version: 66.11
glider: 170
mission: 10
dive: 410
start: 1 25 113 1 32 45
data:
$ID,170
$MISSION,10
$DIVE,410
$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,-143713.62
$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,85
$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
$GPS1,250113,011434,2117.024,12003.837,44,0.9,44,-2.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-69.3
$GPS2,250113,013218,2116.773,12003.717,18,1.1,18,-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,193.2,253387,-14.9,-9.167,-17.17
$D_GRID,2966
$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,-184.9,0.0,0.0,0,87,0.00,0.00,-62.78,0.000,2,0.000,0.000,139,2456,2137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.57,-184.9,3.1,-1.6,11,163,11.38,1.20,-54.03,0.000,4,0.239,0.052,2843,1626,3606,0,0,0,0,0,0,25.01,26.18,26.64
$GC,310,-0.55,-184.9,25.1,-12.6,50,316,0.00,1.35,0.00,0.000,6,0.000,0.049,2843,2477,3606,0,0,0,0,0,0,28.83,26.06,28.83
$GC,496,-0.52,-184.9,48.9,-11.7,69,501,0.00,1.38,0.00,0.000,4,0.000,0.051,2843,3354,3606,0,0,0,0,0,0,28.83,26.15,28.83
$GC,550,-0.49,-184.9,54.1,-11.9,72,556,0.08,1.25,0.00,0.000,6,0.117,0.023,2876,2447,3606,0,0,0,0,0,0,26.17,26.47,28.83
$GC,747,-0.58,-184.9,72.8,-8.9,82,752,0.00,1.45,0.00,0.000,4,0.000,0.047,2876,3356,3607,0,0,0,0,0,0,28.83,26.16,28.83
$GC,780,-0.67,-184.9,74.9,-8.7,83,788,0.12,1.23,0.00,0.000,6,0.047,0.024,2793,2473,3608,0,0,0,0,0,0,26.32,26.48,28.83
$GC,977,-0.67,-184.9,96.3,-10.6,93,982,0.00,1.17,0.00,0.000,4,0.000,0.027,2793,1641,3607,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1040,-0.64,-184.9,103.6,-11.2,96,1046,0.08,1.30,0.00,0.000,6,0.138,0.041,2822,2478,3606,0,0,0,0,0,0,26.01,26.27,28.83
$GC,1247,-0.64,-184.9,123.6,-9.4,106,1253,0.00,1.38,0.00,0.000,4,0.000,0.050,2822,3354,3606,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1286,-0.64,-184.9,126.1,-9.3,107,1293,0.00,1.23,0.00,0.000,6,0.000,0.023,2822,2462,3607,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1474,-0.69,-184.9,145.2,-9.5,117,1479,0.00,1.15,0.00,0.000,4,0.000,0.023,2822,1637,3607,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1571,-0.73,-184.9,153.5,-9.7,121,1579,0.00,1.30,0.00,0.000,6,0.000,0.037,2822,2487,3606,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1761,-0.79,-184.9,172.1,-9.0,131,1766,0.12,1.23,0.00,0.000,4,0.090,0.020,2741,1633,3607,0,0,0,0,0,0,26.49,26.44,28.83
$GC,1934,-0.72,-184.9,190.9,-11.7,139,1941,0.17,1.30,0.00,0.000,6,0.126,0.039,2802,2477,3606,0,0,0,0,0,0,25.89,26.28,28.83
$GC,2133,-0.75,-184.9,207.2,-7.6,149,2138,0.00,1.20,0.00,0.000,4,0.000,0.024,2802,1629,3606,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2186,-0.78,-184.9,211.1,-8.1,151,2192,0.00,1.30,0.00,0.000,6,0.000,0.037,2802,2478,3606,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2381,-0.81,-184.9,230.3,-10.1,161,2387,0.00,1.20,0.00,0.000,4,0.000,0.023,2802,1631,3605,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2455,-0.85,-184.9,237.1,-10.2,164,2461,0.08,1.30,0.00,0.000,6,0.061,0.037,2749,2478,3605,0,0,0,0,0,0,26.20,26.29,28.83
$GC,2650,-0.85,-184.9,258.9,-10.2,174,2656,0.00,1.38,0.00,0.000,4,0.000,0.051,2750,3350,3604,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2743,-0.81,-184.9,267.6,-10.2,178,2749,0.00,1.20,0.00,0.000,6,0.000,0.023,2749,2469,3604,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3058,-0.76,-184.9,304.1,-11.7,194,3064,0.12,1.15,0.00,0.000,4,0.165,0.019,2791,1640,3603,0,0,0,0,0,0,26.21,26.48,28.83
$GC,3078,-0.72,-184.9,304.1,-11.7,194,3085,0.00,1.27,0.00,0.000,6,0.000,0.039,2791,2471,3604,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3382,-0.72,-184.9,334.8,-9.5,210,3387,0.00,1.40,0.00,0.000,4,0.000,0.051,2791,3354,3601,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3415,-0.72,-184.9,337.0,-9.5,211,3420,0.00,1.20,0.00,0.000,6,0.000,0.025,2791,2495,3602,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3729,-0.76,-184.9,365.1,-8.4,227,3734,0.00,1.23,0.00,0.000,4,0.000,0.023,2792,1604,3600,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3813,-0.79,-184.9,372.4,-8.7,231,3819,0.00,1.35,0.00,0.000,6,0.000,0.037,2791,2474,3599,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4138,-0.83,-184.9,400.2,-8.6,247,4143,0.00,1.38,0.00,0.000,4,0.000,0.052,2791,3343,3598,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4224,-0.87,-184.9,407.8,-8.8,251,4230,0.08,1.23,0.00,0.000,6,0.060,0.025,2729,2473,3597,0,0,0,0,0,0,26.34,26.50,28.83
$GC,4548,-0.85,-184.9,443.4,-11.5,267,4550,0.12,0.00,0.00,0.000,6,0.151,0.000,2764,2472,3594,0,0,0,0,0,0,26.29,28.83,28.83
$GC,4851,-0.85,-184.9,476.7,-11.4,282,4856,0.00,1.42,0.00,0.000,4,0.000,0.051,2764,3352,3592,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4904,-0.85,-184.9,482.0,-11.5,284,4909,0.00,1.25,0.00,0.000,6,0.000,0.026,2765,2472,3592,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5217,-0.85,-184.9,517.4,-10.7,300,5222,0.00,1.20,0.00,0.000,4,0.000,0.024,2765,1615,3590,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5241,-0.85,-184.9,519.8,-10.7,301,5246,0.00,1.35,0.00,0.000,6,0.000,0.039,2764,2475,3591,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5565,-0.85,-184.9,552.0,-9.5,317,5570,0.00,1.38,0.00,0.000,4,0.000,0.052,2764,3342,3589,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5623,-0.85,-184.9,556.3,-9.4,319,5631,0.00,1.25,0.00,0.000,6,0.000,0.027,2764,2482,3589,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5929,-0.85,-184.9,585.0,-8.6,335,5935,0.00,1.25,0.00,0.000,4,0.000,0.024,2765,1594,3587,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5963,-0.85,-184.9,587.3,-8.5,336,5969,0.00,1.38,0.00,0.000,6,0.000,0.039,2764,2474,3587,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6300,-0.87,-184.9,618.2,-9.2,350,6305,0.00,1.25,0.00,0.000,4,0.000,0.024,2764,1608,3586,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6313,-0.89,-184.9,618.2,-9.2,350,6318,0.00,1.35,0.00,0.000,6,0.000,0.039,2764,2476,3585,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6639,-0.89,-184.9,653.0,-10.7,361,6645,0.00,1.38,0.00,0.000,4,0.000,0.052,2764,3341,3584,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6713,-0.89,-184.9,660.3,-11.0,363,6718,0.00,1.27,0.00,0.000,6,0.000,0.028,2764,2468,3583,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7037,-0.89,-184.9,697.1,-10.8,374,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2467,3582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7336,-0.91,-184.9,726.7,-9.5,384,7342,0.00,1.42,0.00,0.000,4,0.000,0.053,2764,3342,3580,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7425,-0.93,-184.9,732.7,-9.4,386,7433,0.00,1.27,0.00,0.000,6,0.000,0.028,2763,2478,3580,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7730,-0.93,-184.9,762.2,-8.6,397,7735,0.00,1.25,0.00,0.000,4,0.000,0.025,2765,1603,3578,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7795,-0.93,-184.9,767.7,-8.6,399,7800,0.00,1.38,0.00,0.000,6,0.000,0.040,2764,2476,3578,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8131,-0.93,-184.9,795.9,-8.5,410,8136,0.00,1.40,0.00,0.000,4,0.000,0.053,2764,3355,3577,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8160,-0.93,-184.9,795.9,-8.5,410,8167,0.00,1.30,0.00,0.000,6,0.000,0.029,2765,2470,3577,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8464,-0.93,-184.9,826.7,-9.5,421,8470,0.00,1.25,0.00,0.000,4,0.000,0.025,2764,1599,3576,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8499,-0.93,-184.9,830.0,-9.6,422,8504,0.00,1.40,0.00,0.000,6,0.000,0.041,2764,2481,3576,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8836,-0.93,-184.9,862.2,-9.5,433,8841,0.00,1.27,0.00,0.000,4,0.000,0.025,2765,1609,3574,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8869,-0.93,-184.9,865.8,-9.5,434,8874,0.00,1.38,0.00,0.000,6,0.000,0.041,2764,2475,3574,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9205,-0.93,-184.9,899.4,-10.2,445,9210,0.00,1.27,0.00,0.000,4,0.000,0.026,2765,1602,3573,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9242,-0.93,-184.9,903.3,-10.3,446,9247,0.00,1.38,0.00,0.000,6,0.000,0.041,2764,2476,3573,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9573,-0.93,-184.9,937.8,-10.5,457,9578,0.00,1.27,0.00,0.000,4,0.000,0.025,2765,1608,3572,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9602,-0.93,-184.9,937.8,-10.5,457,9608,0.00,1.38,0.00,0.000,6,0.000,0.041,2764,2479,3572,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9907,-0.93,-184.9,972.5,-10.3,468,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2479,3571,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10084,begin apogee
$GC,10092,-0.17,0.0,991.9,-10.9,474,10262,0.62,0.00,160.38,1.480,6,0.111,0.000,2978,2110,2851,0,0,0,0,0,0,25.68,28.83,22.65
$STATE,10264,end apogee,CONTROL_FINISHED_OK
$STATE,10264,begin climb
$GC,10267,0.57,184.9,1002.2,0.0,479,10449,0.68,0.00,178.00,1.440,6,0.058,0.000,3224,2109,2099,0,0,0,0,0,0,24.66,28.83,22.08
$GC,10750,0.52,184.9,969.0,10.8,496,10756,0.00,1.42,0.00,0.000,4,0.000,0.047,3224,2997,2088,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10914,0.45,184.9,949.8,12.3,501,10921,0.12,1.27,0.00,0.000,6,0.131,0.026,3184,2144,2087,0,0,0,0,0,0,25.94,26.34,28.83
$GC,11242,0.45,184.9,915.9,10.0,512,11247,0.00,1.38,0.00,0.000,4,0.000,0.047,3185,2998,2085,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11386,0.42,184.9,902.8,10.4,516,11391,0.00,1.33,0.00,0.000,6,0.000,0.027,3188,2110,2085,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11700,0.42,184.9,871.5,9.3,527,11705,0.00,1.42,0.00,0.000,4,0.000,0.044,3187,2998,2084,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,20003,end climb,SURFACE_DEPTH_REACHED
$STATE,20003,begin surface coast
$FINISH,1.7,1.021882
$STATE,20059,end surface coast,CONTROL_FINISHED_OK
$STATE,20059,begin surface
$SM_CCo,20140,0.00,0.000,0,0,884,483.00
$SM_GC,2.57,8.40,0.57,0.00,0.046,0.041,0.000,131,2490,884,-9.03,-1.47,483.00,0,0,0,0,0,0,25.83,26.30,28.83
$IRIDIUM_FIX,2106.38,12001.90,250113,010128
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.94
$INTERNAL_PRESSURE,9.41015
$TCM_TEMP,22.70
$XPDR_PINGS,2
$SC_FREEKB,3863008
$24V_AH,22.1,85.080
$10V_AH,9.5,42.757
$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,22.950,132.500,615.675,0.000,0.000,0.000,0.000,630.725,0.500,0.000,19.702,3248.844,13401.477,783.470,3162.431,588.871,0.000,2816.321,0.000,2431.501,0.000,0.542,0.000
$DEVICE_MAMPS,238.680,52.785,1479.510,0.000,0.000,0.000,0.000,136.935,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20120.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.746,0.000,0.000,0.000
$MEM,324292
$DATA_FILE_SIZE,36743,941
$CAP_FILE_SIZE,248085,0
$CFSIZE,260034560,208076800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.095,283.2,1
$GPS,250113,070934,2115.378,12002.812,29,1.0,29,-2.9