version: 66.10
glider: 170
mission: 8
dive: 135
start: 5 17 112 8 2 25
data:
$ID,170
$MISSION,8
$DIVE,135
$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,-125904.97
$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,36
$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
$GPS1,170512,075436,2128.320,11958.439,25,0.9,25,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-75.7
$GPS2,170512,080201,2128.520,11958.445,18,0.9,18,-3.0
$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,24.5,30637,-13.9,-8.684
$D_GRID,2971
$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,-194.6,0.0,0.0,0,101,0.00,0.00,-81.47,0.000,2,0.000,0.000,136,2700,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.46,-194.6,3.6,-3.5,8,147,10.45,2.20,-22.17,0.000,4,0.245,0.047,2639,1285,3927,0,0,0,0,0,0,25.43,26.08,26.46
$GC,311,-0.39,-194.6,53.9,-19.5,27,317,0.12,2.20,0.00,0.000,6,0.167,0.047,2672,2681,3929,0,0,0,0,0,0,25.86,26.07,28.83
$GC,635,-0.42,-194.6,89.5,-8.6,43,641,0.00,1.60,0.00,0.000,4,0.000,0.057,2672,3697,3931,0,0,0,0,0,0,28.83,26.17,28.83
$GC,693,-0.46,-194.6,93.0,-8.2,45,700,0.00,1.50,0.00,0.000,6,0.000,0.032,2673,2667,3931,0,0,0,0,0,0,28.83,26.41,28.83
$GC,999,-0.53,-194.6,113.8,-5.9,61,1005,0.12,2.03,0.00,0.000,4,0.086,0.029,2590,1287,3932,0,0,0,0,0,0,26.54,26.39,28.83
$GC,1072,-0.53,-194.6,120.7,-9.6,64,1078,0.15,2.17,0.00,0.000,6,0.148,0.047,2633,2680,3932,0,0,0,0,0,0,26.07,26.28,28.83
$GC,1386,-0.54,-194.6,154.3,-9.9,80,1391,0.00,2.05,0.00,0.000,4,0.000,0.031,2633,1284,3932,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1412,-0.55,-194.6,156.3,-9.7,81,1418,0.00,2.15,0.00,0.000,6,0.000,0.045,2633,2668,3932,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1731,-0.59,-194.6,181.8,-8.1,97,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2668,3931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2032,-0.62,-194.6,206.6,-8.2,112,2034,0.12,0.00,0.00,0.000,6,0.091,0.000,2557,2669,3929,0,0,0,0,0,0,26.63,28.83,28.83
$GC,2331,-0.57,-194.6,250.5,-13.3,127,2337,0.17,1.62,0.00,0.000,4,0.138,0.055,2615,3696,3928,0,0,0,0,0,0,26.28,26.32,28.83
$GC,2385,-0.55,-194.6,255.2,-11.9,129,2390,0.00,1.52,0.00,0.000,6,0.000,0.031,2615,2631,3928,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2699,-0.58,-194.6,281.8,-8.4,145,2704,0.00,1.98,0.00,0.000,4,0.000,0.031,2615,1282,3927,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2776,-0.62,-194.6,287.4,-8.7,148,2783,0.00,2.15,0.00,0.000,6,0.000,0.046,2615,2670,3926,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3083,-0.66,-194.6,312.9,-7.6,164,3088,0.00,1.60,0.00,0.000,4,0.000,0.057,2615,3694,3924,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3129,-0.71,-194.6,316.4,-7.8,166,3135,0.10,1.55,0.00,0.000,6,0.050,0.033,2534,2660,3924,0,0,0,0,0,0,26.46,26.58,28.83
$GC,3448,-0.64,-194.6,361.2,-14.8,182,3455,0.17,2.03,0.00,0.000,4,0.143,0.028,2593,1278,3922,0,0,0,0,0,0,26.27,26.51,28.83
$GC,3506,-0.61,-194.6,366.4,-13.6,184,3513,0.00,2.15,0.00,0.000,6,0.000,0.045,2593,2659,3922,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3813,-0.63,-194.6,393.8,-8.3,200,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2659,3919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4114,-0.65,-194.6,418.3,-8.4,215,4119,0.00,2.03,0.00,0.000,4,0.000,0.031,2593,1288,3916,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4151,-0.67,-194.6,420.4,-8.5,216,4158,0.00,2.15,0.00,0.000,6,0.000,0.046,2593,2666,3916,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4457,-0.69,-194.6,446.6,-7.8,232,4462,0.00,1.62,0.00,0.000,4,0.000,0.057,2593,3693,3914,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4489,-0.72,-194.6,448.5,-7.7,233,4495,0.00,1.55,0.00,0.000,6,0.000,0.035,2593,2656,3914,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4803,-0.74,-194.6,473.4,-7.7,249,4808,0.00,2.03,0.00,0.000,4,0.000,0.032,2593,1271,3911,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4847,-0.77,-194.6,476.8,-7.9,251,4853,0.12,2.17,0.00,0.000,6,0.095,0.046,2523,2654,3909,0,0,0,0,0,0,26.34,26.33,28.83
$GC,5171,-0.71,-194.6,519.3,-13.3,267,5176,0.12,1.65,0.00,0.000,4,0.146,0.056,2565,3703,3908,0,0,0,0,0,0,26.40,26.27,28.83
$GC,5293,-0.71,-194.6,532.6,-10.2,273,5298,0.00,1.55,0.00,0.000,6,0.000,0.034,2565,2662,3907,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5616,-0.71,-194.6,565.7,-10.2,289,5621,0.00,2.03,0.00,0.000,4,0.000,0.031,2566,1278,3905,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5672,-0.71,-194.6,570.0,-10.3,291,5679,0.00,2.17,0.00,0.000,6,0.000,0.047,2566,2662,3904,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5978,-0.71,-194.6,600.9,-9.3,307,5984,0.00,1.67,0.00,0.000,4,0.000,0.059,2566,3699,3902,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6022,-0.71,-194.6,603.8,-9.1,308,6027,0.00,1.58,0.00,0.000,6,0.000,0.035,2566,2653,3902,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6344,-0.71,-194.6,633.4,-8.9,319,6349,0.00,2.03,0.00,0.000,4,0.000,0.032,2566,1273,3901,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6377,-0.71,-194.6,636.3,-8.8,320,6382,0.00,2.20,0.00,0.000,6,0.000,0.047,2566,2662,3900,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6712,-0.71,-194.6,665.6,-8.9,331,6717,0.00,1.65,0.00,0.000,4,0.000,0.059,2566,3696,3898,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6775,-0.71,-194.6,671.3,-8.9,333,6780,0.00,1.55,0.00,0.000,6,0.000,0.036,2566,2662,3898,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7109,-0.71,-194.6,700.6,-8.7,344,7114,0.00,2.05,0.00,0.000,4,0.000,0.033,2566,1268,3896,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7166,-0.71,-194.6,703.6,-8.7,345,7173,0.00,2.20,0.00,0.000,6,0.000,0.047,2566,2664,3896,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7472,-0.71,-194.6,731.7,-8.6,356,7477,0.00,2.08,0.00,0.000,4,0.000,0.032,2565,1271,3894,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7498,-0.71,-194.6,731.7,-8.6,356,7506,0.00,2.17,0.00,0.000,6,0.000,0.048,2565,2648,3894,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7805,-0.71,-194.6,761.7,-9.4,367,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2648,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8104,-0.71,-194.6,792.5,-10.3,377,8110,0.00,2.05,0.00,0.000,4,0.000,0.032,2565,1273,3891,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8131,-0.71,-194.6,792.5,-10.3,377,8137,0.00,2.17,0.00,0.000,6,0.000,0.048,2566,2648,3891,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8438,-0.71,-194.6,826.6,-10.0,388,8439,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2648,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8737,-0.71,-194.6,854.0,-8.8,398,8742,0.00,2.08,0.00,0.000,4,0.000,0.031,2566,1270,3888,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8773,-0.71,-194.6,856.9,-8.7,399,8778,0.00,2.17,0.00,0.000,6,0.000,0.048,2566,2643,3888,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9103,-0.72,-194.6,883.0,-7.7,410,9108,0.00,2.05,0.00,0.000,4,0.000,0.033,2565,1271,3887,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9160,-0.74,-194.6,885.8,-7.9,411,9168,0.00,2.15,0.00,0.000,6,0.000,0.047,2565,2628,3887,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9467,-0.75,-194.6,912.0,-8.1,422,9472,0.00,2.03,0.00,0.000,4,0.000,0.033,2566,1273,3886,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9500,-0.77,-194.6,914.9,-8.2,423,9505,0.00,2.15,0.00,0.000,6,0.000,0.047,2566,2624,3886,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9835,-0.79,-194.6,940.7,-7.2,434,9836,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2624,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10133,-0.80,-194.6,961.9,-7.1,444,10138,0.00,2.03,0.00,0.000,4,0.000,0.034,2565,1274,3884,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10180,-0.82,-194.6,964.2,-7.2,445,10186,0.00,2.15,0.00,0.000,6,0.000,0.048,2566,2628,3883,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10501,-0.84,-194.6,987.4,-6.9,456,10503,0.12,0.00,0.00,0.000,6,0.096,0.000,2498,2628,3882,0,0,0,0,0,0,26.64,28.83,28.83
$STATE,10527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10527,begin apogee
$GC,10533,-0.12,0.0,990.0,-7.3,457,10698,0.77,0.00,159.32,1.447,4,0.122,0.000,2752,1922,3122,0,0,0,0,0,0,25.55,28.83,23.25
$STATE,10699,end apogee,CONTROL_FINISHED_OK
$STATE,10699,begin climb
$GC,10702,0.46,194.6,995.9,0.0,462,10890,0.57,2.28,178.93,1.403,4,0.060,0.040,2961,545,2326,0,0,0,0,0,0,24.56,24.56,22.77
$GC,10904,0.46,259.9,989.0,6.7,469,10971,0.00,2.35,60.47,1.359,6,0.000,0.038,2961,1939,2060,0,0,0,0,0,0,28.83,24.29,22.82
$GC,11283,0.46,259.9,947.0,11.0,482,11289,0.00,2.20,0.00,0.000,4,0.000,0.041,2968,555,2051,0,0,0,0,0,0,28.83,25.81,28.83
$GC,11407,0.46,259.9,934.3,10.3,486,11413,0.00,2.17,0.00,0.000,6,0.000,0.038,2968,1947,2050,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11741,0.45,259.9,900.2,10.1,497,11746,0.00,2.22,0.00,0.000,4,0.000,0.052,2968,3350,2048,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11783,0.43,259.9,896.6,10.2,498,11789,0.12,2.15,0.00,0.000,6,0.161,0.032,2936,1954,2049,0,0,0,0,0,0,25.97,26.23,28.83
$GC,12109,0.48,296.1,870.6,7.6,509,12146,0.00,2.22,31.75,1.335,4,0.000,0.041,2942,538,1911,0,0,0,0,0,0,28.83,25.53,24.34
$GC,12179,0.53,329.6,865.9,7.7,511,12218,0.00,2.22,31.02,1.315,6,0.000,0.039,2942,1950,1776,0,0,0,0,0,0,28.83,25.67,23.98
$GC,12531,0.58,341.1,836.6,8.3,523,12550,0.12,2.30,10.75,1.198,4,0.091,0.052,3014,3344,1730,0,0,0,0,0,0,26.13,25.77,24.48
$GC,12587,0.61,341.1,832.8,9.0,524,12593,0.00,2.20,0.00,0.000,6,0.000,0.034,3023,1941,1729,0,0,0,0,0,0,28.83,25.90,28.83
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$STATE,20518,end climb,SURFACE_DEPTH_REACHED
$STATE,20518,begin surface coast
$FINISH,1.0,0.995987
$STATE,20548,end surface coast,CONTROL_FINISHED_OK
$STATE,20548,begin surface
$SM_CCo,20567,19.12,0.060,0,0,459,652.74
$SM_GC,1.93,8.07,1.23,19.12,0.047,0.041,0.060,134,2691,459,-8.29,-1.13,652.74,0,0,0,0,0,0,25.81,25.99,25.91
$IRIDIUM_FIX,2117.95,11959.05,170512,010157
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.80
$INTERNAL_PRESSURE,7.30069
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,22.8,31.068
$10V_AH,9.6,14.166
$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,22.400,197.100,662.475,19.125,0.000,0.000,0.000,246.500,0.250,0.000,19.003,3015.461,14299.145,820.829,2611.527,271.945,0.000,2388.234,0.000,2224.481,0.000,0.544,0.000
$DEVICE_MAMPS,244.800,58.905,1446.615,59.670,0.000,0.000,0.000,100.215,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20599.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.393,0.000,0.000,0.000
$MEM,325864
$DATA_FILE_SIZE,33275,917
$CAP_FILE_SIZE,238238,0
$CFSIZE,260165632,237539328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.115,299.3,1
$GPS,170512,134635,2132.061,11958.709,27,0.9,27,-3.0