version: 66.11
glider: 170
mission: 10
dive: 408
start: 1 24 113 13 33 50
data:
$ID,170
$MISSION,10
$DIVE,408
$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,-143711.12
$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,62
$R_STBD_OVSHOOT,58
$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
$GPS1,240113,132436,2118.825,12002.084,28,0.9,28,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-76.2
$GPS2,240113,133323,2118.800,12002.031,16,1.0,16,-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,164.9,257082,-14.9,-9.167,-17.17
$D_GRID,2941
$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,22,-0.57,-184.9,0.0,0.0,0,84,0.00,0.00,-60.45,0.000,2,0.000,0.000,133,2500,2076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.57,-184.9,3.1,-1.4,11,161,11.48,1.38,-55.40,0.000,4,0.240,0.052,2847,1602,3607,0,0,0,0,0,0,25.07,26.15,26.60
$GC,247,-0.54,-184.9,18.7,-14.7,39,254,0.00,1.33,0.00,0.000,6,0.000,0.040,2847,2456,3608,0,0,0,0,0,0,28.83,26.15,28.83
$GC,443,-0.50,-184.9,48.6,-13.9,62,448,0.00,1.40,0.00,0.000,4,0.000,0.051,2847,3345,3608,0,0,0,0,0,0,28.83,26.10,28.83
$GC,480,-0.47,-184.9,51.8,-13.6,64,488,0.08,1.30,0.00,0.000,6,0.112,0.023,2879,2407,3608,0,0,0,0,0,0,26.15,26.45,28.83
$GC,669,-0.52,-184.9,71.7,-7.8,74,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2404,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,847,-0.59,-184.9,84.7,-7.4,83,852,0.00,1.15,0.00,0.000,4,0.000,0.025,2880,1585,3608,0,0,0,0,0,0,28.83,26.42,28.83
$GC,977,-0.69,-184.9,95.3,-8.6,89,984,0.12,1.38,0.00,0.000,6,0.050,0.038,2796,2478,3608,0,0,0,0,0,0,26.22,26.26,28.83
$GC,1177,-0.69,-184.9,117.9,-11.2,99,1183,0.00,1.30,0.00,0.000,4,0.000,0.024,2795,1574,3609,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1231,-0.69,-184.9,123.1,-11.6,101,1236,0.00,1.38,0.00,0.000,6,0.000,0.036,2795,2475,3609,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1425,-0.66,-184.9,145.7,-10.7,111,1431,0.00,1.27,0.00,0.000,4,0.000,0.024,2795,1587,3609,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1460,-0.63,-184.9,148.2,-10.4,112,1466,0.10,1.35,0.00,0.000,6,0.122,0.037,2833,2468,3609,0,0,0,0,0,0,25.99,26.27,28.83
$GC,1657,-0.71,-184.9,164.9,-8.2,122,1662,0.00,1.27,0.00,0.000,4,0.000,0.023,2833,1584,3610,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1696,-0.79,-184.9,167.1,-8.2,123,1703,0.12,1.38,0.00,0.000,6,0.045,0.037,2740,2478,3610,0,0,0,0,0,0,26.25,26.27,28.83
$GC,1884,-0.74,-184.9,190.5,-12.6,133,1889,0.15,1.33,0.00,0.000,4,0.155,0.047,2790,3352,3610,0,0,0,0,0,0,26.13,26.15,28.83
$GC,1948,-0.71,-184.9,198.2,-12.0,136,1953,0.00,1.30,0.00,0.000,6,0.000,0.023,2791,2402,3609,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2152,-0.71,-184.9,218.4,-9.8,146,2158,0.00,1.52,0.00,0.000,4,0.000,0.050,2791,3364,3610,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2217,-0.71,-184.9,224.9,-9.9,149,2223,0.00,1.33,0.00,0.000,6,0.000,0.024,2791,2408,3609,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2425,-0.73,-184.9,243.1,-8.7,159,2430,0.00,1.15,0.00,0.000,4,0.000,0.024,2790,1572,3609,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2503,-0.76,-184.9,249.1,-8.9,162,2511,0.00,1.40,0.00,0.000,6,0.000,0.037,2791,2481,3609,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2690,-0.80,-184.9,267.8,-9.2,172,2695,0.00,1.30,0.00,0.000,4,0.000,0.023,2791,1570,3608,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2749,-0.83,-184.9,271.6,-8.9,174,2756,0.00,1.40,0.00,0.000,6,0.000,0.037,2791,2478,3608,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3055,-0.87,-184.9,297.6,-8.1,190,3060,0.12,1.38,0.00,0.000,4,0.090,0.049,2719,3364,3607,0,0,0,0,0,0,26.50,26.15,28.83
$GC,3099,-0.87,-184.9,302.3,-9.3,192,3105,0.10,1.33,0.00,0.000,6,0.138,0.024,2753,2409,3607,0,0,0,0,0,0,26.07,26.51,28.83
$GC,3424,-0.83,-184.9,340.5,-12.2,208,3429,0.00,1.15,0.00,0.000,4,0.000,0.024,2753,1587,3605,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3497,-0.79,-184.9,347.8,-11.6,211,3502,0.00,1.38,0.00,0.000,6,0.000,0.039,2753,2476,3605,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3811,-0.76,-184.9,381.7,-10.1,227,3816,0.12,1.38,0.00,0.000,4,0.156,0.049,2794,3357,3604,0,0,0,0,0,0,26.24,26.14,28.83
$GC,3849,-0.73,-184.9,383.9,-10.0,228,3855,0.00,1.33,0.00,0.000,6,0.000,0.025,2795,2423,3604,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4155,-0.78,-184.9,410.4,-8.9,244,4161,0.00,1.17,0.00,0.000,4,0.000,0.023,2795,1567,3603,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4234,-0.81,-184.9,416.2,-9.0,247,4242,0.00,1.40,0.00,0.000,6,0.000,0.038,2795,2470,3602,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4540,-0.86,-184.9,447.2,-10.0,263,4546,0.12,1.35,0.00,0.000,4,0.090,0.049,2722,3351,3600,0,0,0,0,0,0,26.50,26.13,28.83
$GC,4674,-0.80,-184.9,463.2,-13.2,269,4680,0.15,1.30,0.00,0.000,6,0.128,0.024,2773,2434,3599,0,0,0,0,0,0,25.98,26.48,28.83
$GC,4988,-0.80,-184.9,496.0,-9.5,285,4994,0.00,1.50,0.00,0.000,4,0.000,0.052,2772,3354,3598,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5038,-0.80,-184.9,500.4,-9.8,287,5043,0.00,1.25,0.00,0.000,6,0.000,0.027,2772,2491,3597,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5356,-0.80,-184.9,530.2,-8.8,303,5361,0.00,1.25,0.00,0.000,4,0.000,0.024,2772,1603,3596,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5392,-0.80,-184.9,532.4,-8.8,304,5397,0.00,1.35,0.00,0.000,6,0.000,0.039,2772,2474,3596,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5706,-0.83,-184.9,557.6,-7.0,320,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2475,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6010,-0.85,-184.9,576.7,-6.6,335,6015,0.00,1.40,0.00,0.000,4,0.000,0.052,2772,3352,3593,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6043,-0.88,-184.9,578.5,-6.5,336,6049,0.00,1.27,0.00,0.000,6,0.000,0.028,2773,2485,3593,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6368,-0.90,-184.9,603.6,-8.3,352,6373,0.00,1.25,0.00,0.000,4,0.000,0.024,2773,1596,3591,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6437,-0.93,-184.9,609.3,-8.6,354,6443,0.08,1.38,0.00,0.000,6,0.072,0.039,2726,2478,3591,0,0,0,0,0,0,26.12,26.22,28.83
$GC,6769,-0.87,-184.9,651.8,-13.3,365,6775,0.00,1.40,0.00,0.000,4,0.000,0.052,2725,3356,3589,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6828,-0.82,-184.9,656.8,-13.3,366,6835,0.12,1.30,0.00,0.000,6,0.129,0.027,2768,2467,3589,0,0,0,0,0,0,25.98,26.46,28.83
$GC,7138,-0.82,-184.9,691.0,-9.5,377,7139,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2466,3589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7434,-0.82,-184.9,718.8,-9.5,387,7439,0.00,1.45,0.00,0.000,4,0.000,0.051,2768,3348,3587,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7477,-0.82,-184.9,722.0,-9.4,388,7482,0.00,1.27,0.00,0.000,6,0.000,0.028,2768,2488,3587,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7804,-0.82,-184.9,752.7,-9.0,399,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2488,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8101,-0.82,-184.9,778.6,-8.6,409,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2488,3585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8402,-0.82,-184.9,805.7,-9.3,419,8403,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2488,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8701,-0.82,-184.9,835.2,-10.0,429,8706,0.00,1.27,0.00,0.000,4,0.000,0.024,2768,1594,3583,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8739,-0.82,-184.9,838.6,-10.0,430,8744,0.00,1.40,0.00,0.000,6,0.000,0.041,2768,2479,3583,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9070,-0.82,-184.9,870.1,-9.2,441,9075,0.00,1.40,0.00,0.000,4,0.000,0.053,2768,3354,3581,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9153,-0.82,-184.9,875.8,-8.9,443,9158,0.00,1.33,0.00,0.000,6,0.000,0.028,2768,2465,3581,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9469,-0.82,-184.9,900.9,-6.8,454,9470,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2465,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9767,-0.82,-184.9,920.3,-6.5,464,9768,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2465,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10068,-0.82,-184.9,941.4,-7.4,474,10073,0.00,1.45,0.00,0.000,4,0.000,0.052,2768,3350,3578,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10097,-0.82,-184.9,941.4,-7.4,474,10103,0.00,1.30,0.00,0.000,6,0.000,0.029,2768,2475,3578,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10403,-0.82,-184.9,968.1,-8.1,485,10408,0.00,1.45,0.00,0.000,4,0.000,0.054,2769,3354,3577,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10430,-0.82,-184.9,968.1,-8.1,485,10437,0.00,1.33,0.00,0.000,6,0.000,0.030,2768,2467,3577,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,10673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10673,begin apogee
$GC,10681,-0.17,0.0,990.1,-8.0,494,10851,0.60,0.00,162.98,1.485,6,0.109,0.000,2974,2090,2853,0,0,0,0,0,0,25.65,28.83,22.47
$STATE,10853,end apogee,CONTROL_FINISHED_OK
$STATE,10853,begin climb
$GC,10856,0.57,184.9,997.1,0.0,499,11043,0.68,1.58,179.45,1.438,4,0.054,0.044,3222,3001,2098,0,0,0,0,0,0,24.51,23.70,21.96
$GC,11102,0.50,184.9,982.3,10.7,508,11108,0.00,1.35,0.00,0.000,6,0.000,0.026,3226,2166,2092,0,0,0,0,0,0,28.83,24.97,28.83
$GC,11439,0.44,184.9,943.3,11.6,519,11445,0.15,1.33,0.00,0.000,4,0.154,0.041,3177,3026,2087,0,0,0,0,0,0,25.98,26.10,28.83
$GC,11467,0.39,184.9,943.3,11.6,519,11474,0.00,1.40,0.00,0.000,6,0.000,0.027,3183,2104,2087,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11774,0.39,192.8,912.4,8.9,530,11788,0.00,1.45,6.97,1.149,4,0.000,0.043,3183,3001,2066,0,0,0,0,0,0,28.83,26.06,23.92
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$STATE,20622,end climb,SURFACE_DEPTH_REACHED
$STATE,20622,begin surface coast
$FINISH,1.6,1.022383
$STATE,20667,end surface coast,CONTROL_FINISHED_OK
$STATE,20667,begin surface
$SM_CCo,20687,17.33,0.061,0,0,1017,450.13
$SM_GC,2.83,8.52,0.57,17.33,0.054,0.046,0.061,141,2474,1017,-9.01,-1.47,450.13,0,0,0,0,0,0,25.63,26.26,25.96
$IRIDIUM_FIX,2113.32,12003.06,240113,070700
$TT8_MAMPS,0.025466,0.025466
$HUMID,56.49
$INTERNAL_PRESSURE,9.39062
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,3863776
$24V_AH,22.0,84.586
$10V_AH,9.4,42.496
$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,23.975,135.050,565.600,17.325,0.000,0.000,0.000,283.425,0.000,0.000,17.559,3221.517,13909.834,784.787,2723.251,579.448,0.000,2415.322,0.000,2338.797,0.000,0.541,0.000
$DEVICE_MAMPS,240.210,53.550,1484.865,61.200,0.000,0.000,0.000,138.465,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20726.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.495,0.000,0.000,0.000
$MEM,324304
$DATA_FILE_SIZE,36772,965
$CAP_FILE_SIZE,250202,0
$CFSIZE,260034560,208318464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.115, 41.6,1
$GPS,240113,192004,2118.137,12003.549,25,0.8,25,-2.9