version: 66.10
glider: 170
mission: 8
dive: 138
start: 5 18 112 1 58 44
data:
$ID,170
$MISSION,8
$DIVE,138
$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,340
$T_MISSION,380
$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,250
$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,-125908.76
$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,51
$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
$GPS1,180512,014036,2137.777,11959.140,30,0.9,30,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-71.1
$GPS2,180512,015819,2137.775,11958.681,22,1.5,22,-3.0
$SPEED_LIMITS,0.168,0.341
$TGT_NAME,PICKUP
$TGT_LATLONG,2215.000,12009.000
$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,40.9,71173,-13.6,-9.706
$D_GRID,2799
$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,-0.49,-243.3,0.0,0.0,0,102,0.00,0.00,-81.35,0.000,2,0.000,0.000,127,2683,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.49,-243.3,3.4,-3.1,8,148,10.27,1.67,-25.58,0.000,4,0.238,0.074,2633,3693,3966,0,0,0,0,0,0,25.41,25.99,26.49
$GC,242,-0.37,-243.3,38.0,-22.4,21,248,0.15,1.52,0.00,0.000,6,0.147,0.030,2676,2652,3967,0,0,0,0,0,0,25.91,26.27,28.83
$GC,555,-0.36,-243.3,86.0,-12.1,40,560,0.00,1.65,0.00,0.000,4,0.000,0.055,2676,3697,3969,0,0,0,0,0,0,28.83,26.18,28.83
$GC,607,-0.36,-243.3,89.9,-10.3,42,612,0.00,1.52,0.00,0.000,6,0.000,0.031,2676,2667,3968,0,0,0,0,0,0,28.83,26.41,28.83
$GC,920,-0.41,-243.3,117.0,-8.1,58,925,0.00,2.00,0.00,0.000,4,0.000,0.031,2676,1288,3969,0,0,0,0,0,0,28.83,26.41,28.83
$GC,992,-0.47,-243.3,121.8,-7.7,61,999,0.00,2.15,0.00,0.000,6,0.000,0.044,2676,2675,3969,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1307,-0.55,-243.3,142.1,-6.1,77,1313,0.12,2.05,0.00,0.000,4,0.088,0.028,2592,1282,3969,0,0,0,0,0,0,26.60,26.46,28.83
$GC,1345,-0.60,-243.3,144.2,-6.6,78,1353,0.00,2.15,0.00,0.000,6,0.000,0.045,2592,2669,3969,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1652,-0.56,-243.3,185.0,-13.2,94,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2670,3968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1952,-0.54,-243.3,223.3,-11.3,109,1954,0.12,0.00,0.00,0.000,6,0.148,0.000,2629,2669,3968,0,0,0,0,0,0,26.44,28.83,28.83
$GC,2252,-0.57,-243.3,246.7,-7.4,124,2257,0.00,2.03,0.00,0.000,4,0.000,0.030,2629,1288,3965,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2315,-0.62,-243.3,251.5,-7.4,127,2320,0.00,2.15,0.00,0.000,6,0.000,0.044,2629,2670,3965,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2639,-0.66,-243.3,276.4,-8.0,143,2644,0.12,1.62,0.00,0.000,4,0.085,0.053,2540,3706,3962,0,0,0,0,0,0,26.67,26.36,28.83
$GC,2676,-0.69,-243.3,279.0,-8.7,144,2685,0.12,1.55,0.00,0.000,6,0.142,0.031,2577,2636,3962,0,0,0,0,0,0,26.31,26.61,28.83
$GC,2982,-0.67,-243.3,317.4,-11.6,160,2988,0.00,1.98,0.00,0.000,4,0.000,0.031,2577,1288,3960,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3085,-0.67,-243.3,328.9,-11.0,165,3091,0.00,2.12,0.00,0.000,6,0.000,0.046,2577,2645,3959,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3409,-0.66,-243.3,363.7,-10.8,181,3414,0.00,1.62,0.00,0.000,4,0.000,0.057,2577,3694,3957,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3545,-0.66,-243.3,376.4,-10.1,187,3551,0.00,1.58,0.00,0.000,6,0.000,0.031,2577,2635,3956,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3851,-0.66,-243.3,409.7,-11.2,203,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2635,3953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4152,-0.66,-243.3,442.7,-11.1,218,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2633,3950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4452,-0.66,-243.3,473.6,-10.0,233,4458,0.00,1.73,0.00,0.000,4,0.000,0.059,2577,3699,3948,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4500,-0.66,-243.3,477.5,-9.4,235,4505,0.00,1.55,0.00,0.000,6,0.000,0.032,2577,2652,3948,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4818,-0.66,-243.3,507.5,-9.5,251,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2652,3945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5119,-0.66,-243.3,534.3,-8.5,266,5124,0.00,2.03,0.00,0.000,4,0.000,0.031,2577,1274,3943,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5181,-0.66,-243.3,539.7,-8.6,269,5186,0.00,2.17,0.00,0.000,6,0.000,0.044,2577,2674,3943,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5504,-0.66,-243.3,565.2,-8.0,285,5510,0.00,2.08,0.00,0.000,4,0.000,0.030,2577,1280,3940,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5638,-0.67,-243.3,576.0,-8.8,291,5643,0.00,2.12,0.00,0.000,6,0.000,0.046,2577,2652,3939,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5960,-0.67,-243.3,604.2,-8.6,307,5966,0.00,2.05,0.00,0.000,4,0.000,0.031,2577,1279,3937,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5998,-0.68,-243.3,607.1,-8.6,308,6004,0.00,2.12,0.00,0.000,6,0.000,0.047,2577,2634,3937,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6327,-0.70,-243.3,635.8,-8.7,319,6333,0.00,1.70,0.00,0.000,4,0.000,0.058,2577,3700,3935,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6354,-0.71,-243.3,635.8,-8.7,319,6361,0.00,1.62,0.00,0.000,6,0.000,0.034,2578,2638,3934,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6662,-0.73,-243.3,664.5,-8.4,330,6667,0.00,2.00,0.00,0.000,4,0.000,0.031,2577,1280,3932,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6705,-0.74,-243.3,667.4,-8.3,331,6711,0.00,2.12,0.00,0.000,6,0.000,0.047,2577,2630,3932,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7030,-0.76,-243.3,693.5,-7.5,342,7036,0.00,2.00,0.00,0.000,4,0.000,0.032,2577,1283,3930,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7072,-0.77,-243.3,696.2,-7.6,343,7078,0.00,2.10,0.00,0.000,6,0.000,0.047,2577,2620,3930,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7398,-0.79,-243.3,721.2,-7.5,354,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2620,3928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7696,-0.81,-243.3,742.7,-7.0,364,7698,0.12,0.00,0.00,0.000,6,0.095,0.000,2508,2620,3926,0,0,0,0,0,0,26.65,28.83,28.83
$GC,7997,-0.75,-243.3,777.9,-11.8,374,8002,0.15,1.73,0.00,0.000,4,0.148,0.057,2559,3694,3925,0,0,0,0,0,0,26.30,26.19,28.83
$GC,8120,-0.75,-243.3,788.6,-8.6,378,8126,0.00,1.62,0.00,0.000,6,0.000,0.034,2559,2628,3924,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8454,-0.75,-243.3,813.7,-7.5,389,8460,0.00,2.00,0.00,0.000,4,0.000,0.032,2559,1284,3923,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8487,-0.75,-243.3,816.4,-7.5,390,8493,0.00,2.10,0.00,0.000,6,0.000,0.047,2559,2624,3923,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8822,-0.75,-243.3,839.2,-6.6,401,8828,0.00,2.00,0.00,0.000,4,0.000,0.032,2559,1280,3921,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8874,-0.75,-243.3,841.6,-6.7,402,8880,0.00,2.10,0.00,0.000,6,0.000,0.048,2559,2613,3921,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9188,-0.75,-243.3,865.3,-7.3,413,9189,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2613,3920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9487,-0.75,-243.3,888.0,-7.8,423,9493,0.00,1.75,0.00,0.000,4,0.000,0.060,2559,3690,3919,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9530,-0.75,-243.3,890.9,-8.0,424,9536,0.00,1.62,0.00,0.000,6,0.000,0.037,2559,2621,3919,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9854,-0.75,-243.3,918.5,-8.4,435,9860,0.00,1.95,0.00,0.000,4,0.000,0.032,2559,1290,3918,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9888,-0.75,-243.3,921.5,-8.6,436,9894,0.00,2.10,0.00,0.000,6,0.000,0.047,2559,2613,3917,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10223,-0.75,-243.3,949.0,-8.2,447,10224,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2613,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10521,-0.75,-243.3,972.7,-8.0,457,10526,0.00,2.00,0.00,0.000,4,0.000,0.034,2559,1287,3914,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10554,-0.75,-243.3,975.4,-8.0,458,10560,0.00,2.10,0.00,0.000,6,0.000,0.047,2559,2606,3914,0,0,0,0,0,0,28.83,26.16,28.83
$STATE,10735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10735,begin apogee
$GC,10741,-0.12,0.0,990.2,-8.2,464,10911,0.57,0.00,165.12,1.440,4,0.106,0.000,2757,1936,3121,0,0,0,0,0,0,25.82,28.83,23.24
$STATE,10913,end apogee,CONTROL_FINISHED_OK
$STATE,10913,begin climb
$GC,10915,0.49,243.3,997.2,0.0,469,11146,0.55,0.00,222.93,1.398,6,0.052,0.000,2975,1936,2127,0,0,0,0,0,0,24.56,28.83,22.78
$GC,11460,0.45,243.3,951.4,11.4,488,11465,0.00,2.30,0.00,0.000,4,0.000,0.051,2974,3348,2119,0,0,0,0,0,0,28.83,25.81,28.83
$GC,11526,0.41,243.3,943.4,12.1,490,11532,0.17,2.15,0.00,0.000,6,0.146,0.032,2932,1961,2119,0,0,0,0,0,0,25.74,26.02,28.83
$GC,11856,0.44,262.0,912.7,9.2,501,11874,0.00,0.00,16.42,1.291,6,0.000,0.000,2932,1961,2052,0,0,0,0,0,0,28.83,28.83,24.53
$GC,12156,0.48,295.2,885.8,8.8,511,12189,0.00,0.00,30.88,1.335,6,0.000,0.000,2932,1961,1917,0,0,0,0,0,0,28.83,28.83,24.22
$GC,12486,0.54,340.5,857.3,8.5,522,12534,0.12,2.33,40.50,1.330,4,0.090,0.053,3010,3346,1733,0,0,0,0,0,0,26.18,25.20,24.04
$GC,12556,0.54,340.5,849.2,10.6,524,12563,0.12,2.22,0.00,0.000,6,0.155,0.034,2978,1937,1732,0,0,0,0,0,0,25.32,25.48,28.83
$GC,12881,0.54,340.5,808.7,11.4,535,12886,0.00,2.17,0.00,0.000,4,0.000,0.042,2983,534,1728,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12933,0.54,340.5,804.9,11.4,536,12939,0.00,2.20,0.00,0.000,6,0.000,0.039,2983,1946,1727,0,0,0,0,0,0,28.83,26.09,28.83
$GC,13247,0.54,340.5,766.0,11.8,547,13252,0.00,2.20,0.00,0.000,4,0.000,0.051,2983,3345,1727,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13274,0.54,340.5,766.0,11.8,547,13281,0.00,2.15,0.00,0.000,6,0.000,0.033,2983,1930,1726,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13580,0.54,340.5,726.7,11.6,558,13586,0.00,2.12,0.00,0.000,4,0.000,0.043,2983,531,1725,0,0,0,0,0,0,28.83,26.26,28.83
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$STATE,20467,end climb,SURFACE_DEPTH_REACHED
$STATE,20467,begin surface coast
$FINISH,1.1,1.008546
$STATE,20501,end surface coast,CONTROL_FINISHED_OK
$STATE,20501,begin surface
$SM_CCo,20518,20.35,0.060,0,0,459,652.74
$SM_GC,1.94,7.97,1.25,20.35,0.044,0.047,0.060,132,2686,459,-8.30,-1.22,652.74,0,0,0,0,0,0,25.94,26.07,26.00
$IRIDIUM_FIX,2131.85,11956.20,180512,010118
$TT8_MAMPS,0.025466,0.025466
$HUMID,40.23
$INTERNAL_PRESSURE,7.30069
$TCM_TEMP,24.70
$XPDR_PINGS,17
$24V_AH,22.8,31.831
$10V_AH,9.7,14.592
$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,21.500,173.900,707.075,20.350,0.000,0.000,0.000,704.800,4.250,0.000,22.789,2924.743,14448.045,850.017,3035.368,334.233,0.000,2833.118,0.000,2163.270,0.000,0.545,0.000
$DEVICE_MAMPS,237.915,74.205,1440.495,59.670,0.000,0.000,0.000,102.510,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20631.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.980,0.000,0.000,0.000
$MEM,325936
$DATA_FILE_SIZE,33377,910
$CAP_FILE_SIZE,240181,0
$CFSIZE,260165632,237154304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.115,288.9,1
$GPS,180512,074205,2140.986,11959.665,25,0.9,25,-3.0