version: 66.10
glider: 170
mission: 8
dive: 133
start: 5 16 112 20 3 49
data:
$ID,170
$MISSION,8
$DIVE,133
$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,-125902.34
$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,46
$R_STBD_OVSHOOT,33
$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
$GPS1,160512,195535,2121.211,11958.373,31,0.9,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-74.8
$GPS2,160512,200325,2121.174,11958.273,17,1.1,17,-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,22.6,44225,-13.9,-8.684
$D_GRID,2961
$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,-194.6,0.0,0.0,0,102,0.00,0.00,-81.72,0.000,2,0.000,0.000,134,2706,2700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.46,-194.6,3.4,-3.2,8,147,10.18,1.62,-22.75,0.000,4,0.236,0.074,2639,3691,3926,0,0,0,0,0,0,25.42,25.99,26.47
$GC,234,-0.37,-194.6,37.5,-22.9,20,242,0.15,1.50,0.00,0.000,6,0.147,0.031,2683,2668,3930,0,0,0,0,0,0,25.89,26.24,28.83
$GC,551,-0.37,-194.6,81.9,-12.1,40,556,0.00,1.65,0.00,0.000,4,0.000,0.055,2683,3695,3931,0,0,0,0,0,0,28.83,26.15,28.83
$GC,573,-0.37,-194.6,84.5,-12.2,41,578,0.00,1.50,0.00,0.000,6,0.000,0.032,2684,2712,3930,0,0,0,0,0,0,28.83,26.36,28.83
$GC,896,-0.44,-194.6,105.0,-6.1,57,902,0.00,2.10,0.00,0.000,4,0.000,0.031,2684,1285,3932,0,0,0,0,0,0,28.83,26.37,28.83
$GC,964,-0.51,-194.6,108.6,-5.6,60,970,0.15,2.20,0.00,0.000,6,0.078,0.044,2598,2707,3931,0,0,0,0,0,0,26.32,26.29,28.83
$GC,1283,-0.48,-194.6,149.2,-11.9,76,1289,0.12,1.52,0.00,0.000,4,0.152,0.053,2640,3692,3931,0,0,0,0,0,0,26.32,26.29,28.83
$GC,1356,-0.49,-194.6,155.3,-10.1,79,1361,0.00,1.50,0.00,0.000,6,0.000,0.032,2641,2691,3932,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1669,-0.54,-194.6,180.0,-6.8,95,1674,0.00,2.08,0.00,0.000,4,0.000,0.031,2641,1280,3931,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1767,-0.59,-194.6,186.1,-7.4,99,1774,0.00,2.17,0.00,0.000,6,0.000,0.045,2641,2685,3931,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2072,-0.64,-194.6,207.9,-6.2,115,2078,0.12,2.08,0.00,0.000,4,0.085,0.030,2557,1284,3929,0,0,0,0,0,0,26.65,26.42,28.83
$GC,2096,-0.67,-194.6,210.0,-6.6,116,2102,0.00,2.20,0.00,0.000,6,0.000,0.047,2557,2694,3929,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2420,-0.61,-194.6,254.6,-13.9,132,2425,0.12,1.55,0.00,0.000,4,0.168,0.053,2599,3696,3927,0,0,0,0,0,0,26.34,26.34,28.83
$GC,2543,-0.63,-194.6,267.2,-9.2,138,2548,0.00,1.50,0.00,0.000,6,0.000,0.032,2599,2702,3928,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2866,-0.64,-194.6,297.7,-9.6,154,2872,0.00,2.08,0.00,0.000,4,0.000,0.031,2599,1280,3925,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2923,-0.66,-194.6,301.9,-9.3,156,2930,0.00,2.20,0.00,0.000,6,0.000,0.047,2599,2699,3924,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3231,-0.68,-194.6,326.4,-7.3,172,3236,0.00,2.10,0.00,0.000,4,0.000,0.031,2599,1287,3925,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3274,-0.70,-194.6,329.7,-7.6,174,3279,0.00,2.17,0.00,0.000,6,0.000,0.045,2599,2683,3923,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3597,-0.72,-194.6,354.3,-7.7,190,3602,0.00,1.60,0.00,0.000,4,0.000,0.057,2599,3700,3920,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3629,-0.75,-194.6,356.1,-7.7,191,3636,0.12,1.50,0.00,0.000,6,0.087,0.034,2523,2675,3920,0,0,0,0,0,0,26.46,26.56,28.83
$GC,3944,-0.68,-194.6,398.7,-13.4,207,3950,0.15,1.62,0.00,0.000,4,0.143,0.054,2574,3699,3917,0,0,0,0,0,0,26.34,26.32,28.83
$GC,4136,-0.68,-194.6,417.3,-9.8,216,4141,0.00,1.50,0.00,0.000,6,0.000,0.033,2575,2674,3915,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4448,-0.68,-194.6,448.4,-9.8,232,4454,0.00,2.03,0.00,0.000,4,0.000,0.031,2575,1285,3913,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4496,-0.68,-194.6,452.8,-10.0,234,4501,0.00,2.20,0.00,0.000,6,0.000,0.046,2573,2693,3913,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4813,-0.68,-194.6,483.6,-9.5,250,4818,0.00,2.08,0.00,0.000,4,0.000,0.031,2575,1287,3910,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4855,-0.68,-194.6,487.5,-9.2,252,4860,0.00,2.20,0.00,0.000,6,0.000,0.046,2575,2689,3910,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5177,-0.68,-194.6,516.8,-9.4,268,5182,0.00,2.08,0.00,0.000,4,0.000,0.031,2575,1290,3907,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5203,-0.68,-194.6,518.9,-9.5,269,5208,0.00,2.17,0.00,0.000,6,0.000,0.047,2575,2674,3908,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5520,-0.68,-194.6,547.7,-8.9,285,5526,0.00,2.05,0.00,0.000,4,0.000,0.031,2575,1287,3905,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5552,-0.68,-194.6,549.9,-9.1,286,5557,0.00,2.17,0.00,0.000,6,0.000,0.047,2575,2675,3905,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5864,-0.68,-194.6,579.4,-9.4,302,5870,0.00,1.62,0.00,0.000,4,0.000,0.058,2575,3697,3903,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5921,-0.69,-194.6,583.2,-9.1,304,5928,0.00,1.52,0.00,0.000,6,0.000,0.035,2575,2688,3902,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6229,-0.71,-194.6,610.0,-8.2,318,6234,0.00,2.08,0.00,0.000,4,0.000,0.031,2575,1275,3900,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6272,-0.72,-194.6,612.8,-8.1,319,6277,0.00,2.20,0.00,0.000,6,0.000,0.047,2575,2674,3900,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6596,-0.73,-194.6,639.8,-8.2,330,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2673,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6895,-0.75,-194.6,663.8,-8.0,340,6901,0.00,2.10,0.00,0.000,4,0.000,0.031,2575,1272,3897,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6994,-0.76,-194.6,671.3,-7.9,343,7000,0.00,2.17,0.00,0.000,6,0.000,0.047,2575,2656,3896,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7325,-0.78,-194.6,695.1,-6.8,354,7330,0.00,2.05,0.00,0.000,4,0.000,0.032,2575,1278,3894,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7372,-0.80,-194.6,697.6,-6.8,355,7378,0.00,2.15,0.00,0.000,6,0.000,0.047,2575,2644,3894,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7692,-0.82,-194.6,721.8,-7.4,366,7694,0.12,0.00,0.00,0.000,6,0.090,0.000,2506,2644,3892,0,0,0,0,0,0,26.66,28.83,28.83
$GC,7991,-0.76,-194.6,759.7,-13.4,376,7997,0.15,1.70,0.00,0.000,4,0.151,0.057,2557,3701,3891,0,0,0,0,0,0,26.29,26.16,28.83
$GC,8099,-0.74,-194.6,769.6,-11.2,379,8105,0.00,1.58,0.00,0.000,6,0.000,0.035,2557,2646,3890,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8418,-0.74,-194.6,800.6,-9.2,390,8423,0.00,2.03,0.00,0.000,4,0.000,0.033,2557,1273,3889,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8454,-0.74,-194.6,803.6,-9.1,391,8460,0.00,2.20,0.00,0.000,6,0.000,0.048,2556,2665,3889,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8784,-0.74,-194.6,833.8,-9.4,402,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2665,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9083,-0.74,-194.6,860.2,-8.6,412,9089,0.00,2.08,0.00,0.000,4,0.000,0.033,2557,1284,3887,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9116,-0.74,-194.6,863.0,-8.5,413,9121,0.00,2.17,0.00,0.000,6,0.000,0.048,2556,2652,3887,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9450,-0.74,-194.6,890.4,-8.6,424,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2652,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9749,-0.74,-194.6,915.5,-8.2,434,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2652,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10049,-0.74,-194.6,940.2,-8.4,444,10054,0.00,2.08,0.00,0.000,4,0.000,0.033,2557,1280,3883,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10096,-0.74,-194.6,943.1,-8.5,445,10102,0.00,2.15,0.00,0.000,6,0.000,0.048,2557,2649,3882,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10414,-0.74,-194.6,972.9,-9.2,456,10416,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2655,3883,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10592,begin apogee
$GC,10598,-0.12,0.0,990.2,-9.6,462,10763,0.57,0.00,158.40,1.436,4,0.108,0.000,2753,1934,3121,0,0,0,0,0,0,25.78,28.83,23.28
$STATE,10765,end apogee,CONTROL_FINISHED_OK
$STATE,10765,begin climb
$GC,10767,0.46,194.6,999.3,0.0,467,10955,0.57,2.30,178.70,1.401,4,0.059,0.039,2965,540,2327,0,0,0,0,0,0,24.60,24.59,22.79
$GC,11082,0.47,227.4,987.0,7.7,478,11117,0.00,2.25,30.02,1.342,6,0.000,0.038,2965,1946,2194,0,0,0,0,0,0,28.83,25.25,23.54
$GC,11440,0.45,227.4,955.2,9.1,490,11446,0.00,2.22,0.00,0.000,4,0.000,0.041,2970,535,2186,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11587,0.45,227.4,943.9,9.2,494,11593,0.00,2.20,0.00,0.000,6,0.000,0.039,2970,1955,2184,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11895,0.43,227.4,910.3,10.6,505,11901,0.12,2.20,0.00,0.000,4,0.149,0.050,2928,3345,2184,0,0,0,0,0,0,26.11,26.09,28.83
$GC,11922,0.41,227.4,910.3,10.6,505,11929,0.00,2.12,0.00,0.000,6,0.000,0.034,2929,1951,2184,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12230,0.43,240.1,881.5,8.3,516,12244,0.00,0.00,11.15,1.236,6,0.000,0.000,2929,1951,2142,0,0,0,0,0,0,28.83,28.83,24.67
$GC,12530,0.48,274.7,857.4,7.7,526,12567,0.00,2.30,31.95,1.327,4,0.000,0.051,2929,3342,2000,0,0,0,0,0,0,28.83,25.43,24.27
$GC,12600,0.53,316.2,852.8,7.4,528,12645,0.12,2.17,38.42,1.316,6,0.089,0.033,2996,1963,1831,0,0,0,0,0,0,25.62,25.66,23.87
$GC,12953,0.50,316.2,807.6,12.7,540,12959,0.12,2.22,0.00,0.000,4,0.149,0.041,2956,538,1824,0,0,0,0,0,0,25.88,25.94,28.83
$GC,13006,0.49,316.2,804.0,12.1,541,13011,0.00,2.22,0.00,0.000,6,0.000,0.038,2956,1961,1824,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,20668,end climb,SURFACE_DEPTH_REACHED
$STATE,20668,begin surface coast
$FINISH,1.0,1.008689
$STATE,20690,end surface coast,CONTROL_FINISHED_OK
$STATE,20691,begin surface
$SM_CCo,20768,0.00,0.000,0,0,460,652.74
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$IRIDIUM_FIX,2106.38,11956.74,160512,141443
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.36
$INTERNAL_PRESSURE,7.30069
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,22.8,30.613
$10V_AH,9.5,13.905
$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
$DEVICE_SECS,22.650,193.750,734.375,0.000,0.000,0.000,0.000,275.575,0.500,0.000,18.019,3045.555,14368.028,856.992,2676.703,276.316,0.000,2471.188,0.000,2260.745,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.185,0.000,0.000,0.000
$MEM,325868
$DATA_FILE_SIZE,33379,915
$CAP_FILE_SIZE,241216,0
$CFSIZE,260165632,237731840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.110,294.8,1
$GPS,170512,015105,2124.705,11958.165,34,0.8,34,-2.9