version: 66.11
glider: 170
mission: 10
dive: 422
start: 1 28 113 2 24 16
data:
$ID,170
$MISSION,10
$DIVE,422
$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,-143728.72
$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,2500
$C_ROLL_CLIMB,2160
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,56
$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
$GPS1,280113,021328,2108.292,12003.228,42,0.8,42,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-67.8
$GPS2,280113,022347,2108.354,12003.236,24,0.8,24,-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,182.7,237778,-14.4,-8.462,-16.72
$D_GRID,3058
$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,21,-0.55,-175.2,0.0,0.0,0,69,0.00,0.00,-46.08,0.000,2,0.000,0.000,141,2530,1976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.55,-175.2,3.0,-0.6,8,153,11.60,1.38,-60.40,0.000,4,0.243,0.045,2850,1580,3569,0,0,0,0,0,0,24.89,26.22,26.60
$GC,267,-0.52,-175.2,20.8,-11.7,42,273,0.00,1.40,0.00,0.000,6,0.000,0.040,2850,2479,3569,0,0,0,0,0,0,28.83,26.13,28.83
$GC,462,-0.48,-175.2,45.3,-11.9,64,468,0.00,1.42,0.00,0.000,4,0.000,0.051,2850,3383,3570,0,0,0,0,0,0,28.83,26.08,28.83
$GC,491,-0.45,-175.2,48.1,-11.4,66,498,0.10,1.30,0.00,0.000,6,0.109,0.023,2890,2463,3570,0,0,0,0,0,0,26.08,26.43,28.83
$GC,690,-0.53,-175.2,71.1,-12.2,77,696,0.00,1.15,0.00,0.000,4,0.000,0.024,2890,1627,3570,0,0,0,0,0,0,28.83,26.42,28.83
$GC,714,-0.60,-175.2,74.4,-12.2,78,721,0.10,1.35,0.00,0.000,6,0.052,0.037,2813,2498,3570,0,0,0,0,0,0,26.16,26.22,28.83
$GC,920,-0.60,-175.2,95.9,-8.5,88,925,0.00,1.23,0.00,0.000,4,0.000,0.024,2813,1621,3570,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1005,-0.58,-175.2,102.8,-8.1,92,1011,0.08,1.35,0.00,0.000,6,0.132,0.037,2843,2496,3571,0,0,0,0,0,0,25.98,26.24,28.83
$GC,1212,-0.65,-175.2,120.8,-9.0,102,1217,0.00,1.23,0.00,0.000,4,0.000,0.024,2844,1617,3571,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1292,-0.70,-175.2,126.0,-8.2,105,1299,0.08,1.35,0.00,0.000,6,0.057,0.038,2782,2495,3571,0,0,0,0,0,0,26.16,26.24,28.83
$GC,1479,-0.70,-175.2,139.6,-6.5,115,1484,0.00,1.23,0.00,0.000,4,0.000,0.022,2782,1619,3572,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1547,-0.68,-175.2,145.0,-7.7,118,1553,0.08,1.35,0.00,0.000,6,0.135,0.036,2810,2500,3572,0,0,0,0,0,0,25.98,26.25,28.83
$GC,1750,-0.71,-175.2,167.8,-12.3,128,1756,0.00,1.23,0.00,0.000,4,0.000,0.024,2810,1628,3572,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1809,-0.75,-175.2,174.0,-12.8,130,1816,0.00,1.35,0.00,0.000,6,0.000,0.038,2810,2505,3572,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1997,-0.79,-175.2,197.4,-10.7,140,2002,0.00,1.25,0.00,0.000,4,0.000,0.024,2810,1619,3572,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2081,-0.79,-175.2,204.2,-7.9,144,2087,0.00,1.35,0.00,0.000,6,0.000,0.037,2810,2499,3572,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2289,-0.83,-175.2,217.0,-7.1,154,2295,0.12,1.23,0.00,0.000,4,0.090,0.021,2739,1635,3572,0,0,0,0,0,0,26.48,26.44,28.83
$GC,2353,-0.81,-175.2,224.9,-10.8,157,2359,0.10,1.33,0.00,0.000,6,0.144,0.039,2774,2493,3572,0,0,0,0,0,0,25.91,26.23,28.83
$GC,2561,-0.77,-175.2,251.8,-12.9,167,2566,0.00,1.38,0.00,0.000,4,0.000,0.050,2772,3376,3571,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2589,-0.73,-175.2,255.3,-12.9,168,2595,0.00,1.23,0.00,0.000,6,0.000,0.022,2774,2512,3571,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2909,-0.73,-175.2,286.2,-7.9,184,2915,0.00,1.23,0.00,0.000,4,0.000,0.024,2774,1621,3570,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2953,-0.73,-175.2,290.4,-9.0,186,2958,0.00,1.38,0.00,0.000,6,0.000,0.038,2774,2504,3570,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3278,-0.76,-175.2,327.7,-11.6,202,3283,0.00,1.27,0.00,0.000,4,0.000,0.044,2774,1624,3569,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3356,-0.76,-175.2,334.5,-10.5,205,3363,0.00,1.35,0.00,0.000,6,0.000,0.037,2774,2499,3569,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3663,-0.78,-175.2,363.4,-8.8,221,3669,0.00,1.25,0.00,0.000,4,0.000,0.023,2774,1620,3568,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3722,-0.78,-175.2,367.8,-9.3,223,3728,0.00,1.38,0.00,0.000,6,0.000,0.038,2774,2506,3568,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4028,-0.78,-175.2,402.6,-11.4,239,4033,0.00,1.38,0.00,0.000,4,0.000,0.052,2774,3376,3565,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4101,-0.78,-175.2,410.1,-11.8,242,4107,0.00,1.27,0.00,0.000,6,0.000,0.026,2774,2476,3565,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4415,-0.78,-175.2,445.3,-10.1,258,4420,0.00,1.15,0.00,0.000,4,0.000,0.024,2774,1634,3564,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4443,-0.78,-175.2,447.5,-9.8,259,4448,0.00,1.35,0.00,0.000,6,0.000,0.040,2774,2504,3563,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4762,-0.80,-175.2,479.9,-9.8,275,4767,0.00,1.25,0.00,0.000,4,0.000,0.024,2774,1627,3562,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4815,-0.80,-175.2,484.0,-9.3,277,4820,0.00,1.35,0.00,0.000,6,0.000,0.038,2774,2497,3561,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5129,-0.83,-175.2,509.3,-7.5,293,5135,0.00,1.40,0.00,0.000,4,0.000,0.051,2774,3382,3560,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5189,-0.85,-175.2,512.8,-7.4,295,5196,0.00,1.25,0.00,0.000,6,0.000,0.027,2776,2517,3560,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5494,-0.85,-175.2,535.8,-7.3,311,5499,0.00,1.25,0.00,0.000,4,0.000,0.024,2774,1623,3558,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5540,-0.85,-175.2,539.5,-7.9,313,5545,0.00,1.35,0.00,0.000,6,0.000,0.039,2774,2496,3558,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5863,-0.88,-175.2,569.5,-10.1,329,5868,0.00,1.25,0.00,0.000,4,0.000,0.024,2774,1623,3556,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5931,-0.88,-175.2,576.3,-10.6,332,5936,0.00,1.38,0.00,0.000,6,0.000,0.039,2774,2507,3556,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6242,-0.91,-175.2,611.6,-11.6,346,6247,0.00,1.27,0.00,0.000,4,0.000,0.024,2774,1619,3554,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6278,-0.93,-175.2,615.8,-11.7,347,6283,0.08,1.38,0.00,0.000,6,0.075,0.040,2729,2495,3554,0,0,0,0,0,0,26.08,26.20,28.83
$GC,6615,-0.87,-175.2,663.2,-14.4,358,6620,0.00,1.40,0.00,0.000,4,0.000,0.051,2729,3376,3553,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6633,-0.82,-175.2,663.2,-14.4,358,6640,0.12,1.27,0.00,0.000,6,0.133,0.027,2770,2504,3553,0,0,0,0,0,0,25.95,26.44,28.83
$GC,6956,-0.84,-175.2,700.9,-9.8,369,6961,0.00,1.42,0.00,0.000,4,0.000,0.052,2770,3376,3551,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7035,-0.84,-175.2,707.1,-9.4,371,7040,0.00,1.27,0.00,0.000,6,0.000,0.028,2770,2507,3551,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7354,-0.84,-175.2,735.6,-8.6,382,7359,0.00,1.25,0.00,0.000,4,0.000,0.024,2770,1620,3549,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7388,-0.84,-175.2,738.5,-8.6,383,7393,0.00,1.38,0.00,0.000,6,0.000,0.040,2770,2495,3549,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7724,-0.86,-175.2,768.0,-8.9,394,7729,0.00,1.40,0.00,0.000,4,0.000,0.052,2770,3371,3547,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7797,-0.86,-175.2,773.9,-8.9,396,7802,0.00,1.30,0.00,0.000,6,0.000,0.028,2770,2488,3547,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8123,-0.88,-175.2,802.8,-8.5,407,8128,0.00,1.23,0.00,0.000,4,0.000,0.024,2769,1621,3546,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8136,-0.91,-175.2,802.8,-8.5,407,8141,0.00,1.38,0.00,0.000,6,0.000,0.041,2770,2497,3546,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8463,-0.93,-175.2,831.1,-8.3,418,8468,0.00,1.40,0.00,0.000,4,0.000,0.053,2770,3372,3545,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8522,-0.95,-175.2,834.2,-8.4,419,8529,0.10,1.30,0.00,0.000,6,0.070,0.029,2714,2498,3545,0,0,0,0,0,0,26.17,26.39,28.83
$GC,8831,-0.88,-175.2,873.7,-12.7,430,8837,0.12,1.27,0.00,0.000,4,0.167,0.022,2752,1612,3544,0,0,0,0,0,0,26.13,26.37,28.83
$GC,8889,-0.83,-175.2,878.2,-12.5,431,8897,0.00,1.40,0.00,0.000,6,0.000,0.041,2752,2499,3544,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9196,-0.80,-175.2,914.3,-10.8,442,9201,0.00,1.27,0.00,0.000,4,0.000,0.026,2752,1610,3543,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9291,-0.78,-175.2,924.6,-10.9,445,9297,0.08,1.42,0.00,0.000,6,0.142,0.041,2794,2506,3542,0,0,0,0,0,0,25.75,26.12,28.83
$GC,9627,-0.83,-175.2,953.4,-8.3,456,9633,0.00,1.40,0.00,0.000,4,0.000,0.054,2795,3378,3542,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9706,-0.87,-175.2,958.6,-8.1,458,9712,0.10,1.30,0.00,0.000,6,0.057,0.029,2735,2505,3541,0,0,0,0,0,0,26.20,26.38,28.83
$GC,10029,-0.87,-175.2,988.4,-8.7,469,10034,0.00,1.27,0.00,0.000,4,0.000,0.025,2735,1614,3540,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,10060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10060,begin apogee
$GC,10068,-0.17,0.0,991.6,-8.7,470,10233,0.75,0.00,153.98,1.486,6,0.129,0.000,2976,2169,2852,0,0,0,0,0,0,25.41,28.83,22.58
$STATE,10235,end apogee,CONTROL_FINISHED_OK
$STATE,10235,begin climb
$GC,10238,0.55,175.2,999.0,0.0,475,10417,0.65,1.48,168.57,1.441,4,0.054,0.029,3225,1299,2137,0,0,0,0,0,0,24.73,23.84,22.02
$GC,10441,0.48,202.4,991.2,7.6,482,10475,0.05,1.42,26.42,1.355,6,0.138,0.036,3193,2150,2027,0,0,0,0,0,0,24.28,24.48,22.44
$GC,10789,0.45,202.4,956.6,9.1,494,10794,0.00,1.40,0.00,0.000,4,0.000,0.047,3193,3037,2019,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10928,0.41,202.4,944.9,9.4,498,10933,0.00,1.30,0.00,0.000,6,0.000,0.026,3198,2150,2018,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,19532,end climb,SURFACE_DEPTH_REACHED
$STATE,19532,begin surface coast
$FINISH,1.9,1.023128
$STATE,19547,end surface coast,CONTROL_FINISHED_OK
$STATE,19547,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,57.56
$INTERNAL_PRESSURE,9.38085
$TCM_TEMP,22.10
$XPDR_PINGS,1
$SC_FREEKB,3858400
$24V_AH,22.0,87.943
$10V_AH,9.4,44.341
$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
$DEVICE_SECS,24.350,151.225,593.250,0.000,0.000,0.000,0.000,355.375,0.250,0.000,25.408,3188.274,12796.542,790.076,2857.055,596.610,0.000,2545.657,0.000,2378.099,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19609.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.584,0.000,0.000,0.000
$MEM,324340
$DATA_FILE_SIZE,36706,907
$CAP_FILE_SIZE,248945,0
$CFSIZE,260034560,206557184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.066,326.9,1
$GPS,280113,075234,2107.479,12003.250,29,0.9,29,-2.9