version: 66.11
glider: 170
mission: 10
dive: 367
start: 1 14 113 9 54 41
data:
$ID,170
$MISSION,10
$DIVE,367
$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,-143557.64
$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,72
$R_STBD_OVSHOOT,37
$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
$GPS1,140113,094404,2205.889,12008.323,30,0.9,30,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-72.8
$GPS2,140113,095411,2206.137,12008.100,20,1.1,20,-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,181.4,41551,-14.8,-10.000,-16.90
$D_GRID,1046
$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,-0.52,-219.0,0.0,0.0,0,101,0.00,0.00,-76.75,0.000,2,0.000,0.000,122,2446,2156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.52,-219.0,3.2,-1.1,14,173,11.40,2.10,-49.03,0.000,4,0.236,0.044,2875,1070,3747,0,0,0,0,0,0,25.22,26.20,26.60
$GC,218,-0.52,-219.0,14.0,-12.5,33,225,0.00,2.17,0.00,0.000,6,0.000,0.043,2875,2470,3747,0,0,0,0,0,0,28.83,26.07,28.83
$GC,411,-0.52,-219.0,38.5,-12.4,60,417,0.00,1.95,0.00,0.000,4,0.000,0.057,2875,3699,3747,0,0,0,0,0,0,28.83,26.12,28.83
$GC,439,-0.52,-219.0,41.4,-12.2,62,446,0.00,1.80,0.00,0.000,6,0.000,0.023,2875,2469,3747,0,0,0,0,0,0,28.83,26.40,28.83
$GC,637,-0.52,-219.0,63.5,-10.6,76,642,0.00,2.05,0.00,0.000,4,0.000,0.032,2876,1074,3747,0,0,0,0,0,0,28.83,26.32,28.83
$GC,681,-0.54,-219.0,68.6,-10.5,78,686,0.00,2.15,0.00,0.000,6,0.000,0.043,2875,2477,3747,0,0,0,0,0,0,28.83,26.20,28.83
$GC,885,-0.61,-219.0,91.1,-11.2,88,891,0.00,1.90,0.00,0.000,4,0.000,0.055,2875,3696,3747,0,0,0,0,0,0,28.83,26.20,28.83
$GC,910,-0.68,-219.0,93.7,-10.9,89,917,0.15,1.77,0.00,0.000,6,0.079,0.023,2793,2453,3747,0,0,0,0,0,0,26.35,26.47,28.83
$GC,1119,-0.66,-219.0,118.2,-11.8,99,1125,0.12,2.00,0.00,0.000,4,0.161,0.049,2835,3706,3747,0,0,0,0,0,0,26.25,26.21,28.83
$GC,1137,-0.63,-219.0,118.2,-11.8,99,1145,0.00,1.77,0.00,0.000,6,0.000,0.024,2835,2478,3747,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1323,-0.63,-219.0,140.6,-10.7,109,1328,0.00,2.05,0.00,0.000,4,0.000,0.031,2835,1077,3747,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1387,-0.64,-219.0,147.2,-10.6,112,1393,0.00,2.12,0.00,0.000,6,0.000,0.040,2835,2477,3747,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1593,-0.69,-219.0,166.5,-8.8,122,1598,0.00,2.08,0.00,0.000,4,0.000,0.034,2835,1074,3747,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1652,-0.73,-219.0,170.6,-8.8,124,1659,0.00,2.15,0.00,0.000,6,0.000,0.042,2835,2476,3748,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1837,-0.78,-219.0,191.4,-10.8,134,1844,0.12,2.05,0.00,0.000,4,0.086,0.030,2753,1084,3747,0,0,0,0,0,0,26.54,26.39,28.83
$GC,1892,-0.79,-219.0,197.4,-12.0,136,1898,0.15,2.12,0.00,0.000,6,0.152,0.043,2796,2475,3747,0,0,0,0,0,0,26.01,26.25,28.83
$GC,2086,-0.79,-219.0,222.3,-11.3,146,2092,0.00,1.92,0.00,0.000,4,0.000,0.053,2796,3705,3746,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2133,-0.79,-219.0,227.2,-11.2,148,2138,0.00,1.77,0.00,0.000,6,0.000,0.023,2797,2469,3746,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2332,-0.79,-219.0,248.7,-10.3,158,2337,0.00,2.00,0.00,0.000,4,0.000,0.031,2797,1086,3745,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2399,-0.79,-219.0,255.4,-10.4,161,2404,0.00,2.12,0.00,0.000,6,0.000,0.042,2797,2475,3746,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2718,-0.79,-219.0,289.5,-10.8,177,2723,0.00,1.92,0.00,0.000,4,0.000,0.053,2797,3705,3744,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2744,-0.79,-219.0,292.1,-10.8,178,2750,0.00,1.75,0.00,0.000,6,0.000,0.024,2797,2477,3744,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3063,-0.79,-219.0,328.6,-10.9,194,3069,0.00,2.03,0.00,0.000,4,0.000,0.031,2797,1080,3742,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3081,-0.79,-219.0,328.6,-10.9,194,3087,0.00,2.15,0.00,0.000,6,0.000,0.041,2797,2485,3742,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3388,-0.79,-219.0,358.3,-8.5,210,3393,0.00,2.10,0.00,0.000,4,0.000,0.031,2797,1074,3740,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3436,-0.80,-219.0,361.9,-8.5,212,3442,0.00,2.15,0.00,0.000,6,0.000,0.041,2797,2480,3740,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3756,-0.80,-219.0,393.3,-11.2,228,3761,0.00,1.92,0.00,0.000,4,0.000,0.052,2797,3703,3738,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3844,-0.81,-219.0,403.3,-11.9,232,3849,0.00,1.80,0.00,0.000,6,0.000,0.024,2797,2475,3737,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4164,-0.85,-219.0,436.3,-9.4,248,4169,0.00,2.05,0.00,0.000,4,0.000,0.030,2797,1070,3735,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4182,-0.90,-219.0,436.3,-9.4,248,4190,0.12,2.17,0.00,0.000,6,0.098,0.041,2738,2478,3735,0,0,0,0,0,0,26.23,26.25,28.83
$GC,4488,-0.86,-219.0,472.8,-12.2,264,4495,0.12,1.92,0.00,0.000,4,0.165,0.052,2779,3700,3733,0,0,0,0,0,0,26.23,26.20,28.83
$GC,4508,-0.83,-219.0,472.8,-12.2,264,4514,0.00,1.80,0.00,0.000,6,0.000,0.025,2779,2487,3733,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4814,-0.83,-219.0,509.3,-12.1,280,4819,0.00,2.08,0.00,0.000,4,0.000,0.029,2780,1057,3732,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4867,-0.83,-219.0,514.6,-12.0,282,4873,0.00,2.20,0.00,0.000,6,0.000,0.041,2779,2476,3730,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5181,-0.83,-219.0,550.2,-9.8,298,5186,0.00,1.92,0.00,0.000,4,0.000,0.053,2779,3695,3729,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5255,-0.83,-219.0,556.1,-9.3,301,5261,0.00,1.80,0.00,0.000,6,0.000,0.026,2779,2451,3728,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5571,-0.83,-219.0,584.6,-8.6,317,5576,0.00,1.98,0.00,0.000,4,0.000,0.028,2779,1088,3726,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5635,-0.83,-219.0,589.8,-8.2,320,5640,0.00,2.15,0.00,0.000,6,0.000,0.041,2779,2476,3725,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5962,-0.83,-219.0,615.2,-7.6,333,5967,0.00,1.92,0.00,0.000,4,0.000,0.053,2779,3703,3724,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6040,-0.83,-219.0,620.5,-7.7,335,6046,0.00,1.77,0.00,0.000,6,0.000,0.027,2779,2457,3723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6362,-0.83,-219.0,650.1,-9.5,346,6367,0.00,1.98,0.00,0.000,4,0.000,0.028,2779,1097,3721,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6380,-0.83,-219.0,650.1,-9.5,346,6386,0.00,2.12,0.00,0.000,6,0.000,0.041,2779,2480,3721,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6702,-0.83,-219.0,681.7,-9.1,357,6707,0.00,1.92,0.00,0.000,4,0.000,0.054,2779,3695,3719,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6755,-0.83,-219.0,685.2,-9.4,358,6760,0.00,1.77,0.00,0.000,6,0.000,0.028,2779,2478,3719,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7071,-0.83,-219.0,715.6,-9.2,369,7076,0.00,2.03,0.00,0.000,4,0.000,0.028,2780,1097,3717,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7135,-0.84,-219.0,721.5,-9.0,371,7140,0.00,2.15,0.00,0.000,6,0.000,0.041,2779,2486,3718,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7471,-0.84,-219.0,756.6,-11.5,382,7476,0.00,1.92,0.00,0.000,4,0.000,0.054,2782,3697,3716,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7508,-0.84,-219.0,761.1,-11.9,383,7513,0.00,1.77,0.00,0.000,6,0.000,0.028,2779,2469,3715,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7839,-0.84,-219.0,804.7,-13.5,394,7844,0.00,2.00,0.00,0.000,4,0.000,0.027,2779,1083,3713,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7872,-0.84,-219.0,809.5,-13.3,395,7877,0.00,2.17,0.00,0.000,6,0.000,0.041,2779,2486,3715,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8208,-0.84,-219.0,847.6,-11.1,406,8214,0.00,1.92,0.00,0.000,4,0.000,0.055,2779,3695,3712,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8276,-0.85,-219.0,854.3,-10.5,408,8282,0.00,1.77,0.00,0.000,6,0.000,0.028,2779,2469,3712,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8609,-0.85,-219.0,887.5,-10.0,419,8614,0.00,2.00,0.00,0.000,4,0.000,0.054,2779,3700,3710,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8662,-0.85,-219.0,891.0,-10.0,420,8668,0.00,1.77,0.00,0.000,6,0.000,0.028,2779,2472,3710,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8978,-0.85,-219.0,921.2,-8.6,431,8984,0.00,2.00,0.00,0.000,4,0.000,0.055,2779,3700,3709,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9044,-0.86,-219.0,926.9,-8.6,433,9049,0.00,1.83,0.00,0.000,6,0.000,0.028,2779,2452,3709,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9380,-0.86,-219.0,954.2,-8.3,444,9385,0.00,2.03,0.00,0.000,4,0.000,0.056,2779,3695,3708,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9418,-0.87,-219.0,957.4,-8.6,445,9424,0.00,1.77,0.00,0.000,6,0.000,0.028,2779,2472,3708,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9750,-0.88,-219.0,987.6,-9.0,456,9755,0.00,1.98,0.00,0.000,4,0.000,0.056,2779,3695,3707,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,9781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9781,begin apogee
$GC,9791,-0.15,0.0,990.7,-8.9,457,9987,0.65,0.00,188.57,1.480,6,0.115,0.000,2999,2125,2853,0,0,0,0,0,0,25.67,28.83,22.45
$STATE,9988,end apogee,CONTROL_FINISHED_OK
$STATE,9988,begin climb
$GC,9992,0.52,219.0,1001.0,0.0,463,10209,0.60,2.58,208.65,1.435,4,0.051,0.050,3227,3526,1959,0,0,0,0,0,0,24.34,23.73,22.14
$GC,10255,0.47,219.0,987.1,10.6,472,10261,0.12,2.25,0.00,0.000,6,0.159,0.027,3202,2140,1955,0,0,0,0,0,0,24.49,24.72,28.83
$GC,10577,0.45,219.0,946.9,12.2,483,10582,0.00,2.17,0.00,0.000,4,0.000,0.035,3202,717,1949,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10626,0.43,219.0,942.5,12.2,484,10631,0.00,2.17,0.00,0.000,6,0.000,0.037,3202,2120,1948,0,0,0,0,0,0,28.83,26.12,28.83
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$STATE,18506,end climb,SURFACE_DEPTH_REACHED
$STATE,18506,begin surface coast
$FINISH,1.8,1.022632
$STATE,18526,end surface coast,CONTROL_FINISHED_OK
$STATE,18527,begin surface
$SM_CCo,18607,0.00,0.000,0,0,458,587.49
$SM_GC,2.52,8.65,0.60,0.00,0.051,0.046,0.000,135,2486,458,-9.06,-0.85,587.49,0,0,0,0,0,0,25.82,26.27,28.83
$IRIDIUM_FIX,2159.71,12006.34,140113,040413
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.02
$INTERNAL_PRESSURE,9.41015
$TCM_TEMP,23.40
$XPDR_PINGS,1
$SC_FREEKB,3879264
$24V_AH,22.1,74.513
$10V_AH,9.8,37.217
$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,23.800,223.725,738.200,0.000,0.000,0.000,0.000,368.150,0.250,0.000,21.151,2865.762,12241.130,934.818,2633.884,527.834,0.000,2608.716,0.000,2135.811,0.000,0.542,0.000
$DEVICE_MAMPS,236.385,56.610,1480.275,0.000,0.000,0.000,0.000,133.875,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18586.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.498,0.000,0.000,0.000
$MEM,324280
$DATA_FILE_SIZE,33430,848
$CAP_FILE_SIZE,234016,0
$CFSIZE,260034560,213377024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.182,297.6,1
$GPS,140113,150605,2205.204,12006.468,37,0.9,37,-3.1