version: 66.10
glider: 170
mission: 8
dive: 51
start: 4 26 112 11 9 22
data:
$ID,170
$MISSION,8
$DIVE,51
$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,-124230.46
$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,41
$R_STBD_OVSHOOT,31
$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
$GPS1,260412,104907,2115.316,12001.883,40,0.8,40,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-65.5
$GPS2,260412,110857,2115.385,12001.905,19,1.9,19,-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,155.2,250755,-13.0,-9.167
$D_GRID,2990
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.47,-243.3,0.0,0.0,0,104,0.00,0.00,-83.00,0.000,2,0.000,0.000,136,2698,2766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.47,-243.3,3.9,-4.5,8,150,10.27,2.22,-21.08,0.000,4,0.246,0.045,2636,1257,3966,0,0,0,0,0,0,25.58,26.01,26.29
$GC,187,-0.31,-243.3,27.4,-28.5,15,195,0.20,2.28,0.00,0.000,6,0.158,0.050,2693,2687,3967,0,0,0,0,0,0,25.81,25.98,28.83
$GC,493,-0.26,-243.3,82.3,-16.9,37,498,0.00,1.60,0.00,0.000,4,0.000,0.060,2693,3696,3968,0,0,0,0,0,0,28.83,26.17,28.83
$GC,590,-0.26,-243.3,90.4,-9.8,41,596,0.00,1.50,0.00,0.000,6,0.000,0.032,2693,2691,3969,0,0,0,0,0,0,28.83,26.34,28.83
$GC,897,-0.30,-243.3,110.2,-5.5,57,902,0.00,2.05,0.00,0.000,4,0.000,0.031,2694,1284,3968,0,0,0,0,0,0,28.83,26.39,28.83
$GC,994,-0.36,-243.3,115.3,-6.0,61,1002,0.00,2.20,0.00,0.000,6,0.000,0.047,2693,2697,3968,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1300,-0.44,-243.3,132.5,-3.7,77,1307,0.10,2.10,0.00,0.000,4,0.106,0.030,2629,1284,3968,0,0,0,0,0,0,26.53,26.47,28.83
$GC,1349,-0.48,-243.3,135.3,-5.0,79,1355,0.00,2.15,0.00,0.000,6,0.000,0.047,2629,2672,3968,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1666,-0.48,-243.3,170.6,-9.5,95,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2672,3968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1967,-0.48,-243.3,200.9,-10.2,110,1972,0.00,2.05,0.00,0.000,4,0.000,0.031,2629,1288,3968,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2085,-0.51,-243.3,210.0,-8.5,115,2092,0.00,2.10,0.00,0.000,6,0.000,0.047,2630,2663,3968,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2391,-0.54,-243.3,235.8,-8.5,131,2396,0.00,1.62,0.00,0.000,4,0.000,0.057,2629,3692,3966,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2443,-0.57,-243.3,239.4,-8.4,133,2448,0.00,1.52,0.00,0.000,6,0.000,0.034,2632,2653,3966,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2755,-0.61,-243.3,263.8,-7.1,149,2761,0.00,2.00,0.00,0.000,4,0.000,0.033,2629,1288,3964,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2813,-0.65,-243.3,266.9,-7.1,151,2820,0.12,2.12,0.00,0.000,6,0.088,0.049,2556,2672,3963,0,0,0,0,0,0,26.57,26.54,28.83
$GC,3118,-0.59,-243.3,308.4,-12.9,167,3124,0.15,1.58,0.00,0.000,4,0.150,0.056,2605,3694,3960,0,0,0,0,0,0,26.46,26.54,28.83
$GC,3195,-0.59,-243.3,314.6,-10.3,170,3202,0.00,1.52,0.00,0.000,6,0.000,0.034,2605,2648,3960,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3502,-0.61,-243.3,342.3,-6.9,186,3507,0.00,1.98,0.00,0.000,4,0.000,0.033,2606,1286,3957,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3600,-0.63,-243.3,347.7,-6.6,190,3607,0.00,2.10,0.00,0.000,6,0.000,0.047,2605,2660,3956,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3905,-0.65,-243.3,369.5,-7.6,206,3910,0.00,1.62,0.00,0.000,4,0.000,0.058,2606,3700,3953,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3949,-0.67,-243.3,372.8,-7.7,208,3954,0.00,1.55,0.00,0.000,6,0.000,0.034,2605,2664,3953,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4272,-0.70,-243.3,396.6,-6.9,224,4278,0.00,2.03,0.00,0.000,4,0.000,0.032,2606,1281,3950,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4365,-0.72,-243.3,402.2,-6.8,228,4371,0.12,2.12,0.00,0.000,6,0.099,0.047,2540,2656,3949,0,0,0,0,0,0,26.58,26.58,28.83
$GC,4678,-0.67,-243.3,437.2,-11.6,244,4684,0.12,2.05,0.00,0.000,4,0.153,0.031,2582,1272,3947,0,0,0,0,0,0,26.51,26.65,28.83
$GC,4712,-0.62,-243.3,439.8,-11.5,245,4717,0.00,2.10,0.00,0.000,6,0.000,0.048,2581,2644,3947,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5024,-0.62,-243.3,466.9,-7.8,261,5029,0.00,1.62,0.00,0.000,4,0.000,0.059,2581,3695,3944,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5061,-0.62,-243.3,468.5,-7.7,262,5067,0.00,1.58,0.00,0.000,6,0.000,0.036,2581,2634,3944,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5367,-0.62,-243.3,495.3,-8.9,278,5372,0.00,2.00,0.00,0.000,4,0.000,0.033,2581,1273,3941,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5423,-0.62,-243.3,499.1,-8.9,280,5431,0.00,2.12,0.00,0.000,6,0.000,0.049,2581,2642,3941,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5729,-0.62,-243.3,529.9,-9.9,296,5734,0.00,1.65,0.00,0.000,4,0.000,0.059,2581,3696,3938,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5791,-0.62,-243.3,536.0,-9.6,299,5797,0.00,1.58,0.00,0.000,6,0.000,0.035,2581,2642,3939,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6114,-0.62,-243.3,563.0,-7.6,315,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2642,3936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6416,-0.62,-243.3,587.1,-8.6,330,6421,0.00,2.00,0.00,0.000,4,0.000,0.033,2581,1278,3935,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6458,-0.62,-243.3,591.0,-9.0,332,6463,0.00,2.12,0.00,0.000,6,0.000,0.049,2581,2651,3934,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6791,-0.62,-243.3,618.7,-7.7,345,6797,0.00,1.62,0.00,0.000,4,0.000,0.059,2581,3700,3931,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6818,-0.62,-243.3,618.7,-7.7,345,6824,0.00,1.60,0.00,0.000,6,0.000,0.035,2581,2624,3931,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7124,-0.62,-243.3,639.2,-5.8,356,7126,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2624,3929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7424,-0.62,-243.3,658.9,-7.0,366,7430,0.00,1.98,0.00,0.000,4,0.000,0.034,2581,1283,3928,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7457,-0.62,-243.3,661.4,-7.3,367,7462,0.00,2.10,0.00,0.000,6,0.000,0.050,2581,2637,3928,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7791,-0.64,-243.3,688.5,-8.6,378,7796,0.00,2.00,0.00,0.000,4,0.000,0.034,2581,1280,3926,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7863,-0.65,-243.3,694.2,-8.7,380,7869,0.00,2.08,0.00,0.000,6,0.000,0.047,2581,2627,3926,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8186,-0.65,-243.3,725.4,-9.4,391,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2627,3925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8486,-0.65,-243.3,752.2,-8.6,401,8491,0.00,2.00,0.00,0.000,4,0.000,0.032,2581,1284,3923,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8519,-0.65,-243.3,754.8,-8.4,402,8524,0.00,2.08,0.00,0.000,6,0.000,0.047,2581,2625,3923,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8853,-0.66,-243.3,780.0,-7.2,413,8858,0.00,1.98,0.00,0.000,4,0.000,0.033,2581,1285,3921,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8894,-0.68,-243.3,782.4,-7.1,414,8900,0.00,2.08,0.00,0.000,6,0.000,0.047,2581,2616,3920,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9218,-0.70,-243.3,805.0,-6.7,425,9224,0.00,2.00,0.00,0.000,4,0.000,0.034,2581,1281,3919,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9246,-0.71,-243.3,805.0,-6.7,425,9252,0.00,2.05,0.00,0.000,6,0.000,0.049,2581,2608,3919,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9552,-0.73,-243.3,825.9,-6.3,436,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2608,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9851,-0.75,-243.3,845.8,-6.4,446,9852,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2608,3917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10152,-0.76,-243.3,867.7,-7.7,456,10158,0.00,2.00,0.00,0.000,4,0.000,0.035,2581,1277,3917,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10180,-0.78,-243.3,867.7,-7.7,456,10187,0.00,2.08,0.00,0.000,6,0.000,0.050,2581,2604,3915,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10487,-0.80,-243.3,893.2,-7.2,467,10489,0.12,0.00,0.00,0.000,6,0.103,0.000,2523,2604,3915,0,0,0,0,0,0,26.70,28.83,28.83
$GC,10785,-0.76,-243.3,921.9,-9.2,477,10791,0.12,1.98,0.00,0.000,4,0.151,0.031,2564,1270,3914,0,0,0,0,0,0,26.47,26.60,28.83
$GC,10828,-0.72,-243.3,924.3,-8.8,478,10833,0.00,2.05,0.00,0.000,6,0.000,0.050,2564,2594,3914,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11151,-0.72,-243.3,944.4,-6.3,489,11157,0.00,1.73,0.00,0.000,4,0.000,0.061,2564,3696,3913,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11188,-0.72,-243.3,946.5,-6.2,490,11193,0.00,1.67,0.00,0.000,6,0.000,0.037,2564,2582,3913,0,0,0,0,0,0,28.83,26.65,28.83
$GC,11516,-0.72,-243.3,967.1,-6.6,501,11517,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2581,3912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11816,-0.72,-243.3,988.0,-7.2,511,11821,0.00,1.90,0.00,0.000,4,0.000,0.035,2564,1287,3912,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,11847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11847,begin apogee
$GC,11852,-0.12,0.0,990.6,-7.4,512,12022,0.55,0.00,161.88,1.437,4,0.116,0.000,2753,1949,3121,0,0,0,0,0,0,26.19,28.83,23.46
$STATE,12024,end apogee,CONTROL_FINISHED_OK
$STATE,12024,begin climb
$GC,12025,0.47,243.3,996.0,0.0,517,12253,0.57,2.33,218.10,1.401,4,0.060,0.040,2967,545,2129,0,0,0,0,0,0,24.75,24.74,23.08
$GC,12425,0.45,243.3,962.7,11.4,531,12430,0.00,2.25,0.00,0.000,6,0.000,0.041,2967,1943,2123,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12754,0.41,243.3,923.3,11.7,542,12760,0.12,2.17,0.00,0.000,4,0.158,0.041,2929,550,2120,0,0,0,0,0,0,25.79,25.89,28.83
$GC,12886,0.42,252.8,912.1,8.9,546,12902,0.00,2.20,8.35,1.157,6,0.000,0.041,2929,1956,2090,0,0,0,0,0,0,28.83,26.00,24.72
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$STATE,20735,end climb,SURFACE_DEPTH_REACHED
$STATE,20735,begin surface coast
$FINISH,0.8,0.999424
$STATE,20766,end surface coast,CONTROL_FINISHED_OK
$STATE,20766,begin surface
$SM_CCo,20843,0.00,0.000,0,0,460,652.74
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$IRIDIUM_FIX,2106.38,12047.51,260412,101012
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.05
$INTERNAL_PRESSURE,7.23233
$TCM_TEMP,23.10
$XPDR_PINGS,22
$24V_AH,23.1,10.248
$10V_AH,9.8,3.656
$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,22.275,179.800,752.375,0.000,0.000,0.000,0.000,940.900,5.500,0.000,20.494,3026.364,14576.881,885.196,3297.376,236.133,0.000,3148.854,0.000,2230.305,0.000,0.544,0.000
$DEVICE_MAMPS,245.565,61.200,1437.435,0.000,0.000,0.000,0.000,104.040,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20806.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.189,0.000,0.000,0.000
$MEM,324880
$DATA_FILE_SIZE,33375,904
$CAP_FILE_SIZE,247438,0
$CFSIZE,260165632,246898688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.104,310.4,1
$GPS,260412,165759,2113.114,12002.653,40,0.8,41,-2.9