version: 66.11
glider: 170
mission: 10
dive: 415
start: 1 26 113 7 3 12
data:
$ID,170
$MISSION,10
$DIVE,415
$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,410
$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,-143719.97
$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,80
$R_STBD_OVSHOOT,47
$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
$GPS1,260113,065159,2112.029,12003.852,40,0.9,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-73.0
$GPS2,260113,070242,2111.777,12003.791,19,1.0,19,-2.9
$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,178.7,244141,-14.4,-8.462,-16.72
$D_GRID,3139
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.55,-175.2,0.0,0.0,0,74,0.00,0.00,-49.80,0.000,2,0.000,0.000,140,2507,1929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.55,-175.2,3.0,-1.6,9,170,11.43,1.38,-67.82,0.000,4,0.238,0.073,2851,3345,3568,0,0,0,0,0,0,25.02,25.99,26.60
$GC,179,-0.47,-175.2,9.1,-15.4,25,186,0.08,1.25,0.00,0.000,6,0.121,0.024,2881,2445,3568,0,0,0,0,0,0,26.03,26.34,28.83
$GC,371,-0.47,-175.2,31.9,-11.3,56,377,0.00,1.42,0.00,0.000,4,0.000,0.048,2881,3336,3568,0,0,0,0,0,0,28.83,26.10,28.83
$GC,420,-0.47,-175.2,36.9,-11.3,60,426,0.00,1.20,0.00,0.000,6,0.000,0.024,2881,2476,3568,0,0,0,0,0,0,28.83,26.44,28.83
$GC,618,-0.47,-175.2,58.4,-10.3,76,623,0.00,1.20,0.00,0.000,4,0.000,0.029,2881,1644,3569,0,0,0,0,0,0,28.83,26.33,28.83
$GC,744,-0.47,-175.2,69.4,-8.1,82,750,0.00,1.27,0.00,0.000,6,0.000,0.041,2881,2473,3569,0,0,0,0,0,0,28.83,26.22,28.83
$GC,951,-0.54,-175.2,84.9,-8.4,92,956,0.00,1.38,0.00,0.000,4,0.000,0.050,2881,3352,3569,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1049,-0.63,-175.2,93.2,-9.7,96,1057,0.10,1.23,0.00,0.000,6,0.052,0.023,2808,2463,3569,0,0,0,0,0,0,26.32,26.48,28.83
$GC,1234,-0.63,-175.2,115.6,-11.4,106,1240,0.00,1.42,0.00,0.000,4,0.000,0.048,2808,3356,3570,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1293,-0.63,-175.2,120.2,-10.6,108,1299,0.00,1.20,0.00,0.000,6,0.000,0.023,2808,2478,3570,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1480,-0.63,-175.2,137.9,-8.3,118,1485,0.00,1.17,0.00,0.000,4,0.000,0.024,2808,1634,3570,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1564,-0.63,-175.2,145.4,-8.9,122,1569,0.00,1.30,0.00,0.000,6,0.000,0.037,2808,2485,3569,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1771,-0.65,-175.2,165.2,-10.3,132,1776,0.00,1.23,0.00,0.000,4,0.000,0.031,2808,1644,3570,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1863,-0.65,-175.2,174.5,-10.8,136,1869,0.00,1.27,0.00,0.000,6,0.000,0.037,2808,2480,3570,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2059,-0.65,-175.2,196.6,-10.8,146,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2480,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2237,-0.65,-175.2,216.0,-10.9,155,2243,0.00,1.20,0.00,0.000,4,0.000,0.024,2808,1641,3571,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2291,-0.65,-175.2,220.5,-10.3,157,2296,0.00,1.27,0.00,0.000,6,0.000,0.037,2808,2476,3570,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2485,-0.65,-175.2,236.6,-6.9,167,2490,0.00,1.38,0.00,0.000,4,0.000,0.050,2808,3350,3570,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2509,-0.65,-175.2,237.9,-6.4,168,2514,0.00,1.23,0.00,0.000,6,0.000,0.024,2808,2481,3570,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2716,-0.69,-175.2,250.3,-6.7,178,2722,0.00,1.38,0.00,0.000,4,0.000,0.050,2808,3345,3569,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2817,-0.72,-175.2,256.8,-7.5,182,2824,0.00,1.23,0.00,0.000,6,0.000,0.024,2807,2453,3569,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3121,-0.76,-175.2,286.0,-9.4,198,3126,0.00,1.12,0.00,0.000,4,0.000,0.023,2808,1653,3568,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3168,-0.79,-175.2,290.1,-9.4,200,3173,0.00,1.25,0.00,0.000,6,0.000,0.038,2808,2468,3568,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3487,-0.83,-175.2,317.3,-8.1,216,3494,0.12,1.38,0.00,0.000,4,0.090,0.048,2737,3358,3567,0,0,0,0,0,0,26.50,26.15,28.83
$GC,3595,-0.77,-175.2,329.0,-11.5,221,3602,0.12,1.23,0.00,0.000,6,0.131,0.023,2781,2475,3566,0,0,0,0,0,0,26.03,26.51,28.83
$GC,3921,-0.74,-175.2,360.7,-9.2,237,3926,0.00,1.17,0.00,0.000,4,0.000,0.023,2781,1610,3564,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4056,-0.72,-175.2,372.2,-9.2,243,4061,0.00,1.33,0.00,0.000,6,0.000,0.037,2781,2470,3564,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4369,-0.72,-175.2,401.3,-8.9,259,4375,0.00,1.38,0.00,0.000,4,0.000,0.051,2781,3343,3562,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4449,-0.72,-175.2,407.0,-8.8,262,4455,0.00,1.23,0.00,0.000,6,0.000,0.025,2781,2482,3562,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4754,-0.72,-175.2,439.6,-11.2,278,4759,0.00,1.23,0.00,0.000,4,0.000,0.024,2782,1606,3562,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4792,-0.72,-175.2,442.3,-11.1,279,4800,0.00,1.35,0.00,0.000,6,0.000,0.037,2782,2483,3561,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5098,-0.74,-175.2,475.9,-9.7,295,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2483,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5401,-0.74,-175.2,501.5,-7.8,310,5406,0.00,1.35,0.00,0.000,4,0.000,0.051,2781,3341,3557,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5479,-0.74,-175.2,506.6,-7.7,313,5485,0.00,1.25,0.00,0.000,6,0.000,0.027,2781,2476,3556,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5786,-0.77,-175.2,529.9,-7.4,329,5792,0.00,1.23,0.00,0.000,4,0.000,0.025,2782,1605,3556,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5806,-0.79,-175.2,529.9,-7.4,329,5813,0.00,1.35,0.00,0.000,6,0.000,0.038,2781,2477,3555,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6112,-0.82,-175.2,556.7,-8.9,345,6117,0.00,1.25,0.00,0.000,4,0.000,0.024,2782,1608,3553,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6218,-0.82,-175.2,566.5,-9.6,350,6223,0.00,1.35,0.00,0.000,6,0.000,0.037,2781,2482,3553,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6537,-0.85,-175.2,598.8,-10.1,366,6543,0.00,1.38,0.00,0.000,4,0.000,0.052,2781,3347,3551,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6575,-0.87,-175.2,602.3,-10.1,368,6580,0.00,1.27,0.00,0.000,6,0.000,0.028,2781,2480,3551,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6907,-0.89,-175.2,633.6,-8.9,379,6912,0.00,1.25,0.00,0.000,4,0.000,0.025,2781,1598,3549,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7004,-0.89,-175.2,641.9,-8.6,382,7010,0.08,1.35,0.00,0.000,6,0.073,0.038,2737,2469,3548,0,0,0,0,0,0,26.10,26.23,28.83
$GC,7338,-0.84,-175.2,675.4,-9.9,393,7344,0.00,1.40,0.00,0.000,4,0.000,0.052,2737,3350,3547,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7459,-0.80,-175.2,685.5,-10.0,396,7466,0.10,1.30,0.00,0.000,6,0.135,0.028,2772,2462,3547,0,0,0,0,0,0,26.02,26.44,28.83
$GC,7765,-0.80,-175.2,713.7,-8.5,407,7770,0.00,1.23,0.00,0.000,4,0.000,0.025,2772,1601,3546,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7802,-0.80,-175.2,716.9,-8.5,408,7807,0.00,1.35,0.00,0.000,6,0.000,0.040,2772,2468,3545,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8133,-0.80,-175.2,746.4,-9.0,419,8135,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2468,3544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8431,-0.80,-175.2,773.8,-9.3,429,8436,0.00,1.40,0.00,0.000,4,0.000,0.052,2772,3348,3543,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8474,-0.80,-175.2,777.1,-9.5,430,8479,0.00,1.27,0.00,0.000,6,0.000,0.029,2772,2489,3543,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8799,-0.80,-175.2,807.8,-9.1,441,8805,0.00,1.40,0.00,0.000,4,0.000,0.052,2772,3346,3542,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8848,-0.80,-175.2,811.1,-9.1,442,8853,0.00,1.30,0.00,0.000,6,0.000,0.028,2772,2466,3541,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9167,-0.80,-175.2,840.6,-8.5,453,9172,0.00,1.25,0.00,0.000,4,0.000,0.025,2772,1590,3541,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9249,-0.80,-175.2,846.2,-8.6,455,9254,0.00,1.38,0.00,0.000,6,0.000,0.038,2772,2470,3540,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9564,-0.80,-175.2,874.8,-8.6,466,9569,0.00,1.40,0.00,0.000,4,0.000,0.052,2772,3347,3539,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9606,-0.80,-175.2,877.9,-8.6,467,9611,0.00,1.30,0.00,0.000,6,0.000,0.029,2772,2469,3538,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9932,-0.80,-175.2,905.3,-8.0,478,9938,0.00,1.25,0.00,0.000,4,0.000,0.025,2772,1600,3537,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9997,-0.80,-175.2,910.7,-7.9,480,10003,0.00,1.38,0.00,0.000,6,0.000,0.041,2772,2469,3537,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10333,-0.80,-175.2,940.6,-9.2,491,10339,0.00,1.40,0.00,0.000,4,0.000,0.053,2772,3345,3536,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10357,-0.80,-175.2,940.6,-9.2,491,10363,0.00,1.30,0.00,0.000,6,0.000,0.030,2772,2477,3536,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10671,-0.80,-175.2,974.3,-10.2,502,10677,0.00,1.27,0.00,0.000,4,0.000,0.027,2772,1594,3535,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10721,-0.80,-175.2,977.8,-10.2,503,10726,0.00,1.40,0.00,0.000,6,0.000,0.041,2772,2479,3537,0,0,0,0,0,0,28.83,26.12,28.83
$STATE,10826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10827,begin apogee
$GC,10834,-0.17,0.0,990.5,-10.3,507,10995,0.60,0.00,153.45,1.480,6,0.119,0.000,2973,2100,2853,0,0,0,0,0,0,25.56,28.83,22.58
$STATE,10997,end apogee,CONTROL_FINISHED_OK
$STATE,10997,begin climb
$GC,11000,0.55,175.2,999.5,0.0,512,11174,0.65,0.00,168.95,1.440,6,0.056,0.000,3214,2100,2138,0,0,0,0,0,0,24.68,28.83,22.02
$GC,11463,0.50,183.9,972.4,8.2,528,11477,0.00,1.45,7.55,1.161,4,0.000,0.046,3214,2993,2103,0,0,0,0,0,0,28.83,25.91,23.80
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$STATE,21750,end climb,SURFACE_DEPTH_REACHED
$STATE,21750,begin surface coast
$FINISH,1.7,1.022811
$STATE,21778,end surface coast,CONTROL_FINISHED_OK
$STATE,21778,begin surface
$SM_CCo,21859,0.00,0.000,0,0,965,463.13
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$TT8_MAMPS,0.026215,0.026215
$HUMID,57.44
$INTERNAL_PRESSURE,9.39062
$TCM_TEMP,22.10
$XPDR_PINGS,1
$SC_FREEKB,3861088
$24V_AH,22.0,86.275
$10V_AH,9.5,43.415
$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
$DEVICE_SECS,23.250,146.250,589.200,0.000,0.000,0.000,0.000,390.250,0.250,0.000,23.019,3634.431,14168.958,788.013,3229.643,664.167,0.000,2736.332,0.000,2755.710,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21833.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.391,0.000,0.000,0.000
$MEM,324536
$DATA_FILE_SIZE,39987,1001
$CAP_FILE_SIZE,265848,0
$CFSIZE,260034560,207437824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.068,299.8,1
$GPS,260113,130852,2110.825,12003.541,41,0.9,41,-2.9