version: 66.10
glider: 170
mission: 8
dive: 31
start: 4 22 112 17 46 40
data:
$ID,170
$MISSION,8
$DIVE,31
$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,300
$T_MISSION,360
$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,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,525
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,-124203.86
$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,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,600
$PITCH_VBD_SHIFT,0.0012300001
$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,49
$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
$GPS1,220412,174101,2210.046,12010.974,21,0.9,22,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-71.6
$GPS2,220412,174612,2209.944,12010.961,18,1.0,18,-3.1
$SPEED_LIMITS,0.191,0.336
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,202.4,352300,-14.4,-11.000
$D_GRID,679
$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,15,begin dive
$GC,17,-0.71,-243.3,0.0,0.0,0,101,0.00,0.00,-81.60,0.000,2,0.000,0.000,138,2512,2966,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.71,-243.3,3.6,-4.5,8,137,10.20,2.05,-17.48,0.000,4,0.258,0.049,2580,1180,3963,0,0,0,0,0,0,25.78,26.17,26.46
$GC,213,-0.71,-243.3,35.4,-24.0,18,220,0.00,2.25,0.00,0.000,6,0.000,0.052,2580,2595,3965,0,0,0,0,0,0,28.83,26.16,28.83
$GC,531,-0.71,-243.3,118.8,-22.7,37,536,0.00,1.75,0.00,0.000,4,0.000,0.058,2580,3707,3967,0,0,0,0,0,0,28.83,26.31,28.83
$GC,762,-0.71,-243.3,159.7,-17.7,48,767,0.00,1.62,0.00,0.000,6,0.000,0.032,2580,2582,3969,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1074,-0.71,-243.3,205.1,-12.3,64,1080,0.00,1.80,0.00,0.000,4,0.000,0.059,2580,3707,3969,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1211,-0.71,-243.3,221.6,-13.7,70,1218,0.00,1.55,0.00,0.000,6,0.000,0.031,2580,2622,3970,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1517,-0.71,-243.3,264.4,-11.9,86,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2622,3970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1818,-0.71,-243.3,296.3,-10.9,101,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2622,3970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2118,-0.71,-243.3,331.2,-11.5,116,2124,0.00,1.73,0.00,0.000,4,0.000,0.060,2580,3704,3970,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2222,-0.71,-243.3,342.3,-10.4,121,2227,0.00,1.55,0.00,0.000,6,0.000,0.031,2580,2649,3970,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2544,-0.71,-243.3,373.0,-10.2,137,2550,0.00,1.67,0.00,0.000,4,0.000,0.061,2580,3695,3968,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2597,-0.71,-243.3,377.5,-10.6,139,2602,0.00,1.52,0.00,0.000,6,0.000,0.032,2580,2637,3968,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2909,-0.71,-243.3,413.8,-11.7,155,2915,0.00,1.73,0.00,0.000,4,0.000,0.060,2580,3702,3966,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3015,-0.71,-243.3,426.1,-12.0,160,3021,0.00,1.55,0.00,0.000,6,0.000,0.034,2580,2664,3965,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3333,-0.71,-243.3,457.6,-9.1,176,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2664,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3635,-0.71,-243.3,485.2,-9.2,191,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2664,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3934,-0.71,-243.3,511.0,-8.8,206,3940,0.00,1.67,0.00,0.000,4,0.000,0.060,2580,3700,3960,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3991,-0.71,-243.3,514.5,-8.2,208,3998,0.00,1.52,0.00,0.000,6,0.000,0.035,2580,2652,3959,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4297,-0.71,-243.3,535.4,-5.9,224,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2652,3957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4598,-0.71,-243.3,553.6,-7.3,239,4604,0.00,2.12,0.00,0.000,4,0.000,0.034,2580,1195,3955,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4624,-0.71,-243.3,555.5,-7.7,240,4630,0.00,2.25,0.00,0.000,6,0.000,0.047,2580,2646,3954,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4943,-0.71,-243.3,584.8,-9.5,256,4948,0.00,2.12,0.00,0.000,4,0.000,0.036,2580,1209,3952,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5009,-0.71,-243.3,591.2,-10.1,259,5014,0.00,2.22,0.00,0.000,6,0.000,0.050,2580,2635,3952,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5317,-0.71,-243.3,614.3,-6.3,271,5323,0.00,1.67,0.00,0.000,4,0.000,0.062,2580,3697,3950,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5434,-0.71,-243.3,620.6,-6.4,274,5441,0.00,1.58,0.00,0.000,6,0.000,0.037,2580,2644,3950,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5741,-0.71,-243.3,641.8,-5.0,285,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2644,3948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6040,-0.71,-243.3,661.0,-6.9,295,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2643,3947,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6278,begin apogee
$GC,6284,-0.14,0.0,681.1,-9.7,303,6484,0.55,0.00,192.98,1.200,4,0.118,0.000,2768,1932,2964,0,0,0,0,0,0,26.38,28.83,23.99
$STATE,6485,end apogee,CONTROL_FINISHED_OK
$STATE,6486,begin climb
$GC,6487,0.71,243.3,694.0,0.0,309,6703,0.80,2.42,205.12,1.157,4,0.054,0.054,3068,3361,1975,0,0,0,0,0,0,24.93,24.89,23.89
$GC,6828,0.71,243.3,638.7,23.6,321,6834,0.00,2.22,0.00,0.000,6,0.000,0.034,3078,1962,1967,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7146,0.71,243.3,568.4,20.8,334,7151,0.00,2.25,0.00,0.000,4,0.000,0.054,3078,3364,1963,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7192,0.71,243.3,559.1,21.4,336,7199,0.12,2.25,0.00,0.000,6,0.193,0.037,3049,1920,1964,0,0,0,0,0,0,25.86,26.07,28.83
$GC,7511,0.71,243.3,501.6,16.7,352,7516,0.00,2.12,0.00,0.000,4,0.000,0.045,3051,540,1960,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7623,0.71,243.3,484.9,15.8,357,7629,0.00,2.12,0.00,0.000,6,0.000,0.040,3051,1921,1960,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7936,0.71,243.3,433.1,17.6,373,7938,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1921,1959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8237,0.71,243.3,378.2,18.9,388,8243,0.00,2.15,0.00,0.000,4,0.000,0.046,3051,540,1958,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8268,0.71,243.3,373.5,19.2,389,8274,0.00,2.10,0.00,0.000,6,0.000,0.041,3050,1906,1958,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8580,0.71,243.3,320.1,16.6,405,8585,0.00,2.28,0.00,0.000,4,0.000,0.054,3050,3356,1958,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8646,0.71,243.3,308.5,18.6,408,8652,0.00,2.22,0.00,0.000,6,0.000,0.036,3049,1900,1958,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8964,0.71,243.3,255.6,15.0,424,8969,0.00,2.08,0.00,0.000,4,0.000,0.046,3051,539,1957,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9000,0.71,243.3,252.4,14.6,425,9007,0.00,2.10,0.00,0.000,6,0.000,0.041,3050,1912,1957,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9307,0.71,243.3,201.8,14.3,441,9312,0.00,2.12,0.00,0.000,4,0.000,0.045,3051,538,1957,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9332,0.71,243.3,198.8,13.8,442,9338,0.00,2.15,0.00,0.000,6,0.000,0.041,3051,1917,1957,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9649,0.71,243.3,154.0,14.6,458,9656,0.00,2.25,0.00,0.000,4,0.000,0.053,3051,3361,1957,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9666,0.71,243.3,154.0,14.6,458,9673,0.00,2.22,0.00,0.000,6,0.000,0.035,3051,1891,1956,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9973,0.72,253.2,119.0,10.7,474,9988,0.00,2.35,6.82,0.681,4,0.000,0.055,3051,3350,1935,0,0,0,0,0,0,28.83,26.45,25.70
$GC,10104,0.72,253.2,104.4,11.4,480,10110,0.00,2.15,0.00,0.000,6,0.000,0.034,3051,1925,1934,0,0,0,0,0,0,28.83,26.52,28.83
$GC,10417,0.81,325.3,85.5,8.8,496,10481,0.00,2.33,58.97,0.750,4,0.000,0.052,3051,3357,1639,0,0,0,0,0,0,28.83,25.65,25.07
$GC,10529,0.85,360.8,75.4,9.9,501,10564,0.12,2.17,29.30,0.718,6,0.092,0.031,3119,1947,1496,0,0,0,0,0,0,25.81,25.83,24.86
$GC,10871,0.85,360.8,33.8,11.2,525,10872,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1947,1491,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11170,end climb,SURFACE_DEPTH_REACHED
$STATE,11171,begin surface coast
$FINISH,0.7,1.021388
$STATE,11192,end surface coast,CONTROL_FINISHED_OK
$STATE,11192,begin surface
$SM_CCo,11209,67.00,0.059,0,0,826,525.19
$SM_GC,1.68,7.90,1.05,67.00,0.058,0.042,0.059,139,2605,826,-8.34,-0.82,525.19,0,0,0,0,0,0,26.11,26.22,26.14
$IRIDIUM_FIX,2202.04,12019.91,220412,151518
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.14
$INTERNAL_PRESSURE,7.34952
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.9,5.824
$10V_AH,9.9,1.913
$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,19.700,82.100,493.200,67.000,0.000,0.000,0.000,188.875,0.000,0.000,19.855,1812.882,7410.325,611.144,1640.057,121.801,0.000,1609.155,0.000,1377.548,0.000,0.542,0.000
$DEVICE_MAMPS,257.805,61.965,1199.520,58.905,0.000,0.000,0.000,89.505,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11200.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.304,0.000,0.000,0.000
$MEM,324960
$DATA_FILE_SIZE,20100,557
$CAP_FILE_SIZE,128691,0
$CFSIZE,260165632,248782848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.159,178.8,1
$GPS,220412,205535,2207.615,12010.359,25,2.0,25,-3.1