version: 66.10
glider: 170
mission: 8
dive: 36
start: 4 23 112 10 33 48
data:
$ID,170
$MISSION,8
$DIVE,36
$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,-124210.16
$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,39
$R_STBD_OVSHOOT,37
$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
$GPS1,230412,102722,2159.794,12008.828,18,1.8,37,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-71.5
$GPS2,230412,103319,2159.774,12008.836,19,1.4,19,-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,194.5,333300,-14.4,-11.000
$D_GRID,1377
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-0.78,-243.3,0.0,0.0,0,100,0.00,0.00,-81.38,0.000,2,0.000,0.000,140,2652,3149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.78,-243.3,4.3,-5.4,8,136,10.15,2.17,-13.43,0.000,4,0.257,0.044,2544,1214,3964,0,0,0,0,0,0,25.67,26.13,26.40
$GC,168,-0.78,-243.3,29.2,-32.9,14,173,0.00,2.28,0.00,0.000,6,0.000,0.050,2544,2645,3966,0,0,0,0,0,0,28.83,26.06,28.83
$GC,481,-0.78,-243.3,130.8,-29.0,33,486,0.00,1.67,0.00,0.000,4,0.000,0.058,2544,3694,3966,0,0,0,0,0,0,28.83,26.21,28.83
$GC,712,-0.78,-243.3,181.7,-20.8,44,717,0.00,1.52,0.00,0.000,6,0.000,0.030,2544,2641,3968,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1024,-0.78,-243.3,245.1,-18.2,60,1030,0.00,1.70,0.00,0.000,4,0.000,0.058,2544,3707,3970,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1072,-0.78,-243.3,252.2,-17.6,62,1077,0.00,1.50,0.00,0.000,6,0.000,0.031,2544,2655,3970,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1388,-0.78,-243.3,307.0,-18.1,78,1394,0.00,1.67,0.00,0.000,4,0.000,0.060,2544,3701,3970,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1460,-0.78,-243.3,317.6,-17.8,81,1465,0.00,1.48,0.00,0.000,6,0.000,0.031,2544,2697,3970,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1772,-0.78,-243.3,363.0,-11.4,97,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2695,3969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2073,-0.78,-243.3,399.8,-14.8,112,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2695,3969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2372,-0.78,-243.3,442.7,-12.9,127,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2695,3966,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2673,-0.78,-243.3,474.9,-9.6,142,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2694,3963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2972,-0.78,-243.3,513.3,-14.9,157,2978,0.00,2.10,0.00,0.000,4,0.000,0.034,2545,1257,3961,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3018,-0.78,-243.3,519.7,-15.2,159,3023,0.00,2.22,0.00,0.000,6,0.000,0.050,2544,2690,3961,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3335,-0.78,-243.3,562.9,-12.4,175,3340,0.00,1.60,0.00,0.000,4,0.000,0.063,2544,3704,3957,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3398,-0.78,-243.3,569.6,-11.0,178,3403,0.00,1.50,0.00,0.000,6,0.000,0.035,2544,2712,3957,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3730,-0.78,-243.3,605.7,-11.3,194,3736,0.00,2.12,0.00,0.000,4,0.000,0.033,2544,1251,3953,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3782,-0.78,-243.3,609.4,-11.4,195,3787,0.00,2.22,0.00,0.000,6,0.000,0.050,2544,2691,3953,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4094,-0.78,-243.3,646.7,-11.2,206,4099,0.00,1.60,0.00,0.000,4,0.000,0.062,2544,3706,3951,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4135,-0.78,-243.3,650.1,-11.1,207,4140,0.00,1.50,0.00,0.000,6,0.000,0.037,2544,2685,3950,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4458,-0.78,-243.3,683.5,-10.5,218,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2685,3948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4757,-0.78,-243.3,712.8,-9.4,228,4762,0.00,1.62,0.00,0.000,4,0.000,0.061,2544,3689,3945,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4839,-0.78,-243.3,718.8,-9.7,230,4844,0.00,1.50,0.00,0.000,6,0.000,0.036,2544,2666,3945,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5151,-0.78,-243.3,748.2,-8.7,241,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2666,3944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5451,-0.78,-243.3,772.7,-7.5,251,5457,0.00,2.10,0.00,0.000,4,0.000,0.033,2544,1224,3942,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5488,-0.78,-243.3,775.3,-7.6,252,5493,0.00,2.25,0.00,0.000,6,0.000,0.049,2543,2682,3942,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5817,-0.78,-243.3,803.7,-9.0,263,5822,0.00,2.15,0.00,0.000,4,0.000,0.035,2544,1233,3939,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5843,-0.78,-243.3,803.7,-9.0,263,5850,0.00,2.28,0.00,0.000,6,0.000,0.050,2544,2686,3939,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6149,-0.78,-243.3,836.0,-10.1,274,6155,0.00,2.17,0.00,0.000,4,0.000,0.036,2544,1239,3938,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6182,-0.78,-243.3,839.3,-10.1,275,6188,0.00,2.28,0.00,0.000,6,0.000,0.050,2544,2687,3938,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6516,-0.78,-243.3,869.5,-8.8,286,6522,0.00,2.15,0.00,0.000,4,0.000,0.034,2544,1240,3934,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6538,-0.78,-243.3,869.5,-8.8,286,6544,0.00,2.25,0.00,0.000,6,0.000,0.050,2544,2677,3935,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6851,-0.78,-243.3,894.0,-7.3,297,6857,0.00,1.62,0.00,0.000,4,0.000,0.063,2544,3704,3934,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6893,-0.78,-243.3,896.5,-7.2,298,6899,0.00,1.55,0.00,0.000,6,0.000,0.037,2544,2670,3934,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7219,-0.78,-243.3,917.8,-7.1,309,7224,0.00,1.65,0.00,0.000,4,0.000,0.062,2544,3697,3932,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7260,-0.78,-243.3,920.1,-7.0,310,7265,0.00,1.50,0.00,0.000,6,0.000,0.038,2544,2681,3932,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7583,-0.78,-243.3,941.4,-6.2,321,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2681,3931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7882,-0.78,-243.3,963.1,-7.7,331,7887,0.00,2.12,0.00,0.000,4,0.000,0.035,2544,1239,3929,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7919,-0.78,-243.3,965.8,-7.9,332,7924,0.00,2.25,0.00,0.000,6,0.000,0.050,2544,2686,3929,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,8184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8184,begin apogee
$GC,8189,-0.17,0.0,990.5,-9.7,341,8397,0.60,0.00,199.38,1.426,4,0.133,0.000,2741,1927,2966,0,0,0,0,0,0,26.15,28.83,23.59
$STATE,8399,end apogee,CONTROL_FINISHED_OK
$STATE,8399,begin climb
$GC,8401,0.78,243.3,1000.3,0.0,348,8626,0.90,2.28,216.75,1.379,4,0.067,0.041,3056,546,1976,0,0,0,0,0,0,24.68,24.68,23.26
$GC,8678,0.78,243.3,967.2,16.9,357,8683,0.00,2.30,0.00,0.000,6,0.000,0.041,3056,1950,1969,0,0,0,0,0,0,28.83,24.82,28.83
$GC,9001,0.78,243.3,894.1,23.1,368,9006,0.00,2.28,0.00,0.000,4,0.000,0.054,3056,3349,1964,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9153,0.78,243.3,857.7,23.8,373,9159,0.00,2.20,0.00,0.000,6,0.000,0.035,3065,1945,1963,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9487,0.78,243.3,775.4,25.5,384,9492,0.00,2.20,0.00,0.000,4,0.000,0.044,3076,526,1961,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9568,0.78,243.3,759.5,25.2,386,9574,0.00,2.17,0.00,0.000,6,0.000,0.041,3075,1924,1960,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9881,0.78,243.3,678.1,23.6,397,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1924,1961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10180,0.78,243.3,613.4,20.6,407,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1924,1960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10492,0.78,243.3,546.4,23.2,421,10497,0.00,2.17,0.00,0.000,4,0.000,0.046,3079,523,1960,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10523,0.78,243.3,541.1,23.2,422,10528,0.00,2.17,0.00,0.000,6,0.000,0.042,3078,1928,1960,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10835,0.78,243.3,467.5,23.6,438,10841,0.00,2.17,0.00,0.000,4,0.000,0.047,3079,527,1960,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10872,0.78,243.3,462.2,23.5,439,10879,0.00,2.15,0.00,0.000,6,0.000,0.042,3078,1921,1959,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11178,0.78,243.3,398.7,18.7,455,11184,0.00,2.25,0.00,0.000,4,0.000,0.053,3079,3354,1959,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11204,0.78,243.3,393.7,20.0,456,11210,0.00,2.20,0.00,0.000,6,0.000,0.035,3079,1920,1959,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11522,0.78,243.3,324.3,20.2,472,11527,0.00,2.12,0.00,0.000,4,0.000,0.046,3080,534,1959,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11604,0.78,243.3,309.8,17.6,476,11609,0.00,2.12,0.00,0.000,6,0.000,0.040,3080,1916,1958,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11927,0.78,243.3,250.0,19.2,492,11932,0.00,2.15,0.00,0.000,4,0.000,0.045,3080,527,1958,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11998,0.78,243.3,239.0,17.4,495,12003,0.00,2.12,0.00,0.000,6,0.000,0.041,3080,1915,1957,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12310,0.78,243.3,186.2,16.0,511,12316,0.00,2.25,0.00,0.000,4,0.000,0.052,3079,3354,1958,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12401,0.78,243.3,173.5,15.3,515,12407,0.00,2.17,0.00,0.000,6,0.000,0.035,3080,1920,1958,0,0,0,0,0,0,28.83,26.51,28.83
$GC,12714,0.82,276.6,140.5,10.0,531,12742,0.00,0.00,26.23,0.799,6,0.000,0.000,3081,1920,1840,0,0,0,0,0,0,28.83,28.83,25.41
$GC,13034,0.91,352.4,104.7,8.7,547,13104,0.00,2.22,61.75,0.764,4,0.000,0.044,3080,538,1530,0,0,0,0,0,0,28.83,25.38,24.74
$GC,13131,0.97,396.4,96.8,9.7,551,13177,0.00,2.25,36.42,0.737,6,0.000,0.039,3080,1957,1350,0,0,0,0,0,0,28.83,25.53,24.53
$GC,13476,1.03,448.5,63.0,9.4,569,13526,0.12,2.25,41.90,0.708,4,0.093,0.050,3150,3344,1138,0,0,0,0,0,0,25.98,25.37,24.77
$GC,13553,1.03,448.5,55.1,11.9,572,13560,0.00,2.17,0.00,0.000,6,0.000,0.033,3152,1957,1137,0,0,0,0,0,0,28.83,25.55,28.83
$GC,13858,1.03,448.5,7.0,12.7,602,13863,0.00,2.17,0.00,0.000,4,0.000,0.041,3151,522,1136,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,13890,end climb,SURFACE_DEPTH_REACHED
$STATE,13890,begin surface coast
$FINISH,0.8,1.021563
$STATE,13911,end surface coast,CONTROL_FINISHED_OK
$STATE,13912,begin surface
$SM_CCo,13931,31.90,0.060,0,0,827,525.19
$SM_GC,1.73,8.02,3.38,31.90,0.057,0.038,0.060,137,2654,827,-8.28,-0.71,525.19,0,0,0,0,0,0,25.93,26.02,25.97
$IRIDIUM_FIX,2157.39,12013.54,230412,060608
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.84
$INTERNAL_PRESSURE,7.32999
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,23.3,6.756
$10V_AH,9.9,2.262
$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,19.800,115.400,582.425,31.900,0.000,0.000,0.000,225.350,0.250,0.000,21.156,2004.056,9679.553,675.805,1833.071,134.292,0.000,1822.041,0.000,1514.711,0.000,0.543,0.000
$DEVICE_MAMPS,257.040,62.730,1425.960,60.435,0.000,0.000,0.000,92.565,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13903.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.429,0.000,0.000,0.000
$MEM,324988
$DATA_FILE_SIZE,23439,607
$CAP_FILE_SIZE,150212,0
$CFSIZE,260165632,248397824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.054,184.5,1
$GPS,230412,142735,2157.577,12007.993,29,0.8,29,-3.1