version: 66.10
glider: 170
mission: 8
dive: 129
start: 5 15 112 19 58 59
data:
$ID,170
$MISSION,8
$DIVE,129
$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,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,-125897.3
$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,45
$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
$GPS1,150512,194405,2107.234,11957.606,41,0.7,41,-2.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-74.5
$GPS2,150512,195836,2107.243,11957.460,17,0.9,17,-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,20.9,70062,-13.9,-8.684
$D_GRID,3458
$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,-81.40,0.000,2,0.000,0.000,135,2693,2700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.46,-194.6,3.4,-3.4,8,148,10.45,1.65,-22.92,0.000,4,0.243,0.077,2641,3692,3927,0,0,0,0,0,0,25.41,25.94,26.44
$GC,282,-0.36,-194.6,51.2,-24.6,25,288,0.15,1.55,0.00,0.000,6,0.145,0.029,2686,2648,3929,0,0,0,0,0,0,25.90,26.22,28.83
$GC,596,-0.40,-194.6,84.4,-9.6,41,602,0.00,1.70,0.00,0.000,4,0.000,0.058,2686,3700,3930,0,0,0,0,0,0,28.83,26.13,28.83
$GC,648,-0.45,-194.6,87.7,-8.5,43,654,0.00,1.50,0.00,0.000,6,0.000,0.031,2686,2656,3931,0,0,0,0,0,0,28.83,26.40,28.83
$GC,961,-0.53,-194.6,104.8,-5.6,59,967,0.15,1.98,0.00,0.000,4,0.077,0.030,2591,1298,3931,0,0,0,0,0,0,26.51,26.37,28.83
$GC,1059,-0.52,-194.6,115.8,-13.2,63,1067,0.15,2.12,0.00,0.000,6,0.150,0.047,2633,2665,3931,0,0,0,0,0,0,26.05,26.26,28.83
$GC,1365,-0.54,-194.6,150.6,-8.1,79,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2666,3930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1667,-0.57,-194.6,169.8,-6.7,94,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2666,3929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1966,-0.61,-194.6,196.2,-9.3,109,1972,0.00,1.62,0.00,0.000,4,0.000,0.057,2633,3699,3927,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2013,-0.66,-194.6,200.3,-9.4,111,2019,0.15,1.50,0.00,0.000,6,0.077,0.032,2547,2659,3927,0,0,0,0,0,0,26.47,26.57,28.83
$GC,2332,-0.59,-194.6,245.9,-14.1,127,2334,0.20,0.00,0.00,0.000,6,0.138,0.000,2609,2658,3925,0,0,0,0,0,0,26.25,28.83,28.83
$GC,2633,-0.61,-194.6,270.9,-8.1,142,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2658,3923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2934,-0.64,-194.6,296.9,-8.7,157,2939,0.00,2.00,0.00,0.000,4,0.000,0.031,2609,1291,3921,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2978,-0.66,-194.6,300.7,-8.7,159,2983,0.00,2.15,0.00,0.000,6,0.000,0.045,2609,2668,3921,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3302,-0.70,-194.6,325.5,-7.6,175,3307,0.00,2.03,0.00,0.000,4,0.000,0.032,2609,1294,3918,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3365,-0.73,-194.6,330.5,-7.9,178,3372,0.12,2.12,0.00,0.000,6,0.090,0.045,2538,2661,3917,0,0,0,0,0,0,26.38,26.36,28.83
$GC,3690,-0.67,-194.6,374.3,-13.6,194,3696,0.12,1.62,0.00,0.000,4,0.149,0.054,2579,3703,3914,0,0,0,0,0,0,26.40,26.31,28.83
$GC,3833,-0.67,-194.6,388.2,-9.3,201,3838,0.00,1.55,0.00,0.000,6,0.000,0.033,2579,2667,3913,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4155,-0.67,-194.6,416.4,-9.2,217,4160,0.00,2.05,0.00,0.000,4,0.000,0.030,2579,1271,3910,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4186,-0.67,-194.6,418.5,-9.3,218,4192,0.00,2.17,0.00,0.000,6,0.000,0.047,2579,2675,3909,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4499,-0.67,-194.6,451.8,-10.6,234,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2675,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4800,-0.67,-194.6,478.9,-8.1,249,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2675,3905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5100,-0.67,-194.6,502.1,-8.3,264,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2675,3902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5400,-0.67,-194.6,528.7,-9.2,279,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2675,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5701,-0.67,-194.6,554.1,-7.9,294,5706,0.00,2.10,0.00,0.000,4,0.000,0.031,2579,1274,3897,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5724,-0.67,-194.6,556.0,-7.8,295,5729,0.00,2.20,0.00,0.000,6,0.000,0.048,2579,2666,3898,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6047,-0.68,-194.6,580.2,-7.5,311,6053,0.00,1.65,0.00,0.000,4,0.000,0.059,2579,3701,3895,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6080,-0.70,-194.6,581.9,-7.4,312,6085,0.00,1.52,0.00,0.000,6,0.000,0.036,2579,2675,3895,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6403,-0.72,-194.6,608.1,-8.1,327,6408,0.00,2.05,0.00,0.000,4,0.000,0.032,2579,1279,3893,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6465,-0.73,-194.6,613.4,-8.2,329,6471,0.00,2.20,0.00,0.000,6,0.000,0.047,2579,2675,3892,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6800,-0.75,-194.6,640.4,-8.0,340,6805,0.00,2.08,0.00,0.000,4,0.000,0.032,2579,1283,3890,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6833,-0.77,-194.6,643.4,-8.2,341,6839,0.00,2.17,0.00,0.000,6,0.000,0.047,2579,2657,3890,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7168,-0.78,-194.6,671.0,-8.3,352,7174,0.00,2.08,0.00,0.000,4,0.000,0.032,2579,1281,3888,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7221,-0.80,-194.6,674.0,-8.3,353,7227,0.12,2.17,0.00,0.000,6,0.094,0.047,2511,2658,3888,0,0,0,0,0,0,26.26,26.25,28.83
$GC,7537,-0.74,-194.6,716.6,-13.4,364,7543,0.15,1.67,0.00,0.000,4,0.143,0.057,2560,3700,3887,0,0,0,0,0,0,26.29,26.15,28.83
$GC,7590,-0.69,-194.6,720.6,-12.9,365,7596,0.00,1.58,0.00,0.000,6,0.000,0.035,2561,2646,3887,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7904,-0.69,-194.6,747.9,-8.0,376,7910,0.00,2.05,0.00,0.000,4,0.000,0.032,2561,1267,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7937,-0.69,-194.6,750.6,-8.1,377,7942,0.00,2.17,0.00,0.000,6,0.000,0.048,2561,2651,3886,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8271,-0.69,-194.6,779.4,-9.1,388,8276,0.00,1.67,0.00,0.000,4,0.000,0.060,2560,3697,3883,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8337,-0.69,-194.6,785.5,-9.5,390,8342,0.00,1.60,0.00,0.000,6,0.000,0.036,2561,2660,3882,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8666,-0.69,-194.6,815.6,-9.0,401,8671,0.00,2.08,0.00,0.000,4,0.000,0.033,2561,1269,3881,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8707,-0.69,-194.6,818.7,-9.1,402,8712,0.00,2.20,0.00,0.000,6,0.000,0.048,2561,2659,3881,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9031,-0.69,-194.6,846.5,-8.5,413,9037,0.00,2.08,0.00,0.000,4,0.000,0.033,2561,1272,3880,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9073,-0.69,-194.6,849.4,-8.6,414,9079,0.00,2.17,0.00,0.000,6,0.000,0.049,2561,2657,3880,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9396,-0.69,-194.6,880.5,-9.7,425,9402,0.00,1.67,0.00,0.000,4,0.000,0.060,2561,3697,3879,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9429,-0.69,-194.6,883.6,-9.7,426,9435,0.00,1.62,0.00,0.000,6,0.000,0.037,2561,2641,3879,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9763,-0.69,-194.6,916.2,-9.8,437,9769,0.00,2.03,0.00,0.000,4,0.000,0.033,2561,1272,3878,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9790,-0.69,-194.6,916.2,-9.8,437,9797,0.00,2.20,0.00,0.000,6,0.000,0.049,2561,2659,3878,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10097,-0.69,-194.6,947.9,-9.5,448,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2659,3877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10396,-0.69,-194.6,974.3,-8.5,458,10402,0.00,2.10,0.00,0.000,4,0.000,0.034,2561,1271,3876,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10474,-0.69,-194.6,979.8,-8.5,460,10479,0.00,2.17,0.00,0.000,6,0.000,0.048,2561,2640,3876,0,0,0,0,0,0,28.83,26.12,28.83
$STATE,10610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10610,begin apogee
$GC,10615,-0.12,0.0,992.1,-8.1,465,10780,0.57,0.00,158.15,1.444,4,0.108,0.000,2758,1921,3121,0,0,0,0,0,0,25.75,28.83,23.18
$STATE,10782,end apogee,CONTROL_FINISHED_OK
$STATE,10782,begin climb
$GC,10784,0.46,194.6,998.6,0.0,470,10973,0.55,2.28,179.85,1.401,4,0.058,0.040,2961,542,2327,0,0,0,0,0,0,24.60,24.59,22.70
$GC,10991,0.44,234.1,989.5,7.5,477,11036,0.00,2.35,37.22,1.340,6,0.000,0.038,2961,1940,2165,0,0,0,0,0,0,28.83,24.35,22.89
$GC,11337,0.42,234.1,950.6,10.7,489,11342,0.00,2.22,0.00,0.000,4,0.000,0.041,2968,543,2156,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11468,0.42,234.1,937.8,10.4,493,11474,0.12,2.20,0.00,0.000,6,0.145,0.039,2932,1954,2157,0,0,0,0,0,0,25.77,25.94,28.83
$GC,11794,0.47,278.5,912.0,7.4,504,11840,0.00,2.35,38.83,1.356,4,0.000,0.053,2932,3342,1984,0,0,0,0,0,0,28.83,25.26,24.06
$GC,11888,0.52,323.9,905.2,7.3,507,11936,0.00,2.17,41.58,1.341,6,0.000,0.032,2937,1956,1800,0,0,0,0,0,0,28.83,25.63,23.80
$GC,12245,0.59,364.1,878.4,7.5,519,12288,0.12,2.38,35.55,1.329,4,0.090,0.053,3011,3340,1636,0,0,0,0,0,0,26.08,25.19,24.03
$GC,12307,0.59,364.1,870.6,9.9,521,12312,0.00,2.20,0.00,0.000,6,0.000,0.034,3014,1970,1634,0,0,0,0,0,0,28.83,25.44,28.83
$GC,12642,0.53,364.1,817.4,15.7,532,12648,0.12,2.22,0.00,0.000,4,0.165,0.041,2983,528,1630,0,0,0,0,0,0,25.93,26.01,28.83
$GC,12774,0.53,364.1,803.0,11.2,536,12780,0.00,2.17,0.00,0.000,6,0.000,0.038,2983,1938,1629,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13098,0.53,364.1,766.0,11.4,547,13103,0.00,2.22,0.00,0.000,4,0.000,0.053,2983,3349,1628,0,0,0,0,0,0,28.83,26.14,28.83
$GC,13125,0.53,364.1,766.0,11.4,547,13131,0.00,2.20,0.00,0.000,6,0.000,0.034,2983,1921,1628,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,20188,end climb,SURFACE_DEPTH_REACHED
$STATE,20189,begin surface coast
$FINISH,1.1,1.020433
$STATE,20220,end surface coast,CONTROL_FINISHED_OK
$STATE,20220,begin surface
$SM_CCo,20238,32.10,0.060,0,0,459,652.74
$SM_GC,2.02,7.95,1.25,32.10,0.045,0.043,0.060,134,2702,459,-8.29,-0.85,652.74,0,0,0,0,0,0,25.89,26.03,25.95
$IRIDIUM_FIX,2059.45,11959.59,150512,191948
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.88
$INTERNAL_PRESSURE,7.30069
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,22.7,29.670
$10V_AH,10.1,13.374
$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,22.050,179.475,673.775,32.100,0.000,0.000,0.000,480.175,0.000,0.000,17.673,2933.366,14305.524,819.062,2785.459,284.057,0.000,2586.845,0.000,2169.865,0.000,0.545,0.000
$DEVICE_MAMPS,243.270,77.265,1443.555,60.435,0.000,0.000,0.000,104.805,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20272.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.410,0.000,0.000,0.000
$MEM,325816
$DATA_FILE_SIZE,33344,906
$CAP_FILE_SIZE,233079,0
$CFSIZE,260165632,238141440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.135,284.3,1
$GPS,160512,013805,2110.699,11957.086,39,0.9,39,-2.9