version: 66.10
glider: 170
mission: 8
dive: 139
start: 5 18 112 7 58 54
data:
$ID,170
$MISSION,8
$DIVE,139
$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,-125910.02
$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,45
$R_STBD_OVSHOOT,34
$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
$GPS1,180512,074205,2140.986,11959.665,25,0.9,25,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-71.6
$GPS2,180512,075830,2141.345,11959.370,20,0.8,20,-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,37.5,64477,-13.6,-9.706
$D_GRID,2568
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.49,-243.3,0.0,0.0,0,93,0.00,0.00,-72.35,0.000,2,0.000,0.000,131,2693,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.49,-243.3,3.0,-2.3,7,148,10.23,1.58,-33.88,0.000,4,0.236,0.071,2633,3688,3964,0,0,0,0,0,0,25.41,25.98,26.47
$GC,367,-0.38,-243.3,64.6,-22.3,29,375,0.15,1.52,0.00,0.000,6,0.138,0.031,2678,2651,3966,0,0,0,0,0,0,26.01,26.33,28.83
$GC,672,-0.41,-243.3,98.2,-8.4,45,678,0.00,2.00,0.00,0.000,4,0.000,0.031,2678,1294,3967,0,0,0,0,0,0,28.83,26.36,28.83
$GC,745,-0.45,-243.3,103.2,-8.2,48,751,0.00,2.15,0.00,0.000,6,0.000,0.045,2678,2675,3967,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1059,-0.51,-243.3,125.3,-6.2,64,1065,0.12,2.03,0.00,0.000,4,0.087,0.028,2592,1296,3967,0,0,0,0,0,0,26.58,26.44,28.83
$GC,1126,-0.51,-243.3,132.4,-9.9,67,1132,0.15,2.15,0.00,0.000,6,0.139,0.045,2636,2679,3967,0,0,0,0,0,0,26.15,26.33,28.83
$GC,1445,-0.54,-243.3,161.4,-8.8,83,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2681,3967,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1746,-0.58,-243.3,188.1,-7.9,98,1751,0.00,2.05,0.00,0.000,4,0.000,0.031,2637,1297,3965,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1779,-0.62,-243.3,189.9,-7.7,99,1785,0.12,2.12,0.00,0.000,6,0.085,0.046,2562,2666,3965,0,0,0,0,0,0,26.41,26.38,28.83
$GC,2092,-0.57,-243.3,231.6,-12.4,115,2098,0.15,1.62,0.00,0.000,4,0.148,0.053,2613,3703,3963,0,0,0,0,0,0,26.33,26.37,28.83
$GC,2119,-0.53,-243.3,234.4,-12.3,116,2124,0.00,1.52,0.00,0.000,6,0.000,0.031,2613,2655,3963,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2438,-0.56,-243.3,262.0,-7.7,132,2443,0.00,1.65,0.00,0.000,4,0.000,0.055,2613,3693,3961,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2475,-0.59,-243.3,263.7,-7.6,133,2482,0.00,1.50,0.00,0.000,6,0.000,0.033,2613,2688,3961,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2781,-0.62,-243.3,285.9,-7.0,149,2787,0.00,2.05,0.00,0.000,4,0.000,0.031,2613,1274,3958,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2854,-0.65,-243.3,290.5,-7.2,152,2860,0.00,2.15,0.00,0.000,6,0.000,0.046,2613,2672,3958,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3168,-0.69,-243.3,313.3,-7.1,168,3170,0.10,0.00,0.00,0.000,6,0.103,0.000,2548,2672,3955,0,0,0,0,0,0,26.69,28.83,28.83
$GC,3468,-0.63,-243.3,353.7,-14.4,183,3470,0.15,0.00,0.00,0.000,6,0.139,0.000,2593,2673,3953,0,0,0,0,0,0,26.41,28.83,28.83
$GC,3769,-0.65,-243.3,381.6,-8.1,198,3774,0.00,1.62,0.00,0.000,4,0.000,0.056,2593,3705,3950,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3862,-0.67,-243.3,389.0,-8.7,202,3867,0.00,1.55,0.00,0.000,6,0.000,0.032,2593,2654,3949,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4176,-0.69,-243.3,413.6,-7.2,218,4181,0.00,1.98,0.00,0.000,4,0.000,0.031,2593,1289,3948,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4259,-0.71,-243.3,419.8,-7.5,222,4265,0.00,2.15,0.00,0.000,6,0.000,0.045,2594,2664,3947,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4583,-0.73,-243.3,445.3,-8.1,238,4588,0.00,1.62,0.00,0.000,4,0.000,0.057,2594,3696,3944,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4615,-0.76,-243.3,447.1,-8.1,239,4621,0.12,1.52,0.00,0.000,6,0.090,0.034,2523,2670,3944,0,0,0,0,0,0,26.48,26.58,28.83
$GC,4929,-0.69,-243.3,490.1,-13.1,255,4934,0.15,2.03,0.00,0.000,4,0.143,0.028,2573,1276,3942,0,0,0,0,0,0,26.36,26.52,28.83
$GC,4955,-0.64,-243.3,492.8,-12.8,256,4961,0.00,2.20,0.00,0.000,6,0.000,0.047,2574,2679,3941,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5273,-0.64,-243.3,519.9,-8.6,272,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2679,3939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5574,-0.64,-243.3,546.7,-9.2,287,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2679,3937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5874,-0.64,-243.3,574.9,-9.3,302,5879,0.00,2.08,0.00,0.000,4,0.000,0.031,2573,1279,3935,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5920,-0.64,-243.3,579.3,-9.7,304,5926,0.00,2.17,0.00,0.000,6,0.000,0.047,2574,2681,3935,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6249,-0.64,-243.3,609.6,-8.9,319,6254,0.00,2.08,0.00,0.000,4,0.000,0.032,2573,1283,3933,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6281,-0.64,-243.3,612.5,-8.8,320,6287,0.00,2.20,0.00,0.000,6,0.000,0.047,2573,2680,3932,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6616,-0.64,-243.3,638.3,-7.4,331,6621,0.00,2.08,0.00,0.000,4,0.000,0.032,2573,1281,3930,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6642,-0.64,-243.3,638.3,-7.4,331,6650,0.00,2.17,0.00,0.000,6,0.000,0.047,2573,2671,3930,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6950,-0.64,-243.3,663.2,-7.4,342,6955,0.00,1.62,0.00,0.000,4,0.000,0.058,2573,3695,3928,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7013,-0.65,-243.3,668.1,-7.5,344,7018,0.00,1.55,0.00,0.000,6,0.000,0.036,2573,2675,3927,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7348,-0.67,-243.3,693.9,-7.9,355,7353,0.00,2.05,0.00,0.000,4,0.000,0.031,2573,1277,3925,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7415,-0.68,-243.3,699.1,-8.0,357,7421,0.00,2.20,0.00,0.000,6,0.000,0.047,2573,2676,3925,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7745,-0.70,-243.3,724.8,-7.7,368,7750,0.00,2.10,0.00,0.000,4,0.000,0.032,2573,1276,3923,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7779,-0.71,-243.3,727.6,-7.8,369,7784,0.00,2.20,0.00,0.000,6,0.000,0.047,2576,2666,3923,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8113,-0.73,-243.3,755.1,-8.6,380,8118,0.00,2.08,0.00,0.000,4,0.000,0.032,2573,1271,3922,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8165,-0.75,-243.3,758.3,-8.7,381,8171,0.00,2.17,0.00,0.000,6,0.000,0.047,2573,2652,3922,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8479,-0.76,-243.3,787.4,-8.8,392,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2652,3920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8779,-0.78,-243.3,811.9,-8.0,402,8780,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2652,3919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9078,-0.80,-243.3,835.9,-8.2,412,9083,0.00,2.08,0.00,0.000,4,0.000,0.032,2573,1276,3918,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9106,-0.82,-243.3,835.9,-8.2,412,9114,0.12,2.17,0.00,0.000,6,0.089,0.048,2508,2652,3918,0,0,0,0,0,0,26.25,26.23,28.83
$GC,9412,-0.76,-243.3,877.8,-13.2,423,9418,0.12,1.67,0.00,0.000,4,0.155,0.057,2549,3694,3916,0,0,0,0,0,0,26.36,26.13,28.83
$GC,9449,-0.72,-243.3,881.9,-13.0,424,9454,0.00,1.60,0.00,0.000,6,0.000,0.037,2549,2644,3916,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9778,-0.72,-243.3,913.9,-9.5,435,9783,0.00,2.03,0.00,0.000,4,0.000,0.033,2549,1271,3914,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9814,-0.72,-243.3,917.1,-9.4,436,9820,0.00,2.17,0.00,0.000,6,0.000,0.048,2549,2645,3914,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10144,-0.72,-243.3,946.0,-8.3,447,10145,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2647,3913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10443,-0.72,-243.3,969.9,-7.8,457,10448,0.00,2.05,0.00,0.000,4,0.000,0.033,2549,1277,3912,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10480,-0.72,-243.3,972.6,-7.9,458,10485,0.00,2.15,0.00,0.000,6,0.000,0.048,2549,2643,3912,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,10716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10716,begin apogee
$GC,10721,-0.12,0.0,991.7,-7.9,466,10892,0.60,0.00,164.18,1.443,4,0.110,0.000,2754,1923,3121,0,0,0,0,0,0,25.77,28.83,23.22
$STATE,10893,end apogee,CONTROL_FINISHED_OK
$STATE,10893,begin climb
$GC,10895,0.49,243.3,997.5,0.0,471,11128,0.57,2.25,222.93,1.398,4,0.060,0.040,2963,555,2128,0,0,0,0,0,0,24.57,24.57,22.78
$GC,11150,0.47,258.3,984.0,9.3,480,11172,0.00,2.33,15.18,1.251,6,0.000,0.037,2963,1945,2067,0,0,0,0,0,0,28.83,24.44,23.12
$GC,11472,0.47,268.3,951.4,9.4,491,11487,0.00,2.22,9.52,1.187,4,0.000,0.039,2969,542,2027,0,0,0,0,0,0,28.83,25.71,24.32
$GC,11628,0.49,290.1,937.5,9.1,496,11655,0.00,2.22,20.58,1.307,6,0.000,0.039,2968,1960,1938,0,0,0,0,0,0,28.83,25.96,24.24
$GC,11955,0.48,303.2,906.6,9.4,507,11970,0.00,0.00,12.90,1.249,6,0.000,0.000,2970,1960,1885,0,0,0,0,0,0,28.83,28.83,24.47
$GC,12254,0.48,303.2,875.0,10.8,517,12256,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1960,1881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12555,0.48,306.0,844.7,9.6,527,12560,0.00,2.20,0.00,0.000,4,0.000,0.042,2969,548,1880,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12572,0.49,308.9,844.7,9.6,527,12588,0.00,2.17,6.32,1.065,6,0.000,0.039,2970,1949,1861,0,0,0,0,0,0,28.83,26.22,24.57
$GC,12889,0.49,308.9,812.2,10.1,538,12894,0.00,2.20,0.00,0.000,4,0.000,0.051,2969,3348,1859,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12921,0.49,308.9,808.6,10.1,539,12926,0.00,2.15,0.00,0.000,6,0.000,0.034,2970,1957,1859,0,0,0,0,0,0,28.83,26.30,28.83
$GC,13255,0.49,308.9,775.0,9.9,550,13260,0.00,2.17,0.00,0.000,4,0.000,0.044,2970,530,1858,0,0,0,0,0,0,28.83,26.27,28.83
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$GC,16128,0.76,515.7,453.9,10.8,664,16130,0.10,0.00,0.00,0.000,6,0.105,0.000,3069,1910,1012,0,0,0,0,0,0,26.51,28.83,28.83
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$STATE,19761,end climb,SURFACE_DEPTH_REACHED
$STATE,19761,begin surface coast
$FINISH,1.0,1.011977
$STATE,19782,end surface coast,CONTROL_FINISHED_OK
$STATE,19782,begin surface
$SM_CCo,19861,0.00,0.000,0,0,460,652.74
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$IRIDIUM_FIX,2129.53,11958.20,180512,070700
$TT8_MAMPS,0.025466,0.025466
$HUMID,41.21
$INTERNAL_PRESSURE,7.29093
$TCM_TEMP,24.00
$XPDR_PINGS,20
$24V_AH,22.8,32.116
$10V_AH,9.8,14.734
$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,21.950,150.900,755.250,0.000,0.000,0.000,0.000,618.900,5.000,0.000,21.744,2787.248,14043.774,849.641,2856.943,295.018,0.000,2672.257,0.000,2032.074,0.000,0.545,0.000
$DEVICE_MAMPS,236.385,71.145,1442.790,0.000,0.000,0.000,0.000,107.100,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19921.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.623,0.000,0.000,0.000
$MEM,325832
$DATA_FILE_SIZE,33425,868
$CAP_FILE_SIZE,228065,0
$CFSIZE,260165632,237006848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.109,287.6,1
$GPS,180512,133105,2144.578,12000.232,35,0.8,35,-3.0