version: 66.10
glider: 170
mission: 8
dive: 40
start: 4 24 112 1 53 19
data:
$ID,170
$MISSION,8
$DIVE,40
$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,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-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,-124215.83
$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,45
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3121
$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
$GPS1,240412,014724,2149.817,12006.093,37,0.9,37,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-71.6
$GPS2,240412,015253,2149.760,12006.060,17,0.8,19,-3.1
$SPEED_LIMITS,0.191,0.356
$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,172.4,314575,-15.1,-11.000
$D_GRID,1402
$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,-0.80,-243.3,0.0,0.0,0,100,0.00,0.00,-81.38,0.000,2,0.000,0.000,133,2700,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.80,-243.3,4.9,-6.3,8,132,10.52,1.60,-10.32,0.000,4,0.266,0.078,2532,3690,3964,0,0,0,0,0,0,25.59,25.96,26.32
$GC,188,-0.80,-243.3,41.4,-38.5,16,196,0.00,1.52,0.00,0.000,6,0.000,0.030,2533,2662,3967,0,0,0,0,0,0,28.83,26.13,28.83
$GC,495,-0.80,-243.3,143.3,-29.9,33,500,0.00,1.67,0.00,0.000,4,0.000,0.060,2532,3694,3967,0,0,0,0,0,0,28.83,26.17,28.83
$GC,707,-0.80,-243.3,192.3,-21.9,43,712,0.00,1.45,0.00,0.000,6,0.000,0.031,2532,2713,3969,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1019,-0.80,-243.3,255.0,-20.0,59,1025,0.00,1.58,0.00,0.000,4,0.000,0.058,2532,3686,3970,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1063,-0.80,-243.3,263.2,-19.2,61,1069,0.00,1.45,0.00,0.000,6,0.000,0.031,2532,2712,3970,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1385,-0.80,-243.3,320.6,-17.3,77,1391,0.00,2.10,0.00,0.000,4,0.000,0.031,2533,1284,3970,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1431,-0.80,-243.3,327.8,-17.5,79,1437,0.00,2.20,0.00,0.000,6,0.000,0.048,2532,2694,3970,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1749,-0.80,-243.3,378.6,-13.2,95,1754,0.00,1.58,0.00,0.000,4,0.000,0.059,2533,3698,3970,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1920,-0.80,-243.3,398.4,-11.7,103,1926,0.00,1.48,0.00,0.000,6,0.000,0.033,2533,2710,3970,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2234,-0.80,-243.3,444.2,-15.5,119,2239,0.00,2.10,0.00,0.000,4,0.000,0.032,2533,1283,3968,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2256,-0.80,-243.3,447.6,-15.4,120,2261,0.00,2.22,0.00,0.000,6,0.000,0.049,2533,2703,3968,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2578,-0.80,-243.3,491.3,-12.4,136,2584,0.00,2.10,0.00,0.000,4,0.000,0.033,2532,1278,3965,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2610,-0.80,-243.3,493.9,-12.2,137,2615,0.00,2.22,0.00,0.000,6,0.000,0.050,2532,2716,3965,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2922,-0.80,-243.3,527.3,-11.0,153,2927,0.00,1.55,0.00,0.000,4,0.000,0.060,2533,3702,3963,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2989,-0.80,-243.3,534.7,-11.7,156,2995,0.00,1.50,0.00,0.000,6,0.000,0.032,2533,2658,3962,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3307,-0.80,-243.3,578.6,-14.1,172,3312,0.00,1.98,0.00,0.000,4,0.000,0.033,2533,1301,3960,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3338,-0.80,-243.3,581.5,-13.9,173,3345,0.00,2.20,0.00,0.000,6,0.000,0.050,2532,2708,3959,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3652,-0.80,-243.3,622.4,-11.9,186,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2708,3957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3952,-0.80,-243.3,656.9,-11.3,196,3958,0.00,2.10,0.00,0.000,4,0.000,0.034,2533,1302,3954,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4003,-0.80,-243.3,660.6,-11.2,197,4009,0.00,2.17,0.00,0.000,6,0.000,0.051,2533,2703,3953,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4316,-0.80,-243.3,697.4,-11.0,208,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2702,3951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4616,-0.80,-243.3,731.0,-11.3,218,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2703,3949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4915,-0.80,-243.3,767.1,-12.1,228,4921,0.00,2.10,0.00,0.000,4,0.000,0.035,2532,1302,3947,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4962,-0.80,-243.3,771.0,-12.1,229,4967,0.00,2.15,0.00,0.000,6,0.000,0.051,2532,2686,3947,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5279,-0.80,-243.3,809.5,-11.8,240,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2686,3945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5579,-0.80,-243.3,844.6,-11.9,250,5584,0.00,2.05,0.00,0.000,4,0.000,0.036,2533,1303,3943,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5605,-0.80,-243.3,844.6,-11.9,250,5611,0.00,2.15,0.00,0.000,6,0.000,0.051,2533,2688,3943,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5912,-0.80,-243.3,881.3,-10.8,261,5917,0.00,1.60,0.00,0.000,4,0.000,0.061,2533,3703,3941,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5953,-0.80,-243.3,884.7,-10.7,262,5958,0.00,1.52,0.00,0.000,6,0.000,0.036,2532,2678,3941,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6276,-0.80,-243.3,918.7,-10.2,273,6282,0.00,2.05,0.00,0.000,4,0.000,0.034,2533,1276,3939,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6310,-0.80,-243.3,922.2,-10.2,274,6315,0.00,2.20,0.00,0.000,6,0.000,0.050,2533,2686,3939,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6643,-0.80,-243.3,958.5,-11.2,285,6648,0.00,2.10,0.00,0.000,4,0.000,0.035,2533,1285,3937,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6675,-0.80,-243.3,962.4,-11.2,286,6681,0.00,2.20,0.00,0.000,6,0.000,0.050,2533,2681,3937,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,6916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6917,begin apogee
$GC,6922,-0.17,0.0,990.9,-12.1,294,7099,0.62,0.00,168.00,1.418,4,0.135,0.000,2738,1922,3119,0,0,0,0,0,0,26.21,28.83,23.64
$STATE,7101,end apogee,CONTROL_FINISHED_OK
$STATE,7101,begin climb
$GC,7102,0.80,243.3,1002.2,0.0,300,7328,0.93,2.25,216.27,1.387,4,0.064,0.041,3066,547,2129,0,0,0,0,0,0,24.77,24.78,23.27
$GC,7433,0.80,243.3,968.8,15.7,311,7440,0.00,2.25,0.00,0.000,6,0.000,0.041,3066,1943,2120,0,0,0,0,0,0,28.83,25.16,28.83
$GC,7762,0.80,243.3,906.4,19.5,322,7768,0.00,2.25,0.00,0.000,4,0.000,0.054,3066,3349,2115,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7938,0.80,243.3,872.8,21.9,327,7945,0.00,2.17,0.00,0.000,6,0.000,0.034,3075,1944,2114,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8245,0.80,243.3,800.0,22.5,338,8250,0.00,2.17,0.00,0.000,4,0.000,0.044,3085,528,2113,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8361,0.80,243.3,779.7,22.0,341,8369,0.00,2.17,0.00,0.000,6,0.000,0.042,3085,1926,2111,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8667,0.80,243.3,703.5,23.5,352,8673,0.00,2.17,0.00,0.000,4,0.000,0.044,3093,534,2111,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8703,0.80,243.3,696.0,23.3,353,8709,0.12,2.12,0.00,0.000,6,0.176,0.042,3061,1921,2111,0,0,0,0,0,0,26.10,26.29,28.83
$GC,9033,0.80,243.3,626.0,21.3,364,9038,0.00,2.17,0.00,0.000,4,0.000,0.045,3066,527,2110,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9059,0.80,243.3,626.0,21.3,364,9066,0.00,2.15,0.00,0.000,6,0.000,0.041,3066,1924,2110,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9366,0.80,243.3,561.2,16.7,378,9372,0.00,2.15,0.00,0.000,4,0.000,0.044,3074,532,2110,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9418,0.80,243.3,554.2,16.0,380,9423,0.00,2.10,0.00,0.000,6,0.000,0.039,3074,1922,2109,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9730,0.80,243.3,501.1,16.6,396,9735,0.00,2.25,0.00,0.000,4,0.000,0.054,3074,3353,2110,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9772,0.80,243.3,492.8,18.2,398,9777,0.00,2.17,0.00,0.000,6,0.000,0.035,3079,1916,2110,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10094,0.80,243.3,432.4,18.1,414,10099,0.00,2.28,0.00,0.000,4,0.000,0.053,3079,3353,2109,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10116,0.80,243.3,428.3,18.0,415,10121,0.00,2.17,0.00,0.000,6,0.000,0.034,3080,1928,2110,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10438,0.80,243.3,374.7,16.1,431,10443,0.00,2.12,0.00,0.000,4,0.000,0.045,3084,526,2109,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10555,0.80,243.3,359.1,15.0,436,10562,0.00,2.12,0.00,0.000,6,0.000,0.040,3084,1918,2108,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10860,0.80,243.3,301.1,20.4,452,10867,0.00,2.25,0.00,0.000,4,0.000,0.054,3084,3351,2108,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10913,0.80,243.3,291.8,21.0,454,10918,0.12,2.12,0.00,0.000,6,0.192,0.035,3060,1938,2108,0,0,0,0,0,0,26.25,26.53,28.83
$GC,11225,0.80,243.3,245.8,13.5,470,11230,0.00,2.12,0.00,0.000,4,0.000,0.044,3065,534,2108,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11377,0.80,243.3,226.2,13.8,477,11382,0.00,2.10,0.00,0.000,6,0.000,0.038,3067,1928,2107,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11689,0.80,243.3,183.6,12.4,493,11695,0.00,2.20,0.00,0.000,4,0.000,0.053,3067,3351,2107,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11775,0.80,243.3,171.8,14.2,497,11780,0.00,2.15,0.00,0.000,6,0.000,0.034,3075,1926,2107,0,0,0,0,0,0,28.83,26.57,28.83
$GC,12093,0.85,282.4,132.9,9.8,513,12133,0.00,2.20,30.12,0.793,4,0.000,0.044,3078,532,1967,0,0,0,0,0,0,28.83,26.08,25.39
$GC,12159,0.94,356.2,127.4,8.8,516,12224,0.00,2.17,60.20,0.787,6,0.000,0.039,3078,1955,1667,0,0,0,0,0,0,28.83,26.13,24.63
$GC,12537,0.96,371.8,86.6,10.5,535,12558,0.00,2.22,13.43,0.702,4,0.000,0.041,3078,543,1602,0,0,0,0,0,0,28.83,25.77,25.09
$GC,12584,0.98,383.7,81.8,10.6,537,12603,0.12,2.17,11.10,0.679,6,0.090,0.038,3146,1944,1555,0,0,0,0,0,0,25.83,25.83,25.00
$GC,12901,0.98,383.7,33.8,14.6,558,12907,0.12,2.20,0.00,0.000,4,0.160,0.041,3106,531,1553,0,0,0,0,0,0,25.92,26.02,28.83
$GC,12957,1.05,444.3,28.2,9.2,563,12995,0.00,2.15,30.67,0.667,6,0.000,0.038,3106,1940,1307,0,0,0,0,0,0,28.83,26.07,25.03
$STATE,13222,end climb,SURFACE_DEPTH_REACHED
$STATE,13222,begin surface coast
$FINISH,0.7,1.021470
$STATE,13255,end surface coast,CONTROL_FINISHED_OK
$STATE,13255,begin surface
$SM_CCo,13271,33.22,0.060,0,0,978,525.19
$SM_GC,1.74,7.90,1.20,33.22,0.055,0.052,0.060,136,2691,978,-8.28,-0.82,525.19,0,0,0,0,0,0,25.92,26.01,25.97
$IRIDIUM_FIX,2150.42,12004.01,230412,212133
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.91
$INTERNAL_PRESSURE,7.33976
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.3,7.539
$10V_AH,9.9,2.550
$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,20.475,124.575,529.800,33.225,0.000,0.000,0.000,198.375,0.000,0.000,20.031,2032.307,8968.100,658.484,1846.380,133.180,0.000,1784.940,0.000,1558.801,0.000,0.545,0.000
$DEVICE_MAMPS,266.220,78.030,1418.310,60.435,0.000,0.000,0.000,97.920,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13248.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.442,0.000,0.000,0.000
$MEM,324976
$DATA_FILE_SIZE,20096,593
$CAP_FILE_SIZE,150232,0
$CFSIZE,260165632,248107008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.117,242.4,1
$GPS,240412,053605,2147.307,12005.352,26,1.0,26,-3.0