version: 66.10
glider: 170
mission: 8
dive: 78
start: 5 3 112 2 18 55
data:
$ID,170
$MISSION,8
$DIVE,78
$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,380
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,652.74329
$N_FILEKB,4
$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,-124267.27
$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,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.012
$PITCH_ADJ_DBAND,1
$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,44
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2.25
$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,0.00060000003
$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,48
$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
$GPS1,030512,020736,2021.854,12003.123,29,0.9,29,-2.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-74.2
$GPS2,030512,021830,2021.839,12003.275,18,0.9,19,-2.7
$SPEED_LIMITS,0.150,0.298
$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,196.5,151675,-13.9,-8.684
$D_GRID,3421
$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,-0.46,-194.6,0.0,0.0,0,111,0.00,0.00,-91.53,0.000,2,0.000,0.000,130,2694,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.46,-194.6,4.3,-4.6,9,146,10.38,1.58,-15.23,0.000,4,0.249,0.074,2642,3689,3920,0,0,0,0,0,0,25.70,26.15,26.56
$GC,234,-0.37,-194.6,39.6,-20.8,20,242,0.10,1.52,0.00,0.000,6,0.126,0.031,2679,2665,3922,0,0,0,0,0,0,26.08,26.35,28.83
$GC,551,-0.40,-194.6,71.0,-8.9,41,556,0.00,2.03,0.00,0.000,4,0.000,0.031,2680,1295,3923,0,0,0,0,0,0,28.83,26.39,28.83
$GC,708,-0.47,-194.6,79.3,-5.4,48,716,0.00,2.12,0.00,0.000,6,0.000,0.045,2680,2665,3924,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1014,-0.54,-194.6,100.3,-5.4,64,1021,0.12,2.03,0.00,0.000,4,0.088,0.029,2600,1288,3924,0,0,0,0,0,0,26.55,26.47,28.83
$GC,1063,-0.58,-194.6,103.9,-6.5,66,1069,0.00,2.12,0.00,0.000,6,0.000,0.046,2600,2661,3923,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1381,-0.53,-194.6,149.6,-15.8,82,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2662,3923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1682,-0.51,-194.6,191.8,-12.0,97,1684,0.12,0.00,0.00,0.000,6,0.157,0.000,2635,2662,3923,0,0,0,0,0,0,26.44,28.83,28.83
$GC,1982,-0.55,-194.6,217.3,-8.8,112,1987,0.00,2.03,0.00,0.000,4,0.000,0.032,2635,1299,3922,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2066,-0.61,-194.6,223.6,-7.5,116,2071,0.00,2.10,0.00,0.000,6,0.000,0.047,2635,2646,3922,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2389,-0.66,-194.6,241.6,-5.5,132,2396,0.12,1.98,0.00,0.000,4,0.090,0.030,2554,1302,3919,0,0,0,0,0,0,26.66,26.58,28.83
$GC,2418,-0.69,-194.6,243.8,-6.4,133,2423,0.00,2.08,0.00,0.000,6,0.000,0.048,2554,2635,3919,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2735,-0.62,-194.6,289.9,-16.2,149,2741,0.12,1.98,0.00,0.000,4,0.166,0.030,2594,1291,3918,0,0,0,0,0,0,26.42,26.60,28.83
$GC,2758,-0.57,-194.6,293.5,-15.8,150,2763,0.00,2.12,0.00,0.000,6,0.000,0.047,2594,2650,3918,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3080,-0.57,-194.6,333.9,-12.7,166,3086,0.00,2.00,0.00,0.000,4,0.000,0.031,2594,1303,3916,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3126,-0.57,-194.6,339.1,-12.7,168,3131,0.00,2.08,0.00,0.000,6,0.000,0.047,2594,2620,3916,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3444,-0.57,-194.6,371.9,-9.0,184,3449,0.00,1.70,0.00,0.000,4,0.000,0.057,2596,3689,3913,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3475,-0.57,-194.6,373.7,-8.6,185,3480,0.00,1.58,0.00,0.000,6,0.000,0.033,2594,2619,3913,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3788,-0.59,-194.6,393.1,-5.7,201,3794,0.00,1.92,0.00,0.000,4,0.000,0.031,2594,1288,3911,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3842,-0.61,-194.6,396.0,-6.3,203,3847,0.00,2.08,0.00,0.000,6,0.000,0.046,2594,2626,3911,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4155,-0.63,-194.6,422.7,-8.8,219,4160,0.00,1.67,0.00,0.000,4,0.000,0.058,2594,3693,3908,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4197,-0.66,-194.6,426.5,-8.8,221,4202,0.00,1.58,0.00,0.000,6,0.000,0.032,2595,2611,3908,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4520,-0.69,-194.6,454.3,-8.1,237,4525,0.00,1.90,0.00,0.000,4,0.000,0.032,2594,1299,3905,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4584,-0.72,-194.6,459.2,-7.7,240,4589,0.00,2.03,0.00,0.000,6,0.000,0.047,2594,2608,3905,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4907,-0.75,-194.6,481.3,-7.0,256,4913,0.12,1.92,0.00,0.000,4,0.097,0.030,2521,1299,3902,0,0,0,0,0,0,26.68,26.62,28.83
$GC,4950,-0.75,-194.6,486.0,-8.8,258,4956,0.12,2.03,0.00,0.000,6,0.159,0.047,2556,2609,3903,0,0,0,0,0,0,26.35,26.53,28.83
$GC,5273,-0.73,-194.6,519.7,-10.3,274,5279,0.00,1.73,0.00,0.000,4,0.000,0.058,2556,3703,3899,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5340,-0.73,-194.6,526.0,-10.1,277,5345,0.00,1.60,0.00,0.000,6,0.000,0.034,2557,2612,3900,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5657,-0.72,-194.6,555.0,-8.8,293,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2611,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5958,-0.72,-194.6,581.3,-9.0,308,5963,0.00,1.92,0.00,0.000,4,0.000,0.032,2557,1291,3896,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5995,-0.72,-194.6,583.4,-8.9,309,6001,0.00,2.03,0.00,0.000,6,0.000,0.047,2557,2604,3896,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6301,-0.72,-194.6,610.9,-8.3,323,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2605,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6601,-0.72,-194.6,633.8,-7.5,333,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2605,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6900,-0.72,-194.6,655.8,-7.2,343,6905,0.00,1.92,0.00,0.000,4,0.000,0.032,2557,1300,3890,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6921,-0.72,-194.6,655.8,-7.2,343,6927,0.00,2.03,0.00,0.000,6,0.000,0.047,2557,2599,3890,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7235,-0.72,-194.6,680.3,-7.4,354,7240,0.00,1.75,0.00,0.000,4,0.000,0.059,2557,3701,3888,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7276,-0.72,-194.6,682.6,-7.4,355,7281,0.00,1.62,0.00,0.000,6,0.000,0.035,2557,2617,3888,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7600,-0.72,-194.6,705.3,-6.9,366,7605,0.00,1.92,0.00,0.000,4,0.000,0.033,2557,1301,3887,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7646,-0.72,-194.6,707.7,-7.0,367,7651,0.00,2.00,0.00,0.000,6,0.000,0.047,2557,2594,3887,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7965,-0.72,-194.6,732.8,-7.9,378,7970,0.00,1.75,0.00,0.000,4,0.000,0.059,2557,3683,3885,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8051,-0.72,-194.6,738.0,-8.1,380,8059,0.00,1.58,0.00,0.000,6,0.000,0.036,2557,2621,3885,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8358,-0.72,-194.6,765.9,-8.5,391,8363,0.00,1.95,0.00,0.000,4,0.000,0.032,2557,1289,3884,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8384,-0.72,-194.6,765.9,-8.5,391,8392,0.00,2.05,0.00,0.000,6,0.000,0.048,2557,2603,3883,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8691,-0.72,-194.6,792.3,-7.6,402,8696,0.00,1.73,0.00,0.000,4,0.000,0.059,2557,3693,3882,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8724,-0.72,-194.6,794.6,-7.6,403,8729,0.00,1.62,0.00,0.000,6,0.000,0.036,2557,2606,3882,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9057,-0.72,-194.6,818.9,-7.4,414,9062,0.00,1.92,0.00,0.000,4,0.000,0.034,2557,1294,3881,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9099,-0.72,-194.6,821.5,-7.5,415,9104,0.00,2.03,0.00,0.000,6,0.000,0.049,2557,2596,3881,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9422,-0.72,-194.6,850.4,-9.3,426,9427,0.00,1.75,0.00,0.000,4,0.000,0.060,2557,3696,3879,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9463,-0.72,-194.6,853.5,-9.3,427,9468,0.00,1.60,0.00,0.000,6,0.000,0.037,2557,2623,3879,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9786,-0.72,-194.6,884.8,-9.6,438,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2623,3878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10085,-0.72,-194.6,913.6,-9.7,448,10090,0.00,1.95,0.00,0.000,4,0.000,0.034,2557,1296,3877,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10117,-0.72,-194.6,916.7,-9.8,449,10123,0.00,2.05,0.00,0.000,6,0.000,0.049,2557,2604,3877,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10452,-0.72,-194.6,948.2,-9.5,460,10457,0.00,1.75,0.00,0.000,4,0.000,0.060,2557,3701,3876,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10498,-0.72,-194.6,951.3,-9.4,461,10503,0.00,1.65,0.00,0.000,6,0.000,0.037,2557,2611,3876,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10816,-0.72,-194.6,980.4,-8.5,472,10821,0.00,1.92,0.00,0.000,4,0.000,0.034,2557,1302,3875,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10872,-0.72,-194.6,983.1,-8.3,473,10879,0.00,2.03,0.00,0.000,6,0.000,0.050,2557,2599,3875,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,10937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10937,begin apogee
$GC,10942,-0.12,0.0,990.1,-7.8,476,11107,0.57,0.00,158.45,1.438,4,0.112,0.000,2754,1944,3120,0,0,0,0,0,0,26.11,28.83,23.44
$STATE,11109,end apogee,CONTROL_FINISHED_OK
$STATE,11109,begin climb
$GC,11111,0.46,194.6,995.9,0.0,481,11292,0.52,0.00,176.05,1.398,6,0.053,0.000,2967,1944,2327,0,0,0,0,0,0,24.70,28.83,22.98
$GC,11600,0.41,194.6,946.8,12.8,498,11606,0.12,2.33,0.00,0.000,4,0.161,0.051,2927,3353,2315,0,0,0,0,0,0,25.56,25.62,28.83
$GC,11667,0.37,194.6,939.3,12.3,500,11672,0.00,2.20,0.00,0.000,6,0.000,0.033,2930,1953,2314,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11995,0.37,194.6,905.9,9.9,511,11996,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1953,2311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12294,0.38,207.2,879.1,8.3,521,12313,0.00,2.35,10.45,1.215,4,0.000,0.054,2930,3354,2275,0,0,0,0,0,0,28.83,25.94,24.84
$GC,12345,0.38,220.9,876.5,8.3,522,12365,0.00,2.17,14.00,1.254,6,0.000,0.034,2930,1944,2219,0,0,0,0,0,0,28.83,26.03,24.61
$GC,12688,0.41,270.1,848.9,7.2,534,12738,0.00,2.45,44.60,1.328,4,0.000,0.052,2929,3353,2018,0,0,0,0,0,0,28.83,25.04,24.06
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$STATE,20223,end climb,SURFACE_DEPTH_REACHED
$STATE,20223,begin surface coast
$FINISH,1.0,1.020811
$STATE,20245,end surface coast,CONTROL_FINISHED_OK
$STATE,20245,begin surface
$SM_CCo,20262,10.10,0.062,0,0,460,652.74
$SM_GC,1.68,7.97,1.02,10.10,0.047,0.033,0.062,138,2675,460,-8.27,1.27,652.74,0,0,0,0,0,0,25.98,26.22,26.06
$IRIDIUM_FIX,2031.77,12007.26,010512,212133
$TT8_MAMPS,0.025466,0.025466
$HUMID,39.44
$INTERNAL_PRESSURE,7.25186
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.0,16.449
$10V_AH,9.8,6.793
$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,21.900,177.075,652.000,10.100,0.000,0.000,0.000,201.000,0.000,0.000,21.368,2906.224,14552.646,796.206,2435.568,227.228,0.000,2243.759,0.000,2095.552,0.000,0.543,0.000
$DEVICE_MAMPS,248.625,74.205,1438.200,61.965,0.000,0.000,0.000,58.905,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20281.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.255,0.000,0.000,0.000
$MEM,324440
$DATA_FILE_SIZE,33373,900
$CAP_FILE_SIZE,229341,0
$CFSIZE,260165632,243593216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.223, 69.5,1
$GPS,030512,075804,2019.391,12005.056,43,0.8,43,-2.7