version: 66.11
glider: 170
mission: 10
dive: 81
start: 11 17 112 6 55 58
data:
$ID,170
$MISSION,10
$DIVE,81
$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,200
$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,-143189.34
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$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,52
$R_STBD_OVSHOOT,33
$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
$GPS1,171112,064434,2139.859,12006.945,44,0.8,45,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-73.8
$GPS2,171112,065530,2139.502,12007.177,21,1.0,21,-3.0
$SPEED_LIMITS,0.173,0.313
$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,334.0,16003,-15.6,-10.000,-17.73
$D_GRID,2617
$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,18,begin dive
$GC,20,-0.43,-194.6,0.0,0.0,0,101,0.00,0.00,-78.60,0.000,2,0.000,0.000,133,2612,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.43,-194.6,3.1,-0.9,14,164,11.15,1.80,-39.08,0.000,4,0.250,0.080,2864,3690,3564,0,0,0,0,0,0,25.84,26.10,26.43
$GC,302,-0.25,-194.6,50.7,-35.7,41,310,0.20,1.62,0.00,0.000,6,0.161,0.024,2921,2555,3564,0,0,0,0,0,0,26.11,26.31,28.83
$GC,489,-0.19,-194.6,102.9,-21.2,51,494,0.00,1.95,0.00,0.000,4,0.000,0.030,2921,1227,3564,0,0,0,0,0,0,28.83,26.37,28.83
$GC,561,-0.17,-194.6,115.6,-19.8,54,567,0.12,2.12,0.00,0.000,6,0.145,0.049,2958,2594,3564,0,0,0,0,0,0,26.28,26.35,28.83
$GC,756,-0.21,-194.6,140.5,-11.9,64,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2594,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,935,-0.28,-194.6,160.0,-9.9,73,941,0.12,2.03,0.00,0.000,4,0.083,0.029,2875,1241,3564,0,0,0,0,0,0,26.55,26.51,28.83
$GC,959,-0.33,-194.6,162.9,-10.0,74,964,0.00,2.10,0.00,0.000,6,0.000,0.048,2875,2600,3564,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1162,-0.30,-194.6,194.2,-14.1,84,1169,0.12,2.03,0.00,0.000,4,0.165,0.033,2917,1241,3564,0,0,0,0,0,0,26.44,26.51,28.83
$GC,1193,-0.28,-194.6,197.1,-13.1,85,1198,0.00,2.12,0.00,0.000,6,0.000,0.050,2917,2599,3564,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1393,-0.31,-194.6,212.3,-7.0,95,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2599,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1571,-0.35,-194.6,224.9,-7.1,104,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2600,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1751,-0.40,-194.6,239.0,-8.4,113,1757,0.12,1.70,0.00,0.000,4,0.085,0.054,2837,3710,3564,0,0,0,0,0,0,26.66,26.58,28.83
$GC,1795,-0.42,-194.6,244.8,-10.9,115,1801,0.12,1.58,0.00,0.000,6,0.147,0.024,2874,2575,3565,0,0,0,0,0,0,26.51,26.69,28.83
$GC,1999,-0.42,-194.6,276.3,-15.9,125,2005,0.00,1.92,0.00,0.000,4,0.000,0.030,2875,1244,3564,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2022,-0.42,-194.6,280.3,-16.3,126,2028,0.00,2.12,0.00,0.000,6,0.000,0.052,2875,2606,3563,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2346,-0.43,-194.6,330.8,-14.8,142,2351,0.00,2.00,0.00,0.000,4,0.000,0.031,2875,1253,3563,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2372,-0.44,-194.6,334.0,-14.3,143,2379,0.00,2.12,0.00,0.000,6,0.000,0.054,2875,2601,3563,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2692,-0.47,-194.6,364.4,-7.0,159,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2601,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2993,-0.49,-194.6,375.3,-3.0,174,2998,0.00,2.03,0.00,0.000,4,0.000,0.031,2875,1247,3560,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3030,-0.52,-194.6,376.1,-3.0,175,3039,0.10,2.12,0.00,0.000,6,0.101,0.057,2809,2600,3559,0,0,0,0,0,0,26.64,26.61,28.83
$GC,3336,-0.48,-194.6,406.1,-10.6,191,3343,0.12,1.70,0.00,0.000,4,0.156,0.054,2851,3708,3557,0,0,0,0,0,0,26.57,26.64,28.83
$GC,3416,-0.47,-194.6,411.1,-8.6,194,3423,0.00,1.58,0.00,0.000,6,0.000,0.026,2850,2603,3557,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3720,-0.47,-194.6,436.3,-9.3,210,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2603,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4021,-0.48,-194.6,469.1,-11.6,225,4027,0.00,1.73,0.00,0.000,4,0.000,0.054,2851,3704,3553,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4049,-0.50,-194.6,472.0,-11.7,226,4054,0.00,1.58,0.00,0.000,6,0.000,0.028,2850,2590,3553,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4367,-0.51,-194.6,506.7,-10.4,242,4372,0.00,1.95,0.00,0.000,4,0.000,0.028,2851,1224,3550,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4445,-0.54,-194.6,513.2,-10.1,245,4452,0.00,2.15,0.00,0.000,6,0.000,0.044,2850,2624,3550,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4751,-0.56,-194.6,542.5,-9.3,261,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2624,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5052,-0.58,-194.6,568.2,-8.3,276,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2623,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5352,-0.60,-194.6,596.9,-9.9,291,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2623,3544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5661,-0.62,-194.6,627.8,-9.9,302,5663,0.12,0.00,0.00,0.000,6,0.099,0.000,2782,2624,3543,0,0,0,0,0,0,26.73,28.83,28.83
$GC,5961,-0.57,-194.6,672.9,-15.2,312,5966,0.12,1.65,0.00,0.000,4,0.160,0.054,2822,3695,3540,0,0,0,0,0,0,26.58,26.67,28.83
$GC,6018,-0.53,-194.6,677.8,-14.9,313,6025,0.00,1.55,0.00,0.000,6,0.000,0.030,2823,2623,3540,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6324,-0.53,-194.6,716.0,-12.3,324,6330,0.00,2.05,0.00,0.000,4,0.000,0.027,2822,1205,3539,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6397,-0.53,-194.6,723.4,-12.2,326,6402,0.00,2.15,0.00,0.000,6,0.000,0.044,2822,2599,3539,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6720,-0.53,-194.6,763.0,-12.3,337,6725,0.00,1.67,0.00,0.000,4,0.000,0.057,2822,3690,3536,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6791,-0.53,-194.6,770.7,-12.3,339,6797,0.00,1.60,0.00,0.000,6,0.000,0.030,2822,2601,3536,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7115,-0.53,-194.6,808.4,-10.9,350,7120,0.00,2.03,0.00,0.000,4,0.000,0.028,2825,1205,3534,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7147,-0.53,-194.6,812.0,-10.9,351,7153,0.00,2.12,0.00,0.000,6,0.000,0.044,2822,2599,3534,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7481,-0.53,-194.6,843.9,-9.0,362,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2599,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7781,-0.53,-194.6,868.6,-8.3,372,7786,0.00,2.05,0.00,0.000,4,0.000,0.028,2822,1211,3531,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7803,-0.53,-194.6,868.6,-8.3,372,7809,0.00,2.12,0.00,0.000,6,0.000,0.045,2822,2599,3531,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8118,-0.53,-194.6,897.4,-8.8,383,8123,0.00,1.70,0.00,0.000,4,0.000,0.057,2822,3699,3529,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8191,-0.54,-194.6,903.3,-9.0,385,8197,0.00,1.60,0.00,0.000,6,0.000,0.031,2822,2601,3528,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8515,-0.54,-194.6,936.3,-10.1,396,8521,0.00,2.03,0.00,0.000,4,0.000,0.028,2822,1196,3527,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8579,-0.56,-194.6,942.8,-10.2,398,8584,0.00,2.20,0.00,0.000,6,0.000,0.044,2822,2614,3527,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8914,-0.57,-194.6,978.0,-10.5,409,8919,0.00,1.70,0.00,0.000,4,0.000,0.057,2822,3697,3526,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9027,-0.58,-194.6,987.9,-10.6,412,9032,0.00,1.60,0.00,0.000,6,0.000,0.031,2822,2601,3525,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,9038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9038,begin apogee
$GC,9043,-0.11,0.0,991.2,-10.4,413,9210,0.43,0.00,158.25,1.471,6,0.116,0.000,2971,1942,2768,0,0,0,0,0,0,26.56,28.83,23.94
$STATE,9212,end apogee,CONTROL_FINISHED_OK
$STATE,9212,begin climb
$GC,9213,0.43,194.6,999.2,0.0,418,9396,0.47,2.47,172.73,1.431,4,0.063,0.047,3150,3362,1973,0,0,0,0,0,0,24.92,24.27,23.46
$GC,9515,0.45,252.0,985.2,8.0,428,9573,0.00,2.20,50.75,1.393,6,0.000,0.028,3157,1972,1741,0,0,0,0,0,0,28.83,25.27,23.68
$GC,9886,0.49,281.2,950.4,9.0,441,9920,0.00,2.35,26.30,1.360,4,0.000,0.049,3157,3350,1622,0,0,0,0,0,0,28.83,25.15,24.36
$GC,10003,0.51,281.2,940.7,10.2,444,10010,0.00,2.17,0.00,0.000,6,0.000,0.028,3158,1946,1619,0,0,0,0,0,0,28.83,25.63,28.83
$GC,10309,0.54,281.2,905.8,10.6,455,10314,0.00,2.28,0.00,0.000,4,0.000,0.048,3158,3358,1617,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10342,0.57,281.2,901.8,10.9,456,10349,0.10,2.17,0.00,0.000,6,0.109,0.028,3215,1944,1617,0,0,0,0,0,0,26.07,26.12,28.83
$GC,10677,0.55,281.2,847.4,16.9,467,10683,0.00,2.25,0.00,0.000,4,0.000,0.048,3215,3362,1617,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10720,0.52,281.2,841.3,17.1,468,10727,0.15,2.15,0.00,0.000,6,0.157,0.029,3180,1943,1617,0,0,0,0,0,0,26.18,26.33,28.83
$GC,11046,0.54,281.2,795.4,12.8,479,11051,0.00,2.25,0.00,0.000,4,0.000,0.048,3180,3362,1616,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11073,0.55,281.2,795.4,12.8,479,11080,0.00,2.15,0.00,0.000,6,0.000,0.028,3186,1936,1616,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11379,0.55,281.2,752.1,12.9,490,11384,0.00,2.28,0.00,0.000,4,0.000,0.049,3186,3369,1615,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11430,0.55,281.2,747.4,13.2,491,11436,0.00,2.15,0.00,0.000,6,0.000,0.028,3187,1947,1615,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11744,0.55,281.2,704.0,13.1,502,11750,0.00,2.25,0.00,0.000,4,0.000,0.049,3187,3369,1615,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11852,0.55,281.2,690.0,14.7,505,11857,0.00,2.12,0.00,0.000,6,0.000,0.028,3187,1943,1615,0,0,0,0,0,0,28.83,26.56,28.83
$GC,12171,0.56,281.2,645.3,13.6,516,12176,0.00,2.25,0.00,0.000,4,0.000,0.048,3187,3369,1614,0,0,0,0,0,0,28.83,26.53,28.83
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$STATE,17551,end climb,SURFACE_DEPTH_REACHED
$STATE,17551,begin surface coast
$FINISH,1.5,1.021679
$STATE,17568,end surface coast,CONTROL_FINISHED_OK
$STATE,17569,begin surface
$SM_CCo,17648,0.00,0.000,0,0,459,566.89
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$IRIDIUM_FIX,2131.85,12009.71,171112,060606
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.43
$INTERNAL_PRESSURE,9.45898
$TCM_TEMP,24.30
$XPDR_PINGS,1
$SC_FREEKB,3989024
$24V_AH,23.5,17.398
$10V_AH,10.2,6.732
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.750,170.375,646.150,0.000,0.000,0.000,0.000,431.100,0.250,0.000,22.122,2698.740,11992.422,816.848,2513.488,277.661,0.000,2412.524,0.000,1973.468,0.000,0.544,0.000
$DEVICE_MAMPS,250.155,79.560,1471.095,0.000,0.000,0.000,0.000,128.520,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17592.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.032,0.000,0.000,0.000
$MEM,324320
$DATA_FILE_SIZE,30090,808
$CAP_FILE_SIZE,215115,0
$CFSIZE,260034560,243929088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.069,165.8,1
$GPS,171112,115123,2141.215,12005.361,40,0.9,40,-3.0