version: 66.11
glider: 170
mission: 10
dive: 399
start: 1 22 113 7 14 57
data:
$ID,170
$MISSION,10
$DIVE,399
$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,420
$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,1
$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,-143633.67
$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,88
$R_STBD_OVSHOOT,41
$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,22
$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
$GPS1,220113,070205,2130.824,12002.028,31,1.0,31,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-76.8
$GPS2,220113,071429,2130.775,12002.004,13,1.1,13,-3.0
$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,176.2,279258,-14.4,-8.462,-16.72
$D_GRID,2883
$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,-0.55,-175.2,0.0,0.0,0,75,0.00,0.00,-50.95,0.000,2,0.000,0.000,136,2498,2080,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.55,-175.2,3.1,-1.7,9,152,11.50,1.33,-55.22,0.000,4,0.240,0.048,2854,1593,3569,0,0,0,0,0,0,25.02,26.23,26.60
$GC,271,-0.52,-175.2,22.4,-12.5,43,278,0.00,1.38,0.00,0.000,6,0.000,0.041,2854,2476,3569,0,0,0,0,0,0,28.83,26.15,28.83
$GC,462,-0.48,-175.2,48.3,-13.7,63,468,0.00,1.38,0.00,0.000,4,0.000,0.053,2852,3350,3570,0,0,0,0,0,0,28.83,26.12,28.83
$GC,492,-0.45,-175.2,51.9,-14.2,65,498,0.08,1.25,0.00,0.000,6,0.122,0.022,2884,2455,3569,0,0,0,0,0,0,26.15,26.46,28.83
$GC,692,-0.45,-175.2,76.0,-10.7,75,697,0.00,1.15,0.00,0.000,4,0.000,0.026,2884,1628,3570,0,0,0,0,0,0,28.83,26.41,28.83
$GC,799,-0.45,-175.2,86.7,-10.3,80,805,0.00,1.30,0.00,0.000,6,0.000,0.038,2884,2477,3570,0,0,0,0,0,0,28.83,26.26,28.83
$GC,998,-0.54,-175.2,105.8,-8.7,90,1003,0.00,1.23,0.00,0.000,4,0.000,0.026,2884,1621,3570,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1138,-0.64,-175.2,115.1,-7.3,96,1145,0.12,1.30,0.00,0.000,6,0.047,0.038,2798,2470,3570,0,0,0,0,0,0,26.23,26.27,28.83
$GC,1325,-0.60,-175.2,135.3,-10.8,106,1331,0.12,1.38,0.00,0.000,4,0.147,0.049,2839,3363,3571,0,0,0,0,0,0,26.26,26.18,28.83
$GC,1374,-0.60,-175.2,140.0,-10.5,108,1380,0.00,1.25,0.00,0.000,6,0.000,0.024,2839,2445,3570,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1575,-0.63,-175.2,160.0,-9.4,118,1582,0.00,1.10,0.00,0.000,4,0.000,0.026,2839,1649,3571,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1594,-0.66,-175.2,160.0,-9.4,118,1601,0.00,1.27,0.00,0.000,6,0.000,0.040,2839,2479,3571,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1782,-0.71,-175.2,176.0,-7.0,128,1787,0.00,1.38,0.00,0.000,4,0.000,0.050,2839,3359,3571,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1847,-0.76,-175.2,180.4,-6.6,131,1853,0.10,1.23,0.00,0.000,6,0.048,0.023,2763,2474,3570,0,0,0,0,0,0,26.36,26.52,28.83
$GC,2054,-0.71,-175.2,205.6,-14.7,141,2060,0.12,1.17,0.00,0.000,4,0.163,0.022,2806,1631,3570,0,0,0,0,0,0,26.23,26.44,28.83
$GC,2142,-0.71,-175.2,216.6,-12.5,145,2147,0.00,1.30,0.00,0.000,6,0.000,0.039,2806,2477,3570,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2341,-0.71,-175.2,237.6,-9.8,155,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2477,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2520,-0.71,-175.2,254.2,-9.3,164,2526,0.00,1.20,0.00,0.000,4,0.000,0.024,2806,1630,3570,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2614,-0.71,-175.2,262.5,-9.8,168,2619,0.00,1.30,0.00,0.000,6,0.000,0.039,2806,2472,3570,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2928,-0.73,-175.2,297.2,-9.6,184,2933,0.00,1.20,0.00,0.000,4,0.000,0.024,2806,1629,3569,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2942,-0.75,-175.2,297.2,-9.6,184,2947,0.00,1.30,0.00,0.000,6,0.000,0.039,2806,2475,3569,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3256,-0.79,-175.2,319.0,-6.6,200,3261,0.00,1.38,0.00,0.000,4,0.000,0.051,2806,3350,3567,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3305,-0.83,-175.2,322.4,-7.4,202,3310,0.08,1.23,0.00,0.000,6,0.053,0.024,2739,2472,3567,0,0,0,0,0,0,26.36,26.51,28.83
$GC,3625,-0.77,-175.2,365.0,-12.7,218,3630,0.12,1.17,0.00,0.000,4,0.162,0.021,2780,1607,3565,0,0,0,0,0,0,26.22,26.44,28.83
$GC,3736,-0.74,-175.2,376.2,-10.2,223,3741,0.00,1.35,0.00,0.000,6,0.000,0.039,2780,2481,3565,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4055,-0.74,-175.2,406.7,-9.3,239,4061,0.00,1.38,0.00,0.000,4,0.000,0.052,2780,3357,3562,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4079,-0.74,-175.2,409.0,-9.5,240,4086,0.00,1.25,0.00,0.000,6,0.000,0.026,2781,2468,3562,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4404,-0.74,-175.2,443.4,-10.8,256,4409,0.00,1.17,0.00,0.000,4,0.000,0.023,2780,1607,3560,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4452,-0.74,-175.2,448.1,-10.7,258,4458,0.00,1.35,0.00,0.000,6,0.000,0.039,2780,2477,3560,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4771,-0.74,-175.2,478.7,-9.2,274,4776,0.00,1.38,0.00,0.000,4,0.000,0.051,2781,3349,3558,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4809,-0.74,-175.2,480.8,-9.1,275,4816,0.00,1.25,0.00,0.000,6,0.000,0.026,2780,2467,3558,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5115,-0.74,-175.2,513.1,-10.9,291,5120,0.00,1.17,0.00,0.000,4,0.000,0.023,2781,1603,3557,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5138,-0.74,-175.2,515.7,-10.9,292,5143,0.00,1.38,0.00,0.000,6,0.000,0.039,2780,2480,3556,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5461,-0.74,-175.2,551.7,-10.9,308,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2480,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5764,-0.74,-175.2,583.3,-10.5,323,5765,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2480,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6062,-0.74,-175.2,613.9,-10.0,336,6067,0.00,1.25,0.00,0.000,4,0.000,0.024,2781,1610,3551,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6120,-0.74,-175.2,617.3,-9.9,337,6126,0.00,1.35,0.00,0.000,6,0.000,0.041,2780,2473,3551,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6426,-0.74,-175.2,648.3,-9.2,348,6432,0.00,1.40,0.00,0.000,4,0.000,0.052,2780,3357,3549,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6460,-0.74,-175.2,651.4,-9.2,349,6466,0.00,1.27,0.00,0.000,6,0.000,0.028,2780,2491,3548,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6797,-0.74,-175.2,681.8,-9.0,360,6803,0.00,1.25,0.00,0.000,4,0.000,0.024,2780,1602,3546,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6832,-0.74,-175.2,685.4,-9.2,361,6837,0.00,1.38,0.00,0.000,6,0.000,0.041,2780,2474,3547,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7168,-0.74,-175.2,717.2,-9.6,372,7173,0.00,1.40,0.00,0.000,4,0.000,0.052,2780,3355,3545,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7205,-0.74,-175.2,720.7,-9.6,373,7211,0.00,1.30,0.00,0.000,6,0.000,0.028,2780,2465,3545,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7536,-0.74,-175.2,754.3,-10.3,384,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2464,3544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7835,-0.74,-175.2,785.9,-10.6,394,7840,0.00,1.23,0.00,0.000,4,0.000,0.024,2780,1597,3542,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7868,-0.74,-175.2,789.5,-10.5,395,7874,0.00,1.40,0.00,0.000,6,0.000,0.041,2780,2480,3542,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8205,-0.74,-175.2,822.4,-9.7,406,8210,0.00,1.27,0.00,0.000,4,0.000,0.025,2780,1605,3541,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8278,-0.74,-175.2,828.9,-9.7,408,8283,0.00,1.38,0.00,0.000,6,0.000,0.041,2780,2479,3540,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8601,-0.74,-175.2,860.5,-9.5,419,8607,0.00,1.27,0.00,0.000,4,0.000,0.025,2780,1603,3539,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8715,-0.74,-175.2,869.9,-9.9,422,8720,0.00,1.38,0.00,0.000,6,0.000,0.041,2780,2477,3538,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9028,-0.74,-175.2,901.8,-9.8,433,9034,0.00,1.27,0.00,0.000,4,0.000,0.025,2780,1602,3536,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9127,-0.74,-175.2,910.2,-9.2,436,9132,0.00,1.38,0.00,0.000,6,0.000,0.041,2780,2474,3536,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9458,-0.74,-175.2,940.0,-8.9,447,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2474,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9757,-0.74,-175.2,967.1,-9.2,457,9762,0.00,1.27,0.00,0.000,4,0.000,0.026,2780,1602,3535,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9799,-0.74,-175.2,970.2,-9.0,458,9804,0.00,1.38,0.00,0.000,6,0.000,0.041,2780,2474,3535,0,0,0,0,0,0,28.83,26.16,28.83
$STATE,10030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10030,begin apogee
$GC,10038,-0.17,0.0,992.0,-8.9,466,10198,0.57,0.00,153.07,1.487,6,0.112,0.000,2976,2105,2854,0,0,0,0,0,0,25.70,28.83,22.64
$STATE,10200,end apogee,CONTROL_FINISHED_OK
$STATE,10200,begin climb
$GC,10202,0.55,175.2,1001.6,0.0,471,10382,0.65,1.60,169.60,1.444,4,0.053,0.047,3220,2994,2138,0,0,0,0,0,0,24.64,23.77,22.06
$GC,10429,0.48,196.2,994.4,7.8,479,10457,0.10,1.35,20.23,1.338,6,0.134,0.025,3193,2148,2052,0,0,0,0,0,0,24.62,24.91,22.78
$GC,10756,0.45,196.2,962.7,8.6,490,10761,0.00,1.38,0.00,0.000,4,0.000,0.031,3199,1233,2044,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10779,0.43,196.2,962.7,8.6,490,10784,0.00,1.38,0.00,0.000,6,0.000,0.037,3199,2119,2044,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11095,0.39,196.2,930.9,9.4,501,11101,0.12,1.35,0.00,0.000,4,0.151,0.044,3157,3015,2042,0,0,0,0,0,0,26.17,26.19,28.83
$GC,11264,0.40,212.4,918.2,7.9,506,11284,0.00,1.35,14.60,1.324,6,0.000,0.026,3159,2115,1987,0,0,0,0,0,0,28.83,26.41,23.87
$GC,11613,0.40,220.3,889.2,8.2,518,11627,0.00,1.38,8.80,1.220,4,0.000,0.042,3158,3000,1953,0,0,0,0,0,0,28.83,26.06,23.96
$GC,11650,0.41,225.1,886.4,8.3,519,11664,0.00,1.33,6.22,1.094,6,0.000,0.027,3158,2121,1934,0,0,0,0,0,0,28.83,26.25,23.90
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$STATE,20815,end climb,SURFACE_DEPTH_REACHED
$STATE,20815,begin surface coast
$FINISH,1.7,0.999619
$STATE,20846,end surface coast,CONTROL_FINISHED_OK
$STATE,20846,begin surface
$SM_CCo,20866,19.42,0.060,0,0,1018,450.13
$SM_GC,2.88,8.35,0.52,19.42,0.045,0.040,0.060,135,2494,1018,-9.02,-1.07,450.13,0,0,0,0,0,0,25.75,26.34,25.99
$IRIDIUM_FIX,2122.58,12002.22,220113,070702
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.01
$INTERNAL_PRESSURE,9.45898
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3867104
$24V_AH,22.1,82.461
$10V_AH,9.6,41.324
$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,23.475,140.800,551.325,19.425,0.000,0.000,0.000,438.825,0.000,0.000,16.539,3342.600,13892.134,779.991,3014.536,584.017,0.000,2620.875,0.000,2449.112,0.000,0.543,0.000
$DEVICE_MAMPS,240.210,52.785,1487.160,59.670,0.000,0.000,0.000,133.875,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20898.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.629,0.000,0.000,0.000
$MEM,324304
$DATA_FILE_SIZE,36697,970
$CAP_FILE_SIZE,253777,0
$CFSIZE,260034560,209448960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,328.3,1
$GPS,220113,130422,2129.915,12002.186,36,0.8,36,-3.0