version: 66.11
glider: 170
mission: 10
dive: 411
start: 1 25 113 7 22 10
data:
$ID,170
$MISSION,10
$DIVE,411
$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,-143714.97
$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,78
$R_STBD_OVSHOOT,61
$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
$GPS1,250113,070934,2115.378,12002.812,29,1.0,29,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-70.9
$GPS2,250113,072141,2115.161,12002.638,28,1.1,28,-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,165.9,250361,-14.9,-9.167,-17.17
$D_GRID,2990
$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,-184.9,0.0,0.0,0,70,0.00,0.00,-45.95,0.000,2,0.000,0.000,130,2511,1866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.57,-184.9,3.0,-1.6,8,172,11.15,1.38,-78.57,0.000,4,0.232,0.054,2840,1626,3608,0,0,0,0,0,0,24.94,26.14,26.63
$GC,292,-0.54,-184.9,26.2,-14.5,46,298,0.00,1.30,0.00,0.000,6,0.000,0.043,2840,2459,3608,0,0,0,0,0,0,28.83,26.17,28.83
$GC,488,-0.49,-184.9,53.3,-14.0,65,494,0.12,1.25,0.00,0.000,4,0.154,0.024,2883,1602,3608,0,0,0,0,0,0,26.22,26.38,28.83
$GC,542,-0.49,-184.9,58.5,-12.5,67,548,0.00,1.35,0.00,0.000,6,0.000,0.039,2883,2479,3608,0,0,0,0,0,0,28.83,26.25,28.83
$GC,737,-0.57,-184.9,74.5,-7.6,77,742,0.00,1.27,0.00,0.000,4,0.000,0.024,2883,1601,3608,0,0,0,0,0,0,28.83,26.41,28.83
$GC,772,-0.66,-184.9,76.4,-7.9,78,777,0.15,1.35,0.00,0.000,6,0.044,0.037,2780,2480,3608,0,0,0,0,0,0,26.26,26.27,28.83
$GC,968,-0.61,-184.9,103.0,-13.7,88,974,0.17,1.38,0.00,0.000,4,0.147,0.049,2837,3352,3608,0,0,0,0,0,0,26.10,26.15,28.83
$GC,993,-0.57,-184.9,105.9,-12.7,89,998,0.00,1.27,0.00,0.000,6,0.000,0.024,2838,2472,3608,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1199,-0.64,-184.9,125.5,-9.8,99,1204,0.00,1.40,0.00,0.000,4,0.000,0.048,2838,3347,3609,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1266,-0.70,-184.9,131.7,-9.2,102,1273,0.00,1.25,0.00,0.000,6,0.000,0.024,2838,2430,3609,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1469,-0.76,-184.9,151.7,-10.6,112,1476,0.12,1.45,0.00,0.000,4,0.093,0.049,2764,3350,3608,0,0,0,0,0,0,26.48,26.15,28.83
$GC,1561,-0.73,-184.9,164.2,-14.2,116,1567,0.08,1.20,0.00,0.000,6,0.129,0.024,2794,2468,3609,0,0,0,0,0,0,26.16,26.48,28.83
$GC,1764,-0.71,-184.9,192.0,-12.9,126,1769,0.00,1.15,0.00,0.000,4,0.000,0.024,2794,1628,3608,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1831,-0.68,-184.9,198.8,-10.6,129,1836,0.00,1.30,0.00,0.000,6,0.000,0.040,2794,2473,3609,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2031,-0.68,-184.9,214.0,-7.8,139,2036,0.00,1.38,0.00,0.000,4,0.000,0.051,2794,3347,3608,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2098,-0.68,-184.9,219.0,-7.8,142,2104,0.00,1.20,0.00,0.000,6,0.000,0.023,2795,2472,3608,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2298,-0.68,-184.9,235.3,-8.4,152,2303,0.00,1.15,0.00,0.000,4,0.000,0.025,2794,1634,3608,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2382,-0.68,-184.9,243.7,-10.0,156,2387,0.00,1.30,0.00,0.000,6,0.000,0.038,2795,2481,3608,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2585,-0.72,-184.9,264.9,-10.2,166,2591,0.00,1.35,0.00,0.000,4,0.000,0.051,2795,3344,3608,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2644,-0.75,-184.9,269.5,-10.3,168,2651,0.00,1.20,0.00,0.000,6,0.000,0.024,2794,2471,3607,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2950,-0.79,-184.9,297.3,-7.4,184,2955,0.00,1.42,0.00,0.000,4,0.000,0.050,2795,3354,3606,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3050,-0.82,-184.9,303.0,-6.8,188,3057,0.00,1.23,0.00,0.000,6,0.000,0.024,2797,2472,3606,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3354,-0.87,-184.9,326.7,-8.2,204,3360,0.12,1.17,0.00,0.000,4,0.088,0.021,2717,1616,3604,0,0,0,0,0,0,26.51,26.43,28.83
$GC,3434,-0.84,-184.9,334.1,-10.7,207,3441,0.12,1.33,0.00,0.000,6,0.138,0.040,2758,2473,3604,0,0,0,0,0,0,25.89,26.27,28.83
$GC,3739,-0.81,-184.9,369.7,-10.3,223,3744,0.00,1.38,0.00,0.000,4,0.000,0.051,2758,3346,3602,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3787,-0.78,-184.9,374.0,-10.0,225,3792,0.00,1.23,0.00,0.000,6,0.000,0.024,2759,2468,3602,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4105,-0.75,-184.9,404.2,-9.7,241,4112,0.12,1.17,0.00,0.000,4,0.153,0.020,2802,1616,3601,0,0,0,0,0,0,26.25,26.46,28.83
$GC,4145,-0.72,-184.9,406.8,-10.0,242,4151,0.00,1.33,0.00,0.000,6,0.000,0.040,2802,2474,3600,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4451,-0.77,-184.9,441.0,-11.6,258,4456,0.00,1.38,0.00,0.000,4,0.000,0.052,2803,3346,3598,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4504,-0.81,-184.9,446.2,-11.8,260,4509,0.00,1.23,0.00,0.000,6,0.000,0.026,2802,2474,3598,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4818,-0.87,-184.9,482.1,-10.4,276,4824,0.12,1.20,0.00,0.000,4,0.094,0.021,2731,1607,3596,0,0,0,0,0,0,26.49,26.43,28.83
$GC,4952,-0.82,-184.9,497.5,-12.8,282,4959,0.10,1.35,0.00,0.000,6,0.140,0.041,2765,2470,3596,0,0,0,0,0,0,25.93,26.25,28.83
$GC,5268,-0.82,-184.9,532.7,-10.2,298,5273,0.00,1.40,0.00,0.000,4,0.000,0.052,2766,3353,3594,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5307,-0.80,-184.9,535.1,-10.1,299,5314,0.00,1.25,0.00,0.000,6,0.000,0.026,2766,2475,3595,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5612,-0.80,-184.9,565.0,-8.8,315,5618,0.00,1.20,0.00,0.000,4,0.000,0.024,2766,1608,3592,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5687,-0.80,-184.9,571.0,-9.1,318,5692,0.00,1.35,0.00,0.000,6,0.000,0.041,2765,2475,3592,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6001,-0.80,-184.9,599.1,-8.6,334,6006,0.00,1.40,0.00,0.000,4,0.000,0.052,2765,3355,3590,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6040,-0.80,-184.9,602.2,-9.0,336,6045,0.00,1.25,0.00,0.000,6,0.000,0.028,2766,2491,3590,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6372,-0.78,-184.9,632.0,-9.2,347,6377,0.00,1.25,0.00,0.000,4,0.000,0.024,2766,1600,3588,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6426,-0.76,-184.9,635.5,-9.2,348,6431,0.00,1.38,0.00,0.000,6,0.000,0.041,2765,2477,3588,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6739,-0.76,-184.9,665.2,-8.7,359,6744,0.00,1.40,0.00,0.000,4,0.000,0.052,2765,3357,3586,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6773,-0.76,-184.9,668.0,-8.5,360,6778,0.00,1.30,0.00,0.000,6,0.000,0.028,2766,2473,3586,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7112,-0.76,-184.9,695.4,-8.3,371,7117,0.00,1.23,0.00,0.000,4,0.000,0.025,2766,1608,3584,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7149,-0.76,-184.9,699.0,-8.7,372,7155,0.00,1.38,0.00,0.000,6,0.000,0.041,2766,2483,3584,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7482,-0.76,-184.9,730.5,-9.6,383,7487,0.00,1.38,0.00,0.000,4,0.000,0.052,2766,3351,3583,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7529,-0.76,-184.9,734.1,-9.8,384,7535,0.00,1.27,0.00,0.000,6,0.000,0.028,2766,2483,3583,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7852,-0.76,-184.9,765.7,-9.1,395,7857,0.00,1.25,0.00,0.000,4,0.000,0.024,2766,1600,3581,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7879,-0.76,-184.9,765.7,-9.1,395,7886,0.00,1.38,0.00,0.000,6,0.000,0.041,2766,2473,3581,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8186,-0.76,-184.9,797.1,-9.5,406,8191,0.00,1.40,0.00,0.000,4,0.000,0.053,2766,3351,3580,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8224,-0.76,-184.9,800.4,-9.6,407,8230,0.00,1.30,0.00,0.000,6,0.000,0.028,2766,2464,3579,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8555,-0.76,-184.9,832.6,-9.4,418,8560,0.00,1.23,0.00,0.000,4,0.000,0.024,2766,1597,3578,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8638,-0.76,-184.9,838.9,-9.5,420,8643,0.00,1.40,0.00,0.000,6,0.000,0.042,2765,2482,3577,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8952,-0.76,-184.9,871.1,-9.7,431,8957,0.00,1.27,0.00,0.000,4,0.000,0.025,2766,1606,3577,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8994,-0.76,-184.9,874.3,-9.7,432,8999,0.00,1.38,0.00,0.000,6,0.000,0.041,2765,2476,3577,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9321,-0.76,-184.9,905.6,-8.9,443,9326,0.00,1.27,0.00,0.000,4,0.000,0.024,2766,1605,3576,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9358,-0.76,-184.9,908.8,-8.8,444,9364,0.00,1.38,0.00,0.000,6,0.000,0.042,2765,2476,3576,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9690,-0.76,-184.9,938.4,-8.9,455,9696,0.00,1.27,0.00,0.000,4,0.000,0.025,2765,1603,3575,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9738,-0.76,-184.9,941.6,-8.8,456,9745,0.00,1.38,0.00,0.000,6,0.000,0.041,2765,2476,3574,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10062,-0.76,-184.9,970.7,-8.7,467,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2476,3573,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10296,begin apogee
$GC,10303,-0.17,0.0,991.1,-8.4,475,10474,0.62,0.00,161.65,1.483,6,0.112,0.000,2978,2104,2852,0,0,0,0,0,0,25.65,28.83,22.57
$STATE,10476,end apogee,CONTROL_FINISHED_OK
$STATE,10476,begin climb
$GC,10479,0.57,184.9,998.1,0.0,480,10666,0.68,1.62,178.52,1.440,4,0.054,0.047,3229,2997,2098,0,0,0,0,0,0,24.66,23.77,22.04
$GC,10735,0.49,184.9,984.6,10.2,489,10741,0.12,1.33,0.00,0.000,6,0.130,0.025,3193,2154,2092,0,0,0,0,0,0,24.89,25.21,28.83
$GC,11063,0.48,206.4,954.8,8.5,500,11090,0.00,1.40,19.60,1.356,4,0.000,0.047,3194,3004,2010,0,0,0,0,0,0,28.83,25.72,23.82
$GC,11176,0.45,212.5,946.0,9.0,503,11188,0.00,1.35,7.03,1.136,6,0.000,0.026,3199,2111,1985,0,0,0,0,0,0,28.83,26.17,23.86
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$STATE,19851,end climb,SURFACE_DEPTH_REACHED
$STATE,19851,begin surface coast
$FINISH,1.8,1.011042
$STATE,19872,end surface coast,CONTROL_FINISHED_OK
$STATE,19872,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,57.36
$INTERNAL_PRESSURE,9.36132
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,3862624
$24V_AH,22.0,85.338
$10V_AH,9.6,42.882
$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
$DEVICE_SECS,23.625,146.625,639.725,0.000,0.000,0.000,0.000,403.825,0.000,0.000,29.653,3125.436,13251.987,839.123,2858.478,591.030,0.000,2619.594,0.000,2326.785,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19938.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.342,0.000,0.000,0.000
$MEM,324288
$DATA_FILE_SIZE,33341,913
$CAP_FILE_SIZE,246918,0
$CFSIZE,260034560,207953920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.111,292.5,1
$GPS,250113,125604,2113.641,12002.372,40,0.8,40,-2.9