version: 66.10
glider: 170
mission: 8
dive: 136
start: 5 17 112 13 55 0
data:
$ID,170
$MISSION,8
$DIVE,136
$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,-125906.23
$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,37
$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
$GPS1,170512,134635,2132.061,11958.709,27,0.9,27,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-75.2
$GPS2,170512,135436,2132.037,11958.755,20,0.9,20,-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,28.7,24104,-13.9,-8.684
$D_GRID,2962
$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,-81.12,0.000,2,0.000,0.000,133,2692,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.46,-194.6,3.8,-3.7,8,147,10.27,1.65,-21.48,0.000,4,0.239,0.073,2640,3687,3926,0,0,0,0,0,0,25.41,25.98,26.46
$GC,374,-0.41,-194.6,69.2,-17.4,29,380,0.00,1.52,0.00,0.000,6,0.000,0.031,2640,2651,3930,0,0,0,0,0,0,28.83,26.32,28.83
$GC,691,-0.41,-194.6,111.0,-10.1,45,697,0.00,1.67,0.00,0.000,4,0.000,0.057,2640,3690,3931,0,0,0,0,0,0,28.83,26.19,28.83
$GC,835,-0.44,-194.6,124.3,-9.0,52,841,0.00,1.48,0.00,0.000,6,0.000,0.031,2640,2692,3932,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1158,-0.47,-194.6,152.8,-7.2,68,1163,0.00,2.05,0.00,0.000,4,0.000,0.032,2640,1303,3932,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1242,-0.50,-194.6,159.4,-7.9,72,1247,0.00,2.15,0.00,0.000,6,0.000,0.044,2640,2679,3932,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1565,-0.53,-194.6,184.8,-7.5,88,1570,0.00,1.60,0.00,0.000,4,0.000,0.057,2639,3699,3931,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1608,-0.58,-194.6,187.9,-7.2,90,1613,0.00,1.52,0.00,0.000,6,0.000,0.031,2640,2683,3931,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1932,-0.63,-194.6,211.0,-7.1,106,1938,0.12,2.03,0.00,0.000,4,0.090,0.029,2558,1290,3929,0,0,0,0,0,0,26.63,26.47,28.83
$GC,1964,-0.66,-194.6,213.4,-7.8,107,1970,0.10,2.15,0.00,0.000,6,0.174,0.047,2585,2668,3929,0,0,0,0,0,0,26.17,26.34,28.83
$GC,2278,-0.63,-194.6,254.8,-12.6,123,2284,0.00,1.62,0.00,0.000,4,0.000,0.058,2585,3697,3928,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2325,-0.60,-194.6,260.4,-13.1,125,2330,0.00,1.55,0.00,0.000,6,0.000,0.030,2585,2650,3928,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2643,-0.59,-194.6,298.9,-11.1,141,2648,0.00,1.98,0.00,0.000,4,0.000,0.030,2585,1289,3926,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2689,-0.58,-194.6,303.6,-11.1,143,2695,0.00,2.12,0.00,0.000,6,0.000,0.045,2585,2658,3926,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3007,-0.58,-194.6,337.9,-9.7,159,3012,0.00,1.62,0.00,0.000,4,0.000,0.056,2585,3692,3924,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3199,-0.58,-194.6,354.4,-8.7,168,3205,0.00,1.50,0.00,0.000,6,0.000,0.032,2585,2679,3923,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3512,-0.58,-194.6,382.0,-8.9,184,3517,0.00,2.05,0.00,0.000,4,0.000,0.031,2585,1281,3921,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3563,-0.58,-194.6,386.0,-9.1,186,3569,0.00,2.15,0.00,0.000,6,0.000,0.046,2585,2667,3921,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3876,-0.58,-194.6,415.1,-8.8,202,3882,0.00,2.05,0.00,0.000,4,0.000,0.031,2585,1280,3917,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3913,-0.58,-194.6,417.2,-8.8,203,3919,0.00,2.15,0.00,0.000,6,0.000,0.045,2585,2665,3917,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4219,-0.58,-194.6,445.7,-9.2,219,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2665,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4520,-0.58,-194.6,473.5,-9.1,234,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2665,3913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4821,-0.59,-194.6,497.1,-7.4,249,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2665,3910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5120,-0.60,-194.6,521.0,-8.4,264,5126,0.00,2.05,0.00,0.000,4,0.000,0.031,2585,1284,3908,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5148,-0.62,-194.6,523.1,-8.4,265,5153,0.00,2.15,0.00,0.000,6,0.000,0.046,2585,2658,3908,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5466,-0.64,-194.6,549.7,-8.4,281,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2657,3906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5767,-0.66,-194.6,574.6,-8.1,296,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2658,3904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6068,-0.68,-194.6,600.1,-8.7,311,6073,0.00,2.03,0.00,0.000,4,0.000,0.031,2585,1287,3902,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6110,-0.70,-194.6,603.1,-8.6,312,6115,0.00,2.15,0.00,0.000,6,0.000,0.045,2585,2661,3902,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6434,-0.72,-194.6,631.6,-8.8,323,6440,0.00,2.05,0.00,0.000,4,0.000,0.032,2585,1284,3900,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6461,-0.74,-194.6,631.6,-8.8,323,6469,0.00,2.12,0.00,0.000,6,0.000,0.047,2585,2643,3900,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6769,-0.77,-194.6,660.9,-8.5,334,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2645,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7068,-0.79,-194.6,684.9,-7.9,344,7070,0.12,0.00,0.00,0.000,6,0.094,0.000,2521,2644,3896,0,0,0,0,0,0,26.65,28.83,28.83
$GC,7367,-0.74,-194.6,720.5,-11.8,354,7373,0.12,1.67,0.00,0.000,4,0.149,0.057,2563,3692,3894,0,0,0,0,0,0,26.39,26.20,28.83
$GC,7425,-0.70,-194.6,723.7,-11.2,355,7432,0.00,1.55,0.00,0.000,6,0.000,0.036,2563,2668,3895,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7732,-0.70,-194.6,750.4,-8.1,366,7737,0.00,2.05,0.00,0.000,4,0.000,0.032,2563,1274,3893,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7789,-0.70,-194.6,753.4,-8.2,367,7796,0.00,2.17,0.00,0.000,6,0.000,0.047,2563,2654,3893,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8094,-0.70,-194.6,781.3,-8.8,378,8099,0.00,2.05,0.00,0.000,4,0.000,0.032,2563,1278,3891,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8130,-0.70,-194.6,784.1,-8.9,379,8135,0.00,2.15,0.00,0.000,6,0.000,0.047,2563,2635,3891,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8459,-0.70,-194.6,813.3,-8.9,390,8464,0.00,2.03,0.00,0.000,4,0.000,0.033,2563,1280,3890,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8485,-0.70,-194.6,813.3,-8.9,390,8492,0.00,2.12,0.00,0.000,6,0.000,0.047,2563,2629,3890,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8792,-0.70,-194.6,844.5,-9.4,401,8798,0.00,1.73,0.00,0.000,4,0.000,0.060,2563,3689,3888,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8864,-0.70,-194.6,850.6,-9.5,403,8869,0.00,1.62,0.00,0.000,6,0.000,0.036,2563,2622,3888,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9188,-0.70,-194.6,879.9,-8.6,414,9193,0.00,1.98,0.00,0.000,4,0.000,0.032,2563,1281,3888,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9221,-0.70,-194.6,882.8,-8.5,415,9226,0.00,2.15,0.00,0.000,6,0.000,0.048,2563,2632,3888,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9554,-0.70,-194.6,909.7,-7.9,426,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2632,3887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9854,-0.70,-194.6,932.8,-7.6,436,9859,0.00,2.03,0.00,0.000,4,0.000,0.033,2563,1282,3885,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9881,-0.70,-194.6,932.8,-7.6,436,9887,0.00,2.12,0.00,0.000,6,0.000,0.048,2563,2622,3885,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10189,-0.72,-194.6,957.9,-7.5,447,10190,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2622,3883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10487,-0.74,-194.6,979.6,-7.2,457,10492,0.00,2.03,0.00,0.000,4,0.000,0.034,2563,1274,3883,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10535,-0.75,-194.6,982.0,-7.3,458,10540,0.00,2.15,0.00,0.000,6,0.000,0.048,2563,2625,3882,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,10641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10641,begin apogee
$GC,10646,-0.12,0.0,990.9,-7.2,462,10811,0.55,0.00,158.48,1.441,4,0.107,0.000,2753,1920,3120,0,0,0,0,0,0,25.81,28.83,23.27
$STATE,10813,end apogee,CONTROL_FINISHED_OK
$STATE,10813,begin climb
$GC,10815,0.46,194.6,997.2,0.0,467,11004,0.57,2.25,178.30,1.402,4,0.060,0.040,2963,556,2327,0,0,0,0,0,0,24.59,24.59,22.78
$GC,11080,0.44,202.1,985.2,8.5,476,11098,0.00,2.25,7.75,1.125,6,0.000,0.038,2963,1944,2296,0,0,0,0,0,0,28.83,24.96,23.49
$GC,11398,0.41,202.1,953.4,9.9,487,11403,0.00,2.20,0.00,0.000,4,0.000,0.041,2970,547,2292,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11559,0.40,202.1,937.3,10.4,492,11565,0.15,2.17,0.00,0.000,6,0.138,0.040,2926,1952,2291,0,0,0,0,0,0,25.84,26.04,28.83
$GC,11885,0.41,202.1,908.3,9.0,503,11890,0.00,2.22,0.00,0.000,4,0.000,0.052,2926,3350,2290,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11948,0.41,202.1,901.7,9.6,505,11953,0.00,2.12,0.00,0.000,6,0.000,0.033,2928,1975,2290,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12283,0.43,202.1,870.6,9.2,516,12288,0.00,2.22,0.00,0.000,4,0.000,0.043,2928,541,2289,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12304,0.44,202.1,870.6,9.2,516,12310,0.00,2.22,0.00,0.000,6,0.000,0.041,2928,1969,2288,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12619,0.46,204.3,840.7,8.6,527,12625,0.00,2.20,0.00,0.000,4,0.000,0.051,2928,3357,2288,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12666,0.47,204.3,837.6,8.7,528,12672,0.00,2.12,0.00,0.000,6,0.000,0.033,2928,1969,2288,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12986,0.51,239.3,810.5,7.6,539,13028,0.10,2.35,32.90,1.308,4,0.108,0.052,2987,3351,2143,0,0,0,0,0,0,26.55,25.59,24.37
$GC,13055,0.51,239.3,804.0,8.9,541,13061,0.12,2.17,0.00,0.000,6,0.161,0.034,2961,1972,2142,0,0,0,0,0,0,25.52,25.75,28.83
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$STATE,21437,end climb,SURFACE_DEPTH_REACHED
$STATE,21437,begin surface coast
$FINISH,1.0,1.010071
$STATE,21468,end surface coast,CONTROL_FINISHED_OK
$STATE,21468,begin surface
$SM_CCo,21486,36.10,0.059,0,0,459,652.74
$SM_GC,1.82,8.05,1.12,36.10,0.050,0.041,0.059,137,2698,459,-8.27,-0.99,652.74,0,0,0,0,0,0,25.86,26.02,25.92
$IRIDIUM_FIX,2117.95,12001.06,170512,070743
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.32
$INTERNAL_PRESSURE,7.30069
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,22.8,31.291
$10V_AH,9.8,14.299
$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,21.175,197.550,656.050,36.100,0.000,0.000,0.000,283.125,0.250,0.000,20.696,3139.427,14974.712,847.012,2754.559,275.735,0.000,2490.851,0.000,2322.908,0.000,0.544,0.000
$DEVICE_MAMPS,238.680,73.440,1441.260,58.905,0.000,0.000,0.000,96.390,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21516.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.049,0.000,0.000,0.000
$MEM,325908
$DATA_FILE_SIZE,36704,953
$CAP_FILE_SIZE,242221,0
$CFSIZE,260165632,237428736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.113,284.4,1
$GPS,170512,195459,2135.150,11958.895,40,0.8,40,-3.0