version: 66.11
glider: 170
mission: 10
dive: 370
start: 1 15 113 2 8 35
data:
$ID,170
$MISSION,10
$DIVE,370
$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,-143561.39
$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,59
$R_STBD_OVSHOOT,52
$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
$GPS1,150113,015434,2204.494,12005.722,34,0.8,34,-3.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-72.7
$GPS2,150113,020806,2204.664,12005.880,19,0.9,19,-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,180.2,37796,-14.8,-10.000,-16.90
$D_GRID,1226
$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,-219.0,0.0,0.0,0,91,0.00,0.00,-67.00,0.000,2,0.000,0.000,137,2500,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.52,-219.0,3.1,-1.6,12,186,11.27,2.17,-68.97,0.000,4,0.234,0.057,2875,1094,3748,0,0,0,0,0,0,25.25,26.03,26.61
$GC,241,-0.53,-219.0,16.2,-13.0,37,248,0.00,2.12,0.00,0.000,6,0.000,0.047,2875,2464,3748,0,0,0,0,0,0,28.83,26.13,28.83
$GC,431,-0.53,-219.0,39.8,-12.6,62,437,0.00,1.95,0.00,0.000,4,0.000,0.051,2875,3702,3747,0,0,0,0,0,0,28.83,26.15,28.83
$GC,460,-0.53,-219.0,42.4,-12.1,64,467,0.00,1.83,0.00,0.000,6,0.000,0.023,2876,2451,3747,0,0,0,0,0,0,28.83,26.42,28.83
$GC,655,-0.53,-219.0,68.0,-13.0,77,660,0.00,2.03,0.00,0.000,4,0.000,0.033,2876,1082,3747,0,0,0,0,0,0,28.83,26.31,28.83
$GC,723,-0.54,-219.0,75.0,-11.6,80,728,0.00,2.17,0.00,0.000,6,0.000,0.047,2875,2478,3747,0,0,0,0,0,0,28.83,26.22,28.83
$GC,921,-0.54,-219.0,94.3,-11.1,90,927,0.00,1.90,0.00,0.000,4,0.000,0.053,2876,3694,3747,0,0,0,0,0,0,28.83,26.22,28.83
$GC,975,-0.55,-219.0,99.5,-11.5,92,980,0.00,1.77,0.00,0.000,6,0.000,0.024,2876,2437,3747,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1169,-0.61,-219.0,120.9,-10.0,102,1175,0.00,2.00,0.00,0.000,4,0.000,0.049,2875,3702,3747,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1234,-0.66,-219.0,126.9,-9.4,105,1241,0.08,1.75,0.00,0.000,6,0.057,0.024,2798,2479,3747,0,0,0,0,0,0,26.36,26.48,28.83
$GC,1442,-0.66,-219.0,149.7,-11.3,115,1449,0.12,2.00,0.00,0.000,4,0.149,0.034,2842,1119,3746,0,0,0,0,0,0,26.29,26.23,28.83
$GC,1550,-0.69,-219.0,159.6,-8.5,120,1555,0.00,2.12,0.00,0.000,6,0.000,0.046,2842,2488,3747,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1757,-0.75,-219.0,176.5,-8.3,130,1762,0.00,2.08,0.00,0.000,4,0.000,0.039,2841,1116,3746,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1801,-0.80,-219.0,180.6,-8.5,132,1807,0.15,2.10,0.00,0.000,6,0.076,0.044,2761,2478,3748,0,0,0,0,0,0,26.31,26.28,28.83
$GC,2008,-0.80,-219.0,201.0,-10.1,142,2014,0.10,2.05,0.00,0.000,4,0.164,0.034,2790,1117,3747,0,0,0,0,0,0,26.39,26.36,28.83
$GC,2072,-0.80,-219.0,207.9,-10.2,145,2077,0.00,2.12,0.00,0.000,6,0.000,0.047,2790,2486,3747,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2276,-0.80,-219.0,231.4,-11.9,155,2282,0.00,2.05,0.00,0.000,4,0.000,0.038,2790,1109,3747,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2309,-0.80,-219.0,234.5,-11.8,156,2314,0.00,2.10,0.00,0.000,6,0.000,0.044,2790,2483,3749,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2504,-0.80,-219.0,256.5,-10.4,166,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2483,3747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2804,-0.80,-219.0,289.3,-11.5,181,2810,0.00,1.90,0.00,0.000,4,0.000,0.050,2790,3702,3745,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2837,-0.80,-219.0,292.4,-11.7,182,2842,0.00,1.75,0.00,0.000,6,0.000,0.023,2790,2473,3745,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3150,-0.80,-219.0,328.9,-10.2,198,3156,0.00,2.00,0.00,0.000,4,0.000,0.031,2790,1103,3743,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3238,-0.80,-219.0,336.8,-9.4,202,3245,0.00,2.12,0.00,0.000,6,0.000,0.043,2790,2482,3741,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3558,-0.80,-219.0,364.2,-8.8,218,3563,0.00,1.90,0.00,0.000,4,0.000,0.051,2790,3695,3741,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3611,-0.81,-219.0,368.4,-9.1,220,3617,0.00,1.73,0.00,0.000,6,0.000,0.024,2791,2466,3739,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3927,-0.82,-219.0,399.0,-9.0,236,3932,0.00,1.98,0.00,0.000,4,0.000,0.030,2790,1106,3738,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3981,-0.83,-219.0,403.3,-9.2,238,3986,0.00,2.10,0.00,0.000,6,0.000,0.041,2790,2484,3737,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4294,-0.87,-219.0,436.7,-11.1,254,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2484,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4597,-0.90,-219.0,468.0,-10.0,269,4602,0.00,2.05,0.00,0.000,4,0.000,0.029,2790,1115,3732,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4684,-0.93,-219.0,476.8,-10.2,273,4691,0.12,2.10,0.00,0.000,6,0.087,0.041,2726,2475,3731,0,0,0,0,0,0,26.27,26.28,28.83
$GC,5005,-0.89,-219.0,521.7,-14.3,289,5010,0.12,1.90,0.00,0.000,4,0.163,0.050,2766,3691,3730,0,0,0,0,0,0,26.24,26.21,28.83
$GC,5032,-0.87,-219.0,524.7,-13.9,290,5038,0.00,1.75,0.00,0.000,6,0.000,0.026,2766,2472,3729,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5351,-0.87,-219.0,560.0,-10.7,306,5357,0.00,1.98,0.00,0.000,4,0.000,0.029,2766,1115,3728,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5429,-0.87,-219.0,567.0,-10.9,309,5436,0.00,2.10,0.00,0.000,6,0.000,0.041,2766,2487,3726,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5736,-0.86,-219.0,598.7,-8.5,325,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2487,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6056,-0.85,-219.0,632.2,-10.9,336,6061,0.00,1.88,0.00,0.000,4,0.000,0.052,2766,3689,3723,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6090,-0.85,-219.0,636.0,-10.9,337,6096,0.00,1.80,0.00,0.000,6,0.000,0.027,2766,2469,3722,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6426,-0.85,-219.0,671.5,-10.4,348,6431,0.00,2.00,0.00,0.000,4,0.000,0.028,2766,1096,3720,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6499,-0.85,-219.0,678.0,-10.0,350,6505,0.00,2.12,0.00,0.000,6,0.000,0.041,2766,2477,3719,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6826,-0.85,-219.0,711.2,-10.4,361,6831,0.00,1.92,0.00,0.000,4,0.000,0.053,2765,3693,3717,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6873,-0.85,-219.0,714.8,-10.4,362,6878,0.00,1.77,0.00,0.000,6,0.000,0.028,2766,2476,3717,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7192,-0.85,-219.0,748.4,-10.2,373,7197,0.00,2.00,0.00,0.000,4,0.000,0.028,2766,1102,3715,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7214,-0.85,-219.0,748.4,-10.2,373,7219,0.00,2.12,0.00,0.000,6,0.000,0.042,2766,2482,3715,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7528,-0.85,-219.0,783.3,-10.4,384,7533,0.00,1.92,0.00,0.000,4,0.000,0.053,2766,3694,3714,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7586,-0.85,-219.0,786.9,-10.4,385,7592,0.00,1.77,0.00,0.000,6,0.000,0.028,2766,2465,3713,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7892,-0.85,-219.0,822.5,-11.2,396,7897,0.00,2.00,0.00,0.000,4,0.000,0.028,2766,1094,3711,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7916,-0.85,-219.0,822.5,-11.2,396,7921,0.00,2.12,0.00,0.000,6,0.000,0.043,2766,2474,3711,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8229,-0.85,-219.0,859.6,-10.9,407,8235,0.00,1.95,0.00,0.000,4,0.000,0.054,2766,3699,3710,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8288,-0.85,-219.0,863.2,-10.7,408,8295,0.00,1.77,0.00,0.000,6,0.000,0.028,2766,2471,3710,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8593,-0.85,-219.0,897.4,-10.1,419,8598,0.00,1.98,0.00,0.000,4,0.000,0.054,2766,3689,3709,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8635,-0.85,-219.0,900.9,-10.2,420,8640,0.00,1.77,0.00,0.000,6,0.000,0.028,2766,2483,3709,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8961,-0.85,-219.0,935.3,-10.2,431,8963,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2480,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9258,-0.85,-219.0,965.9,-10.3,441,9263,0.00,2.03,0.00,0.000,4,0.000,0.029,2766,1099,3706,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9292,-0.85,-219.0,969.3,-10.3,442,9297,0.00,2.15,0.00,0.000,6,0.000,0.043,2766,2480,3706,0,0,0,0,0,0,28.83,26.16,28.83
$STATE,9504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9504,begin apogee
$GC,9511,-0.15,0.0,990.6,-9.8,449,9705,0.68,0.00,187.85,1.481,6,0.112,0.000,2997,2126,2852,0,0,0,0,0,0,25.76,28.83,22.52
$STATE,9707,end apogee,CONTROL_FINISHED_OK
$STATE,9707,begin climb
$GC,9710,0.52,219.0,998.8,0.0,455,9927,0.60,2.40,207.90,1.436,4,0.053,0.034,3226,739,1957,0,0,0,0,0,0,24.35,23.80,22.17
$GC,9973,0.48,219.0,981.4,11.2,464,9979,0.00,2.28,0.00,0.000,6,0.000,0.037,3226,2123,1953,0,0,0,0,0,0,28.83,24.69,28.83
$GC,10299,0.45,219.0,940.6,11.8,475,10305,0.12,2.22,0.00,0.000,4,0.156,0.049,3185,3533,1950,0,0,0,0,0,0,26.04,26.06,28.83
$GC,10383,0.42,219.0,932.9,11.7,477,10389,0.00,2.12,0.00,0.000,6,0.000,0.028,3188,2128,1949,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10699,0.41,219.0,898.6,10.1,488,10704,0.00,2.10,0.00,0.000,4,0.000,0.035,3188,728,1946,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10723,0.40,219.0,898.6,10.1,488,10728,0.00,2.17,0.00,0.000,6,0.000,0.037,3188,2137,1945,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11038,0.41,241.9,866.7,9.3,499,11067,0.00,2.25,20.73,1.347,4,0.000,0.049,3188,3530,1865,0,0,0,0,0,0,28.83,25.81,23.95
$GC,11193,0.40,241.9,850.7,10.5,504,11198,0.00,2.15,0.00,0.000,6,0.000,0.027,3191,2116,1862,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11530,0.42,304.8,822.3,8.1,515,11589,0.00,0.00,57.28,1.376,6,0.000,0.000,3191,2116,1610,0,0,0,0,0,0,28.83,28.83,23.67
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$STATE,18445,end climb,SURFACE_DEPTH_REACHED
$STATE,18445,begin surface coast
$FINISH,1.6,1.010830
$STATE,18470,end surface coast,CONTROL_FINISHED_OK
$STATE,18470,begin surface
$SM_CCo,18550,0.00,0.000,0,0,457,587.74
$SM_GC,2.46,8.55,0.55,0.00,0.047,0.037,0.000,133,2487,457,-9.07,-1.19,587.74,0,0,0,0,0,0,25.94,26.39,28.83
$IRIDIUM_FIX,2157.39,12008.35,150113,020220
$TT8_MAMPS,0.025466,0.025466
$HUMID,57.60
$INTERNAL_PRESSURE,9.39062
$TCM_TEMP,22.80
$XPDR_PINGS,5
$SC_FREEKB,3878112
$24V_AH,22.2,75.375
$10V_AH,9.6,37.572
$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,23.000,199.450,733.475,0.000,0.000,0.000,0.000,454.225,1.250,0.000,19.657,2852.624,12373.523,882.756,2729.137,510.740,0.000,2647.220,0.000,2156.747,0.000,0.542,0.000
$DEVICE_MAMPS,234.090,57.375,1481.040,0.000,0.000,0.000,0.000,133.110,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18525.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.478,0.000,0.000,0.000
$MEM,324284
$DATA_FILE_SIZE,33381,854
$CAP_FILE_SIZE,228604,0
$CFSIZE,260034560,213045248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.185,338.4,1
$GPS,150113,071904,2204.695,12005.276,40,0.9,40,-3.1