version: 66.10
glider: 170
mission: 8
dive: 143
start: 5 19 112 7 2 54
data:
$ID,170
$MISSION,8
$DIVE,143
$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,-125915.17
$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,44
$R_STBD_OVSHOOT,29
$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
$GPS1,190512,064200,2153.143,12002.096,38,0.8,38,-3.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-73.2
$GPS2,190512,070230,2153.267,12001.776,20,0.9,20,-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,33.2,42111,-13.6,-9.706
$D_GRID,1286
$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,19,-0.49,-243.3,0.0,0.0,0,102,0.00,0.00,-81.18,0.000,2,0.000,0.000,134,2687,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.49,-243.3,3.4,-3.2,8,148,10.50,1.62,-23.55,0.000,4,0.244,0.071,2632,3703,3966,0,0,0,0,0,0,25.37,25.98,26.49
$GC,262,-0.38,-243.3,45.2,-22.2,23,268,0.15,1.50,0.00,0.000,6,0.139,0.030,2677,2663,3968,0,0,0,0,0,0,25.96,26.29,28.83
$GC,577,-0.39,-243.3,84.8,-9.1,40,582,0.00,2.00,0.00,0.000,4,0.000,0.031,2677,1294,3967,0,0,0,0,0,0,28.83,26.34,28.83
$GC,623,-0.42,-243.3,88.2,-8.3,42,629,0.00,2.17,0.00,0.000,6,0.000,0.046,2677,2689,3968,0,0,0,0,0,0,28.83,26.25,28.83
$GC,941,-0.46,-243.3,114.1,-8.3,58,947,0.00,2.08,0.00,0.000,4,0.000,0.031,2680,1300,3969,0,0,0,0,0,0,28.83,26.42,28.83
$GC,986,-0.50,-243.3,117.6,-8.3,60,993,0.12,2.15,0.00,0.000,6,0.086,0.046,2601,2675,3968,0,0,0,0,0,0,26.35,26.32,28.83
$GC,1311,-0.47,-243.3,159.6,-12.4,76,1316,0.12,1.58,0.00,0.000,4,0.151,0.053,2643,3696,3968,0,0,0,0,0,0,26.37,26.34,28.83
$GC,1348,-0.44,-243.3,162.1,-12.0,77,1354,0.00,1.55,0.00,0.000,6,0.000,0.031,2644,2621,3969,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1656,-0.48,-243.3,187.3,-7.8,93,1661,0.00,1.70,0.00,0.000,4,0.000,0.056,2644,3695,3967,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1722,-0.54,-243.3,192.0,-7.6,96,1727,0.00,1.52,0.00,0.000,6,0.000,0.031,2644,2621,3967,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2041,-0.60,-243.3,213.6,-6.5,112,2046,0.12,1.95,0.00,0.000,4,0.086,0.029,2560,1285,3966,0,0,0,0,0,0,26.66,26.52,28.83
$GC,2134,-0.57,-243.3,223.6,-12.0,116,2140,0.17,2.10,0.00,0.000,6,0.144,0.047,2613,2635,3965,0,0,0,0,0,0,26.16,26.39,28.83
$GC,2447,-0.59,-243.3,254.1,-8.5,132,2453,0.00,1.67,0.00,0.000,4,0.000,0.057,2614,3702,3963,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2480,-0.61,-243.3,256.1,-8.5,133,2485,0.00,1.58,0.00,0.000,6,0.000,0.031,2614,2606,3962,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2793,-0.64,-243.3,280.4,-7.3,149,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2604,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3094,-0.67,-243.3,302.8,-7.9,164,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2604,3957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3395,-0.70,-243.3,327.2,-7.9,179,3401,0.12,1.90,0.00,0.000,4,0.089,0.030,2532,1295,3955,0,0,0,0,0,0,26.67,26.53,28.83
$GC,3432,-0.72,-243.3,329.9,-8.4,180,3441,0.12,2.10,0.00,0.000,6,0.155,0.047,2566,2642,3955,0,0,0,0,0,0,26.21,26.39,28.83
$GC,3738,-0.69,-243.3,364.0,-9.7,196,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2642,3952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4040,-0.67,-243.3,393.4,-9.4,211,4045,0.00,1.67,0.00,0.000,4,0.000,0.057,2566,3690,3949,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4153,-0.67,-243.3,402.9,-8.9,216,4158,0.00,1.52,0.00,0.000,6,0.000,0.032,2566,2640,3948,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4466,-0.66,-243.3,432.2,-8.9,232,4471,0.00,1.98,0.00,0.000,4,0.000,0.030,2567,1289,3946,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4489,-0.64,-243.3,434.1,-8.9,233,4494,0.00,2.12,0.00,0.000,6,0.000,0.046,2566,2642,3946,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4812,-0.64,-243.3,461.6,-9.0,249,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2643,3943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5112,-0.64,-243.3,490.3,-10.0,264,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2644,3941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5413,-0.64,-243.3,523.7,-11.3,279,5418,0.00,1.67,0.00,0.000,4,0.000,0.057,2566,3688,3939,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5449,-0.64,-243.3,526.5,-11.4,280,5456,0.00,1.58,0.00,0.000,6,0.000,0.034,2566,2652,3938,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5755,-0.64,-243.3,563.4,-11.6,296,5760,0.00,2.00,0.00,0.000,4,0.000,0.031,2566,1282,3936,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5812,-0.64,-243.3,568.5,-11.8,298,5819,0.00,2.12,0.00,0.000,6,0.000,0.047,2566,2636,3935,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6128,-0.64,-243.3,603.6,-10.0,314,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2636,3934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6428,-0.64,-243.3,630.9,-8.8,324,6433,0.00,2.05,0.00,0.000,4,0.000,0.033,2567,1270,3932,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6454,-0.64,-243.3,630.9,-8.8,324,6462,0.00,2.15,0.00,0.000,6,0.000,0.047,2566,2641,3932,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6762,-0.64,-243.3,661.0,-9.3,335,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2642,3929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7061,-0.64,-243.3,690.1,-9.7,345,7066,0.00,2.03,0.00,0.000,4,0.000,0.032,2566,1279,3927,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7103,-0.64,-243.3,693.3,-9.8,346,7108,0.00,2.12,0.00,0.000,6,0.000,0.047,2566,2632,3926,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7427,-0.64,-243.3,723.8,-8.8,357,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2632,3925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7727,-0.64,-243.3,749.3,-8.6,367,7732,0.00,2.03,0.00,0.000,4,0.000,0.033,2566,1273,3923,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7760,-0.64,-243.3,752.4,-8.7,368,7765,0.00,2.15,0.00,0.000,6,0.000,0.047,2567,2632,3923,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8094,-0.64,-243.3,779.0,-7.6,379,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2633,3921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8393,-0.64,-243.3,801.1,-7.8,389,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2632,3920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8692,-0.64,-243.3,825.9,-7.8,399,8693,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2632,3919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8994,-0.66,-243.3,848.2,-7.3,409,8995,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2633,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9293,-0.66,-243.3,873.2,-8.7,419,9298,0.00,2.03,0.00,0.000,4,0.000,0.033,2566,1276,3916,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9350,-0.67,-243.3,876.0,-8.5,420,9357,0.00,2.12,0.00,0.000,6,0.000,0.047,2566,2623,3915,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9657,-0.68,-243.3,898.9,-6.4,431,9658,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2622,3914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9956,-0.70,-243.3,922.3,-8.4,441,9962,0.00,2.00,0.00,0.000,4,0.000,0.033,2566,1284,3913,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9998,-0.72,-243.3,925.2,-8.6,442,10003,0.00,2.10,0.00,0.000,6,0.000,0.047,2566,2612,3913,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10323,-0.73,-243.3,953.0,-8.3,453,10325,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2613,3912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10621,-0.75,-243.3,978.5,-8.0,463,10627,0.00,2.03,0.00,0.000,4,0.000,0.034,2566,1274,3911,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10665,-0.77,-243.3,980.8,-7.4,464,10670,0.00,2.12,0.00,0.000,6,0.000,0.047,2566,2615,3911,0,0,0,0,0,0,28.83,26.19,28.83
$STATE,10776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10776,begin apogee
$GC,10782,-0.12,0.0,990.0,-7.5,468,10951,0.55,0.00,164.82,1.459,4,0.106,0.000,2755,1931,3121,0,0,0,0,0,0,25.84,28.83,23.20
$STATE,10953,end apogee,CONTROL_FINISHED_OK
$STATE,10953,begin climb
$GC,10955,0.49,243.3,996.9,0.0,473,11188,0.57,2.45,223.65,1.411,4,0.057,0.052,2967,3349,2129,0,0,0,0,0,0,24.58,24.53,22.77
$GC,11202,0.41,243.3,982.8,10.5,482,11208,0.15,2.35,0.00,0.000,6,0.150,0.032,2935,1949,2127,0,0,0,0,0,0,24.19,24.34,28.83
$GC,11537,0.44,263.4,953.9,9.2,493,11560,0.00,2.33,18.25,1.317,4,0.000,0.050,2935,3351,2046,0,0,0,0,0,0,28.83,25.53,24.25
$GC,11711,0.44,263.4,937.5,10.9,498,11718,0.00,2.20,0.00,0.000,6,0.000,0.033,2941,1936,2043,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12019,0.45,263.4,903.9,10.4,509,12024,0.00,2.15,0.00,0.000,4,0.000,0.042,2942,539,2041,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12046,0.47,263.4,903.9,10.4,509,12053,0.00,2.17,0.00,0.000,6,0.000,0.038,2942,1941,2041,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12354,0.48,263.4,869.0,10.7,520,12359,0.00,2.22,0.00,0.000,4,0.000,0.052,2942,3354,2041,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12401,0.50,263.4,865.2,10.9,521,12406,0.00,2.15,0.00,0.000,6,0.000,0.034,2942,1953,2041,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12720,0.51,263.4,830.5,10.5,532,12721,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1953,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13019,0.56,311.8,802.2,8.4,542,13072,0.12,2.38,43.38,1.334,4,0.093,0.052,3016,3342,1850,0,0,0,0,0,0,26.52,25.37,24.16
$GC,13095,0.54,311.8,794.3,10.5,544,13101,0.17,2.20,0.00,0.000,6,0.148,0.034,2974,1957,1849,0,0,0,0,0,0,25.39,25.62,28.83
$GC,13415,0.54,311.8,751.7,12.1,555,13420,0.00,2.22,0.00,0.000,4,0.000,0.042,2981,523,1845,0,0,0,0,0,0,28.83,26.05,28.83
$GC,13451,0.54,311.8,747.7,11.9,556,13457,0.00,2.22,0.00,0.000,6,0.000,0.039,2982,1949,1844,0,0,0,0,0,0,28.83,26.08,28.83
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$GC,15301,0.65,444.0,553.1,8.4,626,15346,0.00,0.00,42.53,1.154,6,0.000,0.000,2982,1961,1309,0,0,0,0,0,0,28.83,28.83,24.15
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$STATE,19740,end climb,SURFACE_DEPTH_REACHED
$STATE,19741,begin surface coast
$FINISH,1.2,1.020526
$STATE,19762,end surface coast,CONTROL_FINISHED_OK
$STATE,19762,begin surface
$SM_CCo,19840,0.00,0.000,0,0,459,652.99
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$IRIDIUM_FIX,2143.45,11958.51,190512,010137
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.58
$INTERNAL_PRESSURE,7.30069
$TCM_TEMP,24.60
$XPDR_PINGS,25
$24V_AH,22.8,33.235
$10V_AH,9.8,15.302
$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,22.175,158.625,748.450,0.000,0.000,0.000,0.000,692.000,6.250,0.000,21.331,2762.597,14239.697,841.658,2906.413,306.867,0.000,2736.792,0.000,2016.141,0.000,0.545,0.000
$DEVICE_MAMPS,244.035,71.145,1458.855,0.000,0.000,0.000,0.000,105.570,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19894.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.688,0.000,0.000,0.000
$MEM,325884
$DATA_FILE_SIZE,33369,870
$CAP_FILE_SIZE,228439,0
$CFSIZE,260165632,236376064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.104,280.0,1
$GPS,190512,123435,2156.197,12002.424,26,0.9,26,-3.1