version: 66.10
glider: 170
mission: 8
dive: 39
start: 4 23 112 22 3 20
data:
$ID,170
$MISSION,8
$DIVE,39
$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,-124214.47
$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,39
$R_STBD_OVSHOOT,28
$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,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
$GPS1,230412,215734,2152.341,12007.015,38,1.0,38,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-72.1
$GPS2,230412,220255,2152.322,12006.970,23,1.1,23,-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,180.4,319373,-15.1,-11.000
$D_GRID,1620
$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,-0.80,-243.3,0.0,0.0,0,103,0.00,0.00,-81.90,0.000,2,0.000,0.000,136,2696,3144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.80,-243.3,4.1,-5.5,8,133,9.88,0.00,-13.65,0.000,6,0.249,0.000,2533,2696,3963,0,0,0,0,0,0,25.66,28.83,26.36
$GC,442,-0.80,-243.3,120.8,-28.4,31,447,0.00,1.60,0.00,0.000,4,0.000,0.061,2534,3700,3967,0,0,0,0,0,0,28.83,26.17,28.83
$GC,673,-0.80,-243.3,174.0,-22.6,42,679,0.00,1.52,0.00,0.000,6,0.000,0.030,2534,2649,3969,0,0,0,0,0,0,28.83,26.39,28.83
$GC,986,-0.80,-243.3,239.5,-21.9,58,991,0.00,1.67,0.00,0.000,4,0.000,0.058,2534,3696,3971,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1077,-0.80,-243.3,255.2,-19.2,62,1082,0.00,1.45,0.00,0.000,6,0.000,0.033,2534,2728,3971,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1389,-0.80,-243.3,311.3,-18.3,78,1395,0.00,2.12,0.00,0.000,4,0.000,0.031,2534,1282,3970,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1481,-0.80,-243.3,325.7,-17.4,82,1486,0.00,2.22,0.00,0.000,6,0.000,0.047,2534,2712,3970,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1793,-0.80,-243.3,373.9,-12.6,98,1798,0.00,1.55,0.00,0.000,4,0.000,0.057,2537,3691,3970,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1835,-0.80,-243.3,378.9,-12.1,100,1841,0.00,1.48,0.00,0.000,6,0.000,0.034,2534,2717,3970,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2157,-0.80,-243.3,416.5,-13.5,116,2162,0.00,1.55,0.00,0.000,4,0.000,0.058,2534,3695,3969,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2219,-0.80,-243.3,425.4,-14.6,119,2224,0.00,1.48,0.00,0.000,6,0.000,0.035,2534,2718,3969,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2542,-0.80,-243.3,472.5,-13.6,135,2547,0.00,2.12,0.00,0.000,4,0.000,0.033,2534,1276,3968,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2584,-0.80,-243.3,477.6,-12.4,137,2590,0.00,2.25,0.00,0.000,6,0.000,0.050,2534,2713,3965,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2907,-0.80,-243.3,514.3,-10.8,153,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2714,3963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3208,-0.80,-243.3,544.2,-9.7,168,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2713,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3507,-0.80,-243.3,576.8,-11.6,183,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2714,3959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3827,-0.80,-243.3,617.0,-12.6,197,3833,0.00,2.12,0.00,0.000,4,0.000,0.034,2534,1278,3956,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3863,-0.80,-243.3,621.3,-12.7,198,3869,0.00,2.22,0.00,0.000,6,0.000,0.051,2534,2711,3956,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4192,-0.80,-243.3,659.6,-10.6,209,4197,0.00,1.55,0.00,0.000,4,0.000,0.062,2534,3696,3953,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4229,-0.80,-243.3,662.8,-10.2,210,4234,0.00,1.48,0.00,0.000,6,0.000,0.037,2534,2721,3953,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4557,-0.80,-243.3,698.2,-10.2,221,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2722,3950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4856,-0.80,-243.3,729.9,-10.7,231,4861,0.00,2.15,0.00,0.000,4,0.000,0.034,2534,1267,3949,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4933,-0.80,-243.3,736.7,-10.8,233,4938,0.00,2.25,0.00,0.000,6,0.000,0.050,2534,2705,3948,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5251,-0.80,-243.3,773.4,-11.3,244,5256,0.00,2.15,0.00,0.000,4,0.000,0.034,2534,1267,3946,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5287,-0.80,-243.3,777.1,-11.4,245,5292,0.00,2.25,0.00,0.000,6,0.000,0.050,2534,2704,3946,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5616,-0.80,-243.3,810.9,-9.8,256,5622,0.00,1.58,0.00,0.000,4,0.000,0.061,2534,3704,3945,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5679,-0.80,-243.3,817.1,-9.6,258,5685,0.00,1.52,0.00,0.000,6,0.000,0.037,2534,2675,3944,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6012,-0.80,-243.3,846.3,-8.8,269,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2675,3942,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6312,-0.80,-243.3,879.3,-12.4,279,6317,0.00,2.05,0.00,0.000,4,0.000,0.035,2534,1272,3940,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6344,-0.80,-243.3,883.5,-12.7,280,6350,0.00,2.25,0.00,0.000,6,0.000,0.051,2534,2701,3939,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6678,-0.80,-243.3,929.3,-13.6,291,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2701,3939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6977,-0.80,-243.3,963.0,-10.0,301,6982,0.00,2.12,0.00,0.000,4,0.000,0.035,2534,1281,3936,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7014,-0.80,-243.3,966.1,-9.8,302,7019,0.00,2.20,0.00,0.000,6,0.000,0.051,2534,2697,3936,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,7250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7250,begin apogee
$GC,7255,-0.17,0.0,991.0,-10.6,310,7432,0.62,0.00,167.93,1.421,4,0.128,0.000,2743,1919,3120,0,0,0,0,0,0,26.25,28.83,23.65
$STATE,7434,end apogee,CONTROL_FINISHED_OK
$STATE,7434,begin climb
$GC,7436,0.80,243.3,1000.5,0.0,316,7661,0.90,2.25,216.68,1.390,4,0.062,0.041,3064,537,2130,0,0,0,0,0,0,24.77,24.77,23.26
$GC,7777,0.80,243.3,960.3,18.8,327,7783,0.00,2.28,0.00,0.000,6,0.000,0.042,3065,1946,2119,0,0,0,0,0,0,28.83,25.20,28.83
$GC,8095,0.80,243.3,895.8,19.2,338,8100,0.00,2.22,0.00,0.000,4,0.000,0.044,3073,540,2116,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8326,0.80,243.3,856.8,18.3,345,8332,0.00,2.20,0.00,0.000,6,0.000,0.042,3072,1942,2114,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8639,0.80,243.3,783.8,23.0,356,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1942,2113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8938,0.80,243.3,718.9,21.9,366,8944,0.00,2.20,0.00,0.000,4,0.000,0.046,3078,537,2114,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9074,0.80,243.3,693.8,20.5,370,9080,0.00,2.17,0.00,0.000,6,0.000,0.042,3079,1947,2112,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9391,0.80,243.3,629.5,19.1,381,9392,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1947,2112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9702,0.80,243.3,568.2,20.1,394,9708,0.00,2.17,0.00,0.000,4,0.000,0.045,3079,541,2111,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9764,0.80,243.3,556.2,19.3,397,9771,0.00,2.15,0.00,0.000,6,0.000,0.040,3079,1935,2111,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10087,0.80,243.3,493.3,19.3,413,10093,0.00,2.20,0.00,0.000,4,0.000,0.053,3080,3343,2111,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10119,0.80,243.3,488.8,19.6,414,10124,0.00,2.10,0.00,0.000,6,0.000,0.034,3088,1944,2111,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10431,0.80,243.3,427.9,17.7,430,10436,0.00,2.12,0.00,0.000,4,0.000,0.044,3093,531,2110,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10487,0.80,243.3,419.8,18.3,432,10495,0.12,2.17,0.00,0.000,6,0.174,0.041,3063,1949,2109,0,0,0,0,0,0,26.23,26.45,28.83
$GC,10793,0.80,243.3,358.8,19.7,448,10799,0.00,2.17,0.00,0.000,4,0.000,0.052,3063,3351,2109,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10824,0.80,243.3,354.3,19.7,449,10829,0.00,2.10,0.00,0.000,6,0.000,0.034,3066,1951,2109,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11136,0.80,243.3,307.1,14.1,465,11142,0.00,2.17,0.00,0.000,4,0.000,0.046,3066,529,2109,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11173,0.80,243.3,303.6,14.6,466,11180,0.00,2.15,0.00,0.000,6,0.000,0.041,3066,1948,2108,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11479,0.80,243.3,253.3,15.6,482,11485,0.00,2.17,0.00,0.000,4,0.000,0.043,3071,527,2108,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11615,0.80,243.3,234.5,15.5,488,11622,0.00,2.10,0.00,0.000,6,0.000,0.040,3070,1920,2108,0,0,0,0,0,0,28.83,26.50,28.83
$GC,11922,0.80,243.3,186.6,15.0,504,11927,0.00,2.22,0.00,0.000,4,0.000,0.052,3070,3345,2108,0,0,0,0,0,0,28.83,26.45,28.83
$GC,12028,0.80,243.3,169.5,17.0,509,12034,0.00,2.10,0.00,0.000,6,0.000,0.033,3078,1947,2108,0,0,0,0,0,0,28.83,26.56,28.83
$GC,12346,0.86,293.0,130.1,9.5,525,12391,0.00,2.28,38.65,0.799,4,0.000,0.052,3078,3346,1925,0,0,0,0,0,0,28.83,25.92,25.25
$GC,12423,0.95,365.3,124.3,8.8,528,12490,0.00,2.12,58.72,0.790,6,0.000,0.034,3078,1965,1630,0,0,0,0,0,0,28.83,26.02,24.56
$GC,12789,1.08,466.0,87.1,8.0,547,12876,0.15,2.35,80.12,0.748,4,0.083,0.044,3161,539,1220,0,0,0,0,0,0,25.98,25.06,24.44
$GC,12898,1.08,466.0,71.7,15.5,552,12903,0.00,2.28,0.00,0.000,6,0.000,0.039,3160,1955,1217,0,0,0,0,0,0,28.83,25.29,28.83
$GC,13205,1.08,466.0,16.9,16.4,577,13211,0.00,2.22,0.00,0.000,4,0.000,0.043,3161,534,1215,0,0,0,0,0,0,28.83,25.91,28.83
$GC,13268,1.08,466.0,8.0,13.5,583,13274,0.00,2.20,0.00,0.000,6,0.000,0.040,3161,1953,1215,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,13310,end climb,SURFACE_DEPTH_REACHED
$STATE,13310,begin surface coast
$FINISH,1.0,1.021527
$STATE,13331,end surface coast,CONTROL_FINISHED_OK
$STATE,13331,begin surface
$SM_CCo,13348,24.17,0.061,0,0,979,525.19
$SM_GC,1.61,8.00,1.17,24.17,0.051,0.049,0.061,134,2698,979,-8.29,-0.82,525.19,0,0,0,0,0,0,25.92,26.03,25.96
$IRIDIUM_FIX,2141.13,12004.86,230412,181833
$TT8_MAMPS,0.025466,0.025466
$HUMID,38.85
$INTERNAL_PRESSURE,7.32023
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.3,7.350
$10V_AH,10.4,2.477
$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,19.675,108.150,562.100,24.175,0.000,0.000,0.000,183.575,0.000,0.000,25.466,2016.342,9071.390,638.651,1839.314,130.141,0.000,1753.704,0.000,1559.435,0.000,0.542,0.000
$DEVICE_MAMPS,248.625,61.965,1420.605,61.200,0.000,0.000,0.000,96.390,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13323.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.495,0.000,0.000,0.000
$MEM,324932
$DATA_FILE_SIZE,20052,589
$CAP_FILE_SIZE,146355,0
$CFSIZE,260165632,248184832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.100,232.8,1
$GPS,240412,014724,2149.817,12006.093,37,0.9,37,-3.1