version: 66.10
glider: 170
mission: 8
dive: 80
start: 5 3 112 13 57 31
data:
$ID,170
$MISSION,8
$DIVE,80
$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,-124270.73
$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,47
$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
$GPS1,030512,134559,2017.841,12003.942,35,0.8,35,-2.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-74.4
$GPS2,030512,135706,2017.965,12004.128,17,0.9,18,-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,207.7,144572,-13.9,-8.684
$D_GRID,3528
$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,-194.6,0.0,0.0,0,101,0.00,0.00,-82.07,0.000,2,0.000,0.000,133,2694,2689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.46,-194.6,3.2,-2.6,8,147,10.18,1.58,-24.20,0.000,4,0.243,0.073,2640,3693,3920,0,0,0,0,0,0,25.70,26.13,26.54
$GC,333,-0.46,-194.6,45.2,-10.0,30,340,0.00,1.52,0.00,0.000,6,0.000,0.031,2641,2667,3922,0,0,0,0,0,0,28.83,26.35,28.83
$GC,640,-0.45,-194.6,79.7,-10.8,48,646,0.00,2.05,0.00,0.000,4,0.000,0.030,2641,1273,3924,0,0,0,0,0,0,28.83,26.38,28.83
$GC,712,-0.45,-194.6,85.1,-9.0,51,717,0.00,2.17,0.00,0.000,6,0.000,0.045,2641,2671,3924,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1024,-0.47,-194.6,110.6,-9.5,67,1029,0.00,2.08,0.00,0.000,4,0.000,0.031,2641,1278,3924,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1051,-0.49,-194.6,113.0,-10.0,68,1057,0.00,2.15,0.00,0.000,6,0.000,0.047,2641,2654,3924,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1369,-0.52,-194.6,147.3,-9.4,84,1375,0.00,2.03,0.00,0.000,4,0.000,0.031,2641,1278,3923,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1402,-0.56,-194.6,149.6,-9.2,85,1408,0.00,2.12,0.00,0.000,6,0.000,0.047,2641,2642,3923,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1716,-0.60,-194.6,180.3,-8.8,101,1722,0.12,2.00,0.00,0.000,4,0.088,0.030,2565,1285,3922,0,0,0,0,0,0,26.60,26.52,28.83
$GC,1801,-0.58,-194.6,190.5,-12.2,105,1807,0.17,2.08,0.00,0.000,6,0.148,0.048,2614,2607,3922,0,0,0,0,0,0,26.25,26.44,28.83
$GC,2125,-0.59,-194.6,217.9,-7.8,121,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2608,3920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2425,-0.62,-194.6,243.8,-9.0,136,2430,0.00,1.98,0.00,0.000,4,0.000,0.032,2615,1281,3919,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2471,-0.65,-194.6,248.4,-10.1,138,2477,0.00,2.05,0.00,0.000,6,0.000,0.047,2615,2597,3919,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2789,-0.68,-194.6,286.8,-12.6,154,2791,0.12,0.00,0.00,0.000,6,0.087,0.000,2540,2598,3918,0,0,0,0,0,0,26.67,28.83,28.83
$GC,3090,-0.61,-194.6,330.4,-13.6,169,3096,0.17,1.73,0.00,0.000,4,0.148,0.057,2597,3697,3916,0,0,0,0,0,0,26.34,26.47,28.83
$GC,3163,-0.60,-194.6,335.7,-9.4,172,3168,0.00,1.65,0.00,0.000,6,0.000,0.033,2597,2571,3915,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3476,-0.62,-194.6,351.5,-5.2,188,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2571,3913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3776,-0.64,-194.6,372.7,-8.1,203,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2571,3912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4076,-0.67,-194.6,397.9,-8.8,218,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2571,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4376,-0.69,-194.6,426.5,-9.7,233,4381,0.00,1.80,0.00,0.000,4,0.000,0.060,2597,3692,3906,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4428,-0.72,-194.6,430.7,-9.5,235,4433,0.00,1.62,0.00,0.000,6,0.000,0.033,2597,2593,3906,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4740,-0.75,-194.6,459.9,-9.4,251,4742,0.12,0.00,0.00,0.000,6,0.093,0.000,2534,2593,3905,0,0,0,0,0,0,26.70,28.83,28.83
$GC,5041,-0.70,-194.6,501.6,-13.9,266,5047,0.12,1.77,0.00,0.000,4,0.155,0.058,2575,3694,3902,0,0,0,0,0,0,26.46,26.46,28.83
$GC,5064,-0.66,-194.6,504.8,-13.9,267,5069,0.00,1.62,0.00,0.000,6,0.000,0.034,2575,2597,3902,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5386,-0.66,-194.6,538.7,-10.2,283,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2597,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5687,-0.66,-194.6,563.9,-7.7,298,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2596,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5987,-0.66,-194.6,585.7,-7.3,313,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2597,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6297,-0.68,-194.6,608.3,-7.6,327,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2597,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6596,-0.69,-194.6,630.3,-7.4,337,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2597,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6897,-0.70,-194.6,652.4,-7.4,347,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2597,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7197,-0.72,-194.6,676.5,-8.4,357,7203,0.00,1.92,0.00,0.000,4,0.000,0.031,2575,1273,3889,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7231,-0.74,-194.6,679.4,-8.5,358,7236,0.00,2.10,0.00,0.000,6,0.000,0.047,2575,2608,3889,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7564,-0.75,-194.6,707.1,-8.0,369,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2608,3887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7863,-0.77,-194.6,729.2,-7.1,379,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2608,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8164,-0.79,-194.6,749.1,-6.7,389,8169,0.00,1.73,0.00,0.000,4,0.000,0.060,2575,3692,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8201,-0.81,-194.6,751.2,-6.7,390,8207,0.12,1.62,0.00,0.000,6,0.088,0.036,2509,2613,3885,0,0,0,0,0,0,26.54,26.63,28.83
$GC,8531,-0.75,-194.6,784.3,-10.3,401,8537,0.12,1.73,0.00,0.000,4,0.156,0.059,2550,3690,3884,0,0,0,0,0,0,26.44,26.39,28.83
$GC,8644,-0.73,-194.6,792.2,-8.7,404,8649,0.00,1.62,0.00,0.000,6,0.000,0.035,2551,2627,3883,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8958,-0.73,-194.6,818.6,-8.2,415,8963,0.00,1.98,0.00,0.000,4,0.000,0.033,2551,1277,3882,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8994,-0.73,-194.6,821.4,-8.2,416,9000,0.00,2.10,0.00,0.000,6,0.000,0.048,2551,2611,3882,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9322,-0.73,-194.6,851.0,-9.3,427,9328,0.00,1.73,0.00,0.000,4,0.000,0.061,2551,3692,3880,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9350,-0.73,-194.6,851.0,-9.3,427,9356,0.00,1.62,0.00,0.000,6,0.000,0.037,2551,2618,3881,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9655,-0.73,-194.6,885.1,-10.5,438,9656,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2619,3879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9955,-0.73,-194.6,918.8,-11.5,448,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2619,3878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10255,-0.73,-194.6,951.9,-10.7,458,10261,0.00,1.95,0.00,0.000,4,0.000,0.034,2551,1288,3877,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10283,-0.73,-194.6,951.9,-10.7,458,10289,0.00,2.10,0.00,0.000,6,0.000,0.048,2551,2625,3878,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10590,-0.73,-194.6,981.7,-7.9,469,10596,0.00,1.73,0.00,0.000,4,0.000,0.062,2551,3688,3877,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10653,-0.73,-194.6,986.4,-7.6,471,10659,0.00,1.62,0.00,0.000,6,0.000,0.037,2551,2621,3877,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,10714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10714,begin apogee
$GC,10720,-0.12,0.0,990.8,-7.1,473,10884,0.60,0.00,157.00,1.434,4,0.112,0.000,2756,1931,3120,0,0,0,0,0,0,26.08,28.83,23.53
$STATE,10886,end apogee,CONTROL_FINISHED_OK
$STATE,10886,begin climb
$GC,10888,0.46,194.6,994.3,0.0,478,11076,0.55,2.28,175.98,1.388,4,0.058,0.040,2960,552,2325,0,0,0,0,0,0,24.74,24.72,23.03
$GC,11148,0.42,194.6,970.6,13.4,487,11153,0.00,2.25,0.00,0.000,6,0.000,0.037,2960,1942,2319,0,0,0,0,0,0,28.83,24.91,28.83
$GC,11472,0.38,194.6,918.3,16.0,498,11478,0.12,2.17,0.00,0.000,4,0.160,0.039,2928,551,2314,0,0,0,0,0,0,25.70,25.79,28.83
$GC,11626,0.40,194.6,897.6,13.0,503,11631,0.00,2.17,0.00,0.000,6,0.000,0.038,2928,1953,2313,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11960,0.40,194.6,860.2,10.1,514,11965,0.00,2.25,0.00,0.000,4,0.000,0.054,2928,3351,2311,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12052,0.38,194.6,851.0,9.8,517,12057,0.00,2.15,0.00,0.000,6,0.000,0.033,2930,1957,2310,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12386,0.43,274.9,827.2,6.3,528,12460,0.00,2.42,68.88,1.317,4,0.000,0.054,2929,3340,1999,0,0,0,0,0,0,28.83,24.89,23.96
$GC,12491,0.48,360.5,821.5,6.1,531,12572,0.00,2.20,75.47,1.295,6,0.000,0.033,2929,1964,1651,0,0,0,0,0,0,28.83,25.30,23.70
$GC,12900,0.60,470.8,798.8,5.4,545,12999,0.17,0.00,96.38,1.282,6,0.073,0.000,3015,1961,1201,0,0,0,0,0,0,25.91,28.83,23.72
$GC,13289,0.57,470.8,742.5,15.8,558,13295,0.12,2.25,0.00,0.000,4,0.155,0.041,2983,531,1195,0,0,0,0,0,0,25.70,25.79,28.83
$GC,13347,0.55,470.8,738.0,15.4,559,13354,0.00,2.22,0.00,0.000,6,0.000,0.037,2984,1966,1194,0,0,0,0,0,0,28.83,25.86,28.83
$GC,13654,0.57,470.8,697.1,13.6,570,13660,0.00,2.20,0.00,0.000,4,0.000,0.053,2983,3353,1194,0,0,0,0,0,0,28.83,26.05,28.83
$GC,13696,0.59,470.8,692.0,14.0,571,13701,0.00,2.12,0.00,0.000,6,0.000,0.033,2983,1972,1193,0,0,0,0,0,0,28.83,26.15,28.83
$GC,14020,0.61,470.8,643.9,14.5,582,14025,0.00,2.22,0.00,0.000,4,0.000,0.043,2983,537,1193,0,0,0,0,0,0,28.83,26.21,28.83
$GC,14066,0.64,470.8,639.1,14.3,583,14072,0.00,2.20,0.00,0.000,6,0.000,0.037,2983,1973,1193,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,19110,end climb,SURFACE_DEPTH_REACHED
$STATE,19110,begin surface coast
$FINISH,1.0,0.996086
$STATE,19141,end surface coast,CONTROL_FINISHED_OK
$STATE,19141,begin surface
$SM_CCo,19219,0.00,0.000,0,0,459,652.99
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$IRIDIUM_FIX,2031.77,12007.26,010512,212133
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.68
$INTERNAL_PRESSURE,7.25186
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,23.0,16.930
$10V_AH,9.9,7.022
$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,21.625,149.000,726.925,0.000,0.000,0.000,0.000,200.775,0.000,0.000,20.312,2724.843,13769.226,831.812,2321.816,228.957,0.000,2203.538,0.000,1987.184,0.000,0.542,0.000
$DEVICE_MAMPS,243.270,72.675,1433.610,0.000,0.000,0.000,0.000,59.670,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19179.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.302,0.000,0.000,0.000
$MEM,324440
$DATA_FILE_SIZE,30115,856
$CAP_FILE_SIZE,211656,0
$CFSIZE,260165632,243281920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.217, 91.5,1
$GPS,030512,191859,2015.256,12005.065,36,1.1,36,-2.7