version: 66.10
glider: 170
mission: 8
dive: 37
start: 4 23 112 14 33 23
data:
$ID,170
$MISSION,8
$DIVE,37
$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,-124211.42
$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,2690
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,29
$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
$GPS1,230412,142735,2157.577,12007.993,29,0.8,29,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-72.2
$GPS2,230412,143254,2157.511,12008.013,15,1.0,15,-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,185.2,329050,-14.4,-11.000
$D_GRID,1364
$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,-243.3,0.0,0.0,0,102,0.00,0.00,-82.62,0.000,2,0.000,0.000,136,2655,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.78,-243.3,4.1,-5.0,8,137,10.12,2.12,-12.38,0.000,4,0.256,0.045,2538,1257,3965,0,0,0,0,0,0,25.62,26.07,26.34
$GC,163,-0.78,-243.3,28.0,-39.9,13,170,0.00,2.30,0.00,0.000,6,0.000,0.051,2538,2697,3966,0,0,0,0,0,0,28.83,26.01,28.83
$GC,469,-0.78,-243.3,133.2,-30.2,32,474,0.00,1.58,0.00,0.000,4,0.000,0.057,2538,3710,3966,0,0,0,0,0,0,28.83,26.18,28.83
$GC,701,-0.78,-243.3,188.8,-22.6,43,706,0.00,1.50,0.00,0.000,6,0.000,0.031,2538,2701,3967,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1013,-0.78,-243.3,258.1,-20.7,59,1018,0.00,1.60,0.00,0.000,4,0.000,0.057,2538,3706,3971,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1174,-0.78,-243.3,285.1,-16.2,67,1180,0.00,1.48,0.00,0.000,6,0.000,0.033,2539,2725,3970,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1497,-0.78,-243.3,336.2,-14.7,83,1502,0.00,2.12,0.00,0.000,4,0.000,0.031,2538,1281,3970,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1593,-0.78,-243.3,346.1,-11.9,87,1601,0.00,2.25,0.00,0.000,6,0.000,0.048,2538,2725,3970,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1899,-0.78,-243.3,388.9,-14.6,103,1905,0.00,1.52,0.00,0.000,4,0.000,0.058,2538,3701,3969,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1936,-0.78,-243.3,392.5,-15.0,104,1942,0.00,1.48,0.00,0.000,6,0.000,0.034,2539,2713,3969,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2242,-0.78,-243.3,440.8,-14.6,120,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2713,3969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2542,-0.78,-243.3,484.5,-14.7,135,2547,0.00,2.10,0.00,0.000,4,0.000,0.033,2539,1288,3965,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2594,-0.78,-243.3,489.9,-13.5,137,2601,0.00,2.20,0.00,0.000,6,0.000,0.049,2538,2714,3964,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2909,-0.78,-243.3,526.4,-10.8,153,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2714,3962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3208,-0.78,-243.3,564.6,-13.2,168,3214,0.00,2.12,0.00,0.000,4,0.000,0.034,2538,1287,3960,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3295,-0.78,-243.3,574.7,-12.0,172,3300,0.00,2.20,0.00,0.000,6,0.000,0.050,2539,2712,3957,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3622,-0.78,-243.3,612.1,-11.7,187,3627,0.00,2.12,0.00,0.000,4,0.000,0.034,2539,1291,3954,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3663,-0.78,-243.3,616.0,-11.8,188,3668,0.00,2.17,0.00,0.000,6,0.000,0.050,2539,2701,3954,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3986,-0.78,-243.3,657.9,-12.4,199,3992,0.00,1.58,0.00,0.000,4,0.000,0.060,2538,3693,3952,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4013,-0.78,-243.3,657.9,-12.4,199,4020,0.00,1.50,0.00,0.000,6,0.000,0.037,2538,2705,3951,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4320,-0.78,-243.3,695.2,-10.1,210,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2705,3949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4619,-0.78,-243.3,728.7,-12.3,220,4624,0.00,1.55,0.00,0.000,4,0.000,0.061,2539,3694,3947,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4651,-0.78,-243.3,732.8,-12.7,221,4657,0.00,1.52,0.00,0.000,6,0.000,0.038,2539,2705,3947,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4986,-0.78,-243.3,777.7,-14.1,232,4992,0.00,2.12,0.00,0.000,4,0.000,0.034,2539,1270,3944,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5038,-0.78,-243.3,782.2,-13.9,233,5043,0.00,2.22,0.00,0.000,6,0.000,0.050,2539,2705,3944,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5350,-0.78,-243.3,820.3,-11.1,244,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2704,3942,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5650,-0.78,-243.3,851.8,-9.9,254,5656,0.00,2.12,0.00,0.000,4,0.000,0.035,2539,1268,3940,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5692,-0.78,-243.3,855.3,-10.2,255,5698,0.00,2.20,0.00,0.000,6,0.000,0.051,2539,2687,3940,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6017,-0.78,-243.3,899.7,-13.8,266,6023,0.00,2.10,0.00,0.000,4,0.000,0.036,2539,1273,3938,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6054,-0.78,-243.3,904.2,-13.5,267,6059,0.00,2.20,0.00,0.000,6,0.000,0.050,2539,2693,3938,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6381,-0.78,-243.3,942.8,-11.2,278,6387,0.00,2.10,0.00,0.000,4,0.000,0.034,2539,1273,3935,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6414,-0.78,-243.3,946.4,-11.0,279,6420,0.00,2.20,0.00,0.000,6,0.000,0.050,2539,2687,3935,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6748,-0.78,-243.3,978.0,-9.2,290,6753,0.00,1.60,0.00,0.000,4,0.000,0.062,2539,3698,3934,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6774,-0.78,-243.3,978.0,-9.2,290,6781,0.00,1.58,0.00,0.000,6,0.000,0.038,2539,2670,3933,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,6898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6898,begin apogee
$GC,6904,-0.17,0.0,992.5,-9.4,295,7111,0.60,0.00,199.50,1.419,4,0.132,0.000,2738,1913,2966,0,0,0,0,0,0,26.23,28.83,23.62
$STATE,7113,end apogee,CONTROL_FINISHED_OK
$STATE,7113,begin climb
$GC,7114,0.78,243.3,999.9,0.0,302,7339,0.88,0.00,216.38,1.370,6,0.062,0.000,3061,1913,1974,0,0,0,0,0,0,24.67,28.83,23.31
$GC,7651,0.78,243.3,902.7,21.2,320,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1913,1965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7952,0.78,243.3,835.4,22.7,330,7957,0.00,2.12,0.00,0.000,4,0.000,0.044,3069,542,1962,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8022,0.78,243.3,822.5,21.4,332,8028,0.00,2.17,0.00,0.000,6,0.000,0.041,3069,1936,1961,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8346,0.78,243.3,756.8,19.8,343,8351,0.00,2.17,0.00,0.000,4,0.000,0.046,3079,551,1960,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8417,0.78,243.3,744.7,19.9,345,8422,0.00,2.10,0.00,0.000,6,0.000,0.041,3079,1923,1959,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8740,0.78,243.3,680.6,20.5,356,8745,0.00,2.28,0.00,0.000,4,0.000,0.054,3079,3353,1959,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8762,0.78,243.3,680.6,20.5,356,8768,0.15,2.17,0.00,0.000,6,0.189,0.035,3049,1920,1959,0,0,0,0,0,0,26.07,26.35,28.83
$GC,9076,0.78,243.3,611.3,19.9,367,9081,0.00,2.12,0.00,0.000,4,0.000,0.046,3051,539,1958,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9172,0.78,243.3,596.4,18.3,370,9180,0.00,2.10,0.00,0.000,6,0.000,0.040,3051,1906,1957,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9478,0.78,243.3,537.5,18.5,386,9484,0.00,2.12,0.00,0.000,4,0.000,0.045,3051,538,1957,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9555,0.78,243.3,525.9,18.7,389,9562,0.00,2.08,0.00,0.000,6,0.000,0.040,3051,1893,1957,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9861,0.78,243.3,466.9,18.7,405,9866,0.00,2.28,0.00,0.000,4,0.000,0.054,3051,3354,1957,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9883,0.78,243.3,462.6,18.7,406,9888,0.00,2.25,0.00,0.000,6,0.000,0.036,3051,1873,1957,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10205,0.78,243.3,406.0,17.7,422,10210,0.00,2.03,0.00,0.000,4,0.000,0.044,3051,538,1956,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10276,0.78,243.3,395.5,17.2,425,10282,0.00,2.05,0.00,0.000,6,0.000,0.041,3051,1877,1956,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10590,0.78,243.3,341.3,15.5,441,10595,0.00,2.30,0.00,0.000,4,0.000,0.053,3051,3346,1956,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10667,0.78,243.3,330.7,16.5,444,10675,0.00,2.22,0.00,0.000,6,0.000,0.035,3051,1882,1956,0,0,0,0,0,0,28.83,26.52,28.83
$GC,10972,0.78,243.3,277.3,18.2,460,10978,0.00,2.05,0.00,0.000,4,0.000,0.047,3050,532,1956,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11056,0.78,243.3,263.4,16.7,464,11062,0.00,2.05,0.00,0.000,6,0.000,0.039,3051,1872,1956,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11379,0.78,243.3,212.5,15.1,480,11384,0.00,2.30,0.00,0.000,4,0.000,0.052,3051,3343,1955,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11475,0.78,243.3,199.6,15.8,484,11482,0.00,2.20,0.00,0.000,6,0.000,0.034,3051,1872,1955,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11781,0.78,243.3,159.6,13.3,500,11782,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1873,1955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12083,0.87,313.8,127.4,8.8,515,12144,0.00,2.45,55.17,0.793,4,0.000,0.051,3052,3342,1688,0,0,0,0,0,0,28.83,25.69,25.05
$GC,12187,0.98,408.8,119.3,8.1,520,12273,0.20,2.25,76.82,0.769,6,0.073,0.032,3145,1894,1300,0,0,0,0,0,0,25.82,25.84,24.43
$GC,12591,0.98,408.8,49.3,15.7,540,12597,0.00,2.10,0.00,0.000,4,0.000,0.043,3145,533,1294,0,0,0,0,0,0,28.83,25.90,28.83
$GC,12654,0.98,408.8,39.8,14.9,546,12660,0.00,2.12,0.00,0.000,6,0.000,0.039,3145,1907,1293,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,12926,end climb,SURFACE_DEPTH_REACHED
$STATE,12926,begin surface coast
$FINISH,0.9,1.011376
$STATE,12947,end surface coast,CONTROL_FINISHED_OK
$STATE,12947,begin surface
$SM_CCo,12965,47.85,0.060,0,0,826,525.19
$SM_GC,1.74,7.88,1.23,47.85,0.048,0.045,0.060,135,2696,826,-8.29,-0.93,525.19,0,0,0,0,0,0,26.04,26.15,26.07
$IRIDIUM_FIX,2145.77,12010.04,230412,101025
$TT8_MAMPS,0.025466,0.025466
$HUMID,39.05
$INTERNAL_PRESSURE,7.31046
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,23.3,6.954
$10V_AH,10.0,2.333
$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,19.825,111.900,547.875,47.850,0.000,0.000,0.000,191.375,0.250,0.000,16.495,1931.619,8843.159,671.339,1760.379,131.294,0.000,1761.183,0.000,1483.838,0.000,0.543,0.000
$DEVICE_MAMPS,255.510,61.965,1419.075,59.670,0.000,0.000,0.000,99.450,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12941.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.499,0.000,0.000,0.000
$MEM,324992
$DATA_FILE_SIZE,20093,575
$CAP_FILE_SIZE,142709,0
$CFSIZE,260165632,248336384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.121,210.0,1
$GPS,230412,181130,2154.828,12007.278,39,1.0,39,-3.1