version: 66.10
glider: 170
mission: 8
dive: 118
start: 5 12 112 19 3 0
data:
$ID,170
$MISSION,8
$DIVE,118
$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,-124912.02
$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,44
$R_STBD_OVSHOOT,25
$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
$GPS1,120512,185253,2015.692,12009.195,36,0.9,36,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-73.8
$GPS2,120512,190236,2015.942,12009.546,15,0.9,16,-2.7
$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,312.0,165750,-13.9,-8.684
$D_GRID,3679
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.46,-194.6,0.0,0.0,0,108,0.00,0.00,-81.25,0.000,2,0.000,0.000,135,2684,2699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.46,-194.6,3.7,-3.9,8,154,10.52,1.67,-22.83,0.000,4,0.247,0.080,2638,3689,3926,0,0,0,0,0,0,25.40,25.90,26.39
$GC,289,-0.45,-194.6,39.2,-13.0,25,294,0.00,1.52,0.00,0.000,6,0.000,0.031,2638,2655,3929,0,0,0,0,0,0,28.83,26.20,28.83
$GC,613,-0.46,-194.6,73.5,-7.9,45,619,0.00,2.00,0.00,0.000,4,0.000,0.031,2638,1301,3930,0,0,0,0,0,0,28.83,26.27,28.83
$GC,682,-0.49,-194.6,79.0,-8.4,48,687,0.00,2.15,0.00,0.000,6,0.000,0.046,2638,2678,3930,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1000,-0.53,-194.6,108.2,-9.7,64,1005,0.00,2.08,0.00,0.000,4,0.000,0.043,2638,1292,3931,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1106,-0.57,-194.6,118.8,-10.3,69,1113,0.00,2.10,0.00,0.000,6,0.000,0.045,2638,2644,3931,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1427,-0.62,-194.6,144.1,-6.3,85,1433,0.12,2.00,0.00,0.000,4,0.089,0.028,2559,1300,3930,0,0,0,0,0,0,26.55,26.43,28.83
$GC,1510,-0.59,-194.6,152.2,-9.6,89,1516,0.17,2.08,0.00,0.000,6,0.144,0.047,2610,2621,3929,0,0,0,0,0,0,26.08,26.31,28.83
$GC,1837,-0.61,-194.6,167.9,-3.3,105,1842,0.00,1.98,0.00,0.000,4,0.000,0.032,2611,1296,3928,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1881,-0.63,-194.6,169.6,-3.7,107,1886,0.00,2.05,0.00,0.000,6,0.000,0.047,2610,2603,3928,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2204,-0.66,-194.6,187.8,-7.4,123,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2603,3926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2503,-0.69,-194.6,216.5,-11.1,138,2509,0.10,1.95,0.00,0.000,4,0.105,0.028,2548,1294,3925,0,0,0,0,0,0,26.65,26.49,28.83
$GC,2571,-0.69,-194.6,225.8,-14.2,141,2577,0.00,2.03,0.00,0.000,6,0.000,0.048,2547,2587,3924,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2889,-0.65,-194.6,280.6,-15.9,157,2895,0.12,1.73,0.00,0.000,4,0.167,0.054,2589,3690,3923,0,0,0,0,0,0,26.35,26.33,28.83
$GC,2961,-0.65,-194.6,289.5,-14.2,160,2968,0.00,1.65,0.00,0.000,6,0.000,0.031,2590,2564,3923,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3276,-0.67,-194.6,320.4,-7.8,176,3281,0.00,1.85,0.00,0.000,4,0.000,0.032,2590,1304,3920,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3308,-0.69,-194.6,322.5,-8.1,177,3313,0.00,1.98,0.00,0.000,6,0.000,0.048,2590,2565,3920,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3621,-0.70,-194.6,344.4,-6.3,193,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2565,3917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3922,-0.72,-194.6,362.8,-6.2,208,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2565,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4221,-0.73,-194.6,382.6,-7.0,223,4227,0.00,1.90,0.00,0.000,4,0.000,0.031,2590,1289,3913,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4248,-0.75,-194.6,384.4,-7.1,224,4253,0.00,1.98,0.00,0.000,6,0.000,0.044,2590,2561,3913,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4567,-0.76,-194.6,409.0,-8.1,240,4573,0.12,1.80,0.00,0.000,4,0.093,0.056,2514,3697,3911,0,0,0,0,0,0,26.65,26.31,28.83
$GC,4591,-0.76,-194.6,411.7,-8.7,241,4597,0.15,1.70,0.00,0.000,6,0.139,0.033,2558,2561,3910,0,0,0,0,0,0,26.23,26.58,28.83
$GC,4915,-0.74,-194.6,446.8,-10.4,257,4922,0.00,1.85,0.00,0.000,4,0.000,0.031,2559,1299,3909,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4983,-0.73,-194.6,453.4,-10.3,260,4988,0.00,1.92,0.00,0.000,6,0.000,0.045,2558,2537,3908,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5301,-0.73,-194.6,487.9,-10.7,276,5306,0.00,1.83,0.00,0.000,4,0.000,0.058,2559,3689,3907,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5372,-0.73,-194.6,494.3,-10.3,279,5378,0.00,1.70,0.00,0.000,6,0.000,0.035,2559,2574,3906,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5685,-0.73,-194.6,524.4,-9.1,295,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2574,3904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5985,-0.73,-194.6,555.3,-11.2,310,5991,0.00,1.83,0.00,0.000,4,0.000,0.058,2558,3690,3903,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6031,-0.73,-194.6,560.6,-11.8,312,6036,0.00,1.67,0.00,0.000,6,0.000,0.034,2558,2569,3902,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6359,-0.73,-194.6,605.3,-14.1,328,6365,0.00,1.88,0.00,0.000,4,0.000,0.031,2558,1290,3901,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6411,-0.73,-194.6,610.1,-14.1,329,6416,0.00,1.98,0.00,0.000,6,0.000,0.045,2558,2554,3901,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6723,-0.73,-194.6,654.5,-12.6,340,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2554,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7024,-0.73,-194.6,683.6,-8.3,350,7030,0.00,1.80,0.00,0.000,4,0.000,0.060,2558,3697,3897,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7097,-0.73,-194.6,687.8,-7.2,352,7102,0.00,1.70,0.00,0.000,6,0.000,0.034,2558,2586,3897,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7420,-0.73,-194.6,700.7,-3.1,363,7426,0.00,1.90,0.00,0.000,4,0.000,0.032,2559,1302,3895,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7503,-0.73,-194.6,702.4,-2.8,365,7509,0.00,1.95,0.00,0.000,6,0.000,0.046,2558,2547,3895,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7816,-0.73,-194.6,714.1,-4.4,376,7822,0.00,1.83,0.00,0.000,4,0.000,0.060,2558,3693,3894,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7869,-0.73,-194.6,716.0,-4.9,377,7874,0.00,1.73,0.00,0.000,6,0.000,0.035,2558,2569,3894,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8181,-0.73,-194.6,745.4,-10.9,388,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2569,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8481,-0.73,-194.6,787.3,-14.8,398,8487,0.00,1.85,0.00,0.000,4,0.000,0.031,2559,1301,3891,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8574,-0.73,-194.6,801.2,-14.9,401,8580,0.00,1.98,0.00,0.000,6,0.000,0.046,2559,2555,3890,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8907,-0.73,-194.6,849.6,-14.5,412,8908,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2556,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9207,-0.73,-194.6,886.0,-11.1,422,9213,0.00,1.90,0.00,0.000,4,0.000,0.032,2558,1291,3888,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9270,-0.73,-194.6,892.4,-10.5,424,9276,0.00,2.00,0.00,0.000,6,0.000,0.046,2559,2558,3888,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9604,-0.73,-194.6,915.9,-5.8,435,9610,0.00,1.88,0.00,0.000,4,0.000,0.032,2558,1295,3887,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9652,-0.73,-194.6,917.8,-5.7,436,9657,0.00,1.98,0.00,0.000,6,0.000,0.047,2558,2548,3887,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9970,-0.73,-194.6,933.4,-4.2,447,9975,0.00,1.88,0.00,0.000,4,0.000,0.033,2558,1300,3885,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9996,-0.73,-194.6,933.4,-4.2,447,10003,0.00,1.98,0.00,0.000,6,0.000,0.047,2558,2550,3885,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10303,-0.73,-194.6,950.9,-6.0,458,10304,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2550,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10603,-0.74,-194.6,973.6,-8.1,468,10609,0.00,1.90,0.00,0.000,4,0.000,0.033,2558,1292,3883,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10631,-0.76,-194.6,973.6,-8.1,468,10638,0.00,1.95,0.00,0.000,6,0.000,0.047,2558,2530,3883,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,10814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10814,begin apogee
$GC,10820,-0.12,0.0,991.4,-8.4,475,10986,0.57,0.00,159.88,1.440,4,0.111,0.000,2755,1935,3120,0,0,0,0,0,0,25.83,28.83,23.34
$STATE,10987,end apogee,CONTROL_FINISHED_OK
$STATE,10987,begin climb
$GC,10989,0.46,194.6,999.1,0.0,480,11177,0.52,0.00,178.43,1.398,6,0.051,0.000,2968,1935,2325,0,0,0,0,0,0,24.58,28.83,22.87
$GC,11477,0.42,194.6,965.9,8.7,497,11483,0.12,2.33,0.00,0.000,4,0.156,0.050,2929,3354,2315,0,0,0,0,0,0,25.65,25.68,28.83
$GC,11594,0.40,216.3,958.5,8.0,500,11621,0.00,2.15,19.20,1.314,6,0.000,0.032,2930,1969,2239,0,0,0,0,0,0,28.83,25.96,24.34
$GC,11934,0.44,285.7,933.7,6.6,512,12002,0.00,2.38,62.15,1.375,4,0.000,0.053,2930,3352,1955,0,0,0,0,0,0,28.83,24.89,23.85
$GC,12026,0.48,343.5,927.2,7.0,515,12085,0.00,2.25,52.40,1.346,6,0.000,0.034,2930,1958,1719,0,0,0,0,0,0,28.83,25.27,23.66
$GC,12386,0.56,396.1,902.5,7.1,527,12439,0.12,2.33,46.28,1.343,4,0.091,0.044,3010,539,1506,0,0,0,0,0,0,25.99,25.00,23.92
$GC,12462,0.57,396.1,895.2,9.4,529,12468,0.00,2.30,0.00,0.000,6,0.000,0.038,3010,1966,1504,0,0,0,0,0,0,28.83,25.30,28.83
$GC,12782,0.54,396.1,844.1,15.9,540,12788,0.12,2.25,0.00,0.000,4,0.153,0.041,2978,524,1500,0,0,0,0,0,0,25.89,25.98,28.83
$GC,12820,0.52,396.1,839.2,15.5,541,12826,0.00,2.22,0.00,0.000,6,0.000,0.038,2978,1950,1499,0,0,0,0,0,0,28.83,26.03,28.83
$GC,13150,0.52,396.1,797.8,11.9,552,13155,0.00,2.25,0.00,0.000,4,0.000,0.052,2978,3353,1498,0,0,0,0,0,0,28.83,26.11,28.83
$GC,13171,0.52,396.1,797.8,11.9,552,13176,0.00,2.20,0.00,0.000,6,0.000,0.034,2982,1927,1498,0,0,0,0,0,0,28.83,26.23,28.83
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$STATE,20062,end climb,SURFACE_DEPTH_REACHED
$STATE,20062,begin surface coast
$FINISH,1.0,1.007779
$STATE,20073,end surface coast,CONTROL_FINISHED_OK
$STATE,20073,begin surface
$SM_CCo,20151,0.00,0.000,0,0,459,652.74
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$IRIDIUM_FIX,1959.59,12029.10,120512,131319
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.80
$INTERNAL_PRESSURE,7.28116
$TCM_TEMP,23.80
$XPDR_PINGS,3
$24V_AH,22.9,26.782
$10V_AH,9.7,11.719
$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,22.200,185.775,739.925,0.000,0.000,0.000,0.000,370.125,0.750,0.000,17.019,2943.679,14001.312,836.278,2671.319,267.660,0.000,2519.038,0.000,2142.483,0.000,0.543,0.000
$DEVICE_MAMPS,247.095,79.560,1440.495,0.000,0.000,0.000,0.000,101.745,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9160.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.935,0.000,0.000,0.000
$MEM,325300
$DATA_FILE_SIZE,33416,887
$CAP_FILE_SIZE,211073,0
$CFSIZE,260165632,239460352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.147, 92.5,1
$GPS,130512,004006,2017.735,12008.618,41,0.8,41,-2.7