version: 66.11
glider: 170
mission: 10
dive: 423
start: 1 28 113 8 2 47
data:
$ID,170
$MISSION,10
$DIVE,423
$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,-143729.97
$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,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,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
$GPS1,280113,075234,2107.479,12003.250,29,0.9,29,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-75.5
$GPS2,280113,080219,2107.515,12003.163,19,0.8,20,-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,176.7,236223,-14.4,-8.462,-16.72
$D_GRID,3058
$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,-175.2,0.0,0.0,0,76,0.00,0.00,-51.28,0.000,2,0.000,0.000,133,2518,2031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.55,-175.2,3.0,-0.8,9,152,11.15,1.35,-55.78,0.000,4,0.231,0.054,2851,1644,3569,0,0,0,0,0,0,25.14,26.12,26.60
$GC,319,-0.52,-175.2,34.5,-13.6,46,326,0.00,1.33,0.00,0.000,6,0.000,0.044,2851,2489,3569,0,0,0,0,0,0,28.83,26.08,28.83
$GC,507,-0.49,-175.2,57.9,-11.7,62,512,0.00,1.25,0.00,0.000,4,0.000,0.028,2851,1642,3569,0,0,0,0,0,0,28.83,26.32,28.83
$GC,535,-0.46,-175.2,60.6,-11.1,63,541,0.08,1.33,0.00,0.000,6,0.128,0.039,2881,2499,3569,0,0,0,0,0,0,25.96,26.20,28.83
$GC,738,-0.51,-175.2,77.1,-7.4,73,744,0.00,1.38,0.00,0.000,4,0.000,0.050,2881,3376,3569,0,0,0,0,0,0,28.83,26.11,28.83
$GC,849,-0.60,-175.2,86.3,-8.5,78,855,0.08,1.27,0.00,0.000,6,0.060,0.022,2821,2463,3569,0,0,0,0,0,0,26.29,26.46,28.83
$GC,1050,-0.60,-175.2,110.1,-12.5,88,1055,0.00,1.12,0.00,0.000,4,0.000,0.024,2821,1635,3570,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1102,-0.60,-175.2,115.5,-12.5,90,1108,0.00,1.33,0.00,0.000,6,0.000,0.037,2820,2499,3570,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1297,-0.58,-175.2,135.1,-8.9,100,1302,0.00,1.38,0.00,0.000,4,0.000,0.050,2820,3375,3570,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1349,-0.58,-175.2,139.4,-9.3,102,1355,0.00,1.23,0.00,0.000,6,0.000,0.023,2820,2488,3570,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1545,-0.62,-175.2,158.5,-9.9,112,1550,0.00,1.42,0.00,0.000,4,0.000,0.050,2821,3374,3571,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1643,-0.64,-175.2,166.4,-9.5,116,1649,0.00,1.20,0.00,0.000,6,0.000,0.024,2820,2497,3570,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1830,-0.69,-175.2,184.2,-8.6,126,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2497,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2009,-0.73,-175.2,199.9,-9.0,135,2014,0.00,1.40,0.00,0.000,4,0.000,0.050,2820,3369,3570,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2082,-0.77,-175.2,205.5,-8.8,138,2088,0.08,1.20,0.00,0.000,6,0.062,0.024,2761,2502,3570,0,0,0,0,0,0,26.31,26.48,28.83
$GC,2279,-0.72,-175.2,228.9,-12.4,148,2285,0.12,1.17,0.00,0.000,4,0.164,0.020,2802,1640,3570,0,0,0,0,0,0,26.20,26.41,28.83
$GC,2363,-0.72,-175.2,236.9,-9.0,152,2368,0.00,1.33,0.00,0.000,6,0.000,0.037,2802,2505,3570,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2570,-0.76,-175.2,251.6,-6.9,162,2575,0.00,1.23,0.00,0.000,4,0.000,0.024,2803,1640,3570,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2678,-0.78,-175.2,259.8,-7.8,167,2683,0.00,1.33,0.00,0.000,6,0.000,0.037,2803,2505,3570,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3002,-0.82,-175.2,287.9,-8.3,183,3007,0.00,1.38,0.00,0.000,4,0.000,0.051,2803,3378,3569,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3047,-0.85,-175.2,291.4,-8.2,185,3053,0.10,1.23,0.00,0.000,6,0.057,0.025,2737,2501,3569,0,0,0,0,0,0,26.32,26.48,28.83
$GC,3372,-0.79,-175.2,327.9,-11.4,201,3378,0.12,1.20,0.00,0.000,4,0.168,0.020,2777,1620,3568,0,0,0,0,0,0,26.20,26.41,28.83
$GC,3485,-0.77,-175.2,337.9,-9.3,206,3490,0.00,1.35,0.00,0.000,6,0.000,0.037,2777,2498,3567,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3800,-0.79,-175.2,368.7,-9.5,222,3806,0.00,1.23,0.00,0.000,4,0.000,0.023,2777,1638,3566,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3858,-0.79,-175.2,373.0,-9.6,224,3865,0.00,1.33,0.00,0.000,6,0.000,0.037,2776,2497,3566,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4164,-0.79,-175.2,403.1,-9.6,240,4169,0.00,1.38,0.00,0.000,4,0.000,0.050,2780,3367,3565,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4242,-0.79,-175.2,409.5,-10.0,243,4249,0.00,1.23,0.00,0.000,6,0.000,0.026,2777,2508,3564,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4547,-0.79,-175.2,439.6,-8.7,259,4552,0.00,1.23,0.00,0.000,4,0.000,0.024,2777,1630,3562,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4601,-0.79,-175.2,443.2,-8.4,261,4607,0.00,1.35,0.00,0.000,6,0.000,0.038,2777,2502,3562,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4917,-0.82,-175.2,468.4,-8.0,277,4922,0.00,1.38,0.00,0.000,4,0.000,0.052,2777,3370,3561,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4970,-0.84,-175.2,472.5,-8.5,279,4975,0.00,1.25,0.00,0.000,6,0.000,0.026,2777,2497,3560,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5285,-0.87,-175.2,506.9,-11.8,295,5291,0.00,1.42,0.00,0.000,4,0.000,0.051,2777,3372,3559,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5324,-0.89,-175.2,510.1,-11.9,296,5330,0.00,1.25,0.00,0.000,6,0.000,0.028,2778,2515,3559,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5629,-0.91,-175.2,548.1,-11.5,312,5631,0.12,0.00,0.00,0.000,6,0.094,0.000,2723,2515,3557,0,0,0,0,0,0,26.47,28.83,28.83
$GC,5932,-0.85,-175.2,585.6,-13.0,327,5937,0.12,1.27,0.00,0.000,4,0.174,0.021,2761,1617,3555,0,0,0,0,0,0,26.15,26.42,28.83
$GC,5981,-0.80,-175.2,590.9,-12.0,329,5986,0.00,1.38,0.00,0.000,6,0.000,0.039,2761,2502,3555,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6293,-0.78,-175.2,620.2,-9.0,341,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2502,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6590,-0.75,-175.2,644.3,-7.7,351,6592,0.12,0.00,0.00,0.000,6,0.161,0.000,2796,2502,3553,0,0,0,0,0,0,26.24,28.83,28.83
$GC,6894,-0.80,-175.2,665.2,-7.2,361,6899,0.00,1.40,0.00,0.000,4,0.000,0.053,2796,3375,3551,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6906,-0.85,-175.2,665.2,-7.2,361,6912,0.08,1.27,0.00,0.000,6,0.068,0.028,2740,2515,3551,0,0,0,0,0,0,26.22,26.41,28.83
$GC,7235,-0.85,-175.2,695.0,-8.7,372,7240,0.00,1.40,0.00,0.000,4,0.000,0.052,2740,3371,3549,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7308,-0.82,-175.2,701.1,-8.7,374,7313,0.00,1.30,0.00,0.000,6,0.000,0.028,2740,2489,3549,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7635,-0.78,-175.2,733.2,-9.9,385,7641,0.12,1.45,0.00,0.000,4,0.162,0.049,2780,3375,3547,0,0,0,0,0,0,26.17,26.05,28.83
$GC,7673,-0.75,-175.2,736.7,-9.7,386,7679,0.00,1.30,0.00,0.000,6,0.000,0.028,2781,2495,3547,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8006,-0.78,-175.2,763.7,-8.2,397,8012,0.00,1.42,0.00,0.000,4,0.000,0.052,2780,3368,3546,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8055,-0.81,-175.2,766.9,-8.3,398,8061,0.00,1.27,0.00,0.000,6,0.000,0.028,2781,2499,3546,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8380,-0.84,-175.2,795.0,-8.2,409,8385,0.00,1.25,0.00,0.000,4,0.000,0.026,2781,1626,3545,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8392,-0.88,-175.2,795.0,-8.2,409,8397,0.00,1.38,0.00,0.000,6,0.000,0.040,2781,2505,3545,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8719,-0.91,-175.2,821.3,-7.4,420,8725,0.12,1.40,0.00,0.000,4,0.093,0.050,2714,3376,3544,0,0,0,0,0,0,26.46,26.02,28.83
$GC,8835,-0.89,-175.2,831.3,-9.7,423,8841,0.10,1.30,0.00,0.000,6,0.132,0.028,2749,2500,3543,0,0,0,0,0,0,25.98,26.40,28.83
$GC,9153,-0.85,-175.2,866.7,-10.8,434,9158,0.00,1.25,0.00,0.000,4,0.000,0.026,2749,1628,3542,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9217,-0.82,-175.2,874.1,-11.0,436,9222,0.00,1.38,0.00,0.000,6,0.000,0.041,2749,2498,3542,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9554,-0.79,-175.2,911.1,-11.3,447,9559,0.12,1.30,0.00,0.000,4,0.174,0.023,2789,1617,3541,0,0,0,0,0,0,26.15,26.35,28.83
$GC,9612,-0.76,-175.2,914.8,-10.9,448,9619,0.00,1.38,0.00,0.000,6,0.000,0.041,2790,2493,3540,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9919,-0.76,-175.2,943.5,-8.3,459,9924,0.00,1.40,0.00,0.000,4,0.000,0.053,2790,3367,3540,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9987,-0.76,-175.2,948.8,-8.2,461,9992,0.00,1.30,0.00,0.000,6,0.000,0.029,2790,2491,3539,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10318,-0.76,-175.2,972.8,-6.7,472,10323,0.00,1.25,0.00,0.000,4,0.000,0.027,2790,1621,3539,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10362,-0.76,-175.2,975.2,-6.6,473,10367,0.00,1.38,0.00,0.000,6,0.000,0.041,2790,2498,3538,0,0,0,0,0,0,28.83,26.12,28.83
$STATE,10593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10593,begin apogee
$GC,10600,-0.17,0.0,990.9,-6.6,481,10762,0.52,0.00,154.15,1.482,6,0.103,0.000,2976,2146,2853,0,0,0,0,0,0,25.74,28.83,22.58
$STATE,10764,end apogee,CONTROL_FINISHED_OK
$STATE,10764,begin climb
$GC,10766,0.55,175.2,998.8,0.0,486,10942,0.65,1.42,168.27,1.442,4,0.057,0.030,3214,1312,2138,0,0,0,0,0,0,24.68,23.82,22.00
$GC,11116,0.50,175.2,977.6,9.0,498,11121,0.00,1.35,0.00,0.000,6,0.000,0.037,3214,2166,2127,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11448,0.46,204.9,950.4,7.5,509,11480,0.00,1.42,26.77,1.393,4,0.000,0.047,3214,3037,2016,0,0,0,0,0,0,28.83,25.60,23.71
$GC,11604,0.40,205.9,937.6,8.4,514,11611,0.15,1.27,0.00,0.000,6,0.123,0.026,3165,2170,2012,0,0,0,0,0,0,25.80,26.20,28.83
$GC,11934,0.41,241.3,915.4,7.3,525,11973,0.00,1.30,33.83,1.407,4,0.000,0.028,3169,1295,1867,0,0,0,0,0,0,28.83,25.56,23.68
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$STATE,21014,end climb,SURFACE_DEPTH_REACHED
$STATE,21016,begin surface coast
$FINISH,1.7,0.999574
$STATE,21047,end surface coast,CONTROL_FINISHED_OK
$STATE,21047,begin surface
$SM_CCo,21128,0.00,0.000,0,0,900,479.07
$SM_GC,2.64,8.43,0.47,0.00,0.046,0.037,0.000,137,2527,900,-9.01,-1.50,479.07,0,0,0,0,0,0,25.80,26.36,28.83
$IRIDIUM_FIX,2059.45,12002.75,280113,020231
$TT8_MAMPS,0.025466,0.025466
$HUMID,57.24
$INTERNAL_PRESSURE,9.38085
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,3858016
$24V_AH,22.0,88.176
$10V_AH,9.6,44.468
$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,23.650,141.200,601.825,0.000,0.000,0.000,0.000,333.075,0.000,0.000,21.875,3425.757,13882.635,775.369,2990.989,620.793,0.000,2560.243,0.000,2549.723,0.000,0.541,0.000
$DEVICE_MAMPS,231.030,53.550,1481.805,0.000,0.000,0.000,0.000,135.405,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21099.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.670,0.000,0.000,0.000
$MEM,324288
$DATA_FILE_SIZE,36704,962
$CAP_FILE_SIZE,258594,0
$CFSIZE,260034560,206422016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.085,272.3,1
$GPS,280113,135628,2106.606,12002.621,53,0.8,53,-2.9