version: 66.10
glider: 170
mission: 8
dive: 127
start: 5 15 112 8 3 29
data:
$ID,170
$MISSION,8
$DIVE,127
$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,2
$NOCOMM_ACTION,163
$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,-125894.77
$T_RSLEEP,5
$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,44
$R_STBD_OVSHOOT,39
$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
$GPS1,150512,075135,2059.066,11958.114,36,0.8,36,-2.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-73.7
$GPS2,150512,080306,2059.272,11957.973,15,1.7,15,-2.9
$SPEED_LIMITS,0.150,0.298
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,6.3,84760,-13.9,-8.684
$D_GRID,3457
$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,16,begin dive
$GC,18,-0.46,-194.6,0.0,0.0,0,101,0.00,0.00,-81.12,0.000,2,0.000,0.000,129,2686,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.46,-194.6,3.2,-3.0,8,147,10.30,2.10,-24.05,0.000,4,0.239,0.044,2641,1272,3928,0,0,0,0,0,0,25.48,26.11,26.51
$GC,191,-0.32,-194.6,28.8,-28.7,16,197,0.20,2.22,0.00,0.000,6,0.158,0.050,2698,2678,3930,0,0,0,0,0,0,25.70,26.01,28.83
$GC,515,-0.36,-194.6,76.0,-10.4,38,521,0.00,1.62,0.00,0.000,4,0.000,0.057,2698,3705,3931,0,0,0,0,0,0,28.83,26.13,28.83
$GC,614,-0.44,-194.6,79.3,-3.8,42,622,0.12,1.55,0.00,0.000,6,0.092,0.032,2628,2661,3931,0,0,0,0,0,0,26.28,26.40,28.83
$GC,918,-0.44,-194.6,108.2,-11.4,58,924,0.12,2.03,0.00,0.000,4,0.141,0.029,2672,1281,3932,0,0,0,0,0,0,26.33,26.39,28.83
$GC,945,-0.44,-194.6,110.6,-11.2,59,952,0.00,2.22,0.00,0.000,6,0.000,0.046,2672,2724,3932,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1265,-0.51,-194.6,129.2,-5.9,75,1270,0.12,2.12,0.00,0.000,4,0.087,0.029,2588,1286,3931,0,0,0,0,0,0,26.60,26.43,28.83
$GC,1309,-0.55,-194.6,133.5,-7.8,77,1314,0.12,2.22,0.00,0.000,6,0.155,0.047,2622,2705,3931,0,0,0,0,0,0,26.12,26.29,28.83
$GC,1633,-0.56,-194.6,164.6,-10.8,93,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2706,3930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1933,-0.58,-194.6,191.1,-9.5,108,1939,0.00,1.55,0.00,0.000,4,0.000,0.057,2622,3706,3928,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1976,-0.61,-194.6,195.2,-9.4,110,1982,0.00,1.52,0.00,0.000,6,0.000,0.033,2622,2666,3928,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2300,-0.65,-194.6,222.0,-7.9,126,2305,0.00,2.03,0.00,0.000,4,0.000,0.031,2622,1287,3926,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2354,-0.68,-194.6,225.4,-7.6,128,2360,0.12,2.15,0.00,0.000,6,0.088,0.047,2550,2685,3925,0,0,0,0,0,0,26.37,26.34,28.83
$GC,2668,-0.63,-194.6,266.5,-13.4,144,2673,0.12,1.58,0.00,0.000,4,0.151,0.056,2592,3697,3923,0,0,0,0,0,0,26.39,26.30,28.83
$GC,2711,-0.60,-194.6,271.4,-12.2,146,2717,0.00,1.55,0.00,0.000,6,0.000,0.032,2592,2652,3923,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3034,-0.60,-194.6,305.7,-10.3,162,3039,0.00,1.65,0.00,0.000,4,0.000,0.057,2592,3696,3922,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3071,-0.60,-194.6,308.0,-10.3,163,3078,0.00,1.50,0.00,0.000,6,0.000,0.033,2592,2662,3921,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3376,-0.60,-194.6,335.0,-8.3,179,3383,0.00,2.00,0.00,0.000,4,0.000,0.031,2592,1281,3918,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3404,-0.60,-194.6,336.9,-8.2,180,3409,0.00,2.20,0.00,0.000,6,0.000,0.047,2592,2689,3918,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3721,-0.61,-194.6,367.2,-10.2,196,3726,0.00,1.60,0.00,0.000,4,0.000,0.058,2592,3701,3915,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3764,-0.63,-194.6,371.4,-10.0,198,3769,0.00,1.52,0.00,0.000,6,0.000,0.034,2592,2668,3914,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4087,-0.65,-194.6,400.2,-7.7,214,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2668,3912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4389,-0.66,-194.6,420.5,-7.0,229,4394,0.00,2.05,0.00,0.000,4,0.000,0.030,2592,1269,3909,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4461,-0.68,-194.6,425.4,-7.5,232,4466,0.00,2.22,0.00,0.000,6,0.000,0.046,2592,2690,3909,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4774,-0.70,-194.6,454.2,-10.2,248,4780,0.00,2.08,0.00,0.000,4,0.000,0.032,2592,1286,3907,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4802,-0.72,-194.6,456.6,-10.2,249,4807,0.00,2.20,0.00,0.000,6,0.000,0.046,2592,2695,3907,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5120,-0.75,-194.6,488.6,-9.1,265,5125,0.00,2.12,0.00,0.000,4,0.000,0.040,2592,1277,3904,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5163,-0.77,-194.6,492.4,-8.9,267,5169,0.12,2.17,0.00,0.000,6,0.095,0.047,2523,2675,3904,0,0,0,0,0,0,26.32,26.30,28.83
$GC,5486,-0.72,-194.6,532.6,-12.1,283,5492,0.12,2.08,0.00,0.000,4,0.147,0.029,2565,1274,3901,0,0,0,0,0,0,26.41,26.46,28.83
$GC,5539,-0.68,-194.6,537.1,-11.3,285,5545,0.00,2.17,0.00,0.000,6,0.000,0.047,2565,2671,3901,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5852,-0.68,-194.6,566.5,-9.4,301,5858,0.00,2.08,0.00,0.000,4,0.000,0.031,2565,1284,3901,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5883,-0.68,-194.6,568.8,-9.6,302,5889,0.00,2.12,0.00,0.000,6,0.000,0.047,2564,2654,3899,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6196,-0.68,-194.6,600.9,-10.1,318,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2653,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6496,-0.68,-194.6,628.1,-8.7,328,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2654,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6797,-0.68,-194.6,654.1,-8.6,338,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2654,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7096,-0.68,-194.6,682.8,-9.9,348,7101,0.00,2.05,0.00,0.000,4,0.000,0.032,2565,1277,3891,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7122,-0.68,-194.6,682.8,-9.9,348,7129,0.00,2.15,0.00,0.000,6,0.000,0.047,2564,2644,3891,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7429,-0.68,-194.6,714.9,-9.6,359,7434,0.00,1.67,0.00,0.000,4,0.000,0.060,2564,3690,3890,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7491,-0.68,-194.6,721.0,-9.7,361,7496,0.00,1.58,0.00,0.000,6,0.000,0.037,2565,2647,3889,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7825,-0.68,-194.6,753.5,-9.5,372,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2647,3887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8124,-0.68,-194.6,781.3,-9.2,382,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2647,3887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8424,-0.68,-194.6,807.8,-8.7,392,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2647,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8724,-0.68,-194.6,833.6,-8.4,402,8730,0.00,2.03,0.00,0.000,4,0.000,0.034,2565,1279,3882,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8752,-0.68,-194.6,833.6,-8.4,402,8758,0.00,2.15,0.00,0.000,6,0.000,0.049,2564,2649,3883,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9058,-0.68,-194.6,860.2,-7.9,413,9059,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2649,3882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9357,-0.68,-194.6,884.8,-8.4,423,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2649,3881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9658,-0.68,-194.6,910.2,-8.4,433,9659,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2649,3880,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9959,-0.70,-194.6,936.2,-8.6,443,9964,0.00,2.05,0.00,0.000,4,0.000,0.033,2564,1280,3879,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10006,-0.71,-194.6,939.2,-8.5,444,10011,0.00,2.12,0.00,0.000,6,0.000,0.048,2565,2634,3878,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10325,-0.72,-194.6,967.0,-8.3,455,10331,0.00,2.05,0.00,0.000,4,0.000,0.034,2565,1279,3878,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10359,-0.73,-194.6,970.1,-8.4,456,10364,0.00,2.15,0.00,0.000,6,0.000,0.049,2565,2639,3878,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,10629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10629,begin apogee
$GC,10635,-0.12,0.0,991.5,-7.6,465,10800,0.55,0.00,158.60,1.447,4,0.107,0.000,2754,1919,3121,0,0,0,0,0,0,25.74,28.83,23.36
$STATE,10802,end apogee,CONTROL_FINISHED_OK
$STATE,10802,begin climb
$GC,10804,0.46,194.6,997.2,0.0,470,10991,0.52,0.00,177.68,1.401,6,0.055,0.000,2963,1919,2326,0,0,0,0,0,0,24.63,28.83,22.87
$GC,11292,0.44,194.6,954.6,11.4,487,11297,0.00,2.35,0.00,0.000,4,0.000,0.051,2963,3349,2315,0,0,0,0,0,0,28.83,25.73,28.83
$GC,11439,0.39,194.6,938.8,12.8,491,11446,0.15,2.15,0.00,0.000,6,0.153,0.033,2929,1960,2314,0,0,0,0,0,0,25.75,26.03,28.83
$GC,11746,0.39,194.6,906.5,9.3,502,11751,0.00,2.20,0.00,0.000,4,0.000,0.042,2929,541,2312,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11788,0.39,194.6,903.4,9.2,503,11793,0.00,2.20,0.00,0.000,6,0.000,0.040,2930,1968,2311,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12112,0.40,218.4,875.2,8.0,514,12142,0.00,2.25,20.77,1.313,4,0.000,0.053,2930,3354,2228,0,0,0,0,0,0,28.83,25.78,24.61
$GC,12205,0.41,236.8,867.5,8.1,517,12229,0.00,2.17,17.73,1.282,6,0.000,0.033,2930,1964,2155,0,0,0,0,0,0,28.83,25.94,24.33
$GC,12537,0.48,302.3,844.5,6.7,528,12602,0.00,2.35,58.03,1.338,4,0.000,0.051,2929,3352,1886,0,0,0,0,0,0,28.83,24.98,23.91
$GC,12625,0.54,362.1,840.4,6.9,530,12684,0.12,2.20,53.05,1.312,6,0.090,0.033,2996,1962,1645,0,0,0,0,0,0,25.32,25.34,23.72
$GC,12992,0.52,362.1,794.0,12.6,543,12997,0.00,2.22,0.00,0.000,4,0.000,0.043,2998,539,1635,0,0,0,0,0,0,28.83,25.91,28.83
$GC,13069,0.52,362.1,786.2,12.7,545,13075,0.00,2.20,0.00,0.000,6,0.000,0.039,2998,1954,1633,0,0,0,0,0,0,28.83,25.98,28.83
$GC,13390,0.50,362.1,739.4,14.6,556,13396,0.12,2.20,0.00,0.000,4,0.151,0.050,2956,3346,1632,0,0,0,0,0,0,26.08,26.08,28.83
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$STATE,19996,end climb,SURFACE_DEPTH_REACHED
$STATE,19996,begin surface coast
$FINISH,2.8,1.020417
$STATE,20000,end surface coast,CONTROL_FINISHED_OK
$STATE,20000,begin surface
$SM_CCo,20020,42.70,0.060,0,0,459,652.74
$SM_GC,2.01,8.02,3.42,42.70,0.043,0.037,0.060,134,2688,459,-8.29,-1.02,652.74,0,0,0,0,0,0,25.90,26.06,25.96
$IRIDIUM_FIX,2050.21,11958.44,150512,020258
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.21
$INTERNAL_PRESSURE,7.28116
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,22.9,29.201
$10V_AH,9.7,13.110
$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,22.325,164.100,647.425,42.700,0.000,0.000,0.000,363.450,0.250,0.000,16.098,2834.890,14279.051,794.950,2561.210,261.084,0.000,2382.312,0.000,2066.425,0.000,0.545,0.000
$DEVICE_MAMPS,238.680,59.670,1446.615,60.435,0.000,0.000,0.000,96.390,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20050.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.417,0.000,0.000,0.000
$MEM,325328
$DATA_FILE_SIZE,33377,885
$CAP_FILE_SIZE,225523,0
$CFSIZE,260165632,238354432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.136,315.4,1
$GPS,150512,133906,2103.359,11957.094,36,1.0,36,-2.9