version: 66.10
glider: 170
mission: 8
dive: 49
start: 4 25 112 23 15 8
data:
$ID,170
$MISSION,8
$DIVE,49
$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,360
$T_MISSION,420
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51734
$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,652.74329
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,-124227.94
$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,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.012
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2690
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2.25
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3121
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,600
$PITCH_VBD_SHIFT,0.00060000003
$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,146
$AH0_10V,97.5
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.674221
$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,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043607452
$SEABIRD_T_H,0.00062843185
$SEABIRD_T_I,2.3948436e-05
$SEABIRD_T_J,2.5418763e-06
$SEABIRD_C_G,-9.9654589
$SEABIRD_C_H,1.1018275
$SEABIRD_C_I,-0.0017437373
$SEABIRD_C_J,0.00021077196
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,250412,230235,2120.611,12002.985,23,1.4,23,-2.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-72.5
$GPS2,250412,231443,2120.362,12002.842,18,1.0,18,-2.9
$SPEED_LIMITS,0.159,0.334
$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,152.4,259999,-13.0,-9.167
$D_GRID,2856
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.47,-243.3,0.0,0.0,0,113,0.00,0.00,-91.97,0.000,2,0.000,0.000,139,2696,3026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.47,-243.3,3.8,-4.2,9,148,10.52,1.65,-16.30,0.000,4,0.257,0.079,2640,3693,3965,0,0,0,0,0,0,25.74,26.11,26.48
$GC,372,-0.37,-243.3,66.3,-21.3,31,378,0.12,1.52,0.00,0.000,6,0.157,0.031,2675,2646,3968,0,0,0,0,0,0,26.11,26.35,28.83
$GC,695,-0.35,-243.3,106.6,-11.7,47,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2644,3969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,997,-0.37,-243.3,135.0,-9.0,62,1002,0.00,1.67,0.00,0.000,4,0.000,0.057,2675,3696,3970,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1043,-0.41,-243.3,138.5,-8.6,64,1048,0.00,1.45,0.00,0.000,6,0.000,0.033,2675,2719,3970,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1361,-0.48,-243.3,158.3,-6.2,80,1367,0.00,2.10,0.00,0.000,4,0.000,0.031,2676,1276,3971,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1445,-0.55,-243.3,163.7,-6.4,84,1452,0.15,2.15,0.00,0.000,6,0.080,0.044,2597,2681,3971,0,0,0,0,0,0,26.49,26.46,28.83
$GC,1770,-0.52,-243.3,201.0,-12.2,100,1775,0.12,2.08,0.00,0.000,4,0.153,0.029,2639,1276,3971,0,0,0,0,0,0,26.43,26.56,28.83
$GC,1826,-0.52,-243.3,204.8,-10.2,102,1833,0.00,2.15,0.00,0.000,6,0.000,0.047,2639,2669,3971,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2133,-0.56,-243.3,226.1,-5.9,118,2138,0.00,2.05,0.00,0.000,4,0.000,0.031,2639,1284,3971,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2176,-0.60,-243.3,228.7,-6.1,120,2181,0.12,2.15,0.00,0.000,6,0.086,0.047,2571,2669,3971,0,0,0,0,0,0,26.55,26.52,28.83
$GC,2499,-0.56,-243.3,263.7,-10.8,136,2501,0.15,0.00,0.00,0.000,6,0.144,0.000,2616,2669,3970,0,0,0,0,0,0,26.46,28.83,28.83
$GC,2800,-0.58,-243.3,285.5,-6.2,151,2806,0.00,2.05,0.00,0.000,4,0.000,0.032,2616,1286,3968,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2853,-0.60,-243.3,288.3,-6.4,153,2858,0.00,2.10,0.00,0.000,6,0.000,0.047,2616,2658,3968,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3165,-0.63,-243.3,313.7,-8.0,169,3171,0.00,2.03,0.00,0.000,4,0.000,0.033,2616,1288,3964,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3202,-0.65,-243.3,315.6,-8.1,170,3209,0.00,2.10,0.00,0.000,6,0.000,0.047,2616,2649,3964,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3508,-0.68,-243.3,340.5,-7.9,186,3514,0.12,2.03,0.00,0.000,4,0.090,0.029,2538,1274,3961,0,0,0,0,0,0,26.70,26.64,28.83
$GC,3571,-0.65,-243.3,348.1,-10.9,189,3577,0.17,2.10,0.00,0.000,6,0.147,0.048,2590,2635,3961,0,0,0,0,0,0,26.39,26.57,28.83
$GC,3895,-0.65,-243.3,378.0,-8.5,205,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2635,3959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4195,-0.65,-243.3,404.9,-9.5,220,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2635,3956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4495,-0.65,-243.3,433.8,-9.6,235,4500,0.00,1.62,0.00,0.000,4,0.000,0.059,2590,3692,3954,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4546,-0.65,-243.3,437.8,-9.5,237,4551,0.00,1.58,0.00,0.000,6,0.000,0.035,2594,2630,3953,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4859,-0.65,-243.3,463.8,-8.0,253,4864,0.00,1.95,0.00,0.000,4,0.000,0.033,2591,1282,3951,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4941,-0.65,-243.3,470.3,-7.9,257,4946,0.00,2.05,0.00,0.000,6,0.000,0.047,2590,2614,3951,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5264,-0.65,-243.3,492.5,-6.7,273,5269,0.00,1.98,0.00,0.000,4,0.000,0.032,2591,1278,3949,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5290,-0.65,-243.3,494.1,-6.7,274,5295,0.00,2.05,0.00,0.000,6,0.000,0.047,2590,2617,3950,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5607,-0.65,-243.3,514.9,-6.4,290,5613,0.00,1.98,0.00,0.000,4,0.000,0.033,2589,1282,3947,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5639,-0.65,-243.3,516.4,-6.5,291,5645,0.00,2.03,0.00,0.000,6,0.000,0.047,2591,2603,3946,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5952,-0.66,-243.3,540.9,-8.1,307,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2603,3945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6253,-0.68,-243.3,565.7,-8.2,322,6258,0.00,1.95,0.00,0.000,4,0.000,0.031,2590,1286,3943,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6276,-0.69,-243.3,567.6,-8.0,323,6281,0.00,2.05,0.00,0.000,6,0.000,0.047,2591,2601,3943,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6600,-0.70,-243.3,593.3,-7.4,339,6601,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2601,3940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6910,-0.72,-243.3,612.0,-5.4,351,6915,0.00,1.95,0.00,0.000,4,0.000,0.031,2590,1282,3938,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6946,-0.73,-243.3,613.6,-5.3,352,6952,0.00,2.03,0.00,0.000,6,0.000,0.047,2590,2587,3938,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7276,-0.75,-243.3,630.3,-5.9,363,7281,0.00,1.90,0.00,0.000,4,0.000,0.033,2590,1288,3936,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7303,-0.76,-243.3,630.3,-5.9,363,7311,0.12,2.00,0.00,0.000,6,0.094,0.047,2524,2592,3937,0,0,0,0,0,0,26.57,26.55,28.83
$GC,7610,-0.70,-243.3,669.1,-12.9,374,7615,0.15,1.75,0.00,0.000,4,0.148,0.059,2573,3700,3935,0,0,0,0,0,0,26.44,26.51,28.83
$GC,7763,-0.70,-243.3,683.7,-9.2,379,7768,0.00,1.65,0.00,0.000,6,0.000,0.035,2573,2599,3934,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8096,-0.70,-243.3,712.2,-8.3,390,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2599,3933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8395,-0.70,-243.3,737.4,-8.6,400,8401,0.00,1.92,0.00,0.000,4,0.000,0.033,2573,1285,3931,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8437,-0.70,-243.3,740.3,-8.6,401,8442,0.00,2.03,0.00,0.000,6,0.000,0.048,2573,2601,3931,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8760,-0.70,-243.3,769.7,-9.0,412,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2608,3930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9059,-0.70,-243.3,797.8,-9.3,422,9060,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2608,3928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9360,-0.70,-243.3,824.2,-8.5,432,9365,0.00,1.95,0.00,0.000,4,0.000,0.034,2573,1291,3927,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9402,-0.70,-243.3,827.0,-8.4,433,9407,0.00,2.03,0.00,0.000,6,0.000,0.048,2574,2587,3927,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9725,-0.70,-243.3,855.0,-8.7,444,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2588,3926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10025,-0.70,-243.3,881.6,-8.9,454,10030,0.00,1.77,0.00,0.000,4,0.000,0.061,2573,3693,3925,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10057,-0.70,-243.3,884.5,-8.8,455,10062,0.00,1.67,0.00,0.000,6,0.000,0.037,2574,2584,3925,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10390,-0.70,-243.3,913.2,-8.7,466,10395,0.00,1.92,0.00,0.000,4,0.000,0.035,2573,1282,3924,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10423,-0.70,-243.3,916.2,-8.8,467,10428,0.00,2.03,0.00,0.000,6,0.000,0.049,2574,2583,3924,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10757,-0.70,-243.3,945.1,-8.6,478,10758,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2583,3923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11056,-0.70,-243.3,970.4,-8.3,488,11061,0.00,1.92,0.00,0.000,4,0.000,0.034,2573,1292,3921,0,0,0,0,0,0,28.83,26.60,28.83
$GC,11092,-0.70,-243.3,973.0,-8.1,489,11097,0.00,2.00,0.00,0.000,6,0.000,0.048,2573,2585,3921,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,11327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11327,begin apogee
$GC,11332,-0.12,0.0,990.6,-7.1,497,11498,0.52,0.00,159.57,1.431,4,0.116,0.000,2753,1939,3120,0,0,0,0,0,0,26.22,28.83,23.54
$STATE,11499,end apogee,CONTROL_FINISHED_OK
$STATE,11500,begin climb
$GC,11501,0.47,243.3,996.1,0.0,502,11729,0.57,2.42,218.70,1.395,4,0.060,0.054,2965,3346,2129,0,0,0,0,0,0,24.72,24.68,23.06
$GC,11812,0.39,243.3,966.3,14.6,513,11818,0.17,2.22,0.00,0.000,6,0.153,0.034,2924,1957,2126,0,0,0,0,0,0,24.85,25.01,28.83
$GC,12144,0.39,243.3,933.1,9.4,524,12149,0.00,2.25,0.00,0.000,4,0.000,0.054,2924,3345,2121,0,0,0,0,0,0,28.83,25.75,28.83
$GC,12321,0.38,243.3,917.3,10.4,529,12327,0.00,2.17,0.00,0.000,6,0.000,0.034,2928,1925,2120,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12628,0.39,268.6,887.7,8.5,540,12657,0.00,2.35,22.25,1.300,4,0.000,0.052,2928,3343,2026,0,0,0,0,0,0,28.83,25.55,24.56
$GC,12683,0.41,293.5,885.1,8.5,541,12714,0.00,2.17,23.50,1.291,6,0.000,0.034,2928,1943,1924,0,0,0,0,0,0,28.83,25.70,24.14
$GC,13022,0.47,372.4,856.8,7.2,553,13101,0.00,2.40,70.82,1.328,4,0.000,0.053,2928,3347,1601,0,0,0,0,0,0,28.83,24.72,23.75
$GC,13118,0.54,455.8,850.3,7.1,556,13205,0.15,2.22,74.45,1.304,6,0.081,0.034,2997,1953,1262,0,0,0,0,0,0,25.07,25.08,23.61
$GC,13503,0.49,455.8,790.0,17.0,569,13509,0.12,2.22,0.00,0.000,4,0.156,0.042,2965,535,1258,0,0,0,0,0,0,25.67,25.77,28.83
$GC,13566,0.49,455.8,782.6,14.5,571,13571,0.00,2.22,0.00,0.000,6,0.000,0.037,2965,1948,1258,0,0,0,0,0,0,28.83,25.86,28.83
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$GC,16082,0.63,502.6,473.2,8.0,671,16127,0.00,2.12,39.28,1.082,4,0.000,0.043,2970,532,1071,0,0,0,0,0,0,28.83,25.61,24.75
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$STATE,19291,end climb,SURFACE_DEPTH_REACHED
$STATE,19291,begin surface coast
$FINISH,0.9,1.021089
$STATE,19302,end surface coast,CONTROL_FINISHED_OK
$STATE,19302,begin surface
$SM_CCo,19381,0.00,0.000,0,0,460,652.99
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$IRIDIUM_FIX,2113.32,11930.92,250412,232320
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.70
$INTERNAL_PRESSURE,7.25186
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.1,9.700
$10V_AH,10.0,3.419
$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
$DEVICE_SECS,23.025,166.825,748.075,0.000,0.000,0.000,0.000,306.900,0.000,0.000,19.995,2846.936,13655.084,827.830,2572.678,196.644,0.000,2399.711,0.000,2128.480,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.174,0.000,0.000,0.000
$MEM,325124
$DATA_FILE_SIZE,30102,843
$CAP_FILE_SIZE,224764,0
$CFSIZE,260165632,247095296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.288,266.2,1
$GPS,260412,043906,2117.299,12001.574,24,1.2,24,-2.9