version: 66.10
glider: 170
mission: 8
dive: 34
start: 4 23 112 3 14 29
data:
$ID,170
$MISSION,8
$DIVE,34
$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,-124207.64
$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,41
$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
$GPS1,230412,030400,2204.151,12009.573,36,0.9,36,-3.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-74.2
$GPS2,230412,031401,2203.984,12009.459,18,0.9,18,-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,186.1,341141,-14.4,-11.000
$D_GRID,996
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.78,-243.3,0.0,0.0,0,101,0.00,0.00,-81.18,0.000,2,0.000,0.000,133,2654,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.78,-243.3,4.4,-5.9,8,136,10.02,2.17,-13.18,0.000,4,0.252,0.046,2542,1212,3964,0,0,0,0,0,0,25.70,26.11,26.39
$GC,199,-0.78,-243.3,41.3,-35.6,17,204,0.00,2.28,0.00,0.000,6,0.000,0.050,2542,2644,3966,0,0,0,0,0,0,28.83,26.09,28.83
$GC,512,-0.78,-243.3,137.4,-26.7,34,517,0.00,1.67,0.00,0.000,4,0.000,0.059,2542,3703,3966,0,0,0,0,0,0,28.83,26.24,28.83
$GC,743,-0.78,-243.3,191.0,-21.7,45,748,0.00,1.55,0.00,0.000,6,0.000,0.031,2542,2632,3968,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1055,-0.78,-243.3,254.5,-21.8,61,1061,0.00,1.67,0.00,0.000,4,0.000,0.060,2544,3694,3968,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1287,-0.78,-243.3,293.7,-15.0,72,1292,0.00,1.48,0.00,0.000,6,0.000,0.031,2543,2691,3969,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1598,-0.78,-243.3,344.8,-17.6,88,1604,0.00,1.60,0.00,0.000,4,0.000,0.060,2542,3697,3969,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1784,-0.78,-243.3,372.0,-12.9,97,1790,0.00,1.48,0.00,0.000,6,0.000,0.032,2542,2695,3968,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2102,-0.78,-243.3,417.0,-14.3,113,2108,0.00,2.12,0.00,0.000,4,0.000,0.034,2542,1249,3966,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2165,-0.78,-243.3,425.1,-13.3,116,2170,0.00,2.25,0.00,0.000,6,0.000,0.049,2542,2700,3966,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2487,-0.78,-243.3,467.7,-13.2,132,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2701,3965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2787,-0.78,-243.3,508.1,-13.3,147,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2701,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3087,-0.78,-243.3,545.7,-12.1,162,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2701,3958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3387,-0.78,-243.3,585.8,-13.7,177,3392,0.00,1.58,0.00,0.000,4,0.000,0.063,2543,3701,3955,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3512,-0.78,-243.3,602.4,-13.3,183,3518,0.00,1.50,0.00,0.000,6,0.000,0.034,2543,2710,3954,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3841,-0.78,-243.3,641.0,-10.5,194,3846,0.00,2.12,0.00,0.000,4,0.000,0.034,2543,1251,3951,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3867,-0.78,-243.3,641.0,-10.5,194,3874,0.00,2.25,0.00,0.000,6,0.000,0.050,2542,2693,3951,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4174,-0.78,-243.3,669.3,-9.2,205,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2693,3948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4473,-0.78,-243.3,700.7,-10.7,215,4479,0.00,2.15,0.00,0.000,4,0.000,0.034,2543,1253,3946,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4496,-0.78,-243.3,700.7,-10.7,215,4502,0.00,2.25,0.00,0.000,6,0.000,0.051,2543,2690,3946,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4809,-0.78,-243.3,737.6,-11.5,226,4815,0.00,2.12,0.00,0.000,4,0.000,0.034,2542,1253,3943,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4831,-0.78,-243.3,737.6,-11.5,226,4836,0.00,2.22,0.00,0.000,6,0.000,0.051,2542,2690,3943,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5143,-0.78,-243.3,776.2,-11.8,237,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2690,3941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5444,-0.78,-243.3,802.7,-7.3,247,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2690,3939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5744,-0.78,-243.3,833.5,-11.7,257,5750,0.00,1.60,0.00,0.000,4,0.000,0.063,2542,3701,3937,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5777,-0.78,-243.3,836.6,-10.9,258,5782,0.00,1.52,0.00,0.000,6,0.000,0.038,2542,2712,3936,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6110,-0.78,-243.3,869.4,-9.7,269,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2711,3935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6409,-0.78,-243.3,892.3,-6.6,279,6415,0.00,1.58,0.00,0.000,4,0.000,0.060,2542,3700,3932,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,6621,end dive,NO_VERTICAL_VELOCITY
$STATE,6621,begin apogee
$GC,6628,-0.17,0.0,892.0,0.0,286,6833,0.55,0.00,195.32,1.343,4,0.073,0.000,2756,1975,2965,0,0,0,0,0,0,26.51,28.83,23.77
$STATE,6835,end apogee,CONTROL_FINISHED_OK
$STATE,6835,begin climb
$GC,6837,0.78,243.3,891.9,0.0,293,7058,0.85,2.40,211.62,1.303,4,0.065,0.055,3058,534,1976,0,0,0,0,0,0,24.84,24.81,23.56
$GC,7285,0.78,243.3,842.6,20.9,308,7291,0.00,2.22,0.00,0.000,6,0.000,0.034,3058,1962,1966,0,0,0,0,0,0,28.83,25.69,28.83
$GC,7618,0.78,243.3,774.1,22.0,319,7623,0.00,2.28,0.00,0.000,4,0.000,0.045,3068,523,1963,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7644,0.78,243.3,774.1,22.0,319,7652,0.00,2.20,0.00,0.000,6,0.000,0.042,3068,1928,1962,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7950,0.78,243.3,697.4,22.7,330,7955,0.00,2.20,0.00,0.000,4,0.000,0.047,3078,531,1961,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7996,0.78,243.3,690.7,22.3,331,8002,0.00,2.15,0.00,0.000,6,0.000,0.043,3078,1924,1960,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8315,0.78,243.3,618.9,22.0,342,8316,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1925,1960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8625,0.78,243.3,548.8,23.2,356,8630,0.00,2.22,0.00,0.000,4,0.000,0.054,3079,3350,1960,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8641,0.78,243.3,548.8,23.2,356,8649,0.12,2.17,0.00,0.000,6,0.199,0.036,3056,1929,1960,0,0,0,0,0,0,26.14,26.41,28.83
$GC,8947,0.78,243.3,486.1,17.7,372,8952,0.00,2.15,0.00,0.000,4,0.000,0.047,3064,532,1959,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9132,0.78,243.3,452.4,18.3,381,9138,0.00,2.12,0.00,0.000,6,0.000,0.041,3064,1918,1958,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9450,0.78,243.3,390.1,18.9,397,9455,0.00,2.15,0.00,0.000,4,0.000,0.047,3064,529,1958,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9512,0.78,243.3,379.9,16.5,400,9518,0.00,2.10,0.00,0.000,6,0.000,0.041,3064,1891,1958,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9835,0.78,243.3,321.8,18.2,416,9841,0.00,2.10,0.00,0.000,4,0.000,0.047,3064,535,1958,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9868,0.78,243.3,317.9,17.8,417,9873,0.00,2.08,0.00,0.000,6,0.000,0.041,3064,1889,1957,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10180,0.78,243.3,264.7,17.2,433,10185,0.00,2.28,0.00,0.000,4,0.000,0.052,3064,3348,1957,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10212,0.78,243.3,260.5,17.7,434,10217,0.00,2.22,0.00,0.000,6,0.000,0.036,3063,1871,1957,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10524,0.78,243.3,205.7,16.2,450,10529,0.00,2.05,0.00,0.000,4,0.000,0.045,3064,523,1957,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10581,0.78,243.3,198.7,16.8,452,10587,0.00,2.08,0.00,0.000,6,0.000,0.040,3064,1898,1958,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10887,0.78,243.3,152.8,13.0,468,10892,0.00,2.22,0.00,0.000,4,0.000,0.051,3064,3343,1958,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10943,0.78,243.3,145.4,15.1,470,10951,0.00,2.20,0.00,0.000,6,0.000,0.034,3064,1891,1958,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11250,0.82,279.7,109.5,9.9,486,11284,0.00,2.10,28.40,0.773,4,0.000,0.043,3064,523,1825,0,0,0,0,0,0,28.83,26.13,25.46
$GC,11371,0.88,329.4,97.7,9.5,492,11420,0.00,2.12,40.67,0.758,6,0.000,0.038,3064,1898,1624,0,0,0,0,0,0,28.83,26.20,24.96
$GC,11732,0.95,382.5,68.2,9.4,510,11783,0.12,2.33,42.88,0.722,4,0.095,0.049,3136,3346,1407,0,0,0,0,0,0,26.12,25.48,24.86
$GC,11819,0.95,382.5,56.3,14.3,514,11826,0.12,2.28,0.00,0.000,6,0.171,0.034,3107,1880,1406,0,0,0,0,0,0,25.52,25.66,28.83
$GC,12129,1.03,446.4,20.2,9.0,542,12166,0.00,2.10,30.35,0.634,4,0.000,0.041,3107,528,1146,0,0,0,0,0,0,28.83,25.69,25.07
$GC,12232,1.17,562.6,11.9,7.4,552,12290,0.20,2.08,51.42,0.080,6,0.071,0.037,3200,1882,673,0,0,0,0,0,0,25.86,25.84,25.78
$STATE,12295,end climb,SURFACE_DEPTH_REACHED
$STATE,12296,begin surface coast
$FINISH,0.7,1.021269
$STATE,12307,end surface coast,CONTROL_FINISHED_OK
$STATE,12307,begin surface
$SM_CCo,12384,0.00,0.000,0,0,668,564.19
$SM_GC,1.61,8.18,1.23,0.00,0.054,0.048,0.000,136,2652,668,-8.29,-0.82,564.19,0,0,0,0,0,0,25.77,25.86,28.83
$IRIDIUM_FIX,2202.04,12009.52,230412,030332
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.55
$INTERNAL_PRESSURE,7.31046
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,23.6,6.362
$10V_AH,10.2,2.116
$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,20.175,99.675,600.675,0.000,0.000,0.000,0.000,352.300,0.250,0.000,20.037,1945.179,8309.530,636.685,1972.172,127.309,0.000,1904.823,0.000,1533.231,0.000,0.544,0.000
$DEVICE_MAMPS,252.450,63.495,1343.340,0.000,0.000,0.000,0.000,97.920,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12296.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.647,0.000,0.000,0.000
$MEM,324960
$DATA_FILE_SIZE,20092,559
$CAP_FILE_SIZE,141537,0
$CFSIZE,260165632,248557568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.107,167.8,1
$GPS,230412,064206,2201.910,12009.117,40,0.9,40,-3.1