version: 66.10
glider: 170
mission: 8
dive: 54
start: 4 27 112 5 10 27
data:
$ID,170
$MISSION,8
$DIVE,54
$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,-124234.25
$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,46
$R_STBD_OVSHOOT,33
$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
$GPS1,270412,045937,2106.987,12001.229,34,1.0,34,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-72.7
$GPS2,270412,051002,2107.215,12001.110,17,1.6,17,-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,147.0,235610,-13.9,-8.684
$D_GRID,3328
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.46,-194.6,0.0,0.0,0,100,0.00,0.00,-81.28,0.000,2,0.000,0.000,132,2704,2687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.46,-194.6,3.2,-3.0,8,143,10.40,2.22,-23.70,0.000,4,0.247,0.045,2643,1263,3918,0,0,0,0,0,0,25.56,25.98,26.27
$GC,159,-0.07,-194.6,18.4,-28.6,13,168,0.45,2.25,0.00,0.000,6,0.162,0.050,2774,2684,3920,0,0,0,0,0,0,25.71,25.93,28.83
$GC,466,-0.14,-194.6,48.3,-7.6,44,471,0.00,1.62,0.00,0.000,4,0.000,0.060,2775,3704,3921,0,0,0,0,0,0,28.83,26.13,28.83
$GC,519,-0.26,-194.6,50.8,-5.8,48,525,0.17,1.52,0.00,0.000,6,0.083,0.034,2702,2681,3921,0,0,0,0,0,0,26.20,26.27,28.83
$GC,833,-0.29,-194.6,85.3,-7.8,64,838,0.00,2.08,0.00,0.000,4,0.000,0.032,2702,1277,3922,0,0,0,0,0,0,28.83,25.90,28.83
$GC,904,-0.34,-194.6,89.7,-7.0,67,911,0.00,2.20,0.00,0.000,6,0.000,0.047,2702,2690,3922,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1219,-0.43,-194.6,109.7,-5.2,83,1225,0.12,2.10,0.00,0.000,4,0.094,0.030,2618,1281,3922,0,0,0,0,0,0,26.48,26.45,28.83
$GC,1331,-0.43,-194.6,120.1,-10.8,88,1337,0.15,2.15,0.00,0.000,6,0.138,0.047,2663,2664,3922,0,0,0,0,0,0,26.29,26.40,28.83
$GC,1645,-0.48,-194.6,144.4,-6.2,104,1651,0.00,2.05,0.00,0.000,4,0.000,0.032,2663,1284,3922,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1677,-0.54,-194.6,145.8,-6.0,105,1683,0.12,2.10,0.00,0.000,6,0.087,0.047,2591,2642,3922,0,0,0,0,0,0,26.48,26.46,28.83
$GC,1991,-0.49,-194.6,189.3,-15.0,121,1996,0.15,2.03,0.00,0.000,4,0.148,0.031,2641,1278,3922,0,0,0,0,0,0,26.39,26.54,28.83
$GC,2034,-0.47,-194.6,193.8,-12.5,123,2039,0.00,2.15,0.00,0.000,6,0.000,0.048,2641,2655,3922,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2356,-0.52,-194.6,218.2,-7.2,139,2361,0.00,1.62,0.00,0.000,4,0.000,0.060,2641,3703,3921,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2388,-0.58,-194.6,219.8,-7.2,140,2394,0.00,1.58,0.00,0.000,6,0.000,0.032,2641,2621,3921,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2702,-0.63,-194.6,240.7,-6.1,156,2708,0.12,1.95,0.00,0.000,4,0.090,0.031,2559,1273,3918,0,0,0,0,0,0,26.66,26.60,28.83
$GC,2774,-0.63,-194.6,247.7,-9.9,159,2780,0.12,2.12,0.00,0.000,6,0.165,0.050,2593,2639,3918,0,0,0,0,0,0,26.38,26.53,28.83
$GC,3087,-0.63,-194.6,282.9,-11.0,175,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2640,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3388,-0.63,-194.6,315.0,-10.3,190,3393,0.00,1.67,0.00,0.000,4,0.000,0.061,2593,3689,3914,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3419,-0.63,-194.6,317.3,-10.1,191,3424,0.00,1.58,0.00,0.000,6,0.000,0.032,2593,2603,3914,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3732,-0.63,-194.6,345.0,-8.4,207,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2603,3912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4032,-0.63,-194.6,370.5,-8.7,222,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2603,3910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4333,-0.64,-194.6,395.3,-8.0,237,4339,0.00,1.92,0.00,0.000,4,0.000,0.034,2593,1278,3908,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4421,-0.66,-194.6,402.1,-8.0,241,4426,0.00,2.12,0.00,0.000,6,0.000,0.050,2593,2642,3908,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4739,-0.68,-194.6,427.0,-7.2,257,4740,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2642,3905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5039,-0.70,-194.6,448.5,-7.3,272,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2642,3903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5340,-0.72,-194.6,472.3,-8.0,287,5346,0.00,2.03,0.00,0.000,4,0.000,0.034,2593,1286,3901,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5392,-0.75,-194.6,476.1,-8.2,289,5398,0.00,2.10,0.00,0.000,6,0.000,0.050,2593,2635,3900,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5705,-0.77,-194.6,502.1,-7.9,305,5711,0.12,1.65,0.00,0.000,4,0.098,0.058,2521,3697,3898,0,0,0,0,0,0,26.71,26.55,28.83
$GC,5758,-0.77,-194.6,507.1,-9.5,307,5763,0.10,1.58,0.00,0.000,6,0.158,0.034,2548,2626,3897,0,0,0,0,0,0,26.48,26.71,28.83
$GC,6071,-0.74,-194.6,543.8,-11.6,323,6076,0.00,1.70,0.00,0.000,4,0.000,0.062,2548,3698,3895,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6133,-0.72,-194.6,550.4,-10.7,326,6139,0.00,1.58,0.00,0.000,6,0.000,0.034,2548,2647,3895,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6456,-0.70,-194.6,586.5,-11.5,342,6461,0.00,1.98,0.00,0.000,4,0.000,0.032,2548,1278,3893,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6498,-0.67,-194.6,591.4,-11.6,344,6504,0.12,2.12,0.00,0.000,6,0.160,0.047,2584,2642,3893,0,0,0,0,0,0,26.40,26.56,28.83
$GC,6813,-0.69,-194.6,618.7,-8.4,356,6815,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2642,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7112,-0.71,-194.6,641.7,-7.4,366,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2645,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7413,-0.74,-194.6,661.3,-6.4,376,7418,0.00,2.03,0.00,0.000,4,0.000,0.034,2585,1283,3887,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7440,-0.76,-194.6,661.3,-6.4,376,7446,0.00,2.12,0.00,0.000,6,0.000,0.049,2585,2643,3888,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7747,-0.79,-194.6,686.1,-8.0,387,7749,0.12,0.00,0.00,0.000,6,0.094,0.000,2523,2644,3885,0,0,0,0,0,0,26.72,28.83,28.83
$GC,8045,-0.74,-194.6,722.5,-12.5,397,8051,0.12,2.05,0.00,0.000,4,0.149,0.033,2564,1277,3883,0,0,0,0,0,0,26.51,26.63,28.83
$GC,8082,-0.71,-194.6,726.3,-12.3,398,8087,0.00,2.12,0.00,0.000,6,0.000,0.050,2564,2635,3883,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8410,-0.71,-194.6,756.4,-8.8,409,8415,0.00,1.67,0.00,0.000,4,0.000,0.060,2564,3697,3882,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8481,-0.71,-194.6,761.6,-8.4,411,8487,0.00,1.60,0.00,0.000,6,0.000,0.037,2564,2630,3882,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8805,-0.71,-194.6,788.2,-8.2,422,8810,0.00,2.00,0.00,0.000,4,0.000,0.035,2564,1280,3881,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8856,-0.71,-194.6,791.1,-8.4,423,8862,0.00,2.12,0.00,0.000,6,0.000,0.050,2564,2642,3881,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9169,-0.71,-194.6,820.9,-9.2,434,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2642,3880,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9471,-0.71,-194.6,849.7,-9.9,444,9476,0.00,2.05,0.00,0.000,4,0.000,0.034,2564,1271,3878,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9497,-0.71,-194.6,849.7,-9.9,444,9503,0.00,2.12,0.00,0.000,6,0.000,0.050,2564,2628,3878,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9803,-0.71,-194.6,883.6,-10.3,455,9809,0.00,2.00,0.00,0.000,4,0.000,0.034,2564,1277,3876,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9830,-0.71,-194.6,883.6,-10.3,455,9836,0.00,2.12,0.00,0.000,6,0.000,0.050,2564,2634,3876,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10137,-0.72,-194.6,917.3,-10.1,466,10142,0.00,2.00,0.00,0.000,4,0.000,0.035,2564,1284,3875,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10179,-0.74,-194.6,920.7,-10.0,467,10184,0.00,2.08,0.00,0.000,6,0.000,0.050,2564,2610,3875,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10503,-0.74,-194.6,949.9,-8.9,478,10508,0.00,1.73,0.00,0.000,4,0.000,0.061,2564,3696,3874,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10536,-0.74,-194.6,952.9,-8.6,479,10541,0.00,1.67,0.00,0.000,6,0.000,0.037,2564,2610,3874,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10871,-0.75,-194.6,980.2,-8.0,490,10876,0.00,1.95,0.00,0.000,4,0.000,0.035,2564,1280,3873,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10934,-0.76,-194.6,985.4,-8.0,492,10939,0.00,2.10,0.00,0.000,6,0.000,0.050,2564,2611,3873,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,10995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10995,begin apogee
$GC,11000,-0.12,0.0,990.5,-8.1,494,11161,0.55,0.00,154.27,1.434,4,0.112,0.000,2753,1923,3120,0,0,0,0,0,0,26.23,28.83,23.64
$STATE,11162,end apogee,CONTROL_FINISHED_OK
$STATE,11162,begin climb
$GC,11164,0.46,194.6,997.3,0.0,499,11347,0.55,2.25,174.02,1.397,4,0.059,0.041,2959,550,2327,0,0,0,0,0,0,24.77,24.75,23.25
$GC,11400,0.43,216.5,987.0,8.0,507,11429,0.00,2.30,20.70,1.297,6,0.000,0.039,2958,1950,2237,0,0,0,0,0,0,28.83,24.87,23.61
$GC,11752,0.40,216.5,952.2,9.3,519,11757,0.00,2.20,0.00,0.000,4,0.000,0.044,2966,551,2229,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11938,0.39,216.5,935.1,9.4,525,11945,0.15,2.20,0.00,0.000,6,0.141,0.039,2923,1960,2227,0,0,0,0,0,0,25.82,25.97,28.83
$GC,12267,0.43,275.6,912.0,6.9,536,12328,0.00,2.35,51.62,1.358,4,0.000,0.054,2923,3339,1996,0,0,0,0,0,0,28.83,24.98,24.04
$GC,12376,0.45,315.1,904.8,7.5,539,12422,0.00,2.17,36.03,1.325,6,0.000,0.033,2928,1966,1834,0,0,0,0,0,0,28.83,25.44,23.90
$GC,12720,0.49,319.3,875.7,8.6,551,12726,0.00,2.20,0.00,0.000,4,0.000,0.043,2928,539,1827,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12757,0.54,328.7,873.1,8.4,552,12777,0.12,2.22,12.52,1.228,6,0.093,0.039,2995,1958,1780,0,0,0,0,0,0,25.91,25.91,24.57
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$STATE,21143,end climb,SURFACE_DEPTH_REACHED
$STATE,21144,begin surface coast
$FINISH,0.9,1.008861
$STATE,21166,end surface coast,CONTROL_FINISHED_OK
$STATE,21166,begin surface
$SM_CCo,21183,49.25,0.059,0,0,459,652.74
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$IRIDIUM_FIX,2104.07,11950.43,260412,222221
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.36
$INTERNAL_PRESSURE,7.29093
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,23.3,10.957
$10V_AH,9.8,3.996
$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,23.100,180.975,612.500,49.250,0.000,0.000,0.000,444.600,0.250,0.000,18.786,3107.908,14919.999,803.132,2774.956,240.330,0.000,2543.086,0.000,2220.466,0.000,0.544,0.000
$DEVICE_MAMPS,247.095,61.965,1434.375,58.905,0.000,0.000,0.000,104.040,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21200.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.380,0.000,0.000,0.000
$MEM,325080
$DATA_FILE_SIZE,36642,962
$CAP_FILE_SIZE,246521,0
$CFSIZE,260165632,246566912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.170,307.8,1
$GPS,270412,110529,2105.723,12001.621,35,0.8,35,-2.9