version: 66.11
glider: 170
mission: 10
dive: 414
start: 1 26 113 1 1 41
data:
$ID,170
$MISSION,10
$DIVE,414
$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,-143718.72
$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,2475
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,91
$R_STBD_OVSHOOT,36
$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
$GPS1,260113,004804,2113.271,12004.580,37,0.8,37,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-77.4
$GPS2,260113,010111,2113.098,12004.678,21,0.9,21,-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,199.6,246634,-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,-175.2,0.0,0.0,0,70,0.00,0.00,-46.42,0.000,2,0.000,0.000,135,2486,1983,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.55,-175.2,3.0,-1.3,8,153,11.32,1.33,-62.17,0.000,4,0.233,0.051,2850,1627,3568,0,0,0,0,0,0,25.04,26.16,26.60
$GC,276,-0.52,-175.2,22.3,-12.9,44,282,0.00,1.35,0.00,0.000,6,0.000,0.044,2850,2476,3569,0,0,0,0,0,0,28.83,26.10,28.83
$GC,471,-0.48,-175.2,47.0,-11.3,65,477,0.10,1.38,0.00,0.000,4,0.160,0.048,2879,3377,3569,0,0,0,0,0,0,26.32,26.08,28.83
$GC,520,-0.48,-175.2,51.3,-9.7,69,526,0.00,1.30,0.00,0.000,6,0.000,0.024,2879,2437,3569,0,0,0,0,0,0,28.83,26.44,28.83
$GC,719,-0.56,-175.2,70.9,-9.2,79,725,0.00,1.48,0.00,0.000,4,0.000,0.049,2879,3357,3569,0,0,0,0,0,0,28.83,26.11,28.83
$GC,809,-0.65,-175.2,78.0,-8.5,83,814,0.12,1.23,0.00,0.000,6,0.045,0.024,2792,2476,3569,0,0,0,0,0,0,26.32,26.47,28.83
$GC,1011,-0.60,-175.2,103.8,-13.4,93,1016,0.15,1.20,0.00,0.000,4,0.151,0.023,2842,1633,3570,0,0,0,0,0,0,26.15,26.37,28.83
$GC,1050,-0.56,-175.2,107.0,-12.9,94,1057,0.00,1.33,0.00,0.000,6,0.000,0.044,2843,2484,3570,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1235,-0.56,-175.2,126.6,-9.0,104,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2484,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1416,-0.61,-175.2,141.1,-8.1,113,1421,0.00,1.25,0.00,0.000,4,0.000,0.031,2843,1651,3570,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1509,-0.65,-175.2,148.3,-8.5,117,1515,0.00,1.27,0.00,0.000,6,0.000,0.041,2842,2481,3570,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1704,-0.72,-175.2,167.0,-9.4,127,1711,0.12,1.35,0.00,0.000,4,0.086,0.047,2757,3345,3570,0,0,0,0,0,0,26.51,26.14,28.83
$GC,1730,-0.76,-175.2,169.9,-9.7,128,1736,0.08,1.20,0.00,0.000,6,0.137,0.022,2785,2470,3570,0,0,0,0,0,0,26.13,26.48,28.83
$GC,1938,-0.72,-175.2,192.9,-10.9,138,1943,0.00,1.40,0.00,0.000,4,0.000,0.050,2785,3343,3570,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2003,-0.69,-175.2,200.2,-11.0,141,2008,0.00,1.20,0.00,0.000,6,0.000,0.024,2785,2465,3570,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2209,-0.66,-175.2,221.7,-10.2,151,2215,0.12,1.15,0.00,0.000,4,0.151,0.021,2829,1628,3570,0,0,0,0,0,0,26.25,26.41,28.83
$GC,2234,-0.66,-175.2,224.0,-9.9,152,2239,0.00,1.30,0.00,0.000,6,0.000,0.038,2829,2472,3570,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2440,-0.73,-175.2,240.3,-7.9,162,2445,0.00,1.20,0.00,0.000,4,0.000,0.024,2829,1637,3569,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2541,-0.77,-175.2,247.2,-7.9,166,2548,0.10,1.27,0.00,0.000,6,0.049,0.038,2757,2473,3569,0,0,0,0,0,0,26.22,26.27,28.83
$GC,2723,-0.77,-175.2,266.2,-9.6,176,2729,0.00,1.17,0.00,0.000,4,0.000,0.023,2757,1643,3568,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2777,-0.77,-175.2,270.6,-9.7,178,2783,0.00,1.27,0.00,0.000,6,0.000,0.037,2757,2477,3569,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3091,-0.73,-175.2,302.9,-10.1,194,3097,0.12,1.38,0.00,0.000,4,0.157,0.047,2797,3350,3568,0,0,0,0,0,0,26.22,26.14,28.83
$GC,3137,-0.70,-175.2,307.0,-9.6,196,3142,0.00,1.20,0.00,0.000,6,0.000,0.025,2797,2506,3568,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3461,-0.73,-175.2,336.5,-9.8,212,3466,0.00,1.27,0.00,0.000,4,0.000,0.024,2797,1606,3566,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3485,-0.76,-175.2,339.0,-10.1,213,3490,0.00,1.33,0.00,0.000,6,0.000,0.037,2797,2472,3566,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3810,-0.78,-175.2,372.7,-10.0,229,3815,0.00,1.38,0.00,0.000,4,0.000,0.050,2797,3347,3565,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3895,-0.82,-175.2,381.1,-10.0,233,3900,0.00,1.25,0.00,0.000,6,0.000,0.025,2797,2459,3564,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4219,-0.85,-175.2,412.9,-9.6,249,4225,0.12,1.42,0.00,0.000,4,0.096,0.048,2727,3357,3563,0,0,0,0,0,0,26.48,26.12,28.83
$GC,4274,-0.85,-175.2,418.0,-10.6,251,4280,0.08,1.25,0.00,0.000,6,0.134,0.025,2753,2485,3562,0,0,0,0,0,0,26.13,26.48,28.83
$GC,4588,-0.81,-175.2,452.3,-10.0,267,4593,0.00,1.23,0.00,0.000,4,0.000,0.024,2754,1612,3561,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4617,-0.77,-175.2,454.6,-9.8,268,4623,0.08,1.33,0.00,0.000,6,0.135,0.040,2780,2466,3560,0,0,0,0,0,0,25.97,26.23,28.83
$GC,4936,-0.77,-175.2,484.1,-9.0,284,4942,0.00,1.25,0.00,0.000,4,0.000,0.024,2781,1605,3559,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4975,-0.77,-175.2,486.3,-9.2,285,4982,0.00,1.35,0.00,0.000,6,0.000,0.039,2781,2476,3558,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5281,-0.79,-175.2,516.5,-9.5,301,5286,0.00,1.25,0.00,0.000,4,0.000,0.025,2781,1610,3557,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5314,-0.79,-175.2,518.9,-9.5,302,5320,0.00,1.35,0.00,0.000,6,0.000,0.040,2781,2477,3556,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5629,-0.82,-175.2,551.4,-10.5,318,5635,0.00,1.38,0.00,0.000,4,0.000,0.050,2781,3348,3555,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5718,-0.82,-175.2,560.5,-10.7,322,5723,0.00,1.27,0.00,0.000,6,0.000,0.028,2781,2473,3555,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6037,-0.82,-175.2,594.4,-10.3,338,6042,0.00,1.23,0.00,0.000,4,0.000,0.024,2781,1609,3553,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6049,-0.82,-175.2,594.4,-10.3,338,6054,0.00,1.35,0.00,0.000,6,0.000,0.040,2781,2476,3553,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6375,-0.84,-175.2,627.7,-9.5,350,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2476,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6673,-0.86,-175.2,653.7,-8.2,360,6679,0.00,1.38,0.00,0.000,4,0.000,0.051,2781,3344,3549,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6783,-0.86,-175.2,661.2,-7.9,363,6788,0.00,1.27,0.00,0.000,6,0.000,0.028,2781,2469,3549,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7105,-0.89,-175.2,684.3,-6.7,374,7110,0.00,1.23,0.00,0.000,4,0.000,0.025,2781,1610,3547,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7139,-0.91,-175.2,686.8,-6.7,375,7145,0.10,1.35,0.00,0.000,6,0.060,0.041,2724,2470,3547,0,0,0,0,0,0,26.10,26.20,28.83
$GC,7476,-0.89,-175.2,717.1,-9.4,386,7482,0.00,1.40,0.00,0.000,4,0.000,0.051,2724,3349,3546,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7608,-0.83,-175.2,731.5,-11.3,390,7614,0.12,1.27,0.00,0.000,6,0.132,0.028,2766,2484,3545,0,0,0,0,0,0,25.94,26.43,28.83
$GC,7940,-0.83,-175.2,764.7,-10.1,401,7946,0.00,1.27,0.00,0.000,4,0.000,0.025,2766,1599,3545,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7983,-0.83,-175.2,768.5,-10.2,402,7989,0.00,1.38,0.00,0.000,6,0.000,0.041,2766,2474,3544,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8310,-0.83,-175.2,806.6,-11.7,413,8315,0.00,1.40,0.00,0.000,4,0.000,0.053,2766,3351,3543,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8358,-0.83,-175.2,810.8,-11.7,414,8363,0.00,1.30,0.00,0.000,6,0.000,0.029,2766,2469,3543,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8676,-0.83,-175.2,851.1,-12.1,425,8682,0.00,1.25,0.00,0.000,4,0.000,0.026,2766,1603,3542,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8699,-0.83,-175.2,851.1,-12.1,425,8705,0.00,1.38,0.00,0.000,6,0.000,0.041,2766,2476,3542,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9014,-0.83,-175.2,891.5,-11.5,436,9020,0.00,1.40,0.00,0.000,4,0.000,0.053,2766,3351,3540,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9089,-0.83,-175.2,898.8,-11.3,438,9094,0.00,1.30,0.00,0.000,6,0.000,0.028,2766,2469,3540,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9413,-0.83,-175.2,933.3,-9.7,449,9419,0.00,1.25,0.00,0.000,4,0.000,0.026,2766,1603,3540,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9443,-0.83,-175.2,933.3,-9.7,449,9449,0.00,1.38,0.00,0.000,6,0.000,0.041,2766,2475,3539,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9749,-0.83,-175.2,962.6,-8.4,460,9755,0.00,1.40,0.00,0.000,4,0.000,0.053,2766,3351,3538,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9817,-0.83,-175.2,968.2,-8.6,462,9822,0.00,1.30,0.00,0.000,6,0.000,0.029,2766,2472,3538,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,10083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10083,begin apogee
$GC,10091,-0.17,0.0,990.2,-7.9,471,10251,0.62,0.00,153.85,1.473,6,0.114,0.000,2977,2106,2854,0,0,0,0,0,0,25.61,28.83,22.56
$STATE,10253,end apogee,CONTROL_FINISHED_OK
$STATE,10253,begin climb
$GC,10256,0.55,175.2,996.9,0.0,476,10436,0.65,1.38,169.73,1.429,4,0.053,0.032,3227,1288,2137,0,0,0,0,0,0,24.68,23.83,22.04
$GC,10491,0.47,175.2,986.6,8.8,484,10497,0.10,1.38,0.00,0.000,6,0.124,0.037,3193,2126,2129,0,0,0,0,0,0,24.74,24.94,28.83
$GC,10820,0.44,185.6,957.8,8.1,495,10834,0.00,1.42,9.00,1.211,4,0.000,0.047,3192,3012,2096,0,0,0,0,0,0,28.83,25.95,23.83
$GC,10973,0.40,185.6,943.7,9.1,500,10979,0.08,1.30,0.00,0.000,6,0.135,0.026,3169,2138,2093,0,0,0,0,0,0,25.98,26.30,28.83
$GC,11308,0.41,206.5,918.3,7.8,511,11331,0.00,0.00,20.73,1.360,6,0.000,0.000,3169,2138,2011,0,0,0,0,0,0,28.83,28.83,23.83
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$STATE,20819,end climb,SURFACE_DEPTH_REACHED
$STATE,20820,begin surface coast
$FINISH,1.7,1.000816
$STATE,20857,end surface coast,CONTROL_FINISHED_OK
$STATE,20858,begin surface
$SM_CCo,20938,0.00,0.000,0,0,881,483.73
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$IRIDIUM_FIX,2104.07,12005.90,260113,000009
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.93
$INTERNAL_PRESSURE,9.39062
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,3861472
$24V_AH,22.0,86.043
$10V_AH,9.6,43.277
$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,24.050,146.325,608.100,0.000,0.000,0.000,0.000,469.625,0.000,0.000,24.384,3314.403,13952.875,803.567,2996.706,641.497,0.000,2690.578,0.000,2441.582,0.000,0.541,0.000
$DEVICE_MAMPS,233.325,52.785,1472.625,0.000,0.000,0.000,0.000,136.935,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20915.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.480,0.000,0.000,0.000
$MEM,324456
$DATA_FILE_SIZE,36686,965
$CAP_FILE_SIZE,257792,0
$CFSIZE,260034560,207577088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.031,294.7,1
$GPS,260113,065159,2112.029,12003.852,40,0.9,40,-2.9