version: 66.11
glider: 170
mission: 10
dive: 425
start: 1 28 113 20 17 38
data:
$ID,170
$MISSION,10
$DIVE,425
$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,-143732.47
$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,75
$R_STBD_OVSHOOT,54
$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
$GPS1,280113,200722,2106.059,12003.062,36,0.8,36,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-74.2
$GPS2,280113,201711,2106.185,12003.091,17,1.2,17,-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,184.2,233757,-14.4,-8.462,-16.72
$D_GRID,3113
$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,-175.2,0.0,0.0,0,70,0.00,0.00,-45.85,0.000,2,0.000,0.000,134,2524,1967,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.55,-175.2,3.2,-1.3,8,157,11.65,1.38,-66.12,0.000,4,0.245,0.053,2852,1626,3568,0,0,0,0,0,0,25.14,26.16,26.60
$GC,193,-0.51,-175.2,10.6,-12.4,28,200,0.00,1.35,0.00,0.000,6,0.000,0.041,2852,2490,3569,0,0,0,0,0,0,28.83,26.10,28.83
$GC,390,-0.48,-175.2,38.3,-12.8,56,395,0.00,1.40,0.00,0.000,4,0.000,0.050,2852,3382,3569,0,0,0,0,0,0,28.83,26.08,28.83
$GC,428,-0.45,-175.2,42.6,-12.6,59,435,0.10,1.27,0.00,0.000,6,0.107,0.024,2891,2476,3569,0,0,0,0,0,0,26.08,26.42,28.83
$GC,618,-0.49,-175.2,59.9,-7.3,72,623,0.00,1.15,0.00,0.000,4,0.000,0.025,2892,1647,3569,0,0,0,0,0,0,28.83,26.37,28.83
$GC,630,-0.54,-175.2,59.9,-7.3,72,637,0.00,1.33,0.00,0.000,6,0.000,0.037,2892,2508,3569,0,0,0,0,0,0,28.83,26.22,28.83
$GC,826,-0.60,-175.2,78.4,-9.1,82,832,0.12,1.38,0.00,0.000,4,0.089,0.047,2818,3397,3569,0,0,0,0,0,0,26.47,26.11,28.83
$GC,910,-0.60,-175.2,87.4,-10.7,86,915,0.00,1.27,0.00,0.000,6,0.000,0.023,2818,2477,3569,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1115,-0.58,-175.2,108.3,-11.0,96,1121,0.00,1.12,0.00,0.000,4,0.000,0.024,2818,1649,3569,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1188,-0.58,-175.2,115.0,-10.5,99,1193,0.00,1.30,0.00,0.000,6,0.000,0.038,2818,2496,3570,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1382,-0.58,-175.2,134.0,-8.9,109,1387,0.00,1.17,0.00,0.000,4,0.000,0.023,2818,1686,3570,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1406,-0.58,-175.2,136.3,-9.1,110,1412,0.00,1.25,0.00,0.000,6,0.000,0.037,2818,2504,3570,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1610,-0.62,-175.2,156.0,-9.8,120,1615,0.00,1.38,0.00,0.000,4,0.000,0.051,2818,3379,3571,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1644,-0.64,-175.2,158.2,-9.7,121,1650,0.00,1.20,0.00,0.000,6,0.000,0.024,2818,2511,3571,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1841,-0.68,-175.2,175.5,-7.8,131,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2510,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2019,-0.74,-175.2,189.0,-7.7,140,2025,0.00,1.20,0.00,0.000,4,0.000,0.024,2818,1643,3571,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2070,-0.78,-175.2,192.6,-8.0,142,2075,0.08,1.33,0.00,0.000,6,0.062,0.037,2761,2505,3571,0,0,0,0,0,0,26.16,26.25,28.83
$GC,2272,-0.75,-175.2,214.3,-11.3,152,2277,0.12,1.38,0.00,0.000,4,0.160,0.048,2802,3393,3571,0,0,0,0,0,0,26.21,26.13,28.83
$GC,2340,-0.72,-175.2,222.1,-11.5,155,2346,0.00,1.25,0.00,0.000,6,0.000,0.024,2802,2489,3571,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2543,-0.76,-175.2,241.1,-8.4,165,2548,0.00,1.42,0.00,0.000,4,0.000,0.050,2802,3374,3570,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2623,-0.79,-175.2,246.3,-7.9,168,2629,0.00,1.20,0.00,0.000,6,0.000,0.024,2802,2501,3570,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2810,-0.83,-175.2,261.4,-8.0,178,2812,0.10,0.00,0.00,0.000,6,0.107,0.000,2745,2499,3570,0,0,0,0,0,0,26.51,28.83,28.83
$GC,3110,-0.79,-175.2,293.3,-10.4,193,3115,0.12,1.38,0.00,0.000,4,0.156,0.047,2784,3382,3568,0,0,0,0,0,0,26.22,26.13,28.83
$GC,3183,-0.76,-175.2,300.3,-10.4,196,3189,0.00,1.23,0.00,0.000,6,0.000,0.025,2784,2510,3569,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3498,-0.78,-175.2,332.4,-10.1,212,3504,0.00,1.20,0.00,0.000,4,0.000,0.023,2784,1623,3569,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3586,-0.78,-175.2,340.8,-10.0,216,3591,0.00,1.35,0.00,0.000,6,0.000,0.037,2784,2499,3568,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3905,-0.81,-175.2,370.0,-8.2,232,3911,0.00,1.38,0.00,0.000,4,0.000,0.051,2783,3368,3565,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3965,-0.84,-175.2,373.8,-8.2,234,3972,0.00,1.23,0.00,0.000,6,0.000,0.025,2784,2508,3565,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4270,-0.86,-175.2,399.8,-8.3,250,4275,0.00,1.23,0.00,0.000,4,0.000,0.023,2784,1625,3565,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4310,-0.89,-175.2,401.8,-8.4,251,4317,0.08,1.35,0.00,0.000,6,0.067,0.038,2737,2498,3564,0,0,0,0,0,0,26.13,26.24,28.83
$GC,4614,-0.89,-175.2,433.3,-10.1,267,4619,0.00,1.25,0.00,0.000,4,0.000,0.023,2737,1621,3562,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4724,-0.83,-175.2,444.5,-11.0,272,4730,0.00,1.35,0.00,0.000,6,0.000,0.038,2736,2496,3562,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5044,-0.78,-175.2,480.2,-11.2,288,5050,0.12,1.38,0.00,0.000,4,0.175,0.049,2777,3378,3561,0,0,0,0,0,0,26.15,26.10,28.83
$GC,5098,-0.75,-175.2,484.6,-10.5,290,5104,0.00,1.27,0.00,0.000,6,0.000,0.028,2778,2509,3560,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5413,-0.77,-175.2,513.9,-8.8,306,5419,0.00,1.25,0.00,0.000,4,0.000,0.024,2779,1615,3559,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5483,-0.77,-175.2,519.8,-8.9,309,5488,0.00,1.38,0.00,0.000,6,0.000,0.038,2778,2500,3558,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5803,-0.80,-175.2,548.0,-8.6,325,5808,0.00,1.40,0.00,0.000,4,0.000,0.053,2778,3378,3556,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5881,-0.80,-175.2,553.6,-8.6,328,5888,0.00,1.30,0.00,0.000,6,0.000,0.028,2778,2487,3556,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6189,-0.83,-175.2,580.7,-8.7,344,6194,0.00,1.45,0.00,0.000,4,0.000,0.051,2779,3382,3555,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6267,-0.83,-175.2,586.1,-8.1,347,6274,0.00,1.30,0.00,0.000,6,0.000,0.028,2778,2490,3554,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6586,-0.86,-175.2,613.7,-8.2,361,6591,0.00,1.23,0.00,0.000,4,0.000,0.024,2778,1611,3553,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6635,-0.89,-175.2,616.9,-8.2,362,6640,0.00,1.38,0.00,0.000,6,0.000,0.038,2778,2497,3552,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6957,-0.91,-175.2,646.8,-9.2,373,6962,0.12,1.35,0.00,0.000,4,0.093,0.049,2713,3375,3551,0,0,0,0,0,0,26.46,26.06,28.83
$GC,7036,-0.91,-175.2,654.2,-10.2,375,7042,0.00,1.27,0.00,0.000,6,0.000,0.027,2713,2493,3549,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7358,-0.85,-175.2,695.6,-12.6,386,7363,0.15,1.42,0.00,0.000,4,0.163,0.051,2759,3374,3549,0,0,0,0,0,0,26.07,26.02,28.83
$GC,7403,-0.79,-175.2,699.7,-12.3,387,7408,0.00,1.27,0.00,0.000,6,0.000,0.028,2760,2512,3549,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7728,-0.79,-175.2,729.8,-8.6,398,7734,0.00,1.27,0.00,0.000,4,0.000,0.024,2760,1611,3547,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7797,-0.79,-175.2,735.5,-8.6,400,7803,0.00,1.40,0.00,0.000,6,0.000,0.040,2759,2506,3547,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8126,-0.79,-175.2,764.2,-8.6,411,8131,0.00,1.30,0.00,0.000,4,0.000,0.025,2760,1609,3546,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8229,-0.79,-175.2,772.4,-8.8,414,8235,0.00,1.40,0.00,0.000,6,0.000,0.039,2759,2505,3545,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8556,-0.79,-175.2,801.9,-8.8,425,8557,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2505,3545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8854,-0.79,-175.2,829.2,-9.2,435,8859,0.00,1.40,0.00,0.000,4,0.000,0.054,2759,3382,3543,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8927,-0.79,-175.2,835.6,-9.5,437,8932,0.00,1.33,0.00,0.000,6,0.000,0.030,2760,2497,3543,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9253,-0.79,-175.2,868.9,-10.0,448,9258,0.00,1.27,0.00,0.000,4,0.000,0.025,2760,1610,3542,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9306,-0.79,-175.2,872.5,-10.0,449,9311,0.00,1.40,0.00,0.000,6,0.000,0.040,2759,2501,3542,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9621,-0.77,-175.2,906.7,-10.4,460,9626,0.00,1.40,0.00,0.000,4,0.000,0.054,2759,3374,3541,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9679,-0.74,-175.2,910.3,-10.5,461,9687,0.08,1.30,0.00,0.000,6,0.133,0.030,2789,2503,3540,0,0,0,0,0,0,26.03,26.37,28.83
$GC,9987,-0.77,-175.2,938.7,-8.0,472,9992,0.00,1.27,0.00,0.000,4,0.000,0.026,2789,1611,3540,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10023,-0.80,-175.2,941.6,-8.0,473,10028,0.00,1.40,0.00,0.000,6,0.000,0.041,2789,2495,3540,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10360,-0.84,-175.2,966.6,-7.3,484,10365,0.00,1.42,0.00,0.000,4,0.000,0.054,2789,3380,3539,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10372,-0.89,-175.2,966.6,-7.3,484,10378,0.08,1.33,0.00,0.000,6,0.070,0.031,2740,2505,3539,0,0,0,0,0,0,26.16,26.34,28.83
$STATE,10666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10667,begin apogee
$GC,10674,-0.17,0.0,991.4,-7.9,494,10837,0.70,0.00,153.75,1.487,6,0.114,0.000,2974,2141,2854,0,0,0,0,0,0,25.52,28.83,22.58
$STATE,10839,end apogee,CONTROL_FINISHED_OK
$STATE,10839,begin climb
$GC,10842,0.55,175.2,998.8,0.0,499,11020,0.65,1.40,167.98,1.446,4,0.054,0.031,3215,1313,2137,0,0,0,0,0,0,24.69,23.80,21.99
$GC,11200,0.50,175.2,974.8,10.4,511,11205,0.00,1.35,0.00,0.000,6,0.000,0.037,3215,2170,2126,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,21503,end climb,SURFACE_DEPTH_REACHED
$STATE,21503,begin surface coast
$FINISH,1.6,1.000316
$STATE,21530,end surface coast,CONTROL_FINISHED_OK
$STATE,21530,begin surface
$SM_CCo,21611,0.00,0.000,0,0,808,501.64
$SM_GC,2.73,8.52,0.77,0.00,0.048,0.029,0.000,135,2479,808,-9.02,2.04,501.64,0,0,0,0,0,0,25.77,26.29,28.83
$IRIDIUM_FIX,2059.45,11959.59,280113,141428
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.37
$INTERNAL_PRESSURE,9.37109
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,3857248
$24V_AH,22.0,88.630
$10V_AH,9.5,44.729
$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,24.475,150.775,623.800,0.000,0.000,0.000,0.000,331.750,0.000,0.000,18.321,3578.890,13998.159,808.961,3146.875,646.884,0.000,2683.750,0.000,2697.159,0.000,0.540,0.000
$DEVICE_MAMPS,244.800,54.315,1487.160,0.000,0.000,0.000,0.000,138.465,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21592.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.791,0.000,0.000,0.000
$MEM,324340
$DATA_FILE_SIZE,39984,993
$CAP_FILE_SIZE,270613,0
$CFSIZE,260034560,206151680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.057, 56.7,1
$GPS,290113,021905,2105.833,12003.920,35,0.7,35,-2.9