version: 66.11
glider: 170
mission: 10
dive: 67
start: 11 14 112 11 47 40
data:
$ID,170
$MISSION,10
$DIVE,67
$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,320
$T_MISSION,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51479
$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,2
$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,-143171.84
$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,3010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2769
$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
$GPS1,141112,114028,2138.168,12027.932,98,0.8,98,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-69.5
$GPS2,141112,114712,2138.029,12027.870,21,0.8,21,-3.0
$SPEED_LIMITS,0.179,0.348
$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,321.2,49649,-14.3,-10.312,-16.49
$D_GRID,1155
$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,19,-0.42,-243.3,0.0,0.0,0,97,0.00,0.00,-75.78,0.000,2,0.000,0.000,136,2605,2157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.42,-243.3,3.1,-2.4,13,161,10.88,1.85,-42.78,0.000,4,0.243,0.083,2871,3699,3763,0,0,0,0,0,0,25.96,26.17,26.50
$GC,378,-0.42,-243.3,77.6,-28.4,44,383,0.00,1.62,0.00,0.000,6,0.000,0.024,2868,2578,3763,0,0,0,0,0,0,28.83,26.42,28.83
$GC,570,-0.42,-243.3,123.7,-24.5,54,576,0.00,2.00,0.00,0.000,4,0.000,0.030,2868,1211,3763,0,0,0,0,0,0,28.83,26.46,28.83
$GC,587,-0.42,-243.3,123.7,-24.5,54,594,0.00,2.20,0.00,0.000,6,0.000,0.049,2868,2615,3763,0,0,0,0,0,0,28.83,26.41,28.83
$GC,773,-0.42,-243.3,166.2,-20.1,64,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2615,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,953,-0.42,-243.3,198.7,-16.5,73,959,0.00,1.70,0.00,0.000,4,0.000,0.058,2868,3701,3763,0,0,0,0,0,0,28.83,26.51,28.83
$GC,976,-0.42,-243.3,202.1,-15.7,74,982,0.00,1.60,0.00,0.000,6,0.000,0.025,2868,2575,3763,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1180,-0.42,-243.3,226.1,-11.7,84,1185,0.00,1.98,0.00,0.000,4,0.000,0.030,2868,1220,3763,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1223,-0.42,-243.3,230.6,-11.2,86,1228,0.00,2.17,0.00,0.000,6,0.000,0.050,2868,2608,3762,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1426,-0.42,-243.3,249.2,-9.6,96,1431,0.00,1.70,0.00,0.000,4,0.000,0.056,2868,3702,3762,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1530,-0.42,-243.3,259.4,-10.1,101,1535,0.00,1.58,0.00,0.000,6,0.000,0.024,2868,2594,3764,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1853,-0.42,-243.3,295.1,-10.0,117,1859,0.00,2.00,0.00,0.000,4,0.000,0.032,2868,1216,3761,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1885,-0.42,-243.3,297.2,-9.6,118,1891,0.00,2.17,0.00,0.000,6,0.000,0.052,2868,2602,3761,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2198,-0.42,-243.3,323.5,-8.6,134,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2602,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2499,-0.42,-243.3,353.3,-10.0,149,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2602,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2799,-0.42,-243.3,385.4,-11.6,164,2804,0.00,1.70,0.00,0.000,4,0.000,0.057,2868,3708,3755,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2885,-0.42,-243.3,394.9,-11.4,168,2890,0.00,1.60,0.00,0.000,6,0.000,0.028,2868,2593,3754,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3203,-0.42,-243.3,427.9,-8.5,184,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2590,3752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3504,-0.42,-243.3,444.0,-3.7,199,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2590,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3804,-0.42,-243.3,451.3,-2.7,214,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2590,3747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4104,-0.42,-243.3,467.6,-7.2,229,4109,0.00,1.75,0.00,0.000,4,0.000,0.057,2868,3702,3745,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4156,-0.42,-243.3,471.2,-8.1,231,4162,0.00,1.58,0.00,0.000,6,0.000,0.029,2868,2597,3745,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4470,-0.42,-243.3,497.4,-7.4,247,4476,0.00,1.98,0.00,0.000,4,0.000,0.027,2868,1216,3742,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4497,-0.42,-243.3,499.1,-7.2,248,4502,0.00,2.15,0.00,0.000,6,0.000,0.044,2869,2612,3742,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4815,-0.42,-243.3,518.3,-5.6,264,4821,0.00,1.70,0.00,0.000,4,0.000,0.057,2868,3700,3740,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4853,-0.42,-243.3,519.5,-5.5,265,4859,0.00,1.58,0.00,0.000,6,0.000,0.031,2868,2608,3740,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5158,-0.42,-243.3,538.2,-6.2,281,5164,0.00,2.03,0.00,0.000,4,0.000,0.028,2868,1206,3738,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5185,-0.42,-243.3,539.7,-6.2,282,5192,0.00,2.15,0.00,0.000,6,0.000,0.044,2868,2602,3739,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5504,-0.42,-243.3,566.8,-9.8,298,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2601,3737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5806,-0.42,-243.3,593.5,-8.3,313,5807,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2602,3735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6115,-0.42,-243.3,615.8,-6.6,325,6120,0.00,2.05,0.00,0.000,4,0.000,0.028,2868,1207,3732,0,0,0,0,0,0,28.83,26.76,28.83
$GC,6148,-0.42,-243.3,618.0,-6.7,326,6153,0.00,2.17,0.00,0.000,6,0.000,0.044,2868,2612,3732,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6482,-0.42,-243.3,638.4,-6.2,337,6487,0.00,1.70,0.00,0.000,4,0.000,0.058,2868,3698,3731,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6508,-0.42,-243.3,638.4,-6.2,337,6516,0.00,1.60,0.00,0.000,6,0.000,0.032,2868,2602,3730,0,0,0,0,0,0,28.83,26.79,28.83
$GC,6815,-0.42,-243.3,660.3,-6.6,348,6820,0.00,2.03,0.00,0.000,4,0.000,0.028,2868,1207,3729,0,0,0,0,0,0,28.83,26.76,28.83
$GC,6851,-0.42,-243.3,662.7,-6.9,349,6856,0.00,2.15,0.00,0.000,6,0.000,0.044,2868,2601,3729,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7181,-0.42,-243.3,690.5,-8.5,360,7186,0.00,1.70,0.00,0.000,4,0.000,0.057,2869,3701,3727,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7214,-0.42,-243.3,693.5,-8.5,361,7219,0.00,1.62,0.00,0.000,6,0.000,0.031,2868,2603,3727,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7548,-0.42,-243.3,727.7,-11.5,372,7554,0.00,1.75,0.00,0.000,4,0.000,0.056,2868,3691,3725,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7601,-0.42,-243.3,731.9,-11.8,373,7606,0.00,1.62,0.00,0.000,6,0.000,0.031,2869,2577,3725,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7914,-0.42,-243.3,771.2,-11.6,384,7919,0.00,2.00,0.00,0.000,4,0.000,0.029,2868,1203,3724,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7956,-0.42,-243.3,775.1,-11.5,385,7962,0.00,2.17,0.00,0.000,6,0.000,0.044,2868,2612,3723,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8280,-0.42,-243.3,811.0,-10.5,396,8281,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2613,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8580,-0.42,-243.3,842.6,-10.3,406,8585,0.00,2.08,0.00,0.000,4,0.000,0.030,2868,1214,3721,0,0,0,0,0,0,28.83,26.75,28.83
$GC,8643,-0.42,-243.3,849.0,-10.1,408,8648,0.00,2.15,0.00,0.000,6,0.000,0.044,2868,2606,3721,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8977,-0.42,-243.3,879.5,-9.4,419,8982,0.00,1.73,0.00,0.000,4,0.000,0.057,2868,3694,3721,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9014,-0.42,-243.3,882.9,-9.7,420,9019,0.00,1.60,0.00,0.000,6,0.000,0.032,2868,2607,3720,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9343,-0.42,-243.3,912.0,-8.2,431,9349,0.00,1.75,0.00,0.000,4,0.000,0.057,2868,3691,3719,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9490,-0.42,-243.3,923.2,-8.9,435,9498,0.00,1.62,0.00,0.000,6,0.000,0.031,2869,2601,3719,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9796,-0.42,-243.3,953.8,-9.1,446,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2601,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10096,-0.42,-243.3,987.3,-12.3,456,10102,0.00,1.73,0.00,0.000,4,0.000,0.057,2869,3701,3717,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,10128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10128,begin apogee
$GC,10135,-0.11,0.0,991.8,-12.7,457,10340,0.28,0.00,197.20,1.472,6,0.084,0.000,2979,1942,2768,0,0,0,0,0,0,26.70,28.83,23.79
$STATE,10342,end apogee,CONTROL_FINISHED_OK
$STATE,10342,begin climb
$GC,10344,0.42,243.3,1013.1,0.0,464,10569,0.45,2.30,216.32,1.438,4,0.067,0.035,3146,562,1776,0,0,0,0,0,0,24.79,23.99,23.15
$GC,10609,0.50,446.6,1008.2,4.5,473,10804,0.00,2.30,188.10,1.417,6,0.000,0.035,3146,1950,948,0,0,0,0,0,0,28.83,24.57,22.81
$GC,11117,0.52,490.9,974.5,9.1,490,11166,0.00,2.28,42.58,1.385,4,0.000,0.035,3146,567,767,0,0,0,0,0,0,28.83,24.63,23.80
$GC,11393,0.52,490.9,928.3,18.5,499,11399,0.00,2.17,0.00,0.000,6,0.000,0.032,3146,1954,765,0,0,0,0,0,0,28.83,25.63,28.83
$GC,11723,0.52,490.9,874.1,16.6,510,11729,0.00,2.22,0.00,0.000,4,0.000,0.050,3146,3361,763,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11946,0.52,490.9,838.9,16.7,517,11951,0.00,2.12,0.00,0.000,6,0.000,0.028,3146,1959,761,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12270,0.52,490.9,783.8,16.0,528,12275,0.00,2.22,0.00,0.000,4,0.000,0.048,3146,3357,761,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12467,0.52,490.9,758.3,13.3,534,12472,0.00,2.12,0.00,0.000,6,0.000,0.028,3145,1943,761,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12786,0.52,490.9,721.4,11.5,545,12792,0.00,2.25,0.00,0.000,4,0.000,0.047,3146,3365,761,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12933,0.52,490.9,706.0,12.3,549,12940,0.00,2.12,0.00,0.000,6,0.000,0.027,3146,1936,761,0,0,0,0,0,0,28.83,26.52,28.83
$GC,13239,0.52,490.9,655.6,17.3,560,13245,0.00,2.25,0.00,0.000,4,0.000,0.047,3146,3362,760,0,0,0,0,0,0,28.83,26.49,28.83
$GC,13426,0.52,490.9,620.8,19.3,566,13432,0.00,2.10,0.00,0.000,6,0.000,0.028,3146,1951,761,0,0,0,0,0,0,28.83,26.58,28.83
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$STATE,18187,end climb,SURFACE_DEPTH_REACHED
$STATE,18187,begin surface coast
$FINISH,1.3,0.997738
$STATE,18213,end surface coast,CONTROL_FINISHED_OK
$STATE,18214,begin surface
$SM_CCo,18291,0.00,0.000,0,0,459,566.64
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$IRIDIUM_FIX,2131.85,12028.40,141112,060625
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.81
$INTERNAL_PRESSURE,9.43945
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,3994400
$24V_AH,22.8,13.911
$10V_AH,9.8,5.449
$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,19.650,161.925,710.200,0.000,0.000,0.000,0.000,240.550,0.000,0.000,22.062,2955.075,12008.929,813.751,2641.955,271.801,0.000,2377.777,0.000,2280.664,0.000,0.542,0.000
$DEVICE_MAMPS,243.270,83.385,1471.860,0.000,0.000,0.000,0.000,130.815,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18223.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.821,0.000,0.000,0.000
$MEM,323272
$DATA_FILE_SIZE,33430,840
$CAP_FILE_SIZE,209437,0
$CFSIZE,260034560,245305344
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.943,126.7,1
$GPS,141112,165334,2138.366,12028.609,25,0.9,25,-3.0