version: 66.10
glider: 170
mission: 8
dive: 35
start: 4 23 112 6 48 6
data:
$ID,170
$MISSION,8
$DIVE,35
$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,-124208.9
$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,30
$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,2645
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,32
$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
$GPS1,230412,064206,2201.910,12009.117,40,0.9,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-72.9
$GPS2,230412,064737,2201.897,12009.052,18,1.0,18,-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,190.4,337245,-14.4,-11.000
$D_GRID,1272
$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,-0.78,-243.3,0.0,0.0,0,101,0.00,0.00,-81.28,0.000,2,0.000,0.000,135,2653,2953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.78,-243.3,3.5,-4.2,8,140,10.12,2.20,-18.35,0.000,4,0.256,0.045,2541,1216,3964,0,0,0,0,0,0,25.66,26.08,26.36
$GC,181,-0.78,-243.3,29.0,-33.6,15,189,0.00,2.28,0.00,0.000,6,0.000,0.050,2541,2649,3966,0,0,0,0,0,0,28.83,26.04,28.83
$GC,487,-0.78,-243.3,126.2,-28.3,34,492,0.00,1.67,0.00,0.000,4,0.000,0.060,2541,3702,3966,0,0,0,0,0,0,28.83,26.20,28.83
$GC,718,-0.78,-243.3,178.1,-21.4,45,724,0.00,1.52,0.00,0.000,6,0.000,0.031,2542,2648,3967,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1030,-0.78,-243.3,246.2,-19.6,61,1035,0.00,1.67,0.00,0.000,4,0.000,0.059,2542,3696,3969,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1241,-0.78,-243.3,280.0,-15.1,71,1247,0.00,1.48,0.00,0.000,6,0.000,0.031,2542,2695,3969,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1555,-0.78,-243.3,330.6,-15.6,87,1560,0.00,1.60,0.00,0.000,4,0.000,0.059,2541,3697,3969,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1761,-0.78,-243.3,363.5,-16.6,97,1766,0.00,1.48,0.00,0.000,6,0.000,0.032,2541,2699,3968,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2078,-0.78,-243.3,410.6,-14.2,113,2083,0.00,2.12,0.00,0.000,4,0.000,0.034,2542,1254,3967,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2149,-0.78,-243.3,419.5,-14.4,116,2155,0.00,2.25,0.00,0.000,6,0.000,0.049,2542,2701,3966,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2461,-0.78,-243.3,463.8,-14.4,132,2467,0.00,2.12,0.00,0.000,4,0.000,0.034,2542,1261,3964,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2504,-0.78,-243.3,469.7,-14.3,134,2509,0.00,2.28,0.00,0.000,6,0.000,0.050,2542,2712,3964,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2825,-0.78,-243.3,518.3,-14.4,150,2830,0.00,1.55,0.00,0.000,4,0.000,0.061,2542,3698,3961,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2896,-0.78,-243.3,526.4,-13.4,153,2902,0.00,1.48,0.00,0.000,6,0.000,0.034,2542,2715,3960,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3210,-0.78,-243.3,564.5,-11.2,169,3215,0.00,2.15,0.00,0.000,4,0.000,0.034,2542,1254,3958,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3241,-0.78,-243.3,567.0,-11.0,170,3246,0.00,2.25,0.00,0.000,6,0.000,0.050,2542,2700,3958,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3573,-0.78,-243.3,609.7,-13.3,186,3579,0.00,1.58,0.00,0.000,4,0.000,0.060,2542,3704,3955,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3669,-0.78,-243.3,622.8,-14.0,189,3674,0.00,1.50,0.00,0.000,6,0.000,0.036,2542,2703,3954,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3997,-0.78,-243.3,668.3,-14.0,200,4003,0.00,2.12,0.00,0.000,4,0.000,0.034,2542,1246,3951,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4043,-0.78,-243.3,672.7,-13.7,201,4049,0.00,2.25,0.00,0.000,6,0.000,0.050,2542,2703,3951,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4361,-0.78,-243.3,712.6,-11.9,212,4366,0.00,1.58,0.00,0.000,4,0.000,0.061,2542,3705,3949,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4437,-0.78,-243.3,720.7,-12.4,214,4442,0.00,1.50,0.00,0.000,6,0.000,0.037,2542,2679,3949,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4755,-0.78,-243.3,760.2,-11.3,225,4761,0.00,2.12,0.00,0.000,4,0.000,0.034,2542,1240,3946,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4782,-0.78,-243.3,760.2,-11.3,225,4789,0.00,2.30,0.00,0.000,6,0.000,0.050,2542,2711,3946,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5088,-0.78,-243.3,800.8,-11.9,236,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2711,3944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5389,-0.78,-243.3,830.3,-9.2,246,5394,0.00,2.20,0.00,0.000,4,0.000,0.036,2542,1242,3942,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5475,-0.78,-243.3,835.6,-8.7,248,5482,0.00,2.28,0.00,0.000,6,0.000,0.050,2542,2698,3941,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5781,-0.78,-243.3,863.7,-8.6,259,5787,0.00,2.17,0.00,0.000,4,0.000,0.035,2542,1232,3939,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5833,-0.78,-243.3,866.5,-8.5,260,5839,0.00,2.28,0.00,0.000,6,0.000,0.051,2542,2696,3939,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6146,-0.78,-243.3,899.5,-9.9,271,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2696,3938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6445,-0.78,-243.3,933.4,-11.6,281,6446,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2696,3935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6745,-0.78,-243.3,969.4,-11.7,291,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2696,3934,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6954,begin apogee
$GC,6959,-0.17,0.0,993.2,-11.3,298,7166,0.60,0.00,198.55,1.414,4,0.131,0.000,2740,1919,2967,0,0,0,0,0,0,26.25,28.83,23.67
$STATE,7168,end apogee,CONTROL_FINISHED_OK
$STATE,7168,begin climb
$GC,7169,0.78,243.3,1003.0,0.0,305,7395,0.93,2.28,215.35,1.370,4,0.079,0.041,3055,533,1976,0,0,0,0,0,0,24.72,24.74,23.39
$GC,7402,0.78,243.3,979.6,15.2,312,7409,0.00,2.35,0.00,0.000,6,0.000,0.040,3055,1951,1973,0,0,0,0,0,0,28.83,24.50,28.83
$GC,7708,0.78,243.3,914.2,21.2,323,7713,0.00,2.28,0.00,0.000,4,0.000,0.052,3055,3353,1966,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7844,0.78,243.3,886.4,22.7,327,7850,0.00,2.20,0.00,0.000,6,0.000,0.035,3064,1932,1964,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8162,0.78,243.3,813.1,21.8,338,8167,0.00,2.17,0.00,0.000,4,0.000,0.047,3074,533,1962,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8263,0.78,243.3,793.0,21.8,341,8269,0.00,2.17,0.00,0.000,6,0.000,0.041,3076,1932,1962,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8587,0.78,243.3,716.8,22.5,352,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1933,1961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8885,0.78,243.3,652.9,21.9,362,8891,0.00,2.22,0.00,0.000,4,0.000,0.053,3075,3351,1961,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8906,0.78,243.3,652.9,21.9,362,8912,0.00,2.20,0.00,0.000,6,0.000,0.036,3081,1917,1961,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9230,0.78,243.3,576.1,22.5,375,9235,0.00,2.12,0.00,0.000,4,0.000,0.045,3090,523,1960,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9306,0.78,243.3,562.0,22.5,378,9314,0.15,2.17,0.00,0.000,6,0.169,0.041,3049,1936,1959,0,0,0,0,0,0,26.18,26.39,28.83
$GC,9612,0.78,243.3,494.2,22.3,394,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1936,1959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9913,0.78,243.3,434.1,18.8,409,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1936,1959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10213,0.78,243.3,378.3,19.0,424,10218,0.00,2.20,0.00,0.000,4,0.000,0.054,3049,3347,1959,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10230,0.78,243.3,378.3,19.0,424,10237,0.00,2.17,0.00,0.000,6,0.000,0.037,3051,1919,1959,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10536,0.78,243.3,321.0,16.9,440,10541,0.00,2.10,0.00,0.000,4,0.000,0.046,3051,536,1959,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10621,0.78,243.3,308.9,14.6,444,10626,0.00,2.15,0.00,0.000,6,0.000,0.041,3051,1940,1958,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10938,0.78,243.3,260.7,13.7,460,10939,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1941,1958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11239,0.78,243.3,211.9,15.1,475,11244,0.00,2.17,0.00,0.000,4,0.000,0.047,3050,528,1958,0,0,0,0,0,0,28.83,26.49,28.83
$GC,11331,0.78,243.3,201.1,13.1,479,11336,0.00,2.12,0.00,0.000,6,0.000,0.041,3051,1919,1958,0,0,0,0,0,0,28.83,26.52,28.83
$GC,11642,0.78,243.3,156.1,13.1,495,11648,0.00,2.22,0.00,0.000,4,0.000,0.052,3051,3350,1958,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11749,0.78,243.3,142.1,14.0,500,11754,0.00,2.12,0.00,0.000,6,0.000,0.034,3051,1940,1958,0,0,0,0,0,0,28.83,26.58,28.83
$GC,12067,0.92,355.1,113.4,7.6,516,12161,0.12,2.40,87.82,0.780,4,0.097,0.054,3120,3349,1519,0,0,0,0,0,0,26.63,25.31,24.70
$GC,12193,0.92,355.1,98.9,12.6,522,12198,0.00,2.17,0.00,0.000,6,0.000,0.032,3121,1964,1516,0,0,0,0,0,0,28.83,25.54,28.83
$GC,12510,0.92,355.1,55.3,14.1,538,12516,0.00,2.20,0.00,0.000,4,0.000,0.043,3120,534,1512,0,0,0,0,0,0,28.83,25.99,28.83
$GC,12547,0.92,355.1,52.4,13.5,539,12553,0.00,2.22,0.00,0.000,6,0.000,0.038,3121,1969,1512,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12854,0.92,355.1,15.0,12.4,569,12859,0.00,2.22,0.00,0.000,4,0.000,0.042,3120,526,1513,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12960,0.96,392.1,4.3,9.9,579,12979,0.00,2.20,14.32,0.065,2,0.000,0.039,3120,1955,1374,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,12980,end climb,SURFACE_DEPTH_REACHED
$STATE,12980,begin surface coast
$FINISH,1.0,1.021443
$STATE,13011,end surface coast,CONTROL_FINISHED_OK
$STATE,13012,begin surface
$SM_CCo,13028,55.22,0.060,0,0,826,525.19
$SM_GC,1.59,7.82,1.08,55.22,0.053,0.047,0.060,140,2650,826,-8.27,-1.02,525.19,0,0,0,0,0,0,26.12,26.24,26.14
$IRIDIUM_FIX,2159.71,12011.53,230412,030301
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.55
$INTERNAL_PRESSURE,7.31046
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,23.4,6.550
$10V_AH,9.9,2.188
$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,19.750,109.075,516.050,55.225,0.000,0.000,0.000,202.725,0.250,0.000,19.955,2010.872,8801.527,643.346,1838.185,127.751,0.000,1758.811,0.000,1547.414,0.000,0.543,0.000
$DEVICE_MAMPS,256.275,61.200,1414.485,59.670,0.000,0.000,0.000,96.390,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13002.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.527,0.000,0.000,0.000
$MEM,324976
$DATA_FILE_SIZE,20110,584
$CAP_FILE_SIZE,144055,0
$CFSIZE,260165632,248479744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.074,139.1,1
$GPS,230412,102722,2159.794,12008.828,18,1.8,37,-3.1