version: 66.10
glider: 170
mission: 8
dive: 114
start: 5 11 112 20 19 36
data:
$ID,170
$MISSION,8
$DIVE,114
$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,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,-124906.96
$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,41
$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
$GPS1,110512,201035,2000.565,12008.710,30,0.7,30,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-76.4
$GPS2,110512,201912,2000.669,12008.903,18,0.8,19,-2.6
$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,325.5,193827,-13.9,-8.684
$D_GRID,3714
$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,-81.10,0.000,2,0.000,0.000,134,2687,2698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.46,-194.6,3.6,-3.5,8,146,10.43,1.62,-22.88,0.000,4,0.245,0.074,2642,3695,3925,0,0,0,0,0,0,25.45,25.95,26.44
$GC,251,-0.40,-194.6,36.8,-17.2,22,256,0.00,1.52,0.00,0.000,6,0.000,0.031,2642,2667,3928,0,0,0,0,0,0,28.83,26.22,28.83
$GC,573,-0.40,-194.6,67.5,-8.9,43,578,0.00,2.03,0.00,0.000,4,0.000,0.030,2642,1280,3931,0,0,0,0,0,0,28.83,26.29,28.83
$GC,670,-0.43,-194.6,77.1,-11.6,47,676,0.00,2.15,0.00,0.000,6,0.000,0.044,2643,2660,3931,0,0,0,0,0,0,28.83,26.20,28.83
$GC,977,-0.46,-194.6,120.2,-11.9,63,982,0.00,2.05,0.00,0.000,4,0.000,0.030,2643,1278,3931,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1085,-0.50,-194.6,129.5,-8.5,68,1091,0.00,2.08,0.00,0.000,6,0.000,0.042,2643,2625,3931,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1404,-0.55,-194.6,140.5,-1.3,84,1410,0.00,1.98,0.00,0.000,4,0.000,0.030,2642,1280,3931,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1451,-0.60,-194.6,141.2,-1.5,86,1457,0.12,2.08,0.00,0.000,6,0.084,0.043,2570,2623,3932,0,0,0,0,0,0,26.36,26.34,28.83
$GC,1770,-0.57,-194.6,170.5,-12.3,102,1776,0.12,1.95,0.00,0.000,4,0.154,0.027,2613,1285,3930,0,0,0,0,0,0,26.34,26.49,28.83
$GC,1808,-0.55,-194.6,173.4,-12.3,103,1815,0.00,2.05,0.00,0.000,6,0.000,0.044,2613,2611,3930,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2114,-0.58,-194.6,208.5,-10.4,119,2119,0.00,1.95,0.00,0.000,4,0.000,0.031,2613,1288,3929,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2171,-0.61,-194.6,212.7,-10.1,121,2178,0.00,2.00,0.00,0.000,6,0.000,0.044,2613,2583,3929,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2477,-0.64,-194.6,237.3,-6.5,137,2482,0.00,1.92,0.00,0.000,4,0.000,0.029,2613,1276,3927,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2504,-0.67,-194.6,238.7,-6.3,138,2509,0.00,2.00,0.00,0.000,6,0.000,0.044,2613,2570,3927,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2822,-0.71,-194.6,258.8,-6.9,154,2824,0.12,0.00,0.00,0.000,6,0.089,0.000,2544,2570,3925,0,0,0,0,0,0,26.65,28.83,28.83
$GC,3122,-0.66,-194.6,297.3,-13.8,169,3129,0.12,1.90,0.00,0.000,4,0.155,0.028,2586,1279,3924,0,0,0,0,0,0,26.40,26.54,28.83
$GC,3171,-0.64,-194.6,302.7,-13.1,171,3176,0.00,1.98,0.00,0.000,6,0.000,0.044,2586,2555,3923,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3488,-0.64,-194.6,339.3,-11.1,187,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2555,3922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3789,-0.64,-194.6,373.3,-12.0,202,3794,0.00,1.88,0.00,0.000,4,0.000,0.030,2586,1284,3919,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3826,-0.64,-194.6,376.2,-12.2,203,3833,0.00,1.95,0.00,0.000,6,0.000,0.044,2586,2547,3919,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4132,-0.64,-194.6,411.7,-10.1,219,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2547,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4434,-0.65,-194.6,432.6,-5.0,234,4440,0.00,1.80,0.00,0.000,4,0.000,0.057,2586,3692,3915,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4472,-0.67,-194.6,433.7,-4.7,235,4478,0.00,1.70,0.00,0.000,6,0.000,0.034,2586,2550,3915,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4778,-0.69,-194.6,449.2,-6.0,251,4783,0.00,1.85,0.00,0.000,4,0.000,0.030,2586,1280,3913,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4805,-0.71,-194.6,450.7,-6.3,252,4811,0.00,1.98,0.00,0.000,6,0.000,0.045,2586,2554,3913,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5124,-0.73,-194.6,479.2,-9.8,268,5129,0.00,1.83,0.00,0.000,4,0.000,0.058,2586,3694,3911,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5150,-0.75,-194.6,481.4,-9.7,269,5156,0.00,1.70,0.00,0.000,6,0.000,0.034,2586,2553,3910,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5469,-0.77,-194.6,512.5,-9.5,285,5474,0.00,1.85,0.00,0.000,4,0.000,0.030,2586,1284,3908,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5515,-0.79,-194.6,516.6,-9.5,287,5521,0.12,1.98,0.00,0.000,6,0.092,0.044,2522,2558,3908,0,0,0,0,0,0,26.37,26.37,28.83
$GC,5833,-0.73,-194.6,563.5,-15.8,303,5840,0.12,1.80,0.00,0.000,4,0.151,0.057,2563,3696,3906,0,0,0,0,0,0,26.41,26.29,28.83
$GC,5857,-0.69,-194.6,567.0,-15.4,304,5864,0.00,1.73,0.00,0.000,6,0.000,0.034,2563,2547,3906,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6181,-0.69,-194.6,608.1,-12.2,319,6186,0.00,1.85,0.00,0.000,4,0.000,0.031,2563,1280,3905,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6232,-0.69,-194.6,611.9,-12.1,320,6238,0.00,1.98,0.00,0.000,6,0.000,0.045,2564,2555,3904,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6547,-0.69,-194.6,644.9,-8.6,331,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2555,3904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6845,-0.69,-194.6,664.5,-6.1,341,6851,0.00,1.88,0.00,0.000,4,0.000,0.031,2564,1289,3901,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6872,-0.69,-194.6,664.5,-6.1,341,6879,0.00,1.95,0.00,0.000,6,0.000,0.045,2564,2539,3901,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7179,-0.69,-194.6,687.4,-7.6,352,7184,0.00,1.85,0.00,0.000,4,0.000,0.060,2564,3701,3900,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7236,-0.69,-194.6,690.3,-8.0,353,7243,0.00,1.73,0.00,0.000,6,0.000,0.034,2563,2551,3899,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7542,-0.69,-194.6,723.7,-10.8,364,7548,0.00,1.88,0.00,0.000,4,0.000,0.032,2563,1278,3897,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7575,-0.69,-194.6,727.5,-10.9,365,7580,0.00,2.00,0.00,0.000,6,0.000,0.047,2564,2550,3897,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7908,-0.69,-194.6,763.9,-11.0,376,7910,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2550,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8207,-0.69,-194.6,795.3,-10.3,386,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2550,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8507,-0.69,-194.6,822.4,-8.2,396,8513,0.00,1.90,0.00,0.000,4,0.000,0.032,2563,1281,3894,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8574,-0.69,-194.6,827.2,-7.8,398,8579,0.00,1.98,0.00,0.000,6,0.000,0.047,2563,2540,3894,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8902,-0.69,-194.6,850.6,-6.9,409,8908,0.00,1.83,0.00,0.000,4,0.000,0.060,2563,3696,3892,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8924,-0.69,-194.6,850.6,-6.9,409,8929,0.00,1.75,0.00,0.000,6,0.000,0.036,2564,2540,3892,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9238,-0.70,-194.6,873.6,-7.2,420,9243,0.00,1.85,0.00,0.000,4,0.000,0.032,2564,1291,3891,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9321,-0.72,-194.6,878.5,-7.5,422,9326,0.00,1.92,0.00,0.000,6,0.000,0.046,2563,2522,3890,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9634,-0.73,-194.6,907.6,-9.3,433,9635,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2523,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9934,-0.75,-194.6,933.6,-8.3,443,9935,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2522,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10234,-0.76,-194.6,956.5,-7.2,453,10239,0.00,1.85,0.00,0.000,4,0.000,0.033,2564,1291,3887,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10270,-0.78,-194.6,958.7,-7.0,454,10276,0.00,1.92,0.00,0.000,6,0.000,0.047,2564,2519,3888,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10600,-0.79,-194.6,979.3,-6.4,465,10606,0.00,1.88,0.00,0.000,4,0.000,0.060,2564,3689,3887,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10637,-0.81,-194.6,981.6,-6.6,466,10642,0.00,1.77,0.00,0.000,6,0.000,0.037,2564,2525,3887,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,10783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10783,begin apogee
$GC,10789,-0.12,0.0,991.5,-6.6,471,10954,0.57,0.00,158.73,1.440,4,0.111,0.000,2759,1933,3121,0,0,0,0,0,0,25.84,28.83,23.34
$STATE,10955,end apogee,CONTROL_FINISHED_OK
$STATE,10955,begin climb
$GC,10957,0.46,194.6,998.6,0.0,476,11146,0.55,2.25,178.75,1.400,4,0.060,0.038,2961,559,2327,0,0,0,0,0,0,24.62,24.62,22.79
$GC,11169,0.49,323.1,994.8,4.8,483,11294,0.00,2.30,117.85,1.375,6,0.000,0.037,2961,1940,1803,0,0,0,0,0,0,28.83,24.44,22.84
$GC,11594,0.51,357.4,958.9,7.7,497,11632,0.00,2.38,31.00,1.334,4,0.000,0.054,2961,3340,1663,0,0,0,0,0,0,28.83,25.08,23.94
$GC,11695,0.52,385.3,951.5,7.9,500,11730,0.00,2.17,26.55,1.317,6,0.000,0.032,2968,1960,1550,0,0,0,0,0,0,28.83,25.57,23.87
$GC,12047,0.54,420.1,923.3,7.6,512,12086,0.00,2.30,31.65,1.334,4,0.000,0.043,2968,545,1407,0,0,0,0,0,0,28.83,25.25,24.10
$GC,12113,0.58,465.1,918.9,7.3,514,12163,0.00,2.25,42.03,1.336,6,0.000,0.037,2968,1955,1224,0,0,0,0,0,0,28.83,25.47,23.80
$GC,12471,0.64,491.7,891.8,7.9,526,12502,0.12,2.35,24.20,1.304,4,0.090,0.053,3048,3346,1116,0,0,0,0,0,0,26.03,25.36,24.22
$GC,12524,0.66,491.7,888.1,8.8,527,12530,0.15,2.22,0.00,0.000,6,0.156,0.034,3011,1944,1116,0,0,0,0,0,0,25.39,25.56,28.83
$GC,12839,0.64,491.7,832.2,16.8,538,12844,0.00,2.17,0.00,0.000,4,0.000,0.042,3011,538,1113,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,19072,end climb,SURFACE_DEPTH_REACHED
$STATE,19072,begin surface coast
$FINISH,1.1,1.011597
$STATE,19095,end surface coast,CONTROL_FINISHED_OK
$STATE,19095,begin surface
$SM_CCo,19173,0.00,0.000,0,0,459,652.99
$SM_GC,1.91,8.15,1.17,0.00,0.044,0.047,0.000,137,2689,459,-8.27,-0.90,652.99,0,0,0,0,0,0,25.96,26.10,28.83
$IRIDIUM_FIX,1948.12,12010.27,110512,141417
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.08
$INTERNAL_PRESSURE,7.26163
$TCM_TEMP,21.90
$XPDR_PINGS,3
$24V_AH,22.8,25.795
$10V_AH,9.5,11.220
$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,21.825,163.325,750.450,0.000,0.000,0.000,0.000,331.825,0.750,0.000,19.651,2689.900,13454.168,828.354,2447.444,258.589,0.000,2375.505,0.000,1993.280,0.000,0.542,0.000
$DEVICE_MAMPS,244.800,74.205,1440.495,0.000,0.000,0.000,0.000,97.920,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19131.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.212,0.000,0.000,0.000
$MEM,325328
$DATA_FILE_SIZE,30064,840
$CAP_FILE_SIZE,217762,0
$CFSIZE,260165632,239906816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.208,109.6,1
$GPS,120512,014023,2002.605,12008.651,41,0.9,41,-2.7