version: 66.11
glider: 170
mission: 10
dive: 82
start: 11 17 112 11 58 39
data:
$ID,170
$MISSION,10
$DIVE,82
$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,-143190.59
$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,34
$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
$GPS1,171112,115123,2141.215,12005.361,40,0.9,40,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-73.1
$GPS2,171112,115811,2141.152,12005.394,21,0.9,21,-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,318.4,11698,-15.6,-10.000,-17.73
$D_GRID,2614
$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,-0.43,-194.6,0.0,0.0,0,96,0.00,0.00,-74.25,0.000,2,0.000,0.000,142,2608,2100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.43,-194.6,3.1,-1.7,13,159,11.12,1.83,-44.62,0.000,4,0.250,0.080,2870,3694,3564,0,0,0,0,0,0,25.88,26.12,26.45
$GC,389,-0.30,-194.6,82.1,-33.4,47,395,0.15,1.62,0.00,0.000,6,0.168,0.025,2912,2580,3564,0,0,0,0,0,0,26.19,26.37,28.83
$GC,593,-0.27,-194.6,123.8,-16.5,57,598,0.00,2.03,0.00,0.000,4,0.000,0.033,2912,1216,3564,0,0,0,0,0,0,28.83,26.41,28.83
$GC,636,-0.25,-194.6,130.1,-16.0,59,641,0.00,2.17,0.00,0.000,6,0.000,0.050,2912,2599,3564,0,0,0,0,0,0,28.83,26.38,28.83
$GC,839,-0.25,-194.6,151.9,-10.8,69,844,0.00,2.08,0.00,0.000,4,0.000,0.031,2912,1214,3564,0,0,0,0,0,0,28.83,26.48,28.83
$GC,882,-0.27,-194.6,157.1,-11.6,71,887,0.00,2.17,0.00,0.000,6,0.000,0.050,2912,2600,3564,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1086,-0.30,-194.6,176.9,-9.1,81,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2601,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1265,-0.33,-194.6,192.7,-8.7,90,1271,0.00,1.70,0.00,0.000,4,0.000,0.056,2912,3708,3565,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1330,-0.38,-194.6,197.7,-8.0,93,1335,0.00,1.62,0.00,0.000,6,0.000,0.024,2912,2579,3564,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1534,-0.43,-194.6,211.1,-5.9,103,1540,0.12,1.98,0.00,0.000,4,0.094,0.028,2837,1213,3564,0,0,0,0,0,0,26.63,26.60,28.83
$GC,1619,-0.42,-194.6,220.9,-11.6,107,1625,0.12,2.20,0.00,0.000,6,0.164,0.053,2873,2612,3564,0,0,0,0,0,0,26.46,26.55,28.83
$GC,1823,-0.42,-194.6,243.5,-10.3,117,1828,0.00,1.67,0.00,0.000,4,0.000,0.057,2873,3702,3564,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1921,-0.43,-194.6,251.0,-9.1,121,1928,0.00,1.58,0.00,0.000,6,0.000,0.024,2873,2572,3564,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2226,-0.45,-194.6,276.9,-8.0,137,2231,0.00,1.92,0.00,0.000,4,0.000,0.030,2873,1243,3563,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2365,-0.47,-194.6,286.9,-8.0,143,2371,0.00,2.10,0.00,0.000,6,0.000,0.046,2873,2614,3562,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2670,-0.50,-194.6,318.5,-10.9,159,2675,0.00,1.67,0.00,0.000,4,0.000,0.055,2873,3695,3560,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2747,-0.53,-194.6,325.3,-10.7,162,2755,0.10,1.52,0.00,0.000,6,0.101,0.027,2813,2604,3560,0,0,0,0,0,0,26.65,26.73,28.83
$GC,3053,-0.49,-194.6,371.5,-14.7,178,3055,0.15,0.00,0.00,0.000,6,0.152,0.000,2858,2599,3558,0,0,0,0,0,0,26.55,28.83,28.83
$GC,3355,-0.50,-194.6,401.7,-9.6,193,3360,0.00,1.98,0.00,0.000,4,0.000,0.028,2858,1229,3556,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3388,-0.51,-194.6,403.9,-9.3,194,3393,0.00,2.12,0.00,0.000,6,0.000,0.044,2858,2609,3556,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3701,-0.53,-194.6,427.9,-6.2,210,3706,0.00,2.03,0.00,0.000,4,0.000,0.029,2858,1238,3554,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3725,-0.55,-194.6,429.3,-5.9,211,3730,0.00,2.12,0.00,0.000,6,0.000,0.044,2858,2615,3554,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4049,-0.57,-194.6,448.5,-6.3,227,4054,0.00,2.00,0.00,0.000,4,0.000,0.028,2858,1240,3551,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4121,-0.60,-194.6,452.6,-6.3,230,4127,0.12,2.08,0.00,0.000,6,0.092,0.042,2795,2602,3551,0,0,0,0,0,0,26.68,26.67,28.83
$GC,4435,-0.55,-194.6,493.4,-13.9,246,4442,0.12,1.67,0.00,0.000,4,0.161,0.052,2836,3693,3550,0,0,0,0,0,0,26.58,26.65,28.83
$GC,4500,-0.53,-194.6,500.8,-12.3,249,4506,0.00,1.58,0.00,0.000,6,0.000,0.028,2836,2608,3549,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4824,-0.53,-194.6,536.9,-11.6,265,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2607,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5124,-0.53,-194.6,572.5,-11.7,280,5130,0.00,1.75,0.00,0.000,4,0.000,0.056,2836,3691,3545,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5229,-0.55,-194.6,584.1,-11.0,285,5234,0.00,1.58,0.00,0.000,6,0.000,0.029,2836,2600,3545,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5542,-0.55,-194.6,618.0,-10.8,298,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2599,3543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5842,-0.55,-194.6,648.8,-10.2,308,5848,0.00,1.70,0.00,0.000,4,0.000,0.054,2836,3690,3541,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5890,-0.56,-194.6,652.2,-10.1,309,5895,0.00,1.58,0.00,0.000,6,0.000,0.030,2836,2599,3541,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6209,-0.57,-194.6,686.5,-10.4,320,6214,0.00,2.03,0.00,0.000,4,0.000,0.027,2836,1203,3540,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6346,-0.59,-194.6,698.4,-9.6,324,6351,0.00,2.15,0.00,0.000,6,0.000,0.043,2836,2601,3538,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6666,-0.60,-194.6,724.5,-7.3,335,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2601,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6965,-0.62,-194.6,745.3,-6.9,345,6970,0.00,1.70,0.00,0.000,4,0.000,0.055,2836,3693,3535,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7063,-0.64,-194.6,751.3,-6.6,348,7068,0.00,1.60,0.00,0.000,6,0.000,0.030,2836,2585,3535,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7392,-0.66,-194.6,770.5,-5.5,359,7399,0.12,1.75,0.00,0.000,4,0.098,0.054,2769,3691,3533,0,0,0,0,0,0,26.72,26.65,28.83
$GC,7431,-0.66,-194.6,773.4,-6.2,360,7436,0.00,1.58,0.00,0.000,6,0.000,0.030,2769,2607,3533,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7760,-0.61,-194.6,810.1,-11.5,371,7767,0.12,2.05,0.00,0.000,4,0.164,0.026,2809,1199,3531,0,0,0,0,0,0,26.56,26.72,28.83
$GC,7844,-0.58,-194.6,816.5,-10.8,373,7850,0.00,2.17,0.00,0.000,6,0.000,0.044,2808,2604,3531,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8158,-0.58,-194.6,848.4,-10.2,384,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2605,3530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8458,-0.58,-194.6,883.8,-12.1,394,8463,0.00,2.05,0.00,0.000,4,0.000,0.028,2808,1203,3528,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8515,-0.58,-194.6,887.9,-12.3,395,8521,0.00,2.17,0.00,0.000,6,0.000,0.044,2809,2607,3528,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8820,-0.58,-194.6,930.7,-13.6,406,8826,0.00,1.70,0.00,0.000,4,0.000,0.057,2808,3692,3527,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8873,-0.58,-194.6,935.2,-13.6,407,8878,0.00,1.60,0.00,0.000,6,0.000,0.031,2809,2600,3527,0,0,0,0,0,0,28.83,26.76,28.83
$GC,9185,-0.58,-194.6,979.1,-13.2,418,9186,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2599,3526,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9274,begin apogee
$GC,9280,-0.11,0.0,990.3,-12.7,421,9446,0.45,0.00,157.30,1.482,6,0.117,0.000,2967,1936,2767,0,0,0,0,0,0,26.56,28.83,23.91
$STATE,9448,end apogee,CONTROL_FINISHED_OK
$STATE,9448,begin climb
$GC,9449,0.43,194.6,998.5,0.0,426,9632,0.50,2.50,171.88,1.437,4,0.072,0.049,3148,3357,1973,0,0,0,0,0,0,24.89,24.22,23.42
$GC,9709,0.43,205.3,982.3,9.6,435,9724,0.00,2.20,10.20,1.228,6,0.000,0.028,3156,1980,1932,0,0,0,0,0,0,28.83,25.06,24.03
$GC,10033,0.44,205.3,946.2,10.9,446,10038,0.00,2.22,0.00,0.000,4,0.000,0.048,3155,3361,1925,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10099,0.44,205.3,938.6,11.2,448,10104,0.00,2.17,0.00,0.000,6,0.000,0.028,3158,1951,1924,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10429,0.46,220.9,905.2,9.5,459,10451,0.00,2.33,14.35,1.307,4,0.000,0.048,3158,3353,1866,0,0,0,0,0,0,28.83,25.79,24.91
$GC,10509,0.46,220.9,898.7,10.0,461,10514,0.00,2.17,0.00,0.000,6,0.000,0.028,3157,1943,1865,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10824,0.48,242.1,866.6,9.3,472,10852,0.00,2.35,19.45,1.332,4,0.000,0.049,3158,3353,1781,0,0,0,0,0,0,28.83,25.70,24.83
$GC,10880,0.51,260.9,863.7,9.4,473,10904,0.00,2.17,17.95,1.305,6,0.000,0.028,3158,1951,1705,0,0,0,0,0,0,28.83,25.84,24.54
$GC,11217,0.54,273.8,828.5,9.6,485,11235,0.00,2.33,12.20,1.250,4,0.000,0.049,3158,3367,1651,0,0,0,0,0,0,28.83,25.77,24.91
$GC,11267,0.58,283.5,825.4,9.7,486,11284,0.12,2.20,10.35,1.207,6,0.093,0.028,3228,1947,1613,0,0,0,0,0,0,25.87,25.91,24.74
$GC,11612,0.54,283.5,764.8,18.1,498,11618,0.12,2.12,0.00,0.000,4,0.149,0.037,3188,552,1608,0,0,0,0,0,0,26.08,26.15,28.83
$GC,11660,0.51,283.5,759.5,17.6,499,11665,0.00,2.17,0.00,0.000,6,0.000,0.036,3187,1955,1607,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11978,0.51,283.5,718.2,11.6,510,11984,0.00,2.20,0.00,0.000,4,0.000,0.050,3187,3364,1607,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12090,0.51,283.5,707.1,11.7,513,12096,0.00,2.15,0.00,0.000,6,0.000,0.028,3189,1941,1608,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12404,0.53,328.1,677.2,8.5,524,12452,0.00,2.40,38.45,1.268,4,0.000,0.047,3189,3362,1430,0,0,0,0,0,0,28.83,25.48,24.67
$GC,12514,0.55,375.2,669.6,8.4,527,12563,0.00,2.20,41.83,1.243,6,0.000,0.028,3187,1945,1238,0,0,0,0,0,0,28.83,25.81,24.25
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$STATE,17238,end climb,SURFACE_DEPTH_REACHED
$STATE,17239,begin surface coast
$FINISH,1.8,1.021766
$STATE,17256,end surface coast,CONTROL_FINISHED_OK
$STATE,17256,begin surface
$SM_CCo,17335,0.00,0.000,0,0,494,558.06
$SM_GC,2.23,8.57,1.05,0.00,0.054,0.041,0.000,139,2624,494,-8.94,-0.71,558.06,0,0,0,0,0,0,26.26,26.37,28.83
$IRIDIUM_FIX,2134.17,12005.70,171112,060633
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.06
$INTERNAL_PRESSURE,9.43945
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,3988640
$24V_AH,23.4,17.648
$10V_AH,10.1,6.825
$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,22.675,151.875,646.425,0.000,0.000,0.000,0.000,240.875,0.000,0.000,22.877,2657.177,11717.126,757.772,2338.793,266.815,0.000,2174.824,0.000,1986.366,0.000,0.544,0.000
$DEVICE_MAMPS,250.155,79.560,1481.805,0.000,0.000,0.000,0.000,131.580,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17281.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.026,0.000,0.000,0.000
$MEM,324324
$DATA_FILE_SIZE,30065,784
$CAP_FILE_SIZE,205453,0
$CFSIZE,260034560,243838976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.048,179.8,1
$GPS,171112,164853,2142.568,12002.911,42,0.8,42,-3.0