version: 66.10
glider: 170
mission: 8
dive: 59
start: 4 28 112 10 52 18
data:
$ID,170
$MISSION,8
$DIVE,59
$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,380
$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,200
$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,-124240.66
$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,47
$R_STBD_OVSHOOT,28
$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
$GPS1,280412,104405,2057.662,12000.047,40,0.9,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-73.1
$GPS2,280412,105154,2057.902,12000.260,16,1.1,17,-2.9
$SPEED_LIMITS,0.150,0.298
$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,149.4,218355,-13.9,-8.684
$D_GRID,3550
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.46,-194.6,0.0,0.0,0,111,0.00,0.00,-91.82,0.000,2,0.000,0.000,138,2695,2964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.46,-194.6,3.9,-3.9,9,147,10.48,2.20,-16.05,0.000,4,0.252,0.044,2639,1263,3918,0,0,0,0,0,0,25.54,26.02,26.29
$GC,160,0.03,-194.6,23.0,-39.2,13,166,0.55,2.28,0.00,0.000,6,0.155,0.051,2802,2696,3921,0,0,0,0,0,0,25.73,25.95,28.83
$GC,486,-0.16,-194.6,55.3,-12.6,43,492,0.15,2.12,0.00,0.000,4,0.102,0.031,2739,1272,3924,0,0,0,0,0,0,26.20,26.22,28.83
$GC,679,-0.34,-194.6,74.3,-9.1,52,686,0.15,2.17,0.00,0.000,6,0.107,0.044,2687,2672,3924,0,0,0,0,0,0,26.20,26.25,28.83
$GC,994,-0.54,-194.6,104.3,-9.2,68,1000,0.15,2.08,0.00,0.000,4,0.103,0.029,2620,1265,3924,0,0,0,0,0,0,26.36,26.39,28.83
$GC,1066,-0.70,-194.6,109.7,-8.8,71,1073,0.15,2.10,0.00,0.000,6,0.082,0.044,2540,2638,3924,0,0,0,0,0,0,26.38,26.36,28.83
$GC,1380,-0.58,-194.6,167.5,-18.8,87,1387,0.20,1.65,0.00,0.000,4,0.156,0.055,2603,3699,3926,0,0,0,0,0,0,26.21,26.38,28.83
$GC,1537,-0.58,-194.6,184.1,-10.1,94,1544,0.00,1.58,0.00,0.000,6,0.000,0.031,2603,2625,3927,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1844,-0.58,-194.6,217.9,-11.2,110,1849,0.00,1.95,0.00,0.000,4,0.000,0.031,2603,1273,3926,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1919,-0.58,-194.6,224.5,-10.8,113,1926,0.00,2.12,0.00,0.000,6,0.000,0.044,2603,2648,3927,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2226,-0.58,-194.6,249.2,-7.2,129,2231,0.00,2.05,0.00,0.000,4,0.000,0.032,2603,1259,3925,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2283,-0.60,-194.6,252.5,-7.4,131,2290,0.00,2.12,0.00,0.000,6,0.000,0.045,2603,2636,3925,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2589,-0.62,-194.6,282.4,-9.8,147,2594,0.00,1.65,0.00,0.000,4,0.000,0.058,2603,3692,3923,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2625,-0.64,-194.6,284.9,-10.1,148,2633,0.00,1.58,0.00,0.000,6,0.000,0.034,2603,2624,3923,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2932,-0.66,-194.6,315.7,-8.9,164,2938,0.00,1.95,0.00,0.000,4,0.000,0.031,2603,1274,3920,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2964,-0.69,-194.6,317.7,-8.8,165,2969,0.00,2.12,0.00,0.000,6,0.000,0.045,2603,2649,3920,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3277,-0.72,-194.6,344.3,-7.8,181,3278,0.12,0.00,0.00,0.000,6,0.094,0.000,2535,2650,3917,0,0,0,0,0,0,26.67,28.83,28.83
$GC,3577,-0.66,-194.6,383.4,-13.2,196,3583,0.15,1.67,0.00,0.000,4,0.151,0.057,2584,3716,3915,0,0,0,0,0,0,26.43,26.52,28.83
$GC,3624,-0.63,-194.6,388.1,-11.9,198,3629,0.00,1.62,0.00,0.000,6,0.000,0.034,2584,2623,3916,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3941,-0.63,-194.6,416.6,-8.8,214,3946,0.00,1.98,0.00,0.000,4,0.000,0.031,2584,1271,3912,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3968,-0.63,-194.6,418.6,-8.7,215,3973,0.00,2.12,0.00,0.000,6,0.000,0.046,2584,2643,3912,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4286,-0.65,-194.6,445.6,-8.3,231,4292,0.00,2.03,0.00,0.000,4,0.000,0.032,2584,1265,3910,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4313,-0.66,-194.6,447.7,-8.4,232,4319,0.00,2.10,0.00,0.000,6,0.000,0.046,2585,2625,3910,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4631,-0.67,-194.6,474.1,-8.1,248,4637,0.00,2.00,0.00,0.000,4,0.000,0.031,2584,1273,3907,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4699,-0.69,-194.6,479.2,-8.1,251,4705,0.00,2.08,0.00,0.000,6,0.000,0.046,2585,2614,3907,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5017,-0.71,-194.6,505.4,-8.2,267,5022,0.00,1.67,0.00,0.000,4,0.000,0.060,2585,3692,3904,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5049,-0.73,-194.6,507.2,-8.1,268,5055,0.00,1.62,0.00,0.000,6,0.000,0.036,2584,2606,3904,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5363,-0.75,-194.6,534.2,-8.2,284,5368,0.00,1.95,0.00,0.000,4,0.000,0.032,2584,1264,3902,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5456,-0.77,-194.6,541.3,-8.5,288,5461,0.00,2.08,0.00,0.000,6,0.000,0.046,2585,2603,3901,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5769,-0.79,-194.6,567.5,-7.7,304,5770,0.12,0.00,0.00,0.000,6,0.097,0.000,2523,2602,3899,0,0,0,0,0,0,26.70,28.83,28.83
$GC,6079,-0.74,-194.6,603.6,-11.7,319,6085,0.12,1.70,0.00,0.000,4,0.152,0.057,2564,3695,3898,0,0,0,0,0,0,26.49,26.51,28.83
$GC,6156,-0.72,-194.6,609.3,-10.2,321,6161,0.00,1.62,0.00,0.000,6,0.000,0.036,2564,2608,3897,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6474,-0.72,-194.6,635.8,-8.1,332,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2608,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6774,-0.72,-194.6,661.0,-8.7,342,6779,0.00,1.95,0.00,0.000,4,0.000,0.034,2564,1274,3894,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6806,-0.72,-194.6,664.0,-8.8,343,6811,0.00,2.08,0.00,0.000,6,0.000,0.048,2564,2611,3894,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7140,-0.72,-194.6,693.8,-9.0,354,7145,0.00,1.70,0.00,0.000,4,0.000,0.061,2564,3696,3892,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7166,-0.72,-194.6,693.8,-9.0,354,7174,0.00,1.67,0.00,0.000,6,0.000,0.037,2564,2601,3892,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7473,-0.72,-194.6,721.8,-8.2,365,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2601,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7773,-0.72,-194.6,746.0,-8.1,375,7779,0.00,1.98,0.00,0.000,4,0.000,0.034,2564,1267,3888,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7809,-0.72,-194.6,748.6,-8.0,376,7815,0.00,2.10,0.00,0.000,6,0.000,0.048,2564,2603,3889,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8139,-0.72,-194.6,775.6,-8.3,387,8144,0.00,1.70,0.00,0.000,4,0.000,0.060,2564,3691,3887,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8180,-0.72,-194.6,778.5,-8.4,388,8185,0.00,1.65,0.00,0.000,6,0.000,0.037,2564,2595,3887,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8503,-0.72,-194.6,806.0,-8.1,399,8508,0.00,1.95,0.00,0.000,4,0.000,0.034,2564,1277,3886,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8550,-0.72,-194.6,808.8,-8.2,400,8555,0.00,2.08,0.00,0.000,6,0.000,0.048,2564,2605,3885,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8868,-0.72,-194.6,834.9,-7.9,411,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2605,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9169,-0.72,-194.6,858.8,-7.9,421,9174,0.00,1.98,0.00,0.000,4,0.000,0.033,2564,1270,3883,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9220,-0.73,-194.6,861.4,-7.9,422,9225,0.00,2.08,0.00,0.000,6,0.000,0.047,2564,2597,3883,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9534,-0.74,-194.6,889.3,-8.6,433,9535,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2597,3882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9833,-0.76,-194.6,914.6,-8.3,443,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2597,3881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10133,-0.77,-194.6,937.6,-7.5,453,10134,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2597,3879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10433,-0.79,-194.6,960.1,-7.5,463,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2597,3880,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10733,-0.80,-194.6,982.4,-7.6,473,10734,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2597,3879,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10851,begin apogee
$GC,10856,-0.12,0.0,991.8,-7.8,477,11017,0.55,0.00,154.62,1.437,4,0.114,0.000,2753,1920,3121,0,0,0,0,0,0,26.21,28.83,23.62
$STATE,11018,end apogee,CONTROL_FINISHED_OK
$STATE,11018,begin climb
$GC,11020,0.46,194.6,999.3,0.0,482,11203,0.57,2.25,175.35,1.400,4,0.061,0.041,2964,553,2327,0,0,0,0,0,0,24.72,24.70,23.13
$GC,11385,0.44,194.6,975.6,10.4,494,11391,0.00,2.22,0.00,0.000,6,0.000,0.039,2965,1941,2319,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11700,0.40,194.6,940.8,10.4,505,11706,0.12,2.25,0.00,0.000,4,0.158,0.051,2925,3347,2317,0,0,0,0,0,0,25.79,25.84,28.83
$GC,11913,0.38,194.6,920.7,9.4,512,11919,0.00,2.17,0.00,0.000,6,0.000,0.034,2928,1947,2315,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12247,0.38,195.8,892.2,8.6,523,12248,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1947,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12546,0.38,195.8,865.7,8.9,533,12551,0.00,2.28,0.00,0.000,4,0.000,0.054,2928,3349,2313,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12588,0.38,195.8,862.4,9.1,534,12593,0.00,2.15,0.00,0.000,6,0.000,0.034,2930,1935,2313,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12911,0.38,199.8,833.1,8.6,545,12916,0.00,2.12,0.00,0.000,4,0.000,0.044,2930,537,2312,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12933,0.39,203.8,833.1,8.6,545,12945,0.00,2.20,6.80,1.096,6,0.000,0.041,2930,1958,2290,0,0,0,0,0,0,28.83,26.32,25.12
$GC,13244,0.40,225.9,805.4,8.0,556,13275,0.00,2.28,21.35,1.276,4,0.000,0.054,2930,3339,2200,0,0,0,0,0,0,28.83,25.73,24.79
$GC,13317,0.41,238.5,800.0,8.3,558,13338,0.00,2.15,12.88,1.203,6,0.000,0.034,2930,1962,2147,0,0,0,0,0,0,28.83,25.86,24.57
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$STATE,21559,end climb,SURFACE_DEPTH_REACHED
$STATE,21559,begin surface coast
$FINISH,0.8,1.021183
$STATE,21581,end surface coast,CONTROL_FINISHED_OK
$STATE,21581,begin surface
$SM_CCo,21598,49.35,0.060,0,0,459,652.74
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$TT8_MAMPS,0.026215,0.026215
$HUMID,37.28
$INTERNAL_PRESSURE,7.2421
$TCM_TEMP,23.30
$XPDR_PINGS,3
$24V_AH,23.1,12.085
$10V_AH,10.0,4.557
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.775,192.875,613.050,49.350,0.000,0.000,0.000,288.750,0.750,0.000,18.113,3214.723,15087.912,822.413,2758.676,222.020,0.000,2466.289,0.000,2331.022,0.000,0.545,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$MEM,324924
$DATA_FILE_SIZE,36724,963
$CAP_FILE_SIZE,251324,0
$CFSIZE,260165632,246009856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.174,348.3,1
$GPS,280412,165405,2057.146,12002.238,25,1.1,25,-2.9