version: 66.10
glider: 170
mission: 8
dive: 142
start: 5 19 112 1 14 18
data:
$ID,170
$MISSION,8
$DIVE,142
$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,-125913.91
$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,43
$R_STBD_OVSHOOT,30
$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
$GPS1,190512,005935,2150.757,12000.771,41,0.9,41,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-69.1
$GPS2,190512,011354,2150.576,12000.728,20,1.0,20,-3.1
$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,43.2,47404,-13.6,-9.706
$D_GRID,1609
$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,-81.80,0.000,2,0.000,0.000,135,2687,2669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.49,-243.3,3.4,-2.9,8,148,10.50,1.62,-24.45,0.000,4,0.244,0.071,2634,3703,3965,0,0,0,0,0,0,25.37,25.98,26.47
$GC,222,-0.40,-243.3,34.3,-21.9,19,228,0.12,1.52,0.00,0.000,6,0.149,0.029,2669,2665,3967,0,0,0,0,0,0,25.94,26.25,28.83
$GC,536,-0.36,-243.3,85.2,-14.1,39,541,0.00,2.00,0.00,0.000,4,0.000,0.030,2670,1286,3968,0,0,0,0,0,0,28.83,26.32,28.83
$GC,578,-0.34,-243.3,91.0,-13.6,41,584,0.00,2.22,0.00,0.000,6,0.000,0.046,2670,2702,3968,0,0,0,0,0,0,28.83,26.21,28.83
$GC,902,-0.35,-243.3,128.0,-8.4,57,907,0.00,1.55,0.00,0.000,4,0.000,0.055,2670,3697,3969,0,0,0,0,0,0,28.83,26.27,28.83
$GC,974,-0.41,-243.3,132.7,-7.5,60,979,0.00,1.45,0.00,0.000,6,0.000,0.031,2670,2721,3969,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1288,-0.59,-243.3,155.4,-8.4,76,1294,0.15,1.55,0.00,0.000,4,0.089,0.051,2599,3701,3969,0,0,0,0,0,0,26.52,26.34,28.83
$GC,1414,-0.66,-243.3,167.0,-9.4,82,1419,0.00,1.50,0.00,0.000,6,0.000,0.030,2601,2692,3969,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1736,-0.64,-243.3,201.2,-10.3,98,1742,0.00,2.03,0.00,0.000,4,0.000,0.029,2601,1288,3969,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1835,-0.64,-243.3,209.7,-10.3,102,1842,0.00,2.20,0.00,0.000,6,0.000,0.044,2601,2709,3969,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2140,-0.64,-243.3,240.8,-9.2,118,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2709,3968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2441,-0.64,-243.3,268.2,-9.2,133,2446,0.00,2.08,0.00,0.000,4,0.000,0.031,2601,1296,3966,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2534,-0.65,-243.3,275.8,-8.9,137,2540,0.00,2.17,0.00,0.000,6,0.000,0.046,2601,2694,3966,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2848,-0.67,-243.3,305.1,-9.7,153,2854,0.00,1.58,0.00,0.000,4,0.000,0.055,2601,3701,3963,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2885,-0.68,-243.3,307.5,-9.8,154,2892,0.00,1.50,0.00,0.000,6,0.000,0.031,2601,2690,3962,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3192,-0.70,-243.3,339.5,-9.4,170,3198,0.00,2.03,0.00,0.000,4,0.000,0.030,2601,1287,3960,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3245,-0.73,-243.3,343.5,-9.1,172,3251,0.12,2.15,0.00,0.000,6,0.088,0.044,2532,2680,3959,0,0,0,0,0,0,26.41,26.40,28.83
$GC,3559,-0.66,-243.3,388.1,-13.7,188,3565,0.15,1.62,0.00,0.000,4,0.149,0.054,2582,3699,3957,0,0,0,0,0,0,26.34,26.36,28.83
$GC,3643,-0.66,-243.3,396.4,-9.8,192,3648,0.00,1.52,0.00,0.000,6,0.000,0.032,2582,2687,3957,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3965,-0.66,-243.3,424.3,-8.6,208,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2686,3954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4267,-0.66,-243.3,451.0,-8.9,223,4272,0.00,2.05,0.00,0.000,4,0.000,0.030,2582,1274,3950,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4324,-0.66,-243.3,455.1,-9.2,225,4331,0.00,2.17,0.00,0.000,6,0.000,0.045,2582,2669,3950,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4630,-0.66,-243.3,483.7,-8.9,241,4636,0.00,1.65,0.00,0.000,4,0.000,0.056,2580,3700,3948,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4738,-0.68,-243.3,492.4,-8.0,246,4743,0.00,1.52,0.00,0.000,6,0.000,0.033,2581,2671,3947,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5056,-0.68,-243.3,520.9,-8.9,262,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2671,3945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5357,-0.69,-243.3,548.3,-9.3,277,5362,0.00,2.05,0.00,0.000,4,0.000,0.031,2581,1276,3942,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5380,-0.71,-243.3,550.5,-9.3,278,5386,0.00,2.20,0.00,0.000,6,0.000,0.047,2580,2677,3942,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5704,-0.72,-243.3,577.2,-8.0,294,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2677,3940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6004,-0.73,-243.3,600.9,-8.2,309,6010,0.00,2.08,0.00,0.000,4,0.000,0.031,2580,1285,3938,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6033,-0.74,-243.3,600.9,-8.2,309,6039,0.00,2.20,0.00,0.000,6,0.000,0.046,2580,2689,3938,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6339,-0.76,-243.3,629.5,-8.5,320,6345,0.00,2.10,0.00,0.000,4,0.000,0.031,2580,1287,3935,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6367,-0.78,-243.3,629.5,-8.5,320,6374,0.00,2.17,0.00,0.000,6,0.000,0.047,2580,2674,3935,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6674,-0.80,-243.3,657.2,-8.2,331,6676,0.12,0.00,0.00,0.000,6,0.096,0.000,2511,2675,3934,0,0,0,0,0,0,26.65,28.83,28.83
$GC,6972,-0.74,-243.3,695.8,-13.1,341,6974,0.17,0.00,0.00,0.000,6,0.138,0.000,2563,2675,3932,0,0,0,0,0,0,26.31,28.83,28.83
$GC,7273,-0.74,-243.3,724.2,-9.5,351,7278,0.00,2.08,0.00,0.000,4,0.000,0.031,2562,1277,3931,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7310,-0.74,-243.3,727.4,-9.5,352,7315,0.00,2.20,0.00,0.000,6,0.000,0.047,2564,2676,3931,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7639,-0.74,-243.3,756.1,-8.3,363,7644,0.00,2.10,0.00,0.000,4,0.000,0.032,2564,1280,3929,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7691,-0.74,-243.3,758.9,-8.3,364,7697,0.00,2.17,0.00,0.000,6,0.000,0.047,2564,2665,3929,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8006,-0.74,-243.3,785.5,-7.8,375,8012,0.00,2.05,0.00,0.000,4,0.000,0.031,2564,1287,3926,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8043,-0.74,-243.3,788.3,-7.9,376,8048,0.00,2.15,0.00,0.000,6,0.000,0.047,2564,2655,3926,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8371,-0.74,-243.3,811.9,-6.7,387,8372,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2655,3925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8671,-0.74,-243.3,830.0,-6.1,397,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2655,3923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8970,-0.74,-243.3,850.1,-7.1,407,8975,0.00,2.08,0.00,0.000,4,0.000,0.032,2564,1277,3922,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9012,-0.74,-243.3,852.6,-7.4,408,9017,0.00,2.17,0.00,0.000,6,0.000,0.047,2564,2655,3922,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9336,-0.74,-243.3,878.7,-8.1,419,9342,0.00,2.08,0.00,0.000,4,0.000,0.033,2563,1279,3920,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9369,-0.74,-243.3,881.5,-8.1,420,9375,0.00,2.17,0.00,0.000,6,0.000,0.047,2564,2648,3920,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9704,-0.75,-243.3,909.6,-8.7,431,9709,0.00,2.03,0.00,0.000,4,0.000,0.032,2564,1288,3919,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9746,-0.76,-243.3,912.7,-8.8,432,9751,0.00,2.12,0.00,0.000,6,0.000,0.047,2563,2637,3919,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10070,-0.77,-243.3,940.2,-8.2,443,10076,0.00,2.03,0.00,0.000,4,0.000,0.033,2563,1291,3918,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10099,-0.79,-243.3,940.2,-8.2,443,10105,0.00,2.12,0.00,0.000,6,0.000,0.047,2564,2635,3918,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10406,-0.80,-243.3,967.5,-8.1,454,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2635,3917,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10702,begin apogee
$GC,10708,-0.12,0.0,990.8,-7.5,464,10878,0.55,0.00,165.88,1.456,4,0.106,0.000,2754,1932,3121,0,0,0,0,0,0,25.84,28.83,23.21
$STATE,10880,end apogee,CONTROL_FINISHED_OK
$STATE,10880,begin climb
$GC,10882,0.49,243.3,997.6,0.0,469,11121,0.57,2.30,223.90,1.416,4,0.060,0.039,2963,543,2128,0,0,0,0,0,0,24.54,24.53,22.75
$GC,11158,0.47,243.3,980.1,10.4,478,11164,0.00,2.33,0.00,0.000,6,0.000,0.037,2963,1946,2125,0,0,0,0,0,0,28.83,24.68,28.83
$GC,11488,0.45,243.3,939.3,12.5,489,11493,0.00,2.20,0.00,0.000,4,0.000,0.041,2969,544,2119,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11644,0.45,243.3,920.5,12.1,494,11649,0.00,2.20,0.00,0.000,6,0.000,0.040,2969,1952,2118,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11973,0.43,243.3,882.8,10.8,505,11978,0.00,2.22,0.00,0.000,4,0.000,0.052,2969,3345,2119,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11996,0.41,243.3,882.8,10.8,505,12002,0.15,2.15,0.00,0.000,6,0.150,0.034,2927,1947,2118,0,0,0,0,0,0,26.01,26.29,28.83
$GC,12311,0.49,327.7,855.9,7.5,516,12388,0.00,0.00,74.68,1.362,6,0.000,0.000,2927,1947,1785,0,0,0,0,0,0,28.83,28.83,23.82
$GC,12671,0.60,415.9,829.5,7.3,528,12760,0.15,2.42,77.55,1.335,4,0.078,0.051,3013,3339,1425,0,0,0,0,0,0,26.11,24.86,23.73
$GC,12773,0.60,415.9,817.8,11.9,531,12778,0.00,2.25,0.00,0.000,6,0.000,0.034,3023,1948,1426,0,0,0,0,0,0,28.83,25.20,28.83
$GC,13097,0.54,415.9,757.6,18.1,542,13103,0.15,2.20,0.00,0.000,4,0.148,0.042,2982,532,1419,0,0,0,0,0,0,25.90,26.02,28.83
$GC,13164,0.53,415.9,749.4,15.5,544,13171,0.00,2.17,0.00,0.000,6,0.000,0.038,2982,1931,1419,0,0,0,0,0,0,28.83,26.08,28.83
$GC,13494,0.55,415.9,715.1,10.1,555,13496,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1933,1418,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19487,end climb,SURFACE_DEPTH_REACHED
$STATE,19487,begin surface coast
$FINISH,1.1,1.019934
$STATE,19509,end surface coast,CONTROL_FINISHED_OK
$STATE,19509,begin surface
$SM_CCo,19589,0.00,0.000,0,0,459,652.99
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$IRIDIUM_FIX,2141.13,12001.68,180512,191946
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.74
$INTERNAL_PRESSURE,7.30069
$TCM_TEMP,23.90
$XPDR_PINGS,15
$24V_AH,22.8,32.951
$10V_AH,9.7,15.159
$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,23.200,172.525,748.525,0.000,0.000,0.000,0.000,556.925,3.750,0.000,21.132,2823.250,13605.764,864.461,2835.551,306.312,0.000,2659.493,0.000,2076.320,0.000,0.545,0.000
$DEVICE_MAMPS,244.035,71.145,1455.795,0.000,0.000,0.000,0.000,102.510,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19624.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.743,0.000,0.000,0.000
$MEM,325844
$DATA_FILE_SIZE,33412,855
$CAP_FILE_SIZE,233513,0
$CFSIZE,260165632,236527616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.078,299.1,1
$GPS,190512,064200,2153.143,12002.096,38,0.8,38,-3.1