version: 66.10
glider: 170
mission: 8
dive: 89
start: 5 5 112 17 28 49
data:
$ID,170
$MISSION,8
$DIVE,89
$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,-124284.97
$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,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,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
$GPS1,050512,171600,1957.991,12003.708,41,1.0,41,-2.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-75.0
$GPS2,050512,172824,1958.046,12003.841,15,1.1,16,-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,212.7,107712,-13.9,-8.684
$D_GRID,3734
$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,-0.46,-194.6,0.0,0.0,0,102,0.00,0.00,-81.75,0.000,2,0.000,0.000,135,2690,2675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.46,-194.6,3.4,-3.2,8,148,10.27,1.60,-23.90,0.000,4,0.246,0.071,2642,3698,3922,0,0,0,0,0,0,25.67,26.15,26.58
$GC,232,-0.37,-194.6,33.9,-20.6,20,238,0.10,1.55,0.00,0.000,6,0.127,0.031,2676,2658,3924,0,0,0,0,0,0,26.06,26.34,28.83
$GC,545,-0.37,-194.6,75.9,-9.3,40,550,0.00,2.00,0.00,0.000,4,0.000,0.031,2677,1302,3925,0,0,0,0,0,0,28.83,26.36,28.83
$GC,631,-0.40,-194.6,87.6,-14.2,44,636,0.00,2.12,0.00,0.000,6,0.000,0.047,2676,2663,3925,0,0,0,0,0,0,28.83,26.30,28.83
$GC,949,-0.46,-194.6,111.4,-10.2,60,954,0.00,2.03,0.00,0.000,4,0.000,0.032,2677,1298,3926,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1006,-0.52,-194.6,116.7,-12.1,62,1014,0.15,2.10,0.00,0.000,6,0.077,0.046,2592,2652,3925,0,0,0,0,0,0,26.41,26.36,28.83
$GC,1312,-0.48,-194.6,151.4,-9.4,78,1319,0.15,1.65,0.00,0.000,4,0.142,0.054,2642,3703,3925,0,0,0,0,0,0,26.32,26.39,28.83
$GC,1425,-0.53,-194.6,157.7,-5.5,83,1430,0.00,1.52,0.00,0.000,6,0.000,0.031,2642,2664,3925,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1738,-0.58,-194.6,186.9,-7.6,99,1743,0.00,2.03,0.00,0.000,4,0.000,0.032,2642,1285,3924,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1836,-0.63,-194.6,190.8,-4.7,103,1843,0.15,2.12,0.00,0.000,6,0.075,0.047,2559,2656,3924,0,0,0,0,0,0,26.49,26.44,28.83
$GC,2140,-0.57,-194.6,223.3,-12.6,119,2146,0.17,1.65,0.00,0.000,4,0.149,0.057,2616,3701,3922,0,0,0,0,0,0,26.32,26.42,28.83
$GC,2253,-0.60,-194.6,231.7,-7.3,124,2259,0.00,1.55,0.00,0.000,6,0.000,0.031,2617,2627,3922,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2567,-0.63,-194.6,256.6,-8.2,140,2572,0.00,1.95,0.00,0.000,4,0.000,0.033,2616,1281,3919,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2619,-0.66,-194.6,260.3,-8.4,142,2624,0.00,2.12,0.00,0.000,6,0.000,0.047,2616,2652,3919,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2931,-0.70,-194.6,296.0,-13.2,158,2938,0.12,2.00,0.00,0.000,4,0.086,0.029,2535,1287,3916,0,0,0,0,0,0,26.68,26.58,28.83
$GC,2995,-0.70,-194.6,307.0,-16.3,161,3002,0.15,2.10,0.00,0.000,6,0.151,0.045,2577,2642,3917,0,0,0,0,0,0,26.29,26.50,28.83
$GC,3319,-0.68,-194.6,348.4,-10.0,177,3324,0.00,1.65,0.00,0.000,4,0.000,0.057,2577,3696,3914,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3350,-0.68,-194.6,350.3,-9.4,178,3356,0.00,1.58,0.00,0.000,6,0.000,0.033,2578,2628,3914,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3663,-0.68,-194.6,374.6,-8.0,194,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2627,3912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3964,-0.68,-194.6,398.7,-7.9,209,3969,0.00,1.95,0.00,0.000,4,0.000,0.031,2578,1285,3910,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4021,-0.68,-194.6,402.0,-7.9,211,4028,0.00,2.10,0.00,0.000,6,0.000,0.045,2578,2645,3909,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4326,-0.68,-194.6,430.7,-10.0,227,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2645,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4627,-0.68,-194.6,463.7,-11.2,242,4632,0.00,2.00,0.00,0.000,4,0.000,0.032,2578,1289,3905,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4678,-0.68,-194.6,468.2,-10.8,244,4684,0.00,2.12,0.00,0.000,6,0.000,0.049,2578,2646,3904,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4992,-0.68,-194.6,494.9,-6.9,260,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2647,3902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5292,-0.68,-194.6,511.5,-5.2,275,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2646,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5592,-0.68,-194.6,529.8,-7.3,290,5598,0.00,2.03,0.00,0.000,4,0.000,0.033,2578,1290,3897,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5636,-0.69,-194.6,533.3,-7.6,292,5642,0.00,2.15,0.00,0.000,6,0.000,0.047,2578,2661,3897,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5960,-0.71,-194.6,559.4,-8.2,308,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2660,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6261,-0.72,-194.6,581.0,-6.6,323,6266,0.00,2.03,0.00,0.000,4,0.000,0.032,2578,1289,3894,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6319,-0.74,-194.6,583.8,-6.4,325,6325,0.00,2.10,0.00,0.000,6,0.000,0.047,2578,2637,3894,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6635,-0.75,-194.6,602.6,-5.9,341,6640,0.00,2.03,0.00,0.000,4,0.000,0.033,2578,1281,3891,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6657,-0.77,-194.6,602.6,-5.9,341,6662,0.00,2.12,0.00,0.000,6,0.000,0.047,2578,2641,3891,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6971,-0.79,-194.6,625.1,-7.2,352,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2641,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7270,-0.81,-194.6,647.7,-7.3,362,7272,0.12,0.00,0.00,0.000,6,0.097,0.000,2510,2641,3887,0,0,0,0,0,0,26.69,28.83,28.83
$GC,7570,-0.74,-194.6,682.4,-11.8,372,7572,0.17,0.00,0.00,0.000,6,0.143,0.000,2561,2642,3886,0,0,0,0,0,0,26.36,28.83,28.83
$GC,7870,-0.74,-194.6,707.0,-8.4,382,7875,0.00,1.67,0.00,0.000,4,0.000,0.060,2561,3693,3885,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7932,-0.74,-194.6,712.8,-9.0,384,7937,0.00,1.60,0.00,0.000,6,0.000,0.036,2561,2658,3885,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8265,-0.74,-194.6,749.3,-12.3,395,8270,0.00,2.03,0.00,0.000,4,0.000,0.034,2562,1278,3884,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8291,-0.74,-194.6,749.3,-12.3,395,8299,0.00,2.15,0.00,0.000,6,0.000,0.048,2561,2648,3884,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8598,-0.74,-194.6,796.8,-15.0,406,8603,0.00,2.05,0.00,0.000,4,0.000,0.033,2562,1268,3882,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8630,-0.74,-194.6,801.8,-15.2,407,8635,0.00,2.15,0.00,0.000,6,0.000,0.047,2562,2633,3882,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8965,-0.74,-194.6,857.2,-16.9,418,8970,0.00,1.70,0.00,0.000,4,0.000,0.060,2562,3700,3880,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9028,-0.76,-194.6,868.1,-17.0,420,9033,0.00,1.62,0.00,0.000,6,0.000,0.036,2562,2629,3879,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9362,-0.77,-194.6,922.7,-16.2,431,9363,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2628,3878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9660,-0.77,-194.6,964.1,-12.6,441,9666,0.00,2.00,0.00,0.000,4,0.000,0.034,2562,1273,3877,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9706,-0.77,-194.6,968.0,-12.3,442,9712,0.00,2.15,0.00,0.000,6,0.000,0.049,2562,2638,3877,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,9933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9933,begin apogee
$GC,9938,-0.12,0.0,992.5,-9.3,450,10103,0.57,0.00,157.15,1.430,4,0.108,0.000,2761,1915,3120,0,0,0,0,0,0,26.10,28.83,23.58
$STATE,10105,end apogee,CONTROL_FINISHED_OK
$STATE,10105,begin climb
$GC,10106,0.46,194.6,998.0,0.0,455,10295,0.52,2.22,175.80,1.388,4,0.055,0.040,2962,552,2325,0,0,0,0,0,0,24.79,24.77,23.08
$GC,10407,0.44,194.6,970.0,14.5,465,10412,0.00,2.25,0.00,0.000,6,0.000,0.038,2962,1942,2317,0,0,0,0,0,0,28.83,25.19,28.83
$GC,10721,0.40,194.6,918.3,14.9,476,10727,0.12,2.17,0.00,0.000,4,0.158,0.039,2928,547,2313,0,0,0,0,0,0,25.80,25.89,28.83
$GC,10844,0.40,194.6,903.5,11.8,480,10849,0.00,2.22,0.00,0.000,6,0.000,0.040,2928,1960,2312,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11178,0.40,194.6,867.3,10.1,491,11183,0.00,2.20,0.00,0.000,4,0.000,0.052,2928,3356,2312,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11234,0.40,194.6,864.0,9.8,492,11242,0.00,2.15,0.00,0.000,6,0.000,0.034,2929,1957,2311,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11541,0.42,227.1,836.0,7.7,503,11571,0.00,0.00,27.92,1.294,6,0.000,0.000,2929,1958,2195,0,0,0,0,0,0,28.83,28.83,24.63
$GC,11871,0.46,298.2,813.3,6.6,514,11939,0.00,2.35,62.75,1.302,4,0.000,0.051,2929,3346,1904,0,0,0,0,0,0,28.83,24.91,23.97
$GC,11955,0.50,365.8,809.4,6.7,516,12023,0.00,2.22,59.72,1.272,6,0.000,0.034,2929,1965,1628,0,0,0,0,0,0,28.83,25.21,23.78
$GC,12322,0.63,484.5,787.6,5.1,529,12432,0.22,2.35,103.72,1.271,4,0.064,0.041,3047,539,1143,0,0,0,0,0,0,25.92,24.69,23.77
$GC,12455,0.60,484.5,771.0,13.8,533,12461,0.20,2.30,0.00,0.000,6,0.125,0.038,2989,1963,1141,0,0,0,0,0,0,24.96,25.05,28.83
$GC,12780,0.60,484.5,736.3,9.9,544,12786,0.00,2.22,0.00,0.000,4,0.000,0.051,2989,3351,1137,0,0,0,0,0,0,28.83,25.87,28.83
$GC,12801,0.60,484.5,736.3,9.9,544,12807,0.00,2.17,0.00,0.000,6,0.000,0.034,2995,1958,1137,0,0,0,0,0,0,28.83,25.97,28.83
$GC,13114,0.60,484.5,700.8,10.4,555,13119,0.00,2.20,0.00,0.000,4,0.000,0.044,2995,532,1136,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13180,0.62,484.5,695.0,9.9,557,13187,0.00,2.20,0.00,0.000,6,0.000,0.038,2996,1949,1135,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13510,0.62,484.5,658.8,11.8,568,13515,0.00,2.22,0.00,0.000,4,0.000,0.052,2995,3357,1135,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,18701,end climb,SURFACE_DEPTH_REACHED
$STATE,18701,begin surface coast
$FINISH,1.1,1.007215
$STATE,18722,end surface coast,CONTROL_FINISHED_OK
$STATE,18722,begin surface
$SM_CCo,18799,0.00,0.000,0,0,458,653.23
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$IRIDIUM_FIX,2031.77,12007.26,010512,212133
$TT8_MAMPS,0.025466,0.025466
$HUMID,40.19
$INTERNAL_PRESSURE,7.28116
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.1,19.160
$10V_AH,9.9,8.076
$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
$DEVICE_SECS,21.850,163.000,732.750,0.000,0.000,0.000,0.000,201.000,0.000,0.000,17.393,2735.657,13293.628,846.513,2335.707,321.430,0.000,2237.250,0.000,1998.934,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18755.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.365,0.000,0.000,0.000
$MEM,324440
$DATA_FILE_SIZE,30070,842
$CAP_FILE_SIZE,211726,0
$CFSIZE,260165632,241836032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.090,132.1,1
$GPS,050512,224305,1954.729,12002.878,24,0.9,24,-2.6