version: 66.10
glider: 170
mission: 8
dive: 38
start: 4 23 112 18 16 59
data:
$ID,170
$MISSION,8
$DIVE,38
$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,-124212.67
$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,46
$R_STBD_OVSHOOT,34
$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
$GPS1,230412,181130,2154.828,12007.278,39,1.0,39,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.1
$GPS2,230412,181630,2154.772,12007.232,17,1.0,17,-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,175.7,323926,-14.4,-11.000
$D_GRID,1448
$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,-82.12,0.000,2,0.000,0.000,134,2698,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.78,-243.3,4.2,-5.6,8,137,10.00,2.20,-13.88,0.000,4,0.252,0.047,2542,1268,3963,0,0,0,0,0,0,25.66,26.09,26.39
$GC,152,-0.78,-243.3,23.8,-39.7,12,159,0.00,2.25,0.00,0.000,6,0.000,0.048,2541,2691,3965,0,0,0,0,0,0,28.83,26.05,28.83
$GC,469,-0.78,-243.3,131.8,-31.7,32,474,0.00,1.60,0.00,0.000,4,0.000,0.059,2542,3700,3966,0,0,0,0,0,0,28.83,26.20,28.83
$GC,691,-0.78,-243.3,188.0,-22.7,43,696,0.00,1.52,0.00,0.000,6,0.000,0.031,2542,2675,3968,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1014,-0.78,-243.3,250.4,-20.1,59,1019,0.00,1.62,0.00,0.000,4,0.000,0.059,2541,3696,3970,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1145,-0.78,-243.3,274.0,-18.1,65,1150,0.00,1.42,0.00,0.000,6,0.000,0.031,2541,2722,3970,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1457,-0.78,-243.3,326.5,-17.1,81,1463,0.00,2.10,0.00,0.000,4,0.000,0.033,2542,1295,3970,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1570,-0.78,-243.3,342.4,-14.9,86,1575,0.00,2.20,0.00,0.000,6,0.000,0.049,2542,2706,3970,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1882,-0.78,-243.3,388.5,-13.5,102,1887,0.00,1.55,0.00,0.000,4,0.000,0.060,2542,3694,3970,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1988,-0.78,-243.3,402.6,-13.7,107,1994,0.00,1.42,0.00,0.000,6,0.000,0.034,2541,2739,3969,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2306,-0.78,-243.3,443.8,-12.9,123,2311,0.00,2.12,0.00,0.000,4,0.000,0.034,2541,1287,3967,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2327,-0.78,-243.3,446.6,-13.0,124,2333,0.00,2.25,0.00,0.000,6,0.000,0.050,2541,2722,3967,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2650,-0.78,-243.3,497.9,-17.0,140,2656,0.00,2.15,0.00,0.000,4,0.000,0.034,2542,1284,3965,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2706,-0.78,-243.3,505.2,-17.0,142,2714,0.00,2.20,0.00,0.000,6,0.000,0.050,2541,2703,3964,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3013,-0.78,-243.3,548.5,-11.4,158,3019,0.00,2.12,0.00,0.000,4,0.000,0.034,2542,1282,3962,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3044,-0.78,-243.3,551.2,-11.2,159,3050,0.00,2.20,0.00,0.000,6,0.000,0.050,2541,2689,3962,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3356,-0.78,-243.3,586.2,-11.3,175,3362,0.00,2.10,0.00,0.000,4,0.000,0.035,2541,1288,3959,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3392,-0.78,-243.3,588.7,-11.4,176,3399,0.00,2.17,0.00,0.000,6,0.000,0.050,2541,2686,3959,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3710,-0.78,-243.3,622.8,-9.8,189,3715,0.00,1.60,0.00,0.000,4,0.000,0.062,2541,3701,3956,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3742,-0.78,-243.3,626.1,-9.7,190,3748,0.00,1.55,0.00,0.000,6,0.000,0.036,2541,2665,3956,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4076,-0.78,-243.3,657.9,-10.4,201,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2665,3953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4375,-0.78,-243.3,694.2,-13.2,211,4380,0.00,2.03,0.00,0.000,4,0.000,0.033,2542,1280,3951,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4417,-0.78,-243.3,698.5,-13.3,212,4423,0.00,2.17,0.00,0.000,6,0.000,0.049,2541,2675,3950,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4741,-0.78,-243.3,743.5,-13.8,223,4746,0.00,1.60,0.00,0.000,4,0.000,0.062,2542,3703,3950,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4792,-0.78,-243.3,747.9,-13.7,224,4797,0.00,1.52,0.00,0.000,6,0.000,0.035,2543,2659,3948,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5105,-0.78,-243.3,783.9,-9.6,235,5110,0.00,2.03,0.00,0.000,4,0.000,0.034,2541,1284,3945,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5197,-0.78,-243.3,792.0,-8.8,238,5203,0.00,2.17,0.00,0.000,6,0.000,0.050,2542,2673,3946,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5531,-0.78,-243.3,820.9,-9.3,249,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2674,3944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5830,-0.78,-243.3,852.3,-11.3,259,5835,0.00,1.60,0.00,0.000,4,0.000,0.061,2542,3703,3944,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5885,-0.78,-243.3,856.1,-11.5,260,5892,0.00,1.52,0.00,0.000,6,0.000,0.035,2541,2659,3943,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6193,-0.78,-243.3,886.7,-8.1,271,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2659,3940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6492,-0.78,-243.3,907.0,-6.6,281,6493,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2659,3939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6792,-0.78,-243.3,926.6,-6.6,291,6798,0.00,2.05,0.00,0.000,4,0.000,0.034,2541,1271,3937,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6828,-0.78,-243.3,928.9,-6.8,292,6835,0.00,2.20,0.00,0.000,6,0.000,0.050,2542,2676,3937,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7157,-0.78,-243.3,956.7,-9.9,303,7162,0.00,1.62,0.00,0.000,4,0.000,0.063,2541,3701,3935,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7239,-0.78,-243.3,963.9,-10.9,305,7244,0.00,1.55,0.00,0.000,6,0.000,0.036,2541,2650,3935,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,7460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7460,begin apogee
$GC,7465,-0.17,0.0,992.8,-12.4,313,7672,0.60,0.00,199.95,1.419,4,0.130,0.000,2740,1922,2967,0,0,0,0,0,0,26.22,28.83,23.61
$STATE,7674,end apogee,CONTROL_FINISHED_OK
$STATE,7674,begin climb
$GC,7675,0.78,243.3,1005.8,0.0,320,7901,0.90,2.25,217.12,1.386,4,0.069,0.041,3052,555,1975,0,0,0,0,0,0,24.65,24.66,23.25
$GC,7998,0.78,243.3,966.5,18.1,330,8005,0.00,2.25,0.00,0.000,6,0.000,0.039,3052,1943,1968,0,0,0,0,0,0,28.83,25.10,28.83
$GC,8304,0.78,243.3,895.0,22.7,341,8310,0.00,2.28,0.00,0.000,4,0.000,0.054,3053,3356,1965,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8450,0.78,243.3,865.9,23.8,345,8457,0.00,2.15,0.00,0.000,6,0.000,0.035,3063,1962,1963,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8757,0.78,243.3,787.2,23.2,356,8762,0.00,2.20,0.00,0.000,4,0.000,0.044,3073,533,1961,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8813,0.78,243.3,780.3,22.6,357,8821,0.00,2.17,0.00,0.000,6,0.000,0.040,3073,1947,1961,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9120,0.78,243.3,708.9,21.3,368,9125,0.00,2.20,0.00,0.000,4,0.000,0.045,3079,533,1960,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9196,0.78,243.3,695.5,21.2,370,9201,0.00,2.15,0.00,0.000,6,0.000,0.041,3078,1935,1959,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9514,0.78,243.3,627.0,20.2,381,9515,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1935,1959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9823,0.78,243.3,557.0,24.2,394,9829,0.00,2.20,0.00,0.000,4,0.000,0.046,3079,525,1960,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9855,0.78,243.3,551.6,23.9,395,9861,0.00,2.15,0.00,0.000,6,0.000,0.042,3078,1930,1959,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10167,0.78,243.3,472.0,25.0,411,10172,0.00,2.17,0.00,0.000,4,0.000,0.046,3079,526,1959,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10265,0.78,243.3,452.8,23.4,415,10272,0.00,2.12,0.00,0.000,6,0.000,0.041,3079,1922,1959,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10569,0.78,243.3,383.9,21.4,431,10575,0.00,2.15,0.00,0.000,4,0.000,0.045,3079,530,1959,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10596,0.78,243.3,379.3,21.2,432,10601,0.00,2.15,0.00,0.000,6,0.000,0.041,3079,1927,1958,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10913,0.78,243.3,326.0,13.8,448,10918,0.00,2.25,0.00,0.000,4,0.000,0.053,3079,3356,1958,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10944,0.78,243.3,322.2,14.9,449,10950,0.00,2.20,0.00,0.000,6,0.000,0.036,3080,1914,1959,0,0,0,0,0,0,28.83,26.49,28.83
$GC,11256,0.78,243.3,263.7,19.7,465,11262,0.00,2.12,0.00,0.000,4,0.000,0.047,3080,527,1958,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11359,0.78,243.3,244.0,18.7,470,11366,0.00,2.12,0.00,0.000,6,0.000,0.041,3080,1912,1958,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11683,0.78,243.3,191.2,16.5,486,11688,0.00,2.22,0.00,0.000,4,0.000,0.051,3080,3353,1957,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11729,0.78,243.3,183.2,17.7,488,11736,0.12,2.17,0.00,0.000,6,0.185,0.035,3050,1920,1958,0,0,0,0,0,0,26.26,26.53,28.83
$GC,12048,0.80,256.7,141.2,10.6,504,12063,0.00,2.17,10.18,0.758,4,0.000,0.044,3051,527,1919,0,0,0,0,0,0,28.83,26.39,25.62
$GC,12090,0.83,281.6,136.9,10.2,506,12119,0.00,2.20,22.17,0.793,6,0.000,0.041,3050,1951,1818,0,0,0,0,0,0,28.83,26.40,25.35
$GC,12432,1.00,424.9,100.0,6.6,523,12554,0.20,0.00,114.90,0.764,6,0.074,0.000,3148,1952,1234,0,0,0,0,0,0,26.25,28.83,24.38
$GC,12852,1.00,424.9,34.1,14.4,549,12857,0.00,2.22,0.00,0.000,4,0.000,0.045,3148,537,1230,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12908,1.00,424.9,27.4,12.7,554,12916,0.00,2.17,0.00,0.000,6,0.000,0.037,3148,1938,1229,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,13083,end climb,SURFACE_DEPTH_REACHED
$STATE,13083,begin surface coast
$FINISH,1.1,1.021574
$STATE,13104,end surface coast,CONTROL_FINISHED_OK
$STATE,13104,begin surface
$SM_CCo,13121,41.33,0.060,0,0,826,525.19
$SM_GC,1.55,7.95,1.20,41.33,0.052,0.050,0.060,136,2695,826,-8.28,-0.76,525.19,0,0,0,0,0,0,25.98,26.06,26.01
$IRIDIUM_FIX,2145.77,12011.21,230412,141436
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.06
$INTERNAL_PRESSURE,7.30069
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,23.2,7.155
$10V_AH,10.2,2.404
$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,19.775,115.175,564.325,41.325,0.000,0.000,0.000,170.025,0.250,0.000,18.837,1969.658,8920.806,690.162,1760.934,127.097,0.000,1762.632,0.000,1506.545,0.000,0.543,0.000
$DEVICE_MAMPS,251.685,63.495,1419.075,60.435,0.000,0.000,0.000,97.155,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13096.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.427,0.000,0.000,0.000
$MEM,324988
$DATA_FILE_SIZE,20083,574
$CAP_FILE_SIZE,145474,0
$CFSIZE,260165632,248258560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.068,209.1,1
$GPS,230412,215734,2152.341,12007.015,38,1.0,38,-3.1