version: 66.11
glider: 170
mission: 10
dive: 366
start: 1 14 113 4 41 23
data:
$ID,170
$MISSION,10
$DIVE,366
$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,330
$T_MISSION,350
$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,225
$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,-143556.39
$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,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2475
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,42
$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,9.5
$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
$GPS1,140113,043139,2206.789,12008.849,18,0.8,18,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-75.7
$GPS2,140113,044052,2206.770,12008.836,43,0.9,43,-3.1
$SPEED_LIMITS,0.173,0.329
$TGT_NAME,W2
$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,175.5,43088,-14.8,-10.000,-16.90
$D_GRID,936
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.52,-219.0,0.0,0.0,0,91,0.00,0.00,-68.47,0.000,2,0.000,0.000,139,2502,2053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.52,-219.0,3.1,-1.9,12,174,11.60,2.03,-60.20,0.000,4,0.244,0.083,2871,3674,3748,0,0,0,0,0,0,25.10,25.93,26.63
$GC,265,-0.52,-219.0,19.1,-11.3,42,272,0.00,1.80,0.00,0.000,6,0.000,0.031,2871,2480,3748,0,0,0,0,0,0,28.83,26.25,28.83
$GC,455,-0.52,-219.0,42.6,-12.4,65,461,0.00,2.10,0.00,0.000,4,0.000,0.033,2874,1047,3748,0,0,0,0,0,0,28.83,26.32,28.83
$GC,524,-0.53,-219.0,50.8,-13.0,71,530,0.00,2.17,0.00,0.000,6,0.000,0.042,2871,2465,3748,0,0,0,0,0,0,28.83,26.20,28.83
$GC,723,-0.53,-219.0,74.9,-10.2,81,729,0.00,1.95,0.00,0.000,4,0.000,0.054,2871,3702,3748,0,0,0,0,0,0,28.83,26.20,28.83
$GC,752,-0.53,-219.0,77.1,-9.8,82,757,0.00,1.85,0.00,0.000,6,0.000,0.024,2871,2421,3748,0,0,0,0,0,0,28.83,26.46,28.83
$GC,952,-0.60,-219.0,94.2,-8.2,92,957,0.00,2.05,0.00,0.000,4,0.000,0.056,2871,3698,3748,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1037,-0.70,-219.0,102.5,-9.7,96,1043,0.15,1.83,0.00,0.000,6,0.086,0.023,2805,2441,3749,0,0,0,0,0,0,26.32,26.46,28.83
$GC,1245,-0.73,-219.0,124.8,-10.6,106,1250,0.00,2.00,0.00,0.000,4,0.000,0.053,2805,3693,3749,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1257,-0.76,-219.0,124.8,-10.6,106,1262,0.00,1.75,0.00,0.000,6,0.000,0.024,2805,2460,3749,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1451,-0.75,-219.0,147.0,-10.9,116,1457,0.00,1.98,0.00,0.000,4,0.000,0.030,2805,1091,3749,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1544,-0.75,-219.0,155.8,-10.4,120,1550,0.00,2.12,0.00,0.000,6,0.000,0.041,2805,2485,3749,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1739,-0.75,-219.0,177.8,-11.4,130,1744,0.00,1.92,0.00,0.000,4,0.000,0.055,2805,3706,3749,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1796,-0.75,-219.0,183.0,-11.5,132,1803,0.00,1.75,0.00,0.000,6,0.000,0.023,2805,2477,3749,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1982,-0.75,-219.0,206.2,-11.6,142,1988,0.00,2.03,0.00,0.000,4,0.000,0.031,2805,1088,3749,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2047,-0.75,-219.0,214.1,-12.1,145,2053,0.00,2.12,0.00,0.000,6,0.000,0.040,2805,2486,3749,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2252,-0.75,-219.0,238.2,-11.3,155,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2487,3748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2432,-0.75,-219.0,256.1,-9.2,164,2438,0.00,1.90,0.00,0.000,4,0.000,0.053,2805,3697,3748,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2491,-0.75,-219.0,259.6,-8.2,166,2498,0.00,1.77,0.00,0.000,6,0.000,0.023,2805,2466,3748,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2798,-0.75,-219.0,281.7,-7.1,182,2803,0.00,2.00,0.00,0.000,4,0.000,0.029,2805,1089,3746,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2905,-0.75,-219.0,290.6,-8.7,187,2910,0.00,2.15,0.00,0.000,6,0.000,0.041,2805,2476,3746,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3228,-0.79,-219.0,322.2,-10.8,203,3235,0.00,1.92,0.00,0.000,4,0.000,0.054,2805,3702,3744,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3307,-0.82,-219.0,329.4,-10.9,206,3314,0.00,1.77,0.00,0.000,6,0.000,0.024,2805,2447,3744,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3614,-0.86,-219.0,362.2,-9.0,222,3619,0.00,1.95,0.00,0.000,4,0.000,0.028,2805,1095,3742,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3667,-0.89,-219.0,366.1,-8.8,224,3673,0.12,2.12,0.00,0.000,6,0.086,0.040,2736,2476,3741,0,0,0,0,0,0,26.27,26.26,28.83
$GC,3981,-0.86,-219.0,403.4,-12.1,240,3987,0.12,1.90,0.00,0.000,4,0.163,0.052,2777,3693,3742,0,0,0,0,0,0,26.25,26.21,28.83
$GC,4035,-0.84,-219.0,408.4,-12.0,242,4041,0.00,1.73,0.00,0.000,6,0.000,0.024,2777,2475,3740,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4349,-0.84,-219.0,444.5,-11.8,258,4355,0.00,2.00,0.00,0.000,4,0.000,0.029,2778,1095,3738,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4422,-0.84,-219.0,452.4,-12.4,261,4427,0.00,2.12,0.00,0.000,6,0.000,0.041,2777,2485,3737,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4735,-0.84,-219.0,488.7,-10.7,277,4741,0.00,2.05,0.00,0.000,4,0.000,0.027,2777,1100,3736,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4773,-0.84,-219.0,491.3,-10.8,278,4780,0.00,2.12,0.00,0.000,6,0.000,0.040,2776,2476,3735,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5079,-0.84,-219.0,526.1,-10.1,294,5084,0.00,1.92,0.00,0.000,4,0.000,0.054,2777,3696,3734,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5132,-0.84,-219.0,530.5,-10.2,296,5137,0.00,1.77,0.00,0.000,6,0.000,0.025,2777,2495,3734,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5445,-0.84,-219.0,564.4,-10.6,312,5450,0.00,2.10,0.00,0.000,4,0.000,0.028,2778,1061,3731,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5575,-0.85,-219.0,576.9,-9.9,318,5580,0.00,2.20,0.00,0.000,6,0.000,0.041,2777,2481,3731,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5885,-0.85,-219.0,603.4,-8.0,333,5891,0.00,1.92,0.00,0.000,4,0.000,0.054,2777,3697,3729,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5959,-0.85,-219.0,609.8,-8.9,335,5964,0.00,1.80,0.00,0.000,6,0.000,0.026,2777,2447,3729,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6285,-0.85,-219.0,639.2,-8.5,346,6291,0.00,1.98,0.00,0.000,4,0.000,0.027,2777,1095,3727,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6364,-0.85,-219.0,644.7,-8.2,348,6369,0.00,2.15,0.00,0.000,6,0.000,0.041,2777,2481,3726,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6685,-0.85,-219.0,674.5,-9.8,359,6691,0.00,1.92,0.00,0.000,4,0.000,0.054,2777,3693,3724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6708,-0.85,-219.0,674.5,-9.8,359,6714,0.00,1.77,0.00,0.000,6,0.000,0.027,2778,2466,3725,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7023,-0.85,-219.0,711.5,-11.4,370,7029,0.00,2.03,0.00,0.000,4,0.000,0.027,2778,1083,3722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7061,-0.85,-219.0,716.0,-12.0,371,7066,0.00,2.17,0.00,0.000,6,0.000,0.041,2777,2481,3722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7391,-0.85,-219.0,757.4,-13.1,382,7396,0.00,1.90,0.00,0.000,4,0.000,0.054,2777,3691,3720,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7419,-0.85,-219.0,757.4,-13.1,382,7425,0.00,1.77,0.00,0.000,6,0.000,0.028,2777,2462,3720,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7724,-0.85,-219.0,798.8,-12.1,393,7729,0.00,2.00,0.00,0.000,4,0.000,0.028,2778,1098,3718,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7761,-0.85,-219.0,803.3,-12.3,394,7766,0.00,2.15,0.00,0.000,6,0.000,0.042,2777,2476,3719,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8092,-0.85,-219.0,842.4,-12.1,405,8098,0.00,1.95,0.00,0.000,4,0.000,0.057,2777,3695,3717,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8157,-0.86,-219.0,848.1,-10.0,407,8163,0.00,1.77,0.00,0.000,6,0.000,0.028,2777,2473,3716,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8493,-0.87,-219.0,886.4,-12.4,418,8499,0.00,1.98,0.00,0.000,4,0.000,0.056,2777,3697,3715,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8528,-0.88,-219.0,891.9,-13.0,419,8533,0.00,1.80,0.00,0.000,6,0.000,0.028,2777,2463,3715,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8865,-0.88,-219.0,928.6,-11.1,430,8870,0.00,2.00,0.00,0.000,4,0.000,0.056,2777,3702,3713,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8892,-0.88,-219.0,928.6,-11.1,430,8899,0.00,1.83,0.00,0.000,6,0.000,0.028,2777,2478,3713,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,8955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8956,begin apogee
$GC,8962,-0.15,0.0,938.9,-10.7,433,9157,0.65,0.00,188.02,1.445,6,0.112,0.000,2999,2121,2853,0,0,0,0,0,0,25.75,28.83,22.65
$STATE,9159,end apogee,CONTROL_FINISHED_OK
$STATE,9159,begin climb
$GC,9162,0.52,219.0,950.1,0.0,439,9380,0.60,2.53,206.55,1.401,4,0.052,0.050,3226,3529,1957,0,0,0,0,0,0,24.49,23.80,22.24
$GC,9444,0.48,233.5,937.0,9.6,449,9467,0.00,2.20,14.27,1.252,6,0.000,0.026,3234,2143,1898,0,0,0,0,0,0,28.83,25.06,23.11
$GC,9776,0.44,233.5,902.6,10.2,460,9781,0.12,2.17,0.00,0.000,4,0.164,0.033,3201,714,1893,0,0,0,0,0,0,26.03,26.15,28.83
$GC,9820,0.41,247.2,899.7,9.6,461,9840,0.00,2.15,13.25,1.271,6,0.000,0.036,3201,2121,1844,0,0,0,0,0,0,28.83,26.14,24.06
$GC,10143,0.40,255.4,866.8,9.7,472,10158,0.00,2.25,8.73,1.190,4,0.000,0.050,3201,3534,1811,0,0,0,0,0,0,28.83,26.03,24.13
$GC,10268,0.38,255.4,851.3,12.3,476,10273,0.00,2.17,0.00,0.000,6,0.000,0.027,3201,2103,1808,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10604,0.37,265.2,816.6,9.7,487,10616,0.00,0.00,10.45,1.224,6,0.000,0.000,3201,2103,1771,0,0,0,0,0,0,28.83,28.83,24.14
$GC,10903,0.36,265.2,787.8,10.7,497,10905,0.12,0.00,0.00,0.000,6,0.151,0.000,3164,2102,1768,0,0,0,0,0,0,26.22,28.83,28.83
$GC,11204,0.41,333.9,763.0,7.9,507,11274,0.00,2.20,62.67,1.341,4,0.000,0.034,3164,730,1489,0,0,0,0,0,0,28.83,25.30,23.68
$GC,11299,0.48,445.8,757.4,6.6,510,11409,0.12,2.20,101.30,1.312,6,0.089,0.032,3229,2127,1036,0,0,0,0,0,0,25.60,25.61,23.19
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$STATE,17979,end climb,SURFACE_DEPTH_REACHED
$STATE,17980,begin surface coast
$FINISH,1.5,1.010177
$STATE,18010,end surface coast,CONTROL_FINISHED_OK
$STATE,18010,begin surface
$SM_CCo,18091,0.00,0.000,0,0,458,587.49
$SM_GC,2.48,8.38,1.60,0.00,0.037,0.025,0.000,123,2459,458,-9.06,1.78,587.49,0,0,0,0,0,0,26.15,26.32,28.83
$IRIDIUM_FIX,2157.39,12007.19,140113,000041
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.89
$INTERNAL_PRESSURE,9.40038
$TCM_TEMP,22.80
$XPDR_PINGS,1
$SC_FREEKB,3879648
$24V_AH,22.2,74.209
$10V_AH,9.8,37.099
$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,22.875,201.275,727.400,0.000,0.000,0.000,0.000,300.600,0.250,0.000,44.350,2915.682,11678.358,877.359,2661.797,504.960,0.000,2512.176,0.000,2218.195,0.000,0.543,0.000
$DEVICE_MAMPS,244.035,83.385,1445.085,0.000,0.000,0.000,0.000,133.110,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18062.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.035,0.000,0.000,0.000
$MEM,324316
$DATA_FILE_SIZE,33374,862
$CAP_FILE_SIZE,227868,0
$CFSIZE,260034560,213499904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.124,305.6,1
$GPS,140113,094404,2205.889,12008.323,30,0.9,30,-3.1