version: 66.11
glider: 170
mission: 10
dive: 401
start: 1 22 113 19 7 47
data:
$ID,170
$MISSION,10
$DIVE,401
$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,-143638.17
$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,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
$GPS1,220113,185705,2128.326,12003.585,34,0.8,34,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-76.2
$GPS2,220113,190717,2128.225,12003.602,15,1.9,15,-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,198.4,274584,-14.4,-8.462,-16.72
$D_GRID,2829
$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,-175.2,0.0,0.0,0,73,0.00,0.00,-49.67,0.000,2,0.000,0.000,134,2500,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.55,-175.2,3.1,-1.5,9,155,11.38,1.35,-60.35,0.000,4,0.236,0.048,2852,1597,3569,0,0,0,0,0,0,24.97,26.22,26.60
$GC,318,-0.52,-175.2,27.9,-13.4,50,324,0.00,1.35,0.00,0.000,6,0.000,0.041,2852,2463,3569,0,0,0,0,0,0,28.83,26.17,28.83
$GC,504,-0.48,-175.2,53.4,-13.9,68,510,0.00,1.40,0.00,0.000,4,0.000,0.050,2852,3358,3570,0,0,0,0,0,0,28.83,26.14,28.83
$GC,554,-0.46,-175.2,59.0,-13.0,70,559,0.08,1.27,0.00,0.000,6,0.114,0.024,2882,2441,3570,0,0,0,0,0,0,26.17,26.46,28.83
$GC,755,-0.46,-175.2,78.5,-8.2,80,761,0.00,1.12,0.00,0.000,4,0.000,0.024,2883,1627,3570,0,0,0,0,0,0,28.83,26.42,28.83
$GC,841,-0.49,-175.2,86.6,-9.3,84,846,0.00,1.30,0.00,0.000,6,0.000,0.039,2882,2476,3570,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1045,-0.57,-175.2,105.7,-8.5,94,1050,0.00,1.20,0.00,0.000,4,0.000,0.027,2882,1634,3570,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1140,-0.65,-175.2,112.5,-8.2,98,1147,0.12,1.30,0.00,0.000,6,0.047,0.039,2807,2477,3570,0,0,0,0,0,0,26.22,26.25,28.83
$GC,1338,-0.68,-175.2,133.4,-9.8,108,1343,0.00,1.38,0.00,0.000,4,0.000,0.049,2807,3361,3571,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1422,-0.68,-175.2,141.5,-9.4,112,1427,0.00,1.23,0.00,0.000,6,0.000,0.025,2807,2469,3571,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1627,-0.70,-175.2,160.7,-9.6,122,1633,0.00,1.42,0.00,0.000,4,0.000,0.048,2807,3361,3571,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1666,-0.73,-175.2,163.4,-9.7,123,1673,0.00,1.23,0.00,0.000,6,0.000,0.024,2807,2469,3571,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1854,-0.75,-175.2,182.5,-8.9,133,1859,0.00,1.40,0.00,0.000,4,0.000,0.048,2807,3349,3571,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1891,-0.75,-175.2,184.7,-8.8,134,1898,0.00,1.20,0.00,0.000,6,0.000,0.025,2807,2475,3570,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2081,-0.78,-175.2,201.3,-8.1,144,2086,0.00,1.40,0.00,0.000,4,0.000,0.049,2807,3358,3571,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2139,-0.80,-175.2,205.1,-8.2,146,2146,0.00,1.23,0.00,0.000,6,0.000,0.025,2807,2474,3571,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2325,-0.83,-175.2,222.7,-8.8,156,2331,0.12,1.40,0.00,0.000,4,0.086,0.047,2729,3363,3571,0,0,0,0,0,0,26.52,26.19,28.83
$GC,2379,-0.83,-175.2,227.9,-10.3,158,2385,0.10,1.23,0.00,0.000,6,0.136,0.024,2764,2467,3572,0,0,0,0,0,0,26.09,26.51,28.83
$GC,2575,-0.79,-175.2,252.2,-11.4,168,2581,0.00,1.15,0.00,0.000,4,0.000,0.024,2763,1631,3570,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2696,-0.75,-175.2,264.1,-11.2,173,2703,0.00,1.30,0.00,0.000,6,0.000,0.041,2763,2473,3570,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3000,-0.71,-175.2,296.7,-9.8,189,3005,0.12,1.38,0.00,0.000,4,0.162,0.048,2806,3361,3569,0,0,0,0,0,0,26.25,26.19,28.83
$GC,3034,-0.68,-175.2,298.9,-9.8,190,3039,0.00,1.23,0.00,0.000,6,0.000,0.025,2806,2477,3569,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3348,-0.71,-175.2,328.0,-9.2,206,3353,0.00,1.40,0.00,0.000,4,0.000,0.050,2806,3347,3567,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3360,-0.75,-175.2,328.0,-9.2,206,3366,0.00,1.20,0.00,0.000,6,0.000,0.027,2806,2491,3567,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3676,-0.80,-175.2,357.7,-8.9,222,3681,0.00,1.23,0.00,0.000,4,0.000,0.024,2805,1606,3565,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3763,-0.83,-175.2,365.0,-8.6,226,3769,0.08,1.35,0.00,0.000,6,0.058,0.040,2751,2478,3565,0,0,0,0,0,0,26.19,26.27,28.83
$GC,4082,-0.83,-175.2,396.2,-9.7,242,4088,0.00,1.38,0.00,0.000,4,0.000,0.051,2750,3352,3563,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4171,-0.79,-175.2,405.1,-10.6,246,4176,0.00,1.25,0.00,0.000,6,0.000,0.025,2751,2456,3565,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4490,-0.75,-175.2,439.1,-10.4,262,4495,0.12,1.15,0.00,0.000,4,0.162,0.021,2793,1634,3561,0,0,0,0,0,0,26.23,26.44,28.83
$GC,4524,-0.71,-175.2,441.2,-9.9,263,4529,0.00,1.30,0.00,0.000,6,0.000,0.041,2793,2471,3561,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4838,-0.75,-175.2,465.7,-7.3,279,4843,0.00,1.20,0.00,0.000,4,0.000,0.024,2793,1631,3560,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4958,-0.78,-175.2,473.8,-7.8,284,4965,0.00,1.33,0.00,0.000,6,0.000,0.040,2793,2483,3559,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5263,-0.81,-175.2,498.4,-7.5,300,5268,0.00,1.38,0.00,0.000,4,0.000,0.051,2793,3350,3557,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5337,-0.85,-175.2,503.2,-7.4,303,5342,0.00,1.23,0.00,0.000,6,0.000,0.028,2793,2509,3556,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5651,-0.88,-175.2,526.8,-7.4,319,5658,0.12,1.30,0.00,0.000,4,0.090,0.021,2726,1593,3555,0,0,0,0,0,0,26.51,26.44,28.83
$GC,5768,-0.81,-175.2,538.5,-11.6,324,5773,0.10,1.38,0.00,0.000,6,0.142,0.041,2777,2471,3554,0,0,0,0,0,0,25.84,26.22,28.83
$GC,6082,-0.81,-175.2,569.6,-9.5,340,6087,0.00,1.27,0.00,0.000,4,0.000,0.024,2777,1589,3552,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6130,-0.81,-175.2,573.8,-9.5,342,6136,0.00,1.40,0.00,0.000,6,0.000,0.041,2776,2480,3552,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6460,-0.84,-175.2,604.6,-9.1,358,6465,0.00,1.38,0.00,0.000,4,0.000,0.051,2777,3347,3550,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6519,-0.87,-175.2,607.8,-9.2,359,6525,0.00,1.27,0.00,0.000,6,0.000,0.028,2777,2477,3550,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6825,-0.89,-175.2,637.5,-8.8,370,6831,0.00,1.42,0.00,0.000,4,0.000,0.051,2776,3349,3548,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6855,-0.91,-175.2,637.5,-8.8,370,6862,0.08,1.27,0.00,0.000,6,0.063,0.029,2726,2489,3548,0,0,0,0,0,0,26.27,26.43,28.83
$GC,7162,-0.84,-175.2,674.6,-11.5,381,7168,0.12,1.38,0.00,0.000,4,0.167,0.049,2765,3358,3547,0,0,0,0,0,0,26.17,26.09,28.83
$GC,7263,-0.80,-175.2,684.5,-10.3,384,7269,0.00,1.33,0.00,0.000,6,0.000,0.028,2766,2450,3547,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7594,-0.78,-175.2,717.3,-9.8,395,7599,0.00,1.20,0.00,0.000,4,0.000,0.024,2766,1603,3546,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7633,-0.76,-175.2,720.8,-9.9,396,7638,0.00,1.38,0.00,0.000,6,0.000,0.041,2766,2477,3546,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7963,-0.74,-175.2,753.7,-10.1,407,7970,0.12,1.27,0.00,0.000,4,0.161,0.022,2807,1606,3544,0,0,0,0,0,0,26.21,26.40,28.83
$GC,8018,-0.74,-175.2,757.1,-9.9,408,8023,0.00,1.35,0.00,0.000,6,0.000,0.041,2807,2469,3544,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8333,-0.79,-175.2,785.9,-8.8,419,8334,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2469,3543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8632,-0.83,-175.2,811.4,-8.3,429,8639,0.12,1.40,0.00,0.000,4,0.096,0.050,2741,3348,3541,0,0,0,0,0,0,26.47,26.07,28.83
$GC,8732,-0.83,-175.2,821.3,-10.0,432,8737,0.00,1.27,0.00,0.000,6,0.000,0.028,2741,2480,3541,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9063,-0.79,-175.2,858.8,-11.1,443,9069,0.12,1.25,0.00,0.000,4,0.161,0.022,2781,1607,3540,0,0,0,0,0,0,26.18,26.39,28.83
$GC,9123,-0.75,-175.2,862.3,-10.7,444,9129,0.00,1.38,0.00,0.000,6,0.000,0.042,2781,2476,3540,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9427,-0.75,-175.2,890.8,-8.5,455,9433,0.00,1.40,0.00,0.000,4,0.000,0.053,2781,3351,3539,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9466,-0.75,-175.2,893.7,-8.6,456,9471,0.00,1.30,0.00,0.000,6,0.000,0.029,2781,2470,3539,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9797,-0.75,-175.2,920.7,-7.9,467,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2470,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10095,-0.75,-175.2,943.8,-7.4,477,10101,0.00,1.25,0.00,0.000,4,0.000,0.026,2781,1596,3537,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10145,-0.75,-175.2,946.4,-7.3,478,10150,0.00,1.40,0.00,0.000,6,0.000,0.043,2781,2480,3537,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10465,-0.75,-175.2,971.5,-7.7,489,10470,0.00,1.27,0.00,0.000,4,0.000,0.026,2781,1609,3535,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10539,-0.75,-175.2,976.9,-8.1,491,10545,0.00,1.38,0.00,0.000,6,0.000,0.043,2781,2476,3535,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,10711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10711,begin apogee
$GC,10718,-0.17,0.0,992.2,-8.5,497,10883,0.57,0.00,154.65,1.489,6,0.111,0.000,2978,2105,2852,0,0,0,0,0,0,25.66,28.83,22.47
$STATE,10885,end apogee,CONTROL_FINISHED_OK
$STATE,10885,begin climb
$GC,10888,0.55,175.2,1000.5,0.0,502,11069,0.65,1.52,171.15,1.443,4,0.057,0.045,3215,2994,2137,0,0,0,0,0,0,24.60,23.71,21.98
$GC,11133,0.48,198.1,992.1,7.7,510,11161,0.08,1.35,21.98,1.343,6,0.138,0.026,3194,2144,2044,0,0,0,0,0,0,24.78,25.06,22.88
$GC,11470,0.46,217.1,962.1,7.8,522,11493,0.00,1.38,17.83,1.349,4,0.000,0.029,3200,1231,1966,0,0,0,0,0,0,28.83,25.78,23.82
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$STATE,21940,end climb,SURFACE_DEPTH_REACHED
$STATE,21941,begin surface coast
$FINISH,1.7,1.013645
$STATE,21977,end surface coast,CONTROL_FINISHED_OK
$STATE,21977,begin surface
$SM_CCo,21998,8.07,0.061,0,0,1017,450.13
$SM_GC,2.54,8.45,0.52,8.07,0.047,0.039,0.061,131,2518,1017,-9.03,-0.93,450.13,0,0,0,0,0,0,25.84,26.39,26.02
$IRIDIUM_FIX,2120.26,12002.22,220113,131326
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.92
$INTERNAL_PRESSURE,9.43945
$TCM_TEMP,23.00
$XPDR_PINGS,1
$SC_FREEKB,3866464
$24V_AH,22.0,82.913
$10V_AH,9.5,41.579
$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,23.800,152.400,576.550,8.075,0.000,0.000,0.000,332.150,0.250,0.000,16.691,3574.758,14548.938,789.500,3066.308,627.569,0.000,2631.074,0.000,2628.742,0.000,0.543,0.000
$DEVICE_MAMPS,235.620,52.785,1489.455,61.200,0.000,0.000,0.000,129.285,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22008.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.468,0.000,0.000,0.000
$MEM,324276
$DATA_FILE_SIZE,40013,1019
$CAP_FILE_SIZE,272082,0
$CFSIZE,260034560,209178624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.028, 11.2,1
$GPS,230113,011557,2126.933,12003.440,37,1.4,40,-3.0