version: 66.11
glider: 170
mission: 10
dive: 413
start: 1 25 113 18 58 7
data:
$ID,170
$MISSION,10
$DIVE,413
$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,-143717.47
$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,2475
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$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
$GPS1,250113,184658,2113.432,12003.219,44,0.9,44,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-70.6
$GPS2,250113,185735,2113.546,12003.312,20,1.0,20,-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,182.1,247395,-14.4,-8.462,-16.72
$D_GRID,3080
$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,-49.83,0.000,2,0.000,0.000,135,2498,1947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.55,-175.2,3.0,-1.5,9,175,11.73,1.40,-74.43,0.000,4,0.245,0.053,2856,1594,3568,0,0,0,0,0,0,24.96,26.16,26.60
$GC,285,-0.52,-175.2,20.0,-11.5,46,292,0.00,1.35,0.00,0.000,6,0.000,0.040,2856,2459,3568,0,0,0,0,0,0,28.83,26.16,28.83
$GC,480,-0.49,-175.2,43.8,-12.5,69,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2460,3568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,671,-0.46,-175.2,67.6,-12.0,81,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2460,3568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,850,-0.46,-175.2,85.1,-9.4,90,855,0.00,1.40,0.00,0.000,4,0.000,0.050,2856,3351,3568,0,0,0,0,0,0,28.83,26.13,28.83
$GC,898,-0.49,-175.2,89.1,-9.0,92,904,0.00,1.30,0.00,0.000,6,0.000,0.022,2856,2402,3568,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1098,-0.55,-175.2,108.3,-9.5,102,1104,0.00,1.52,0.00,0.000,4,0.000,0.050,2856,3368,3569,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1178,-0.61,-175.2,114.4,-9.4,105,1184,0.00,1.33,0.00,0.000,6,0.000,0.022,2856,2399,3569,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1363,-0.68,-175.2,132.8,-9.0,115,1369,0.12,1.15,0.00,0.000,4,0.090,0.021,2782,1561,3569,0,0,0,0,0,0,26.49,26.41,28.83
$GC,1377,-0.74,-175.2,132.8,-9.0,115,1382,0.00,1.40,0.00,0.000,6,0.000,0.037,2782,2473,3569,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1571,-0.74,-175.2,155.4,-10.7,125,1576,0.00,1.30,0.00,0.000,4,0.000,0.025,2782,1564,3569,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1658,-0.74,-175.2,164.3,-10.7,129,1663,0.00,1.40,0.00,0.000,6,0.000,0.037,2782,2474,3569,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1857,-0.74,-175.2,183.2,-8.8,139,1862,0.00,1.30,0.00,0.000,4,0.000,0.024,2782,1563,3569,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1941,-0.74,-175.2,190.2,-8.4,143,1946,0.00,1.40,0.00,0.000,6,0.000,0.037,2782,2475,3569,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2145,-0.74,-175.2,207.2,-8.7,153,2151,0.00,1.27,0.00,0.000,4,0.000,0.024,2782,1572,3569,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2209,-0.74,-175.2,213.3,-9.3,156,2215,0.00,1.40,0.00,0.000,6,0.000,0.037,2781,2476,3569,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2414,-0.74,-175.2,233.3,-9.9,166,2419,0.00,1.27,0.00,0.000,4,0.000,0.023,2782,1569,3568,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2467,-0.74,-175.2,237.7,-9.8,168,2472,0.00,1.40,0.00,0.000,6,0.000,0.037,2782,2475,3569,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2660,-0.74,-175.2,256.1,-8.7,178,2665,0.00,1.27,0.00,0.000,4,0.000,0.023,2782,1568,3568,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2704,-0.74,-175.2,259.9,-8.7,180,2709,0.00,1.40,0.00,0.000,6,0.000,0.037,2782,2475,3568,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3028,-0.76,-175.2,289.2,-9.6,196,3033,0.00,1.27,0.00,0.000,4,0.000,0.023,2782,1573,3567,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3096,-0.76,-175.2,295.5,-9.6,199,3101,0.00,1.40,0.00,0.000,6,0.000,0.038,2782,2475,3567,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3414,-0.76,-175.2,326.4,-9.7,215,3420,0.00,1.30,0.00,0.000,4,0.000,0.023,2782,1569,3565,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3443,-0.76,-175.2,328.9,-9.8,216,3448,0.00,1.40,0.00,0.000,6,0.000,0.038,2782,2474,3565,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3761,-0.76,-175.2,361.2,-10.1,232,3766,0.00,1.38,0.00,0.000,4,0.000,0.051,2782,3343,3563,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3819,-0.76,-175.2,365.8,-10.2,234,3825,0.00,1.30,0.00,0.000,6,0.000,0.024,2782,2422,3563,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4125,-0.76,-175.2,395.6,-8.8,250,4130,0.00,1.20,0.00,0.000,4,0.000,0.023,2782,1557,3561,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4136,-0.76,-175.2,395.6,-8.8,250,4142,0.00,1.42,0.00,0.000,6,0.000,0.039,2782,2474,3561,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4451,-0.76,-175.2,425.4,-9.2,266,4456,0.00,1.38,0.00,0.000,4,0.000,0.052,2782,3343,3560,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4515,-0.76,-175.2,431.3,-9.4,269,4520,0.00,1.33,0.00,0.000,6,0.000,0.025,2782,2427,3560,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4839,-0.78,-175.2,460.2,-8.7,285,4845,0.00,1.50,0.00,0.000,4,0.000,0.051,2782,3352,3559,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4889,-0.80,-175.2,464.2,-8.7,287,4894,0.00,1.25,0.00,0.000,6,0.000,0.026,2782,2483,3556,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5208,-0.82,-175.2,491.3,-8.2,303,5214,0.00,1.25,0.00,0.000,4,0.000,0.024,2782,1594,3556,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5247,-0.85,-175.2,493.4,-8.3,304,5253,0.00,1.38,0.00,0.000,6,0.000,0.039,2782,2476,3556,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5552,-0.87,-175.2,521.0,-8.7,320,5557,0.00,1.40,0.00,0.000,4,0.000,0.052,2781,3355,3554,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5626,-0.87,-175.2,526.8,-8.9,323,5632,0.00,1.27,0.00,0.000,6,0.000,0.027,2780,2476,3553,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5941,-0.89,-175.2,555.9,-9.0,339,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2476,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6242,-0.91,-175.2,583.5,-9.3,354,6249,0.12,1.38,0.00,0.000,4,0.103,0.049,2720,3351,3550,0,0,0,0,0,0,26.44,26.09,28.83
$GC,6257,-0.93,-175.2,583.5,-9.3,354,6262,0.00,1.27,0.00,0.000,6,0.000,0.028,2720,2478,3550,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6573,-0.86,-175.2,625.4,-13.1,367,6580,0.12,1.40,0.00,0.000,4,0.177,0.050,2757,3351,3548,0,0,0,0,0,0,26.13,26.08,28.83
$GC,6655,-0.81,-175.2,633.2,-12.2,369,6660,0.00,1.27,0.00,0.000,6,0.000,0.027,2757,2476,3548,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6975,-0.77,-175.2,668.9,-10.6,380,6981,0.00,1.25,0.00,0.000,4,0.000,0.025,2757,1598,3547,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7006,-0.74,-175.2,668.9,-10.6,380,7013,0.10,1.38,0.00,0.000,6,0.137,0.041,2792,2473,3547,0,0,0,0,0,0,25.87,26.19,28.83
$GC,7313,-0.77,-175.2,697.3,-7.8,391,7319,0.00,1.27,0.00,0.000,4,0.000,0.024,2793,1595,3546,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7363,-0.80,-175.2,700.3,-7.8,392,7368,0.00,1.38,0.00,0.000,6,0.000,0.040,2792,2475,3545,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7685,-0.84,-175.2,724.6,-7.1,403,7690,0.00,1.40,0.00,0.000,4,0.000,0.053,2793,3349,3544,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7697,-0.88,-175.2,724.6,-7.1,403,7704,0.10,1.30,0.00,0.000,6,0.055,0.028,2727,2475,3544,0,0,0,0,0,0,26.25,26.41,28.83
$GC,8026,-0.86,-175.2,752.7,-8.0,414,8031,0.12,1.27,0.00,0.000,4,0.152,0.022,2768,1589,3543,0,0,0,0,0,0,26.21,26.40,28.83
$GC,8109,-0.86,-175.2,757.5,-7.5,416,8114,0.00,1.38,0.00,0.000,6,0.000,0.038,2768,2468,3543,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8424,-0.86,-175.2,779.6,-6.6,427,8429,0.00,1.27,0.00,0.000,4,0.000,0.024,2768,1590,3541,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8522,-0.86,-175.2,786.1,-6.8,430,8527,0.00,1.40,0.00,0.000,6,0.000,0.039,2768,2483,3542,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8853,-0.86,-175.2,813.1,-8.7,441,8859,0.00,1.30,0.00,0.000,4,0.000,0.025,2768,1584,3540,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8921,-0.86,-175.2,819.7,-9.4,443,8926,0.00,1.40,0.00,0.000,6,0.000,0.040,2768,2474,3540,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9251,-0.86,-175.2,854.1,-10.6,454,9257,0.00,1.30,0.00,0.000,4,0.000,0.025,2767,1589,3538,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9309,-0.86,-175.2,857.9,-10.7,455,9316,0.00,1.40,0.00,0.000,6,0.000,0.039,2767,2480,3538,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9616,-0.86,-175.2,892.9,-10.6,466,9621,0.00,1.40,0.00,0.000,4,0.000,0.054,2768,3353,3537,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9653,-0.86,-175.2,896.4,-10.6,467,9659,0.00,1.33,0.00,0.000,6,0.000,0.029,2768,2465,3537,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9984,-0.86,-175.2,928.3,-9.1,478,9990,0.00,1.25,0.00,0.000,4,0.000,0.024,2768,1584,3536,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10090,-0.86,-175.2,936.5,-8.7,481,10096,0.00,1.40,0.00,0.000,6,0.000,0.041,2768,2471,3536,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10416,-0.86,-175.2,965.9,-9.0,492,10421,0.00,1.42,0.00,0.000,4,0.000,0.054,2767,3357,3535,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10450,-0.86,-175.2,969.1,-9.0,493,10456,0.00,1.33,0.00,0.000,6,0.000,0.029,2768,2481,3535,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,10692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10692,begin apogee
$GC,10699,-0.17,0.0,991.7,-9.3,501,10861,0.62,0.00,153.88,1.482,6,0.115,0.000,2979,2101,2853,0,0,0,0,0,0,25.58,28.83,22.48
$STATE,10862,end apogee,CONTROL_FINISHED_OK
$STATE,10862,begin climb
$GC,10865,0.55,175.2,999.9,0.0,506,11045,0.65,1.58,170.55,1.437,4,0.060,0.044,3214,2998,2137,0,0,0,0,0,0,24.59,23.72,21.97
$GC,11189,0.48,175.2,980.1,11.0,517,11194,0.00,1.33,0.00,0.000,6,0.000,0.026,3218,2119,2127,0,0,0,0,0,0,28.83,25.84,28.83
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$STATE,20866,end climb,SURFACE_DEPTH_REACHED
$STATE,20866,begin surface coast
$FINISH,1.8,1.011189
$STATE,20892,end surface coast,CONTROL_FINISHED_OK
$STATE,20892,begin surface
$SM_CCo,20913,4.80,0.063,0,0,1018,450.13
$SM_GC,3.00,8.32,0.60,4.80,0.043,0.049,0.063,136,2473,1018,-9.01,-1.19,450.13,0,0,0,0,0,0,25.71,26.20,25.91
$IRIDIUM_FIX,2104.07,12000.75,250113,121256
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.83
$INTERNAL_PRESSURE,9.39062
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,3861856
$24V_AH,22.0,85.806
$10V_AH,9.5,43.145
$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,23.750,151.350,555.525,4.800,0.000,0.000,0.000,386.975,0.000,0.000,22.642,3455.324,13617.380,775.926,3049.180,645.204,0.000,2641.337,0.000,2578.024,0.000,0.540,0.000
$DEVICE_MAMPS,244.800,82.620,1481.805,62.730,0.000,0.000,0.000,135.405,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20945.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.789,0.000,0.000,0.000
$MEM,324484
$DATA_FILE_SIZE,39959,980
$CAP_FILE_SIZE,259496,0
$CFSIZE,260034560,207695872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.093, 52.9,1
$GPS,260113,004804,2113.271,12004.580,37,0.8,37,-2.9