version: 66.11
glider: 170
mission: 10
dive: 434
start: 1 31 113 1 45 9
data:
$ID,170
$MISSION,10
$DIVE,434
$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,310
$T_MISSION,330
$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,300
$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,-143744.02
$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,63
$R_STBD_OVSHOOT,34
$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
$GPS1,310113,013535,2102.354,12004.700,39,0.8,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-70.1
$GPS2,310113,014441,2102.427,12004.828,18,1.0,18,-2.9
$SPEED_LIMITS,0.184,0.381
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$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,346.9,79282,-13.4,-10.645,-15.61
$D_GRID,3218
$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,-0.56,-292.0,0.0,0.0,0,82,0.00,0.00,-58.17,0.000,2,0.000,0.000,139,2510,1749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.56,-292.0,3.0,-1.4,10,200,11.62,1.38,-92.50,0.000,4,0.243,0.072,2848,3380,3961,0,0,0,0,0,0,24.88,25.98,26.63
$GC,255,-0.53,-292.0,15.5,-13.0,39,261,0.00,1.33,0.00,0.000,6,0.000,0.024,2848,2447,3961,0,0,0,0,0,0,28.83,26.36,28.83
$GC,445,-0.53,-292.0,38.2,-10.4,64,450,0.00,1.17,0.00,0.000,4,0.000,0.028,2850,1623,3961,0,0,0,0,0,0,28.83,26.32,28.83
$GC,468,-0.53,-292.0,41.0,-11.0,66,473,0.00,1.38,0.00,0.000,6,0.000,0.041,2848,2509,3961,0,0,0,0,0,0,28.83,26.18,28.83
$GC,675,-0.60,-292.0,63.4,-11.0,80,680,0.00,1.38,0.00,0.000,4,0.000,0.050,2848,3374,3961,0,0,0,0,0,0,28.83,26.10,28.83
$GC,719,-0.69,-292.0,68.3,-10.4,82,724,0.08,1.30,0.00,0.000,6,0.057,0.023,2785,2436,3961,0,0,0,0,0,0,26.28,26.45,28.83
$GC,926,-0.71,-292.0,90.6,-10.3,92,931,0.00,1.52,0.00,0.000,4,0.000,0.050,2784,3373,3962,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1033,-0.71,-292.0,103.3,-12.3,97,1039,0.00,1.27,0.00,0.000,6,0.000,0.024,2785,2462,3961,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1236,-0.75,-292.0,124.2,-8.3,107,1242,0.00,1.50,0.00,0.000,4,0.000,0.051,2784,3382,3963,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1301,-0.80,-292.0,128.4,-6.4,110,1307,0.00,1.25,0.00,0.000,6,0.000,0.024,2784,2491,3962,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1510,-0.85,-292.0,144.0,-9.1,120,1515,0.00,1.45,0.00,0.000,4,0.000,0.051,2785,3380,3963,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1620,-0.92,-292.0,155.0,-10.2,125,1626,0.10,1.25,0.00,0.000,6,0.052,0.023,2717,2469,3963,0,0,0,0,0,0,26.31,26.47,28.83
$GC,1823,-0.86,-292.0,182.5,-14.4,135,1829,0.12,1.42,0.00,0.000,4,0.156,0.049,2756,3381,3963,0,0,0,0,0,0,26.18,26.11,28.83
$GC,1862,-0.81,-292.0,186.1,-14.0,136,1868,0.00,1.20,0.00,0.000,6,0.000,0.024,2757,2506,3963,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2051,-0.85,-292.0,206.5,-9.4,146,2056,0.00,1.40,0.00,0.000,4,0.000,0.052,2756,3372,3963,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2100,-0.89,-292.0,211.1,-9.6,148,2106,0.00,1.20,0.00,0.000,6,0.000,0.024,2757,2495,3963,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2303,-0.92,-292.0,232.2,-10.6,158,2309,0.00,1.42,0.00,0.000,4,0.000,0.051,2756,3372,3962,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2342,-0.96,-292.0,235.3,-10.8,159,2349,0.00,1.20,0.00,0.000,6,0.000,0.024,2757,2510,3962,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2531,-1.02,-292.0,256.2,-10.2,169,2537,0.12,1.20,0.00,0.000,4,0.093,0.020,2686,1637,3962,0,0,0,0,0,0,26.47,26.42,28.83
$GC,2597,-1.02,-292.0,264.4,-11.6,172,2602,0.00,1.35,0.00,0.000,6,0.000,0.039,2685,2503,3962,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2922,-0.95,-292.0,304.2,-12.3,188,2924,0.15,0.00,0.00,0.000,6,0.164,0.000,2726,2504,3961,0,0,0,0,0,0,26.12,28.83,28.83
$GC,3224,-0.92,-292.0,335.9,-10.5,203,3229,0.00,1.23,0.00,0.000,4,0.000,0.023,2726,1624,3959,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3269,-0.89,-292.0,340.8,-10.3,205,3274,0.00,1.38,0.00,0.000,6,0.000,0.039,2726,2507,3959,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3593,-0.85,-292.0,376.6,-11.4,221,3599,0.12,1.25,0.00,0.000,4,0.155,0.020,2769,1630,3957,0,0,0,0,0,0,26.21,26.43,28.83
$GC,3652,-0.85,-292.0,381.2,-11.0,223,3659,0.00,1.35,0.00,0.000,6,0.000,0.038,2768,2499,3956,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3958,-0.92,-292.0,412.3,-9.8,239,3963,0.00,1.23,0.00,0.000,4,0.000,0.024,2769,1639,3955,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3997,-0.99,-292.0,414.6,-9.6,240,4005,0.12,1.35,0.00,0.000,6,0.053,0.039,2696,2506,3954,0,0,0,0,0,0,26.17,26.20,28.83
$GC,4302,-0.93,-292.0,452.8,-13.4,256,4309,0.12,1.38,0.00,0.000,4,0.170,0.050,2735,3381,3951,0,0,0,0,0,0,26.16,26.08,28.83
$GC,4391,-0.91,-292.0,462.5,-11.3,260,4397,0.00,1.25,0.00,0.000,6,0.000,0.028,2735,2528,3952,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4716,-0.94,-292.0,496.1,-10.5,276,4721,0.00,1.38,0.00,0.000,4,0.000,0.053,2735,3369,3949,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4776,-0.97,-292.0,500.8,-10.6,278,4782,0.00,1.27,0.00,0.000,6,0.000,0.027,2735,2487,3950,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5081,-1.00,-292.0,534.8,-10.4,294,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2487,3948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5383,-1.04,-292.0,566.3,-10.5,309,5389,0.12,1.48,0.00,0.000,4,0.090,0.050,2668,3381,3946,0,0,0,0,0,0,26.47,26.06,28.83
$GC,5417,-1.07,-292.0,569.6,-11.0,310,5422,0.00,1.27,0.00,0.000,6,0.000,0.028,2668,2511,3945,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5735,-0.99,-292.0,619.0,-15.1,324,5741,0.15,1.27,0.00,0.000,4,0.171,0.021,2714,1591,3943,0,0,0,0,0,0,26.03,26.38,28.83
$GC,5795,-0.92,-292.0,624.5,-14.8,325,5803,0.00,1.42,0.00,0.000,6,0.000,0.041,2714,2498,3943,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6102,-0.89,-292.0,664.7,-11.7,336,6108,0.12,1.38,0.00,0.000,4,0.158,0.051,2755,3381,3943,0,0,0,0,0,0,26.17,26.03,28.83
$GC,6156,-0.86,-292.0,668.4,-11.4,337,6161,0.00,1.30,0.00,0.000,6,0.000,0.029,2755,2507,3941,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6473,-0.92,-292.0,696.6,-8.2,348,6478,0.00,1.42,0.00,0.000,4,0.000,0.054,2755,3374,3940,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6526,-0.98,-292.0,699.7,-8.2,349,6533,0.08,1.30,0.00,0.000,6,0.057,0.028,2701,2489,3940,0,0,0,0,0,0,26.25,26.41,28.83
$GC,6844,-0.98,-292.0,734.4,-10.7,360,6850,0.00,1.23,0.00,0.000,4,0.000,0.024,2700,1603,3938,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6879,-0.98,-292.0,738.6,-10.9,361,6884,0.00,1.40,0.00,0.000,6,0.000,0.039,2700,2495,3937,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7215,-0.93,-292.0,784.9,-14.6,372,7221,0.12,1.42,0.00,0.000,4,0.168,0.051,2739,3381,3936,0,0,0,0,0,0,26.15,26.01,28.83
$GC,7265,-0.89,-292.0,789.8,-14.2,373,7271,0.00,1.30,0.00,0.000,6,0.000,0.030,2739,2512,3936,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7585,-0.89,-292.0,832.6,-13.2,384,7591,0.00,1.27,0.00,0.000,4,0.000,0.024,2739,1608,3935,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7619,-0.89,-292.0,837.3,-13.2,385,7624,0.00,1.40,0.00,0.000,6,0.000,0.041,2739,2492,3934,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7955,-0.89,-292.0,880.0,-12.6,396,7960,0.00,1.42,0.00,0.000,4,0.000,0.053,2739,3378,3933,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8023,-0.89,-292.0,888.0,-12.4,398,8028,0.00,1.33,0.00,0.000,6,0.000,0.029,2739,2492,3932,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8355,-0.89,-292.0,926.5,-11.1,409,8360,0.00,1.25,0.00,0.000,4,0.000,0.025,2739,1602,3931,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8377,-0.89,-292.0,926.5,-11.1,409,8382,0.00,1.42,0.00,0.000,6,0.000,0.042,2740,2501,3931,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8694,-0.89,-292.0,960.3,-9.6,420,8699,0.00,1.42,0.00,0.000,4,0.000,0.055,2739,3385,3930,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8752,-0.89,-292.0,963.7,-9.6,421,8759,0.00,1.33,0.00,0.000,6,0.000,0.029,2739,2497,3929,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,9024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9024,begin apogee
$GC,9032,-0.17,0.0,992.2,-9.4,431,9280,0.70,0.00,239.40,1.473,6,0.111,0.000,2976,2148,2852,0,0,0,0,0,0,25.58,28.83,22.14
$STATE,9282,end apogee,CONTROL_FINISHED_OK
$STATE,9282,begin climb
$GC,9286,0.56,292.0,1006.4,0.0,439,9572,0.68,0.00,281.58,1.430,6,0.052,0.000,3228,2148,1662,0,0,0,0,0,0,24.25,28.83,21.95
$GC,9868,0.54,330.5,959.0,9.7,459,9910,0.00,1.50,36.17,1.392,4,0.000,0.048,3227,3041,1506,0,0,0,0,0,0,28.83,25.41,23.61
$GC,9995,0.51,342.4,946.4,10.4,463,10013,0.00,1.30,12.32,1.269,6,0.000,0.026,3230,2165,1456,0,0,0,0,0,0,28.83,26.08,23.80
$GC,10322,0.52,419.7,916.0,8.8,474,10400,0.00,1.40,72.72,1.409,4,0.000,0.031,3228,1293,1141,0,0,0,0,0,0,28.83,25.16,23.39
$GC,10439,0.55,506.5,908.2,8.5,477,10529,0.00,1.38,83.38,1.389,6,0.000,0.034,3228,2163,787,0,0,0,0,0,0,28.83,25.66,23.15
$GC,10839,0.71,547.7,870.9,9.6,491,10886,0.12,1.33,40.67,1.358,4,0.102,0.027,3287,1291,619,0,0,0,0,0,0,26.25,25.46,23.68
$GC,10921,0.87,608.3,865.4,9.2,493,10965,0.00,1.38,38.88,1.343,6,0.000,0.034,3287,2166,460,0,0,0,0,0,0,28.83,25.79,23.56
$GC,11294,1.05,608.3,824.5,11.2,506,11300,0.22,1.27,0.00,0.000,4,0.116,0.026,3369,1290,457,0,0,0,0,0,0,26.04,26.27,28.83
$GC,11317,1.24,608.3,824.5,11.2,506,11323,0.15,1.35,0.00,0.000,6,0.048,0.035,3461,2161,457,0,0,0,0,0,0,26.19,26.22,28.83
$GC,11635,1.09,608.3,731.4,30.9,517,11641,0.22,1.33,0.00,0.000,4,0.164,0.043,3393,3038,457,0,0,0,0,0,0,25.86,26.20,28.83
$GC,11755,0.97,608.3,705.5,27.6,520,11762,0.12,1.30,0.00,0.000,6,0.141,0.026,3355,2161,457,0,0,0,0,0,0,25.96,26.41,28.83
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$STATE,16849,end climb,SURFACE_DEPTH_REACHED
$STATE,16849,begin surface coast
$FINISH,1.9,1.011999
$STATE,16866,end surface coast,CONTROL_FINISHED_OK
$STATE,16866,begin surface
$SM_CCo,16951,0.00,0.000,0,0,456,587.98
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$IRIDIUM_FIX,2050.21,12003.59,300113,202012
$TT8_MAMPS,0.026215,0.026215
$HUMID,60.15
$INTERNAL_PRESSURE,9.31249
$TCM_TEMP,21.70
$XPDR_PINGS,0
$SC_FREEKB,3853792
$24V_AH,22.0,90.893
$10V_AH,9.5,45.844
$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,24.975,113.075,805.125,0.000,0.000,0.000,0.000,301.425,0.000,0.000,18.896,2669.791,10911.909,922.520,2439.778,539.129,0.000,2451.573,0.000,2021.390,0.000,0.541,0.000
$DEVICE_MAMPS,242.505,71.910,1472.625,0.000,0.000,0.000,0.000,136.170,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16919.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.203,0.000,0.000,0.000
$MEM,324288
$DATA_FILE_SIZE,30062,792
$CAP_FILE_SIZE,210444,0
$CFSIZE,260034560,205078528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.077,221.5,1
$GPS,310113,062858,2103.261,12004.521,37,0.9,37,-2.9