version: 66.11
glider: 170
mission: 10
dive: 88
start: 11 18 112 17 27 26
data:
$ID,170
$MISSION,10
$DIVE,88
$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,-143198.09
$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,58
$R_STBD_OVSHOOT,42
$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
$GPS1,181112,172004,2129.790,12002.608,26,0.8,26,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-74.6
$GPS2,181112,172659,2129.644,12002.624,17,0.8,17,-3.0
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,185.4,277179,-15.6,-10.000,-17.73
$D_GRID,2860
$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,20,-0.43,-194.6,0.0,0.0,0,84,0.00,0.00,-62.25,0.000,2,0.000,0.000,143,2628,2021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.43,-194.6,3.1,-2.0,11,155,10.88,2.20,-49.62,0.000,4,0.243,0.047,2866,1192,3564,0,0,0,0,0,0,25.87,26.18,26.46
$GC,248,-0.33,-194.6,32.2,-24.1,37,254,0.12,2.20,0.00,0.000,6,0.184,0.049,2898,2583,3564,0,0,0,0,0,0,26.08,26.21,28.83
$GC,443,-0.21,-194.6,84.7,-26.5,50,449,0.12,1.80,0.00,0.000,4,0.188,0.067,2935,3695,3564,0,0,0,0,0,0,26.22,26.28,28.83
$GC,508,-0.13,-194.6,97.6,-21.2,53,514,0.12,1.62,0.00,0.000,6,0.148,0.024,2972,2580,3564,0,0,0,0,0,0,26.27,26.43,28.83
$GC,712,-0.13,-194.6,127.2,-13.4,63,717,0.00,1.83,0.00,0.000,4,0.000,0.067,2972,3693,3564,0,0,0,0,0,0,28.83,26.37,28.83
$GC,799,-0.20,-194.6,136.7,-11.5,67,804,0.00,1.55,0.00,0.000,6,0.000,0.025,2972,2573,3565,0,0,0,0,0,0,28.83,26.51,28.83
$GC,998,-0.39,-194.6,156.1,-8.6,77,1004,0.22,1.95,0.00,0.000,4,0.096,0.035,2883,1256,3566,0,0,0,0,0,0,26.46,26.50,28.83
$GC,1011,-0.58,-194.6,156.1,-8.6,77,1017,0.17,2.10,0.00,0.000,6,0.080,0.049,2803,2601,3565,0,0,0,0,0,0,26.50,26.47,28.83
$GC,1206,-0.46,-194.6,199.4,-25.7,87,1213,0.17,1.73,0.00,0.000,4,0.177,0.057,2857,3698,3565,0,0,0,0,0,0,26.39,26.50,28.83
$GC,1245,-0.35,-194.6,205.2,-24.4,88,1252,0.12,1.55,0.00,0.000,6,0.153,0.024,2895,2608,3566,0,0,0,0,0,0,26.44,26.60,28.83
$GC,1432,-0.36,-194.6,234.8,-13.5,98,1437,0.00,2.00,0.00,0.000,4,0.000,0.031,2895,1228,3566,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1557,-0.40,-194.6,243.4,-5.4,104,1562,0.00,2.15,0.00,0.000,6,0.000,0.050,2895,2601,3566,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1762,-0.42,-194.6,253.4,-6.0,114,1767,0.00,1.70,0.00,0.000,4,0.000,0.057,2894,3706,3566,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1785,-0.45,-194.6,254.9,-6.4,115,1790,0.00,1.60,0.00,0.000,6,0.000,0.024,2895,2620,3566,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2109,-0.49,-194.6,281.7,-8.7,131,2115,0.12,2.05,0.00,0.000,4,0.093,0.041,2819,1199,3565,0,0,0,0,0,0,26.66,26.65,28.83
$GC,2267,-0.46,-194.6,305.6,-18.1,138,2275,0.15,2.20,0.00,0.000,6,0.154,0.054,2863,2603,3564,0,0,0,0,0,0,26.51,26.58,28.83
$GC,2573,-0.48,-194.6,331.7,-6.2,154,2579,0.00,1.73,0.00,0.000,4,0.000,0.057,2863,3708,3564,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2688,-0.51,-194.6,339.1,-7.2,159,2693,0.00,1.65,0.00,0.000,6,0.000,0.025,2863,2572,3563,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3001,-0.53,-194.6,374.6,-12.2,175,3006,0.00,1.77,0.00,0.000,4,0.000,0.052,2863,3699,3562,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3058,-0.56,-194.6,379.6,-11.8,177,3065,0.00,1.58,0.00,0.000,6,0.000,0.027,2863,2575,3561,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3364,-0.59,-194.6,410.2,-7.6,193,3370,0.12,1.92,0.00,0.000,4,0.092,0.027,2793,1231,3559,0,0,0,0,0,0,26.71,26.69,28.83
$GC,3398,-0.60,-194.6,412.4,-7.8,194,3404,0.00,2.12,0.00,0.000,6,0.000,0.045,2793,2615,3559,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3712,-0.54,-194.6,457.0,-14.8,210,3718,0.12,2.00,0.00,0.000,4,0.177,0.026,2834,1243,3557,0,0,0,0,0,0,26.55,26.70,28.83
$GC,3745,-0.50,-194.6,460.9,-15.6,211,3750,0.00,2.08,0.00,0.000,6,0.000,0.044,2834,2603,3557,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4058,-0.50,-194.6,495.9,-9.3,227,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2604,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4360,-0.50,-194.6,519.0,-7.3,242,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2603,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4659,-0.50,-194.6,542.3,-8.2,257,4664,0.00,2.00,0.00,0.000,4,0.000,0.026,2834,1228,3550,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4717,-0.50,-194.6,546.3,-8.7,259,4723,0.00,2.12,0.00,0.000,6,0.000,0.044,2834,2607,3550,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5022,-0.50,-194.6,583.2,-13.1,275,5027,0.00,1.70,0.00,0.000,4,0.000,0.054,2834,3700,3550,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5049,-0.51,-194.6,586.3,-13.2,276,5054,0.00,1.55,0.00,0.000,6,0.000,0.030,2836,2625,3548,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5378,-0.51,-194.6,626.8,-11.3,289,5383,0.00,1.70,0.00,0.000,4,0.000,0.054,2834,3698,3546,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5435,-0.52,-194.6,630.4,-11.0,290,5443,0.00,1.60,0.00,0.000,6,0.000,0.029,2834,2575,3545,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5743,-0.54,-194.6,659.9,-7.4,301,5748,0.00,1.95,0.00,0.000,4,0.000,0.028,2834,1232,3545,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5820,-0.56,-194.6,663.8,-6.4,303,5826,0.00,2.12,0.00,0.000,6,0.000,0.043,2834,2610,3544,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6140,-0.57,-194.6,680.9,-5.1,314,6145,0.00,2.05,0.00,0.000,4,0.000,0.028,2834,1220,3542,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6163,-0.59,-194.6,680.9,-5.1,314,6168,0.00,2.12,0.00,0.000,6,0.000,0.044,2834,2604,3542,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6478,-0.60,-194.6,703.2,-7.9,325,6483,0.00,2.00,0.00,0.000,4,0.000,0.028,2834,1234,3541,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6551,-0.62,-194.6,709.1,-8.7,327,6556,0.00,2.12,0.00,0.000,6,0.000,0.044,2834,2611,3540,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6875,-0.64,-194.6,742.9,-10.5,338,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2611,3539,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7174,-0.66,-194.6,775.5,-10.9,348,7180,0.12,1.70,0.00,0.000,4,0.093,0.054,2760,3698,3537,0,0,0,0,0,0,26.72,26.64,28.83
$GC,7251,-0.66,-194.6,785.6,-13.2,350,7258,0.12,1.58,0.00,0.000,6,0.162,0.029,2795,2605,3536,0,0,0,0,0,0,26.53,26.76,28.83
$GC,7572,-0.64,-194.6,830.2,-12.8,361,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2604,3535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7871,-0.62,-194.6,866.3,-11.6,371,7876,0.00,2.00,0.00,0.000,4,0.000,0.029,2795,1220,3533,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7913,-0.60,-194.6,870.0,-11.4,372,7918,0.00,2.12,0.00,0.000,6,0.000,0.044,2795,2605,3533,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8238,-0.58,-194.6,903.5,-10.2,383,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2605,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8536,-0.56,-194.6,932.7,-9.6,393,8538,0.12,0.00,0.00,0.000,6,0.164,0.000,2832,2605,3531,0,0,0,0,0,0,26.57,28.83,28.83
$GC,8838,-0.59,-194.6,956.7,-7.7,403,8844,0.00,2.05,0.00,0.000,4,0.000,0.029,2833,1222,3529,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8905,-0.62,-194.6,961.5,-7.4,405,8910,0.00,2.15,0.00,0.000,6,0.000,0.044,2832,2610,3529,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9235,-0.64,-194.6,985.9,-7.5,416,9236,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2610,3528,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9291,begin apogee
$GC,9296,-0.11,0.0,990.6,-7.7,418,9463,0.38,0.00,158.15,1.478,6,0.109,0.000,2968,1945,2766,0,0,0,0,0,0,26.56,28.83,23.91
$STATE,9464,end apogee,CONTROL_FINISHED_OK
$STATE,9464,begin climb
$GC,9467,0.43,194.6,996.3,0.0,423,9649,0.50,2.47,171.40,1.441,4,0.068,0.049,3152,3358,1973,0,0,0,0,0,0,24.89,24.14,23.35
$GC,9747,0.43,194.6,976.4,10.1,433,9753,0.00,2.20,0.00,0.000,6,0.000,0.028,3158,1972,1966,0,0,0,0,0,0,28.83,25.10,28.83
$GC,10081,0.43,194.6,940.7,11.2,444,10087,0.00,2.30,0.00,0.000,4,0.000,0.055,3158,3358,1962,0,0,0,0,0,0,28.83,25.85,28.83
$GC,10115,0.43,194.6,936.3,11.7,445,10120,0.00,2.17,0.00,0.000,6,0.000,0.028,3158,1938,1961,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10449,0.44,194.6,897.3,11.2,456,10455,0.00,2.30,0.00,0.000,4,0.000,0.050,3158,3360,1960,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10516,0.44,194.6,889.8,11.3,458,10521,0.00,2.12,0.00,0.000,6,0.000,0.028,3158,1943,1960,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10845,0.48,273.5,861.9,7.3,469,10919,0.00,2.45,67.22,1.388,4,0.000,0.049,3158,3354,1652,0,0,0,0,0,0,28.83,24.98,24.14
$GC,11011,0.52,335.0,849.9,7.9,474,11071,0.00,2.17,53.78,1.353,6,0.000,0.028,3158,1943,1403,0,0,0,0,0,0,28.83,25.68,24.03
$GC,11389,0.57,335.0,814.1,10.7,487,11396,0.12,2.28,0.00,0.000,4,0.093,0.047,3229,3356,1397,0,0,0,0,0,0,26.02,25.96,28.83
$GC,11454,0.59,335.0,803.0,14.0,489,11461,0.15,2.15,0.00,0.000,6,0.145,0.028,3195,1946,1397,0,0,0,0,0,0,25.94,26.08,28.83
$GC,11788,0.60,335.0,752.8,14.2,500,11794,0.00,2.28,0.00,0.000,4,0.000,0.050,3194,3357,1395,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11861,0.60,335.0,743.7,14.0,502,11866,0.00,2.12,0.00,0.000,6,0.000,0.028,3199,1937,1395,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12185,0.60,335.0,701.9,12.1,513,12191,0.00,2.28,0.00,0.000,4,0.000,0.050,3199,3367,1395,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12253,0.60,335.0,693.6,12.5,515,12258,0.00,2.12,0.00,0.000,6,0.000,0.028,3199,1943,1395,0,0,0,0,0,0,28.83,26.44,28.83
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$STATE,17850,end climb,SURFACE_DEPTH_REACHED
$STATE,17850,begin surface coast
$FINISH,1.5,1.010941
$STATE,17878,end surface coast,CONTROL_FINISHED_OK
$STATE,17878,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,50.00
$INTERNAL_PRESSURE,9.46875
$TCM_TEMP,24.50
$XPDR_PINGS,1
$SC_FREEKB,3986336
$24V_AH,23.4,19.158
$10V_AH,10.0,7.386
$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,23.475,178.075,640.950,0.000,0.000,0.000,0.000,250.250,0.250,0.000,18.770,2788.029,12073.440,786.775,2434.882,281.631,0.000,2265.515,0.000,2060.779,0.000,0.543,0.000
$DEVICE_MAMPS,242.505,67.320,1477.980,0.000,0.000,0.000,0.000,130.815,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.818,0.000,0.000,0.000
$MEM,324340
$DATA_FILE_SIZE,30102,815
$CAP_FILE_SIZE,218712,0
$CFSIZE,260034560,243216384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,293.7,1
$GPS,181112,222758,2126.968,12002.797,39,1.1,39,-3.0