version: 66.10
glider: 170
mission: 8
dive: 48
start: 4 25 112 17 28 1
data:
$ID,170
$MISSION,8
$DIVE,48
$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,525
$N_FILEKB,8
$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,-124226.68
$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,30
$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,49
$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
$GPS1,250412,172005,2124.981,12004.792,25,0.9,25,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-75.0
$GPS2,250412,172736,2124.837,12004.826,16,1.1,16,-3.0
$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,179.5,268371,-13.0,-9.167
$D_GRID,2838
$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,-243.3,0.0,0.0,0,103,0.00,0.00,-82.22,0.000,2,0.000,0.000,133,2700,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.47,-243.3,3.9,-4.5,8,138,10.60,1.65,-16.23,0.000,4,0.256,0.076,2638,3696,3965,0,0,0,0,0,0,25.60,25.96,26.31
$GC,341,-0.35,-243.3,63.5,-23.4,28,347,0.15,1.52,0.00,0.000,6,0.157,0.031,2681,2657,3967,0,0,0,0,0,0,25.97,26.22,28.83
$GC,654,-0.35,-243.3,105.1,-11.5,44,660,0.00,2.00,0.00,0.000,4,0.000,0.031,2682,1295,3968,0,0,0,0,0,0,28.83,26.32,28.83
$GC,806,-0.40,-243.3,117.5,-7.8,51,811,0.00,2.15,0.00,0.000,6,0.000,0.044,2682,2681,3969,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1119,-0.45,-243.3,137.3,-5.2,67,1124,0.00,2.05,0.00,0.000,4,0.000,0.031,2682,1301,3968,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1162,-0.50,-243.3,140.0,-5.7,69,1168,0.12,2.15,0.00,0.000,6,0.089,0.047,2609,2672,3969,0,0,0,0,0,0,26.39,26.37,28.83
$GC,1485,-0.46,-243.3,181.9,-12.5,85,1491,0.12,1.60,0.00,0.000,4,0.151,0.055,2650,3696,3969,0,0,0,0,0,0,26.37,26.42,28.83
$GC,1532,-0.46,-243.3,185.6,-10.8,87,1538,0.00,1.55,0.00,0.000,6,0.000,0.033,2651,2653,3969,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1851,-0.52,-243.3,206.4,-7.0,103,1856,0.00,2.00,0.00,0.000,4,0.000,0.032,2651,1290,3969,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1888,-0.57,-243.3,208.0,-6.8,104,1897,0.12,2.10,0.00,0.000,6,0.089,0.047,2579,2649,3969,0,0,0,0,0,0,26.50,26.48,28.83
$GC,2193,-0.52,-243.3,249.6,-13.8,120,2200,0.15,1.62,0.00,0.000,4,0.142,0.057,2629,3699,3969,0,0,0,0,0,0,26.41,26.48,28.83
$GC,2283,-0.54,-243.3,257.3,-9.0,124,2288,0.00,1.52,0.00,0.000,6,0.000,0.032,2630,2629,3969,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2601,-0.58,-243.3,281.0,-7.4,140,2606,0.00,1.95,0.00,0.000,4,0.000,0.033,2629,1297,3968,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2658,-0.62,-243.3,284.4,-7.6,142,2664,0.00,2.08,0.00,0.000,6,0.000,0.047,2630,2639,3968,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2964,-0.66,-243.3,307.9,-7.4,158,2966,0.15,0.00,0.00,0.000,6,0.080,0.000,2547,2640,3965,0,0,0,0,0,0,26.66,28.83,28.83
$GC,3264,-0.59,-243.3,348.2,-14.4,173,3270,0.17,1.65,0.00,0.000,4,0.149,0.056,2605,3694,3963,0,0,0,0,0,0,26.42,26.54,28.83
$GC,3297,-0.53,-243.3,351.4,-14.3,174,3302,0.00,1.55,0.00,0.000,6,0.000,0.035,2605,2631,3963,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3609,-0.53,-243.3,380.6,-9.0,190,3615,0.00,1.95,0.00,0.000,4,0.000,0.033,2605,1286,3961,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3653,-0.54,-243.3,384.6,-8.8,192,3659,0.00,2.10,0.00,0.000,6,0.000,0.047,2605,2635,3961,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3976,-0.56,-243.3,414.7,-10.0,208,3981,0.00,2.00,0.00,0.000,4,0.000,0.033,2605,1287,3959,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4022,-0.58,-243.3,419.0,-10.1,210,4029,0.00,2.05,0.00,0.000,6,0.000,0.046,2605,2621,3958,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4341,-0.60,-243.3,444.4,-7.2,226,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2621,3956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4643,-0.63,-243.3,465.3,-7.8,241,4648,0.00,1.95,0.00,0.000,4,0.000,0.033,2605,1291,3953,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4689,-0.66,-243.3,469.6,-9.2,243,4694,0.00,2.05,0.00,0.000,6,0.000,0.047,2605,2618,3954,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5007,-0.68,-243.3,499.0,-7.9,259,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2618,3951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5307,-0.72,-243.3,516.0,-4.8,274,5313,0.12,1.70,0.00,0.000,4,0.098,0.057,2534,3698,3950,0,0,0,0,0,0,26.71,26.55,28.83
$GC,5350,-0.72,-243.3,519.7,-6.6,276,5356,0.12,1.60,0.00,0.000,6,0.151,0.036,2570,2611,3950,0,0,0,0,0,0,26.46,26.70,28.83
$GC,5673,-0.72,-243.3,553.6,-12.1,292,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2610,3947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5974,-0.72,-243.3,584.6,-8.9,307,5979,0.00,1.73,0.00,0.000,4,0.000,0.060,2572,3694,3945,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6017,-0.72,-243.3,588.2,-8.3,309,6022,0.00,1.58,0.00,0.000,6,0.000,0.037,2570,2628,3945,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6350,-0.72,-243.3,610.9,-6.7,323,6356,0.00,1.95,0.00,0.000,4,0.000,0.034,2570,1285,3944,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6387,-0.72,-243.3,613.3,-6.9,324,6392,0.00,2.08,0.00,0.000,6,0.000,0.049,2570,2621,3943,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6715,-0.72,-243.3,639.4,-7.6,335,6721,0.00,1.98,0.00,0.000,4,0.000,0.032,2570,1290,3941,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6748,-0.72,-243.3,641.9,-7.4,336,6753,0.00,2.05,0.00,0.000,6,0.000,0.049,2570,2615,3941,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7082,-0.72,-243.3,669.3,-9.0,347,7083,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2615,3938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7380,-0.72,-243.3,699.1,-10.0,357,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2615,3937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7681,-0.72,-243.3,726.1,-8.6,367,7686,0.00,1.70,0.00,0.000,4,0.000,0.060,2569,3693,3936,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7752,-0.72,-243.3,731.2,-8.4,369,7758,0.00,1.60,0.00,0.000,6,0.000,0.037,2570,2624,3935,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8076,-0.72,-243.3,759.9,-9.1,380,8081,0.00,1.95,0.00,0.000,4,0.000,0.034,2570,1287,3934,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8117,-0.72,-243.3,762.7,-9.0,381,8122,0.00,2.03,0.00,0.000,6,0.000,0.048,2570,2603,3933,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8440,-0.72,-243.3,787.2,-6.8,392,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2603,3932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8739,-0.72,-243.3,804.2,-5.1,402,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2603,3930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9039,-0.72,-243.3,826.1,-8.2,412,9040,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2603,3929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9339,-0.72,-243.3,853.2,-9.2,422,9340,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2603,3928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9639,-0.72,-243.3,877.9,-7.7,432,9640,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2603,3927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9940,-0.72,-243.3,898.9,-6.7,442,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2603,3926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10239,-0.72,-243.3,918.2,-6.7,452,10245,0.00,1.95,0.00,0.000,4,0.000,0.034,2570,1292,3925,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10283,-0.72,-243.3,920.6,-6.9,453,10289,0.00,2.08,0.00,0.000,6,0.000,0.049,2570,2619,3925,0,0,0,0,0,0,28.83,26.52,28.83
$GC,10607,-0.72,-243.3,946.6,-8.2,464,10612,0.00,1.70,0.00,0.000,4,0.000,0.061,2570,3694,3924,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10659,-0.73,-243.3,949.5,-8.3,465,10665,0.00,1.60,0.00,0.000,6,0.000,0.037,2570,2628,3923,0,0,0,0,0,0,28.83,26.66,28.83
$GC,10972,-0.73,-243.3,979.5,-9.3,476,10978,0.00,1.95,0.00,0.000,4,0.000,0.034,2570,1293,3922,0,0,0,0,0,0,28.83,26.60,28.83
$GC,11024,-0.73,-243.3,982.6,-9.3,477,11029,0.00,2.05,0.00,0.000,6,0.000,0.050,2570,2604,3922,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,11094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11094,begin apogee
$GC,11100,-0.12,0.0,991.1,-9.4,480,11270,0.55,0.00,165.32,1.437,4,0.115,0.000,2758,1940,3121,0,0,0,0,0,0,26.25,28.83,23.53
$STATE,11272,end apogee,CONTROL_FINISHED_OK
$STATE,11272,begin climb
$GC,11274,0.47,243.3,1000.8,0.0,485,11501,0.55,2.28,218.10,1.397,4,0.061,0.041,2960,554,2129,0,0,0,0,0,0,24.68,24.68,23.11
$GC,11603,0.45,243.3,985.2,9.2,496,11611,0.00,2.25,0.00,0.000,6,0.000,0.039,2960,1949,2123,0,0,0,0,0,0,28.83,25.08,28.83
$GC,11910,0.41,243.3,949.6,11.4,507,11915,0.00,2.22,0.00,0.000,4,0.000,0.043,2968,541,2119,0,0,0,0,0,0,28.83,25.79,28.83
$GC,12076,0.38,243.3,932.1,11.4,512,12083,0.15,2.17,0.00,0.000,6,0.142,0.040,2925,1944,2117,0,0,0,0,0,0,25.81,25.96,28.83
$GC,12397,0.39,261.1,901.3,8.7,523,12419,0.00,2.30,15.60,1.272,4,0.000,0.054,2924,3340,2056,0,0,0,0,0,0,28.83,25.73,24.72
$GC,12457,0.40,264.8,895.4,9.1,525,12467,0.00,2.15,4.85,0.942,6,0.000,0.034,2928,1951,2041,0,0,0,0,0,0,28.83,25.86,24.64
$GC,12790,0.40,277.5,865.0,8.8,536,12809,0.00,2.30,13.07,1.237,4,0.000,0.053,2928,3350,1988,0,0,0,0,0,0,28.83,25.72,24.71
$GC,12835,0.41,281.2,862.0,9.1,537,12846,0.00,2.17,4.70,0.921,6,0.000,0.034,2929,1946,1973,0,0,0,0,0,0,28.83,25.82,24.62
$GC,13154,0.46,342.0,835.0,7.6,548,13219,0.00,2.45,55.78,1.319,4,0.000,0.053,2928,3350,1725,0,0,0,0,0,0,28.83,24.88,23.94
$GC,13230,0.52,420.8,830.9,7.2,550,13307,0.12,2.25,70.60,1.300,6,0.092,0.034,2987,1951,1405,0,0,0,0,0,0,25.13,25.17,23.68
$GC,13607,0.50,420.8,781.8,13.6,563,13612,0.00,2.22,0.00,0.000,4,0.000,0.044,2994,532,1399,0,0,0,0,0,0,28.83,25.77,28.83
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$STATE,19928,end climb,SURFACE_DEPTH_REACHED
$STATE,19928,begin surface coast
$FINISH,0.9,1.006378
$STATE,19939,end surface coast,CONTROL_FINISHED_OK
$STATE,19939,begin surface
$SM_CCo,20018,0.00,0.000,0,0,461,652.50
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$IRIDIUM_FIX,2115.63,11954.74,250412,111147
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.32
$INTERNAL_PRESSURE,7.28116
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.1,9.424
$10V_AH,10.1,3.313
$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
$DEVICE_SECS,23.025,169.225,747.425,0.000,0.000,0.000,0.000,279.850,0.000,0.000,17.563,2880.300,14027.924,838.490,2517.342,193.408,0.000,2372.683,0.000,2107.183,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19979.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.192,0.000,0.000,0.000
$MEM,324956
$DATA_FILE_SIZE,33344,874
$CAP_FILE_SIZE,226964,0
$CFSIZE,260165632,247255040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.198,242.9,1
$GPS,250412,230235,2120.611,12002.985,23,1.4,23,-2.9