version: 66.10
glider: 170
mission: 8
dive: 96
start: 5 7 112 9 54 19
data:
$ID,170
$MISSION,8
$DIVE,96
$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,-124298.16
$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,38
$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
$GPS1,070512,093954,1942.363,12004.720,39,1.1,39,-2.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-73.4
$GPS2,070512,095354,1942.776,12004.903,17,0.9,18,-2.6
$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,221.0,79684,-13.9,-8.684
$D_GRID,3991
$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,18,-0.46,-194.6,0.0,0.0,0,93,0.00,0.00,-72.62,0.000,2,0.000,0.000,133,2699,2441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.46,-194.6,3.1,-2.7,7,148,10.25,2.15,-32.33,0.000,4,0.242,0.043,2639,1273,3926,0,0,0,0,0,0,25.67,26.32,26.64
$GC,245,-0.40,-194.6,32.7,-20.0,21,252,0.12,2.20,0.00,0.000,6,0.172,0.045,2672,2680,3929,0,0,0,0,0,0,25.99,26.22,28.83
$GC,552,-0.43,-194.6,77.1,-7.9,41,557,0.00,2.08,0.00,0.000,4,0.000,0.031,2673,1281,3931,0,0,0,0,0,0,28.83,26.39,28.83
$GC,611,-0.46,-194.6,80.8,-8.3,43,617,0.00,2.17,0.00,0.000,6,0.000,0.046,2672,2681,3930,0,0,0,0,0,0,28.83,26.30,28.83
$GC,916,-0.51,-194.6,112.6,-13.6,59,918,0.12,0.00,0.00,0.000,6,0.088,0.000,2598,2682,3931,0,0,0,0,0,0,26.58,28.83,28.83
$GC,1216,-0.47,-194.6,155.3,-10.6,74,1222,0.15,2.08,0.00,0.000,4,0.142,0.029,2647,1269,3931,0,0,0,0,0,0,26.33,26.48,28.83
$GC,1254,-0.45,-194.6,157.9,-10.7,75,1260,0.00,2.20,0.00,0.000,6,0.000,0.045,2647,2692,3930,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1560,-0.50,-194.6,185.3,-9.0,91,1565,0.00,2.10,0.00,0.000,4,0.000,0.031,2647,1275,3930,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1686,-0.56,-194.6,195.9,-8.5,97,1692,0.00,2.15,0.00,0.000,6,0.000,0.046,2647,2662,3929,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2005,-0.62,-194.6,219.1,-6.3,113,2011,0.12,2.05,0.00,0.000,4,0.089,0.030,2573,1267,3927,0,0,0,0,0,0,26.65,26.53,28.83
$GC,2077,-0.62,-194.6,225.2,-9.0,116,2083,0.00,2.15,0.00,0.000,6,0.000,0.047,2573,2651,3927,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2391,-0.59,-194.6,267.1,-13.8,132,2397,0.12,1.62,0.00,0.000,4,0.161,0.054,2615,3700,3925,0,0,0,0,0,0,26.42,26.41,28.83
$GC,2497,-0.64,-194.6,277.3,-9.1,137,2502,0.00,1.60,0.00,0.000,6,0.000,0.031,2616,2617,3925,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2820,-0.67,-194.6,304.9,-8.2,153,2826,0.00,1.98,0.00,0.000,4,0.000,0.031,2615,1266,3922,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2929,-0.71,-194.6,312.8,-7.6,158,2935,0.15,2.10,0.00,0.000,6,0.077,0.043,2532,2633,3921,0,0,0,0,0,0,26.51,26.47,28.83
$GC,3248,-0.64,-194.6,353.8,-13.0,174,3254,0.17,1.67,0.00,0.000,4,0.147,0.054,2590,3702,3918,0,0,0,0,0,0,26.32,26.43,28.83
$GC,3311,-0.62,-194.6,359.6,-10.0,177,3316,0.00,1.60,0.00,0.000,6,0.000,0.031,2590,2621,3918,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3635,-0.64,-194.6,383.8,-7.5,193,3640,0.00,1.98,0.00,0.000,4,0.000,0.029,2590,1265,3915,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3712,-0.66,-194.6,388.3,-7.2,196,3719,0.00,2.12,0.00,0.000,6,0.000,0.044,2590,2640,3915,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4018,-0.68,-194.6,408.9,-6.3,212,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2640,3913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4319,-0.70,-194.6,430.2,-8.0,227,4324,0.00,2.00,0.00,0.000,4,0.000,0.031,2590,1277,3910,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4382,-0.72,-194.6,435.9,-8.7,230,4388,0.00,2.10,0.00,0.000,6,0.000,0.045,2590,2623,3909,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4706,-0.75,-194.6,466.7,-9.5,246,4711,0.00,1.98,0.00,0.000,4,0.000,0.031,2590,1276,3907,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4772,-0.78,-194.6,472.4,-9.1,249,4779,0.12,2.08,0.00,0.000,6,0.092,0.046,2522,2610,3906,0,0,0,0,0,0,26.46,26.45,28.83
$GC,5092,-0.72,-194.6,512.6,-11.2,265,5098,0.12,1.73,0.00,0.000,4,0.152,0.056,2563,3702,3904,0,0,0,0,0,0,26.44,26.40,28.83
$GC,5175,-0.72,-194.6,519.8,-8.5,269,5180,0.00,1.65,0.00,0.000,6,0.000,0.034,2564,2599,3904,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5498,-0.72,-194.6,544.6,-8.1,285,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2599,3901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5798,-0.72,-194.6,570.1,-8.7,300,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2599,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6098,-0.72,-194.6,597.2,-9.2,315,6104,0.00,1.77,0.00,0.000,4,0.000,0.057,2563,3685,3897,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6141,-0.72,-194.6,601.3,-9.2,317,6146,0.00,1.62,0.00,0.000,6,0.000,0.034,2563,2603,3897,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6465,-0.72,-194.6,627.6,-7.8,328,6470,0.00,1.95,0.00,0.000,4,0.000,0.032,2564,1265,3895,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6547,-0.72,-194.6,632.4,-7.5,330,6552,0.00,2.10,0.00,0.000,6,0.000,0.045,2564,2611,3895,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6860,-0.72,-194.6,657.1,-7.7,341,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2611,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7159,-0.72,-194.6,684.2,-9.5,351,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2611,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7460,-0.72,-194.6,713.3,-9.9,361,7465,0.00,1.98,0.00,0.000,4,0.000,0.031,2563,1277,3889,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7507,-0.72,-194.6,716.6,-10.0,362,7512,0.00,2.05,0.00,0.000,6,0.000,0.047,2563,2586,3889,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7824,-0.72,-194.6,750.0,-10.2,373,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2586,3887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8125,-0.72,-194.6,780.6,-10.1,383,8126,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2587,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8424,-0.72,-194.6,811.0,-10.0,393,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2587,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8724,-0.72,-194.6,839.7,-9.5,403,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2587,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9024,-0.72,-194.6,866.5,-8.7,413,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2586,3882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9324,-0.72,-194.6,892.9,-8.8,423,9325,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2587,3881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9625,-0.73,-194.6,917.4,-7.9,433,9626,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2587,3879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9925,-0.74,-194.6,940.4,-7.7,443,9930,0.00,1.98,0.00,0.000,4,0.000,0.033,2563,1278,3878,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9962,-0.76,-194.6,942.9,-7.7,444,9968,0.00,2.08,0.00,0.000,6,0.000,0.047,2564,2591,3877,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10292,-0.78,-194.6,967.3,-7.2,455,10297,0.00,1.77,0.00,0.000,4,0.000,0.060,2564,3699,3877,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10326,-0.80,-194.6,969.7,-7.1,456,10331,0.00,1.70,0.00,0.000,6,0.000,0.037,2563,2589,3878,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,10658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10658,begin apogee
$GC,10664,-0.12,0.0,991.7,-6.2,467,10822,0.55,0.00,154.50,1.438,4,0.108,0.000,2753,1916,3121,0,0,0,0,0,0,26.00,28.83,23.53
$STATE,10824,end apogee,CONTROL_FINISHED_OK
$STATE,10824,begin climb
$GC,10826,0.46,194.6,996.3,0.0,472,11013,0.57,2.25,176.15,1.398,4,0.060,0.039,2965,544,2325,0,0,0,0,0,0,24.69,24.68,23.00
$GC,11150,0.43,194.6,972.8,11.1,483,11155,0.00,2.25,0.00,0.000,6,0.000,0.038,2965,1940,2318,0,0,0,0,0,0,28.83,25.25,28.83
$GC,11474,0.39,194.6,937.1,10.7,494,11479,0.12,2.28,0.00,0.000,4,0.158,0.050,2925,3352,2314,0,0,0,0,0,0,25.82,25.86,28.83
$GC,11676,0.37,194.6,918.4,10.1,500,11682,0.00,2.17,0.00,0.000,6,0.000,0.033,2928,1946,2311,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11990,0.37,194.6,888.2,9.4,511,11995,0.00,2.17,0.00,0.000,4,0.000,0.041,2929,538,2311,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12022,0.37,194.6,885.2,9.4,512,12027,0.00,2.20,0.00,0.000,6,0.000,0.038,2929,1949,2310,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12356,0.37,194.6,854.3,9.2,523,12362,0.00,2.22,0.00,0.000,4,0.000,0.052,2929,3354,2310,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12428,0.35,194.6,847.6,9.7,525,12433,0.00,2.15,0.00,0.000,6,0.000,0.033,2929,1949,2310,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12752,0.36,198.0,817.7,8.6,536,12753,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1949,2309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13051,0.37,229.1,793.4,7.8,546,13082,0.00,0.00,29.10,1.291,6,0.000,0.000,2929,1948,2188,0,0,0,0,0,0,28.83,28.83,24.67
$GC,13382,0.40,277.1,768.7,7.3,557,13430,0.00,2.35,42.40,1.281,4,0.000,0.052,2929,3348,1990,0,0,0,0,0,0,28.83,25.13,24.16
$GC,13461,0.43,326.0,764.4,7.2,559,13511,0.00,2.22,43.92,1.260,6,0.000,0.034,2930,1954,1791,0,0,0,0,0,0,28.83,25.44,23.91
$GC,13834,0.52,384.6,737.2,6.9,572,13895,0.12,2.35,50.28,1.252,4,0.092,0.042,3009,536,1552,0,0,0,0,0,0,25.99,24.98,24.01
$GC,13961,0.52,384.6,721.5,12.8,576,13967,0.15,2.28,0.00,0.000,6,0.133,0.037,2967,1955,1549,0,0,0,0,0,0,25.36,25.47,28.83
$GC,14290,0.53,384.6,684.4,11.3,587,14292,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1956,1546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14590,0.55,384.6,650.5,11.2,597,14596,0.00,2.22,0.00,0.000,4,0.000,0.042,2968,531,1545,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,20237,end climb,SURFACE_DEPTH_REACHED
$STATE,20237,begin surface coast
$FINISH,1.0,1.010838
$STATE,20269,end surface coast,CONTROL_FINISHED_OK
$STATE,20269,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,40.86
$INTERNAL_PRESSURE,7.2421
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.0,20.867
$10V_AH,9.7,8.920
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.050,148.150,677.150,22.375,0.000,0.000,0.000,201.125,0.250,0.000,20.282,2955.965,14480.548,780.663,2498.463,425.026,0.000,2229.523,0.000,2158.791,0.000,0.543,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.108,0.000,0.000,0.000
$MEM,324440
$DATA_FILE_SIZE,33375,893
$CAP_FILE_SIZE,221421,0
$CFSIZE,260165632,240676864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.174, 78.2,1
$GPS,070512,153401,1940.659,12004.743,37,2.0,37,-2.6