version: 66.10
glider: 170
mission: 8
dive: 70
start: 5 1 112 4 20 25
data:
$ID,170
$MISSION,8
$DIVE,70
$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,-4
$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,-124254.66
$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,50
$R_STBD_OVSHOOT,29
$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
$GPS1,010512,041023,2037.850,12003.236,40,0.8,40,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-72.2
$GPS2,010512,042001,2037.825,12003.185,13,1.1,14,-2.8
$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,185.6,181257,-13.9,-8.684
$D_GRID,3611
$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,-91.40,0.000,2,0.000,0.000,133,2697,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.46,-194.6,4.3,-4.7,9,147,10.43,1.60,-15.48,0.000,4,0.247,0.072,2639,3701,3918,0,0,0,0,0,0,25.51,25.91,26.30
$GC,264,-0.36,-194.6,46.5,-20.6,23,272,0.15,1.50,0.00,0.000,6,0.151,0.030,2682,2665,3922,0,0,0,0,0,0,25.87,26.16,28.83
$GC,580,-0.37,-194.6,83.4,-11.0,40,585,0.00,2.03,0.00,0.000,4,0.000,0.029,2683,1285,3923,0,0,0,0,0,0,28.83,26.27,28.83
$GC,764,-0.43,-194.6,96.1,-6.3,49,769,0.00,2.15,0.00,0.000,6,0.000,0.044,2683,2663,3924,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1087,-0.50,-194.6,119.9,-5.9,65,1092,0.12,2.03,0.00,0.000,4,0.086,0.028,2602,1298,3924,0,0,0,0,0,0,26.49,26.41,28.83
$GC,1159,-0.52,-194.6,125.1,-7.4,68,1166,0.00,2.08,0.00,0.000,6,0.000,0.045,2602,2652,3924,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1474,-0.49,-194.6,162.7,-10.8,84,1480,0.12,1.98,0.00,0.000,4,0.161,0.028,2643,1304,3924,0,0,0,0,0,0,26.32,26.47,28.83
$GC,1546,-0.49,-194.6,167.7,-8.5,87,1551,0.00,2.05,0.00,0.000,6,0.000,0.047,2643,2629,3924,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1858,-0.54,-194.6,195.1,-8.7,103,1865,0.00,1.95,0.00,0.000,4,0.000,0.032,2643,1302,3923,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1896,-0.60,-194.6,197.0,-8.6,104,1903,0.12,2.08,0.00,0.000,6,0.085,0.047,2568,2637,3923,0,0,0,0,0,0,26.47,26.44,28.83
$GC,2202,-0.54,-194.6,241.2,-14.7,120,2208,0.15,1.98,0.00,0.000,4,0.148,0.030,2618,1293,3922,0,0,0,0,0,0,26.35,26.54,28.83
$GC,2234,-0.51,-194.6,244.2,-14.2,121,2240,0.00,2.05,0.00,0.000,6,0.000,0.049,2618,2608,3922,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2547,-0.54,-194.6,271.9,-7.4,137,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2608,3920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2849,-0.58,-194.6,292.6,-6.9,152,2854,0.00,1.92,0.00,0.000,4,0.000,0.033,2618,1301,3918,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2895,-0.62,-194.6,295.8,-7.0,154,2900,0.00,2.03,0.00,0.000,6,0.000,0.048,2618,2604,3917,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3213,-0.66,-194.6,315.7,-5.9,170,3219,0.00,1.73,0.00,0.000,4,0.000,0.058,2618,3689,3915,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3261,-0.71,-194.6,318.2,-5.7,172,3266,0.15,1.58,0.00,0.000,6,0.080,0.033,2531,2619,3915,0,0,0,0,0,0,26.58,26.65,28.83
$GC,3579,-0.64,-194.6,360.7,-13.8,188,3584,0.17,1.73,0.00,0.000,4,0.151,0.056,2589,3697,3912,0,0,0,0,0,0,26.36,26.48,28.83
$GC,3625,-0.61,-194.6,365.3,-12.3,190,3631,0.00,1.58,0.00,0.000,6,0.000,0.033,2589,2607,3912,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3943,-0.62,-194.6,396.7,-10.5,206,3948,0.00,1.90,0.00,0.000,4,0.000,0.032,2589,1294,3910,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3986,-0.64,-194.6,401.4,-11.0,208,3991,0.00,2.03,0.00,0.000,6,0.000,0.047,2589,2603,3910,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4308,-0.65,-194.6,435.0,-9.9,224,4314,0.00,1.92,0.00,0.000,4,0.000,0.032,2589,1294,3906,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4351,-0.67,-194.6,439.2,-9.8,226,4356,0.00,2.00,0.00,0.000,6,0.000,0.047,2589,2590,3907,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4674,-0.69,-194.6,466.9,-8.2,242,4680,0.00,1.73,0.00,0.000,4,0.000,0.058,2589,3688,3904,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4718,-0.71,-194.6,470.4,-7.9,244,4724,0.00,1.60,0.00,0.000,6,0.000,0.035,2589,2605,3903,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5041,-0.73,-194.6,492.1,-6.2,260,5046,0.00,1.90,0.00,0.000,4,0.000,0.033,2589,1299,3901,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5064,-0.75,-194.6,493.7,-6.4,261,5070,0.00,2.05,0.00,0.000,6,0.000,0.048,2589,2608,3901,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5387,-0.78,-194.6,515.1,-6.8,277,5389,0.12,0.00,0.00,0.000,6,0.093,0.000,2522,2608,3899,0,0,0,0,0,0,26.70,28.83,28.83
$GC,5688,-0.72,-194.6,553.1,-13.9,292,5690,0.15,0.00,0.00,0.000,6,0.145,0.000,2566,2608,3897,0,0,0,0,0,0,26.46,28.83,28.83
$GC,5987,-0.72,-194.6,586.4,-10.9,307,5993,0.00,1.73,0.00,0.000,4,0.000,0.060,2565,3683,3895,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6030,-0.72,-194.6,591.1,-10.5,309,6036,0.00,1.62,0.00,0.000,6,0.000,0.035,2566,2606,3894,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6354,-0.72,-194.6,624.7,-10.0,321,6359,0.00,1.90,0.00,0.000,4,0.000,0.034,2566,1306,3893,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6374,-0.72,-194.6,624.7,-10.0,321,6380,0.00,2.00,0.00,0.000,6,0.000,0.049,2566,2600,3893,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6687,-0.72,-194.6,657.4,-10.0,332,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2600,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6987,-0.72,-194.6,685.7,-9.1,342,6992,0.00,1.70,0.00,0.000,4,0.000,0.059,2566,3690,3889,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7023,-0.72,-194.6,688.7,-9.2,343,7029,0.00,1.62,0.00,0.000,6,0.000,0.036,2566,2627,3889,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7351,-0.72,-194.6,720.6,-9.8,354,7356,0.00,1.95,0.00,0.000,4,0.000,0.034,2566,1294,3888,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7387,-0.72,-194.6,724.0,-9.9,355,7392,0.00,2.03,0.00,0.000,6,0.000,0.049,2566,2598,3887,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7716,-0.72,-194.6,755.3,-9.4,366,7721,0.00,1.73,0.00,0.000,4,0.000,0.060,2566,3688,3886,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7748,-0.72,-194.6,758.4,-9.4,367,7753,0.00,1.62,0.00,0.000,6,0.000,0.037,2566,2617,3886,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8081,-0.72,-194.6,787.9,-8.9,378,8086,0.00,1.92,0.00,0.000,4,0.000,0.034,2566,1304,3884,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8113,-0.72,-194.6,791.0,-9.0,379,8118,0.00,2.03,0.00,0.000,6,0.000,0.049,2565,2590,3884,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8447,-0.72,-194.6,819.8,-8.5,390,8452,0.00,1.75,0.00,0.000,4,0.000,0.060,2566,3693,3882,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8499,-0.73,-194.6,822.6,-8.4,391,8504,0.00,1.62,0.00,0.000,6,0.000,0.037,2566,2614,3882,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8810,-0.73,-194.6,852.0,-8.9,402,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2614,3881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9112,-0.73,-194.6,878.7,-8.6,412,9113,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2614,3882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9411,-0.75,-194.6,903.7,-8.2,422,9417,0.00,1.92,0.00,0.000,4,0.000,0.034,2566,1304,3880,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9464,-0.76,-194.6,906.5,-8.1,423,9469,0.00,2.00,0.00,0.000,6,0.000,0.050,2566,2589,3879,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9778,-0.78,-194.6,932.3,-7.7,434,9779,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2589,3878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10076,-0.79,-194.6,955.0,-7.5,444,10081,0.00,1.92,0.00,0.000,4,0.000,0.034,2566,1294,3877,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10110,-0.81,-194.6,957.6,-7.6,445,10115,0.00,2.03,0.00,0.000,6,0.000,0.049,2566,2589,3877,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10444,-0.83,-194.6,983.1,-7.8,456,10449,0.00,1.92,0.00,0.000,4,0.000,0.034,2566,1296,3876,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10491,-0.85,-194.6,985.7,-7.8,457,10497,0.12,2.00,0.00,0.000,6,0.096,0.050,2504,2568,3876,0,0,0,0,0,0,26.44,26.43,28.83
$STATE,10538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10538,begin apogee
$GC,10543,-0.12,0.0,991.8,-8.6,459,10704,0.75,0.00,154.55,1.433,4,0.128,0.000,2752,1946,3120,0,0,0,0,0,0,26.01,28.83,23.60
$STATE,10705,end apogee,CONTROL_FINISHED_OK
$STATE,10706,begin climb
$GC,10707,0.46,194.6,997.8,0.0,464,10890,0.57,2.28,175.38,1.395,4,0.057,0.041,2967,553,2327,0,0,0,0,0,0,24.75,24.73,23.10
$GC,10972,0.42,194.6,981.6,10.4,473,10978,0.12,2.25,0.00,0.000,6,0.145,0.039,2934,1939,2321,0,0,0,0,0,0,24.86,24.96,28.83
$GC,11296,0.41,194.6,948.2,10.0,484,11301,0.00,2.22,0.00,0.000,4,0.000,0.044,2941,542,2316,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11437,0.41,194.6,935.7,10.2,488,11443,0.00,2.20,0.00,0.000,6,0.000,0.039,2942,1961,2315,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11751,0.39,194.6,898.5,11.7,499,11756,0.00,2.22,0.00,0.000,4,0.000,0.053,2941,3354,2314,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11797,0.36,194.6,894.3,11.8,500,11804,0.00,2.12,0.00,0.000,6,0.000,0.033,2943,1960,2313,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12119,0.35,194.6,856.4,11.0,511,12124,0.00,2.20,0.00,0.000,4,0.000,0.044,2943,534,2313,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12161,0.33,194.6,852.8,10.7,512,12167,0.12,2.20,0.00,0.000,6,0.143,0.040,2906,1967,2312,0,0,0,0,0,0,26.08,26.24,28.83
$GC,12485,0.37,226.6,825.3,7.7,523,12519,0.00,2.25,27.38,1.299,4,0.000,0.054,2906,3344,2196,0,0,0,0,0,0,28.83,25.63,24.69
$GC,12586,0.41,260.7,818.1,7.7,526,12626,0.00,2.15,31.15,1.283,6,0.000,0.033,2913,1950,2057,0,0,0,0,0,0,28.83,25.84,24.23
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$STATE,20120,end climb,SURFACE_DEPTH_REACHED
$STATE,20120,begin surface coast
$FINISH,0.9,1.020852
$STATE,20150,end surface coast,CONTROL_FINISHED_OK
$STATE,20150,begin surface
$SM_CCo,20167,0.98,0.062,0,0,460,652.74
$SM_GC,2.23,7.97,1.20,0.98,0.044,0.048,0.062,137,2681,460,-8.27,-1.16,652.74,0,0,0,0,0,0,25.71,25.76,25.75
$IRIDIUM_FIX,2034.08,11956.98,300412,222208
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.89
$INTERNAL_PRESSURE,7.26163
$TCM_TEMP,24.10
$XPDR_PINGS,3
$24V_AH,23.1,14.584
$10V_AH,9.8,5.844
$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,23.000,193.275,706.425,0.975,0.000,0.000,0.000,407.450,0.750,0.000,15.364,3014.907,13918.193,836.881,2735.784,231.682,0.000,2554.726,0.000,2217.999,0.000,0.544,0.000
$DEVICE_MAMPS,247.095,71.910,1432.845,61.965,0.000,0.000,0.000,98.685,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20181.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.301,0.000,0.000,0.000
$MEM,324516
$DATA_FILE_SIZE,33359,895
$CAP_FILE_SIZE,238761,0
$CFSIZE,260165632,244760576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.106,337.5,1
$GPS,010512,095735,2035.770,12002.508,27,0.9,27,-2.8