,0.0,0,75,0.00,0.00,-50.67,0.000,2,0.000,0.000,135,2484,2065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.57,-184.9,3.0,-1.2,9,151,11.55,1.30,-51.70,0.000,4,0.239,0.048,2845,1587,3609,0,0,0,0,0,0,24.96,26.22,26.59
$GC,278,-0.54,-184.9,26.0,-14.0,44,284,0.00,1.38,0.00,0.000,6,0.000,0.039,2845,2473,3610,0,0,0,0,0,0,28.83,26.14,28.83
$GC,464,-0.51,-184.9,51.4,-13.3,63,469,0.00,1.38,0.00,0.000,4,0.000,0.051,2845,3347,3610,0,0,0,0,0,0,28.83,26.08,28.83
$GC,508,-0.47,-184.9,57.1,-13.3,65,514,0.08,1.27,0.00,0.000,6,0.119,0.024,2877,2435,3610,0,0,0,0,0,0,26.13,26.45,28.83
$GC,715,-0.47,-184.9,78.9,-10.2,75,720,0.00,1.10,0.00,0.000,4,0.000,0.023,2878,1653,3610,0,0,0,0,0,0,28.83,26.46,28.83
$GC,803,-0.55,-184.9,86.9,-9.4,79,808,0.00,1.27,0.00,0.000,6,0.000,0.038,2877,2484,3610,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1005,-0.63,-184.9,104.1,-8.6,89,1010,0.12,1.35,0.00,0.000,4,0.087,0.048,2801,3374,3610,0,0,0,0,0,0,26.51,26.13,28.83
$GC,1040,-0.70,-184.9,106.4,-8.2,90,1045,0.00,1.25,0.00,0.000,6,0.000,0.023,2801,2469,3610,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1234,-0.73,-184.9,126.9,-10.1,100,1240,0.00,1.15,0.00,0.000,4,0.000,0.022,2801,1637,3610,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1299,-0.75,-184.9,133.5,-10.2,103,1305,0.00,1.30,0.00,0.000,6,0.000,0.037,2800,2477,3611,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1505,-0.79,-184.9,153.1,-9.2,113,1510,0.00,1.20,0.00,0.000,4,0.000,0.024,2801,1624,3611,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1583,-0.81,-184.9,159.1,-9.2,116,1590,0.00,1.30,0.00,0.000,6,0.000,0.037,2801,2476,3611,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1770,-0.85,-184.9,177.8,-9.5,126,1772,0.12,0.00,0.00,0.000,6,0.089,0.000,2737,2476,3611,0,0,0,0,0,0,26.51,28.83,28.83
$GC,1949,-0.78,-184.9,200.0,-13.1,135,1951,0.15,0.00,0.00,0.000,6,0.154,0.000,2780,2476,3611,0,0,0,0,0,0,26.18,28.83,28.83
$GC,2130,-0.78,-184.9,218.2,-9.8,144,2135,0.00,1.20,0.00,0.000,4,0.000,0.024,2780,1611,3611,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2194,-0.78,-184.9,225.2,-10.7,147,2199,0.00,1.33,0.00,0.000,6,0.000,0.037,2780,2475,3611,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2399,-0.76,-184.9,246.2,-10.1,157,2404,0.00,1.38,0.00,0.000,4,0.000,0.050,2780,3353,3611,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2424,-0.74,-184.9,248.8,-10.1,158,2429,0.00,1.23,0.00,0.000,6,0.000,0.024,2781,2468,3611,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2629,-0.74,-184.9,270.8,-10.6,168,2634,0.00,1.15,0.00,0.000,4,0.000,0.023,2780,1628,3610,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2672,-0.74,-184.9,275.6,-10.8,170,2677,0.00,1.30,0.00,0.000,6,0.000,0.038,2781,2476,3611,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2997,-0.72,-184.9,306.3,-8.8,186,3002,0.00,1.38,0.00,0.000,4,0.000,0.052,2780,3346,3609,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3030,-0.70,-184.9,308.5,-8.7,187,3035,0.00,1.23,0.00,0.000,6,0.000,0.024,2781,2459,3609,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3343,-0.70,-184.9,338.3,-9.5,203,3349,0.00,1.15,0.00,0.000,4,0.000,0.024,2781,1626,3608,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3411,-0.70,-184.9,344.4,-9.5,206,3416,0.00,1.30,0.00,0.000,6,0.000,0.037,2780,2472,3607,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3730,-0.73,-184.9,372.4,-8.5,222,3735,0.00,1.20,0.00,0.000,4,0.000,0.023,2781,1620,3606,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3805,-0.75,-184.9,377.8,-8.5,225,3810,0.00,1.33,0.00,0.000,6,0.000,0.038,2781,2479,3605,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4118,-0.79,-184.9,406.7,-9.5,241,4123,0.00,1.38,0.00,0.000,4,0.000,0.052,2780,3346,3604,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4166,-0.82,-184.9,411.0,-9.7,243,4171,0.00,1.20,0.00,0.000,6,0.000,0.027,2780,2509,3604,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4486,-0.84,-184.9,443.5,-10.1,259,4491,0.00,1.27,0.00,0.000,4,0.000,0.024,2781,1595,3602,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4504,-0.87,-184.9,443.5,-10.1,259,4512,0.00,1.38,0.00,0.000,6,0.000,0.039,2781,2482,3602,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4810,-0.90,-184.9,476.2,-10.0,275,4816,0.12,1.38,0.00,0.000,4,0.089,0.050,2712,3357,3600,0,0,0,0,0,0,26.50,26.12,28.83
$GC,4961,-0.84,-184.9,495.9,-14.0,282,4967,0.15,1.27,0.00,0.000,6,0.131,0.024,2762,2466,3599,0,0,0,0,0,0,25.96,26.48,28.83
$GC,5281,-0.81,-184.9,528.4,-9.5,298,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2463,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5582,-0.81,-184.9,559.0,-10.8,313,5587,0.00,1.20,0.00,0.000,4,0.000,0.023,2762,1606,3596,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5609,-0.81,-184.9,561.9,-11.0,314,5614,0.00,1.35,0.00,0.000,6,0.000,0.041,2763,2471,3596,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5929,-0.79,-184.9,598.0,-10.8,330,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2472,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6248,-0.79,-184.9,630.6,-9.9,341,6254,0.00,1.40,0.00,0.000,4,0.000,0.053,2763,3353,3593,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6272,-0.79,-184.9,630.6,-9.9,341,6278,0.00,1.27,0.00,0.000,6,0.000,0.027,2763,2477,3593,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6588,-0.79,-184.9,661.0,-8.9,352,6594,0.00,1.25,0.00,0.000,4,0.000,0.025,2763,1592,3591,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6612,-0.79,-184.9,661.0,-8.9,352,6618,0.00,1.38,0.00,0.000,6,0.000,0.041,2763,2467,3592,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6927,-0.79,-184.9,695.9,-10.5,363,6933,0.00,1.40,0.00,0.000,4,0.000,0.052,2763,3348,3590,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6995,-0.79,-184.9,702.8,-10.6,365,7001,0.00,1.27,0.00,0.000,6,0.000,0.028,2763,2480,3590,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7327,-0.79,-184.9,737.9,-10.3,376,7333,0.00,1.42,0.00,0.000,4,0.000,0.053,2763,3351,3588,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7361,-0.79,-184.9,741.9,-10.4,377,7366,0.00,1.30,0.00,0.000,6,0.000,0.028,2763,2473,3588,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7697,-0.79,-184.9,776.5,-10.3,388,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2472,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7994,-0.79,-184.9,808.3,-10.6,398,8000,0.00,1.42,0.00,0.000,4,0.000,0.054,2763,3344,3586,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8073,-0.79,-184.9,815.1,-10.6,400,8078,0.00,1.27,0.00,0.000,6,0.000,0.028,2763,2477,3586,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8392,-0.79,-184.9,849.5,-10.4,411,8398,0.00,1.42,0.00,0.000,4,0.000,0.054,2761,3348,3584,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8445,-0.79,-184.9,853.2,-10.3,412,8450,0.00,1.27,0.00,0.000,6,0.000,0.028,2763,2486,3583,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8759,-0.79,-184.9,886.7,-9.7,423,8764,0.00,1.42,0.00,0.000,4,0.000,0.054,2763,3353,3583,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8802,-0.79,-184.9,890.1,-9.7,424,8807,0.00,1.30,0.00,0.000,6,0.000,0.028,2763,2468,3583,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9128,-0.79,-184.9,921.4,-9.4,435,9134,0.00,1.45,0.00,0.000,4,0.000,0.054,2763,3352,3581,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9192,-0.79,-184.9,927.5,-9.3,437,9198,0.00,1.30,0.00,0.000,6,0.000,0.029,2762,2487,3581,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9528,-0.79,-184.9,958.7,-9.4,448,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2486,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9827,-0.79,-184.9,988.6,-10.2,458,9828,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2486,3579,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9854,begin apogee
$GC,9861,-0.17,0.0,991.7,-10.1,459,10032,0.62,0.00,162.95,1.480,6,0.116,0.000,2974,2094,2853,0,0,0,0,0,0,25.61,28.83,22.50
$STATE,10034,end apogee,CONTROL_FINISHED_OK
$STATE,10034,begin climb
$GC,10037,0.57,184.9,1001.1,0.0,464,10224,0.68,1.38,178.75,1.438,4,0.054,0.030,3226,1278,2098,0,0,0,0,0,0,24.59,23.80,22.01
$GC,10260,0.52,228.2,994.3,7.7,472,10309,0.00,1.40,42.12,1.385,6,0.000,0.035,3226,2122,1922,0,0,0,0,0,0,28.83,24.60,22.40
$GC,10609,0.48,228.2,957.4,10.3,484,10615,0.12,1.35,0.00,0.000,4,0.152,0.044,3184,3011,1913,0,0,0,0,0,0,26.01,26.05,28.83
$GC,10744,0.45,228.2,945.6,9.3,488,10749,0.00,1.30,0.00,0.000,6,0.000,0.026,3187,2133,1912,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11070,0.46,232.1,915.7,9.0,499,11075,0.00,1.38,0.00,0.000,4,0.000,0.044,3187,3002,1911,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11104,0.46,232.1,912.2,9.3,500,11109,0.00,1.33,0.00,0.000,6,0.000,0.028,3188,2121,1911,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11442,0.46,232.1,881.4,9.3,511,11447,0.00,1.40,0.00,0.000,4,0.000,0.044,3188,3007,1910,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11544,0.46,232.1,871.6,9.8,514,11549,0.00,1.33,0.00,0.000,6,0.000,0.026,3188,2117,1910,0,0,0,0,0,0,28.83,26.43,28.83
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$STATE,19922,end climb,SURFACE_DEPTH_REACHED
$STATE,19922,begin surface coast
$FINISH,1.6,1.012672
$STATE,19943,end surface coast,CONTROL_FINISHED_OK
$STATE,19944,begin surface
$SM_CCo,20024,0.00,0.000,0,0,809,501.64
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$IRIDIUM_FIX,2141.13,11838.48,240113,020251
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.85
$INTERNAL_PRESSURE,9.37109
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,3864160
$24V_AH,22.0,84.358
$10V_AH,9.7,42.370
$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
$DEVICE_SECS,23.325,133.375,640.125,0.000,0.000,0.000,0.000,359.975,0.000,0.000,20.461,3102.211,13361.335,793.919,2794.842,564.494,0.000,2516.756,0.000,2312.492,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20006.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.412,0.000,0.000,0.000
$MEM,324296
$DATA_FILE_SIZE,33431,917
$CAP_FILE_SIZE,240007,0
$CFSIZE,260034560,208449536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.105,295.7,1
$GPS,240113,132436,2118.825,12002.084,28,0.9,28,-2.9