version: 66.10
glider: 170
mission: 8
dive: 102
start: 5 8 112 16 3 37
data:
$ID,170
$MISSION,8
$DIVE,102
$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,-124306.89
$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,57
$R_STBD_OVSHOOT,41
$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
$GPS1,080512,153035,1931.480,12004.213,40,0.8,40,-2.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-74.8
$GPS2,080512,160313,1932.055,12004.550,19,1.5,20,-2.5
$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,211.6,59897,-13.9,-8.684
$D_GRID,4145
$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,-81.47,0.000,2,0.000,0.000,139,2675,2729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.46,-194.6,3.6,-3.6,8,142,10.60,1.70,-21.27,0.000,4,0.250,0.076,2642,3681,3926,0,0,0,0,0,0,25.49,25.96,26.41
$GC,215,-0.37,-194.6,32.6,-21.9,18,223,0.12,1.50,0.00,0.000,6,0.156,0.029,2677,2680,3928,0,0,0,0,0,0,25.91,26.21,28.83
$GC,532,-0.40,-194.6,74.9,-7.2,39,537,0.00,2.05,0.00,0.000,4,0.000,0.031,2678,1295,3930,0,0,0,0,0,0,28.83,26.30,28.83
$GC,584,-0.45,-194.6,77.0,-5.2,41,590,0.00,2.17,0.00,0.000,6,0.000,0.046,2677,2690,3930,0,0,0,0,0,0,28.83,26.23,28.83
$GC,897,-0.52,-194.6,105.4,-8.1,57,904,0.12,2.08,0.00,0.000,4,0.088,0.029,2594,1298,3929,0,0,0,0,0,0,26.51,26.40,28.83
$GC,966,-0.53,-194.6,110.3,-7.1,60,972,0.12,2.15,0.00,0.000,6,0.153,0.046,2628,2681,3929,0,0,0,0,0,0,26.16,26.33,28.83
$GC,1285,-0.55,-194.6,133.8,-5.9,76,1290,0.00,2.05,0.00,0.000,4,0.000,0.031,2629,1285,3928,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1332,-0.58,-194.6,137.5,-7.7,78,1338,0.00,2.12,0.00,0.000,6,0.000,0.045,2629,2662,3928,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1651,-0.61,-194.6,166.1,-8.7,94,1656,0.00,2.03,0.00,0.000,4,0.000,0.031,2629,1285,3926,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1688,-0.65,-194.6,168.2,-8.9,95,1695,0.12,2.12,0.00,0.000,6,0.084,0.046,2555,2659,3926,0,0,0,0,0,0,26.45,26.42,28.83
$GC,1994,-0.60,-194.6,214.5,-13.9,111,2000,0.15,2.00,0.00,0.000,4,0.150,0.029,2604,1297,3923,0,0,0,0,0,0,26.34,26.53,28.83
$GC,2052,-0.57,-194.6,219.4,-12.6,113,2060,0.00,2.08,0.00,0.000,6,0.000,0.046,2604,2639,3922,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2358,-0.59,-194.6,248.4,-9.2,129,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2639,3919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2659,-0.60,-194.6,276.1,-9.2,144,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2639,3917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2959,-0.63,-194.6,303.8,-9.3,159,2964,0.00,1.98,0.00,0.000,4,0.000,0.032,2604,1294,3913,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3011,-0.66,-194.6,307.8,-9.2,161,3017,0.00,2.08,0.00,0.000,6,0.000,0.044,2604,2637,3913,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3325,-0.69,-194.6,334.0,-7.8,177,3330,0.00,1.98,0.00,0.000,4,0.000,0.031,2604,1290,3910,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3369,-0.72,-194.6,337.2,-7.5,179,3375,0.12,2.08,0.00,0.000,6,0.090,0.044,2534,2625,3909,0,0,0,0,0,0,26.48,26.48,28.83
$GC,3692,-0.66,-194.6,380.3,-14.5,195,3699,0.15,1.67,0.00,0.000,4,0.148,0.054,2584,3693,3906,0,0,0,0,0,0,26.39,26.43,28.83
$GC,3797,-0.68,-194.6,391.1,-9.6,200,3804,0.00,1.58,0.00,0.000,6,0.000,0.033,2584,2640,3905,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4121,-0.68,-194.6,420.2,-8.6,216,4127,0.00,1.98,0.00,0.000,4,0.000,0.031,2584,1281,3903,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4178,-0.69,-194.6,423.8,-8.4,218,4185,0.00,2.10,0.00,0.000,6,0.000,0.046,2584,2633,3902,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4484,-0.69,-194.6,451.5,-8.9,234,4489,0.00,2.00,0.00,0.000,4,0.000,0.032,2584,1280,3899,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4531,-0.71,-194.6,455.3,-8.8,236,4536,0.00,2.10,0.00,0.000,6,0.000,0.047,2585,2625,3898,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4849,-0.72,-194.6,485.3,-9.3,252,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2625,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5149,-0.73,-194.6,511.8,-8.7,267,5155,0.00,1.70,0.00,0.000,4,0.000,0.057,2584,3702,3894,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5187,-0.75,-194.6,513.9,-8.5,268,5193,0.00,1.62,0.00,0.000,6,0.000,0.034,2584,2608,3894,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5493,-0.77,-194.6,539.7,-7.9,284,5498,0.00,1.95,0.00,0.000,4,0.000,0.032,2584,1271,3891,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5587,-0.79,-194.6,546.1,-7.7,288,5592,0.12,2.08,0.00,0.000,6,0.091,0.047,2521,2601,3890,0,0,0,0,0,0,26.44,26.44,28.83
$GC,5900,-0.73,-194.6,585.8,-13.2,304,5906,0.12,1.73,0.00,0.000,4,0.154,0.056,2562,3693,3888,0,0,0,0,0,0,26.43,26.38,28.83
$GC,5958,-0.69,-194.6,590.7,-12.4,306,5965,0.00,1.62,0.00,0.000,6,0.000,0.034,2562,2602,3887,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6284,-0.69,-194.6,624.0,-9.7,319,6289,0.00,1.95,0.00,0.000,4,0.000,0.036,2562,1273,3886,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6310,-0.69,-194.6,624.0,-9.7,319,6317,0.00,2.10,0.00,0.000,6,0.000,0.047,2562,2612,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6616,-0.69,-194.6,655.9,-9.6,330,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2612,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6916,-0.69,-194.6,685.1,-10.1,340,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2613,3882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7217,-0.69,-194.6,716.6,-10.8,350,7222,0.00,1.98,0.00,0.000,4,0.000,0.034,2562,1285,3880,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7258,-0.69,-194.6,720.5,-11.0,351,7263,0.00,2.08,0.00,0.000,6,0.000,0.047,2562,2608,3879,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7582,-0.69,-194.6,757.9,-11.5,362,7588,0.00,2.00,0.00,0.000,4,0.000,0.033,2562,1278,3878,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7629,-0.69,-194.6,761.6,-11.2,363,7634,0.00,2.10,0.00,0.000,6,0.000,0.047,2562,2607,3878,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7946,-0.69,-194.6,795.3,-9.6,374,7952,0.00,2.00,0.00,0.000,4,0.000,0.034,2562,1278,3876,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7968,-0.69,-194.6,795.3,-9.6,374,7973,0.00,2.08,0.00,0.000,6,0.000,0.048,2562,2597,3877,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8282,-0.69,-194.6,822.2,-7.5,385,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2597,3878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8581,-0.69,-194.6,843.9,-7.2,395,8582,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2597,3875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8881,-0.69,-194.6,866.8,-7.8,405,8882,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2597,3874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9180,-0.69,-194.6,893.4,-9.2,415,9186,0.00,1.98,0.00,0.000,4,0.000,0.034,2562,1277,3872,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9249,-0.69,-194.6,899.5,-9.5,417,9254,0.00,2.08,0.00,0.000,6,0.000,0.048,2562,2592,3872,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9578,-0.71,-194.6,931.5,-9.4,428,9579,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2591,3871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9878,-0.72,-194.6,957.0,-8.1,438,9879,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2592,3869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10177,-0.72,-194.6,979.5,-7.5,448,10178,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2592,3868,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10325,begin apogee
$GC,10331,-0.12,0.0,990.8,-7.5,453,10491,0.57,0.00,153.32,1.433,4,0.110,0.000,2759,1924,3120,0,0,0,0,0,0,25.98,28.83,23.58
$STATE,10492,end apogee,CONTROL_FINISHED_OK
$STATE,10492,begin climb
$GC,10494,0.46,194.6,997.0,0.0,458,10676,0.50,0.00,174.88,1.395,6,0.054,0.000,2966,1924,2326,0,0,0,0,0,0,24.76,28.83,23.05
$GC,10989,0.42,194.6,958.6,9.9,475,10995,0.00,2.35,0.00,0.000,4,0.000,0.052,2966,3352,2318,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11132,0.35,194.6,944.8,11.2,479,11138,0.20,2.17,0.00,0.000,6,0.148,0.034,2913,1956,2316,0,0,0,0,0,0,25.71,25.99,28.83
$GC,11447,0.40,265.2,921.1,6.6,490,11511,0.00,0.00,61.83,1.367,6,0.000,0.000,2913,1956,2039,0,0,0,0,0,0,28.83,28.83,23.96
$GC,11807,0.49,346.0,897.8,6.3,502,11881,0.12,0.00,71.53,1.350,6,0.088,0.000,2983,1951,1710,0,0,0,0,0,0,26.05,28.83,23.84
$GC,12166,0.46,346.0,855.9,12.1,514,12168,0.12,0.00,0.00,0.000,6,0.147,0.000,2948,1951,1703,0,0,0,0,0,0,25.83,28.83,28.83
$GC,12467,0.48,349.9,829.5,8.6,524,12472,0.00,2.25,0.00,0.000,4,0.000,0.052,2948,3354,1702,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12500,0.50,349.9,826.3,8.8,525,12505,0.00,2.17,0.00,0.000,6,0.000,0.034,2954,1954,1702,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12835,0.52,349.9,796.6,8.8,536,12836,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1954,1701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13132,0.54,349.9,769.7,8.9,546,13133,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1954,1700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13433,0.55,349.9,742.3,9.1,556,13434,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1954,1699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13733,0.57,349.9,713.4,9.6,566,13734,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1954,1699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14033,0.59,349.9,685.0,9.6,576,14039,0.10,2.22,0.00,0.000,4,0.110,0.051,3011,3350,1699,0,0,0,0,0,0,26.55,26.29,28.83
$GC,14061,0.61,349.9,685.0,9.6,576,14068,0.00,2.15,0.00,0.000,6,0.000,0.034,3012,1950,1699,0,0,0,0,0,0,28.83,26.44,28.83
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$STATE,20483,end climb,SURFACE_DEPTH_REACHED
$STATE,20483,begin surface coast
$FINISH,1.0,1.012185
$STATE,20505,end surface coast,CONTROL_FINISHED_OK
$STATE,20505,begin surface
$SM_CCo,20523,38.22,0.060,0,0,458,652.74
$SM_GC,1.75,8.12,1.15,38.22,0.045,0.047,0.060,137,2695,458,-8.28,-0.96,652.74,0,0,0,0,0,0,25.89,26.05,25.96
$IRIDIUM_FIX,1922.94,12000.57,080512,151523
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.43
$INTERNAL_PRESSURE,7.2714
$TCM_TEMP,23.50
$XPDR_PINGS,60
$24V_AH,23.0,22.336
$10V_AH,9.9,9.563
$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,22.675,163.925,645.975,38.225,0.000,0.000,0.000,1240.850,15.000,0.000,21.031,2909.973,14849.776,831.753,3346.566,572.091,0.000,3260.383,0.000,2036.243,0.000,0.545,0.000
$DEVICE_MAMPS,250.155,75.735,1432.845,60.435,0.000,0.000,0.000,101.745,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20538.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.263,0.000,0.000,0.000
$MEM,324320
$DATA_FILE_SIZE,33342,916
$CAP_FILE_SIZE,239066,0
$CFSIZE,260165632,240029696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.070,146.3,1
$GPS,080512,214735,1928.252,12003.383,40,0.8,40,-2.5