version: 66.10
glider: 170
mission: 8
dive: 65
start: 4 29 112 22 52 49
data:
$ID,170
$MISSION,8
$DIVE,65
$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,-124248.25
$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,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
$GPS1,290412,224435,2047.952,12002.920,26,1.4,26,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-73.3
$GPS2,290412,225225,2047.826,12002.910,18,1.4,19,-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,183.6,199760,-13.9,-8.684
$D_GRID,3623
$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,-194.6,0.0,0.0,0,110,0.00,0.00,-91.20,0.000,2,0.000,0.000,130,2693,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.46,-194.6,3.7,-3.8,9,144,10.40,0.00,-17.73,0.000,6,0.248,0.000,2640,2693,3919,0,0,0,0,0,0,25.57,28.83,26.34
$GC,441,-0.40,-194.6,82.0,-16.2,34,447,0.10,1.60,0.00,0.000,4,0.164,0.057,2668,3694,3923,0,0,0,0,0,0,26.15,26.13,28.83
$GC,608,-0.46,-194.6,94.9,-7.8,42,615,0.00,1.50,0.00,0.000,6,0.000,0.032,2669,2658,3924,0,0,0,0,0,0,28.83,26.34,28.83
$GC,927,-0.51,-194.6,118.7,-7.6,58,933,0.12,2.03,0.00,0.000,4,0.086,0.031,2589,1291,3925,0,0,0,0,0,0,26.45,26.37,28.83
$GC,1010,-0.49,-194.6,129.2,-12.6,62,1016,0.17,2.17,0.00,0.000,6,0.148,0.049,2640,2684,3924,0,0,0,0,0,0,26.15,26.32,28.83
$GC,1335,-0.52,-194.6,162.9,-8.7,78,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2685,3924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1635,-0.55,-194.6,186.8,-7.9,93,1641,0.00,2.05,0.00,0.000,4,0.000,0.034,2641,1300,3924,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1678,-0.59,-194.6,190.1,-7.6,95,1684,0.00,2.15,0.00,0.000,6,0.000,0.049,2641,2682,3923,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2002,-0.63,-194.6,211.5,-7.4,111,2008,0.12,2.08,0.00,0.000,4,0.087,0.032,2562,1296,3922,0,0,0,0,0,0,26.60,26.51,28.83
$GC,2090,-0.60,-194.6,222.7,-13.5,115,2096,0.15,2.12,0.00,0.000,6,0.155,0.050,2604,2653,3921,0,0,0,0,0,0,26.27,26.45,28.83
$GC,2408,-0.60,-194.6,260.0,-10.0,131,2413,0.00,2.03,0.00,0.000,4,0.000,0.034,2605,1302,3921,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2474,-0.61,-194.6,266.0,-9.8,134,2479,0.00,2.10,0.00,0.000,6,0.000,0.050,2605,2645,3921,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2792,-0.64,-194.6,295.0,-9.2,150,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2645,3919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3093,-0.66,-194.6,319.2,-7.1,165,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2645,3917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3392,-0.69,-194.6,338.6,-6.5,180,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2645,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3693,-0.72,-194.6,359.8,-7.5,195,3699,0.12,2.00,0.00,0.000,4,0.097,0.034,2528,1302,3913,0,0,0,0,0,0,26.68,26.58,28.83
$GC,3731,-0.74,-194.6,362.1,-8.0,196,3738,0.12,2.10,0.00,0.000,6,0.159,0.049,2562,2648,3914,0,0,0,0,0,0,26.36,26.53,28.83
$GC,4037,-0.72,-194.6,395.9,-10.1,212,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2648,3911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4337,-0.70,-194.6,424.7,-9.6,227,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2648,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4637,-0.68,-194.6,455.0,-10.2,242,4642,0.00,2.00,0.00,0.000,4,0.000,0.031,2563,1301,3906,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4679,-0.67,-194.6,459.5,-10.2,244,4684,0.00,2.08,0.00,0.000,6,0.000,0.047,2562,2642,3906,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5002,-0.66,-194.6,493.0,-10.5,260,5007,0.00,1.65,0.00,0.000,4,0.000,0.059,2562,3693,3904,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5058,-0.66,-194.6,497.5,-10.6,262,5065,0.00,1.55,0.00,0.000,6,0.000,0.035,2562,2641,3903,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5364,-0.66,-194.6,530.6,-10.4,278,5369,0.00,1.70,0.00,0.000,4,0.000,0.059,2562,3687,3902,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5390,-0.66,-194.6,533.1,-10.4,279,5395,0.00,1.62,0.00,0.000,6,0.000,0.035,2562,2623,3901,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5706,-0.66,-194.6,565.4,-10.1,295,5712,0.00,1.98,0.00,0.000,4,0.000,0.033,2562,1269,3899,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5733,-0.66,-194.6,567.7,-10.1,296,5738,0.00,2.12,0.00,0.000,6,0.000,0.049,2562,2645,3899,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6050,-0.66,-194.6,598.3,-9.3,312,6055,0.00,1.65,0.00,0.000,4,0.000,0.060,2562,3695,3898,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6082,-0.66,-194.6,601.2,-9.3,314,6087,0.00,1.58,0.00,0.000,6,0.000,0.037,2562,2632,3897,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6416,-0.66,-194.6,631.0,-9.0,325,6421,0.00,1.98,0.00,0.000,4,0.000,0.034,2562,1282,3895,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6437,-0.66,-194.6,631.0,-9.0,325,6442,0.00,2.12,0.00,0.000,6,0.000,0.049,2562,2641,3894,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6750,-0.66,-194.6,660.7,-8.8,336,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2641,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7050,-0.66,-194.6,685.8,-8.3,346,7055,0.00,2.03,0.00,0.000,4,0.000,0.034,2562,1277,3892,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7096,-0.66,-194.6,688.6,-8.3,347,7102,0.00,2.10,0.00,0.000,6,0.000,0.049,2562,2632,3891,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7415,-0.66,-194.6,714.7,-8.0,358,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2633,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7714,-0.66,-194.6,740.1,-8.8,368,7719,0.00,2.03,0.00,0.000,4,0.000,0.034,2562,1281,3888,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7765,-0.66,-194.6,743.0,-8.8,369,7771,0.00,2.10,0.00,0.000,6,0.000,0.049,2562,2626,3888,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8078,-0.66,-194.6,772.7,-9.0,380,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2626,3887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8378,-0.66,-194.6,798.3,-8.4,390,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2626,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8679,-0.66,-194.6,822.1,-7.8,400,8684,0.00,2.03,0.00,0.000,4,0.000,0.033,2562,1275,3884,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8750,-0.66,-194.6,827.0,-7.6,402,8755,0.00,2.10,0.00,0.000,6,0.000,0.049,2562,2614,3884,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9074,-0.66,-194.6,852.5,-7.9,413,9079,0.00,1.73,0.00,0.000,4,0.000,0.060,2562,3700,3882,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9110,-0.66,-194.6,855.2,-7.9,414,9116,0.00,1.65,0.00,0.000,6,0.000,0.037,2562,2604,3882,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9439,-0.66,-194.6,882.7,-8.5,425,9440,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2604,3881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9738,-0.66,-194.6,909.6,-9.0,435,9744,0.00,1.98,0.00,0.000,4,0.000,0.034,2562,1270,3881,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9789,-0.66,-194.6,912.8,-9.3,436,9794,0.00,2.10,0.00,0.000,6,0.000,0.050,2562,2621,3881,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10101,-0.66,-194.6,943.3,-9.0,447,10107,0.00,2.00,0.00,0.000,4,0.000,0.034,2562,1277,3880,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10123,-0.66,-194.6,943.3,-9.0,447,10128,0.00,2.10,0.00,0.000,6,0.000,0.050,2562,2611,3880,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10436,-0.67,-194.6,973.5,-8.8,458,10441,0.00,1.98,0.00,0.000,4,0.000,0.034,2562,1284,3879,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10469,-0.68,-194.6,976.4,-8.7,459,10474,0.00,2.10,0.00,0.000,6,0.000,0.050,2562,2612,3879,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,10649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10649,begin apogee
$GC,10654,-0.12,0.0,991.3,-7.9,465,10816,0.57,0.00,156.57,1.437,4,0.113,0.000,2759,1923,3121,0,0,0,0,0,0,26.16,28.83,23.58
$STATE,10817,end apogee,CONTROL_FINISHED_OK
$STATE,10817,begin climb
$GC,10819,0.46,194.6,997.7,0.0,470,11001,0.50,0.00,175.40,1.397,6,0.054,0.000,2964,1923,2326,0,0,0,0,0,0,24.67,28.83,23.08
$GC,11314,0.42,194.6,953.7,11.3,487,11319,0.00,2.35,0.00,0.000,4,0.000,0.053,2963,3357,2315,0,0,0,0,0,0,28.83,25.62,28.83
$GC,11426,0.37,194.6,941.8,12.5,490,11433,0.17,2.20,0.00,0.000,6,0.154,0.034,2921,1950,2314,0,0,0,0,0,0,25.63,25.85,28.83
$GC,11741,0.38,222.6,913.1,7.8,501,11770,0.00,0.00,24.50,1.326,6,0.000,0.000,2921,1950,2212,0,0,0,0,0,0,28.83,28.83,24.46
$GC,12071,0.39,235.0,885.9,8.3,512,12085,0.00,0.00,12.00,1.235,6,0.000,0.000,2921,1950,2162,0,0,0,0,0,0,28.83,28.83,24.63
$GC,12370,0.41,235.0,859.7,8.9,522,12376,0.00,2.30,0.00,0.000,4,0.000,0.055,2921,3356,2157,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12442,0.41,235.0,853.3,9.4,524,12447,0.00,2.17,0.00,0.000,6,0.000,0.034,2929,1935,2157,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12765,0.41,235.0,820.1,10.0,535,12766,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1935,2155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13065,0.41,235.0,791.3,9.4,545,13070,0.00,2.28,0.00,0.000,4,0.000,0.054,2928,3346,2154,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13101,0.41,235.0,787.9,9.5,546,13106,0.00,2.12,0.00,0.000,6,0.000,0.034,2928,1949,2154,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13430,0.41,248.8,758.7,8.3,557,13444,0.00,0.00,12.85,1.204,6,0.000,0.000,2928,1949,2106,0,0,0,0,0,0,28.83,28.83,25.04
$GC,13729,0.46,297.9,735.8,7.2,567,13783,0.00,2.42,44.08,1.261,4,0.000,0.054,2928,3346,1905,0,0,0,0,0,0,28.83,25.15,24.26
$GC,13826,0.51,353.6,729.4,7.0,570,13882,0.12,2.20,49.60,1.239,6,0.092,0.034,2990,1962,1679,0,0,0,0,0,0,25.47,25.49,23.91
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$STATE,20047,end climb,SURFACE_DEPTH_REACHED
$STATE,20047,begin surface coast
$FINISH,0.9,1.009699
$STATE,20078,end surface coast,CONTROL_FINISHED_OK
$STATE,20079,begin surface
$SM_CCo,20095,34.80,0.060,0,0,459,652.74
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$IRIDIUM_FIX,2040.99,12023.02,290412,161627
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.77
$INTERNAL_PRESSURE,7.25186
$TCM_TEMP,23.50
$XPDR_PINGS,0
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$10V_AH,9.8,5.233
$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
$DEVICE_SECS,21.700,161.700,667.075,34.800,0.000,0.000,0.000,291.925,0.000,0.000,19.820,2819.874,14297.862,813.618,2459.500,200.433,0.000,2310.673,0.000,2039.169,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20112.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.092,0.000,0.000,0.000
$MEM,324372
$DATA_FILE_SIZE,33410,881
$CAP_FILE_SIZE,221662,0
$CFSIZE,260165632,245342208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.050,303.9,1
$GPS,300412,042929,2044.858,12002.688,35,0.9,35,-2.8