version: 66.10
glider: 170
mission: 8
dive: 19
start: 4 21 112 19 2 45
data:
$ID,170
$MISSION,8
$DIVE,19
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,800
$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,180
$T_MISSION,250
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,270
$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,-124188.18
$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,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$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
$GPS1,210412,185735,2219.875,12015.373,23,1.0,23,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-75.7
$GPS2,210412,190218,2219.792,12015.373,15,1.8,15,-3.2
$SPEED_LIMITS,0.192,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,2219.792,12003.698
$TGT_RADIUS,1852.000
$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,273.2,20000,-14.5,-11.111
$D_GRID,377
$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,-0.71,-243.3,0.0,0.0,0,102,0.00,0.00,-81.95,0.000,2,0.000,0.000,141,2517,3071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.71,-243.3,4.2,-5.8,8,135,10.50,2.22,-13.93,0.000,4,0.260,0.049,2650,1073,3963,0,0,0,0,0,0,25.96,26.31,26.60
$GC,183,-0.27,-243.3,31.1,-27.1,15,191,0.50,2.22,0.00,0.000,6,0.147,0.049,2805,2495,3965,0,0,0,0,0,0,26.15,26.30,28.83
$GC,498,-1.07,-243.3,62.3,-11.7,42,504,0.68,1.85,0.00,0.000,4,0.067,0.054,2540,3695,3966,0,0,0,0,0,0,26.46,26.43,28.83
$GC,544,-1.47,-243.3,67.9,-12.2,44,550,0.35,1.80,0.00,0.000,6,0.073,0.030,2402,2464,3966,0,0,0,0,0,0,26.46,26.55,28.83
$GC,862,-0.57,-243.3,183.7,-33.4,60,868,1.00,1.95,0.00,0.000,4,0.184,0.057,2698,3700,3967,0,0,0,0,0,0,26.27,26.51,28.83
$GC,1096,-1.23,-243.3,201.0,-7.7,71,1102,0.55,1.75,0.00,0.000,6,0.071,0.031,2488,2494,3969,0,0,0,0,0,0,26.55,26.65,28.83
$GC,1410,-0.80,-243.3,252.5,-18.3,87,1416,0.43,1.88,0.00,0.000,4,0.156,0.057,2624,3694,3970,0,0,0,0,0,0,26.40,26.57,28.83
$GC,1634,-1.09,-243.3,268.2,-5.9,98,1640,0.25,1.75,0.00,0.000,6,0.064,0.034,2511,2496,3969,0,0,0,0,0,0,26.67,26.71,28.83
$GC,1957,-0.81,-243.3,320.8,-17.0,114,1963,0.35,1.90,0.00,0.000,4,0.144,0.057,2625,3700,3969,0,0,0,0,0,0,26.44,26.60,28.83
$GC,2065,-1.12,-243.3,329.7,-7.3,119,2071,0.28,1.75,0.00,0.000,6,0.064,0.034,2508,2502,3968,0,0,0,0,0,0,26.68,26.73,28.83
$STATE,2362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2362,begin apogee
$GC,2367,-0.14,0.0,379.7,-16.5,134,2558,1.00,0.00,184.52,0.921,6,0.132,0.000,2841,1982,2967,0,0,0,0,0,0,26.48,28.83,24.43
$STATE,2559,end apogee,CONTROL_FINISHED_OK
$STATE,2559,begin climb
$GC,2561,0.71,243.3,387.1,0.0,143,2765,0.73,2.45,194.80,0.896,4,0.042,0.051,3136,3420,1975,0,0,0,0,0,0,25.22,25.04,24.41
$GC,2862,0.04,243.3,336.8,26.9,158,2869,0.80,2.17,0.00,0.000,6,0.152,0.037,2905,2032,1969,0,0,0,0,0,0,25.60,25.77,28.83
$GC,3168,0.58,400.6,309.6,6.3,174,3303,0.47,2.33,125.68,0.859,4,0.047,0.046,3107,598,1334,0,0,0,0,0,0,26.27,25.13,24.46
$GC,3379,0.23,400.6,262.7,25.3,184,3385,0.45,2.22,0.00,0.000,6,0.125,0.039,2966,2010,1330,0,0,0,0,0,0,25.61,25.72,28.83
$GC,3693,0.65,493.2,230.6,8.3,200,3774,0.38,2.35,73.90,0.820,4,0.053,0.054,3123,3407,956,0,0,0,0,0,0,26.27,25.29,24.64
$GC,3800,0.25,493.2,203.5,29.2,205,3806,0.52,2.22,0.00,0.000,6,0.133,0.036,2970,1996,954,0,0,0,0,0,0,25.46,25.58,28.83
$GC,4119,1.05,493.2,162.7,13.5,221,4124,0.68,2.15,0.00,0.000,4,0.071,0.043,3227,579,949,0,0,0,0,0,0,26.17,26.19,28.83
$GC,4182,1.18,493.2,150.6,17.1,224,4188,0.12,2.20,0.00,0.000,6,0.095,0.041,3287,2000,949,0,0,0,0,0,0,26.24,26.23,28.83
$GC,4495,0.49,493.2,31.5,31.2,242,4501,0.75,2.17,0.00,0.000,4,0.151,0.045,3051,582,947,0,0,0,0,0,0,26.21,26.38,28.83
$GC,4582,1.22,675.4,21.3,5.5,250,4650,0.62,2.17,61.05,0.632,6,0.059,0.039,3297,2008,460,0,0,0,0,0,0,26.41,26.42,25.20
$STATE,4666,end climb,SURFACE_DEPTH_REACHED
$STATE,4666,begin surface coast
$FINISH,0.4,1.016895
$STATE,4677,end surface coast,CONTROL_FINISHED_OK
$STATE,4677,begin surface
$SM_CCo,4754,0.00,0.000,0,0,460,615.21
$SM_GC,1.25,8.40,0.77,0.00,0.050,0.049,0.000,136,2506,460,-8.57,-0.99,615.21,0,0,0,0,0,0,25.77,25.83,28.83
$IRIDIUM_FIX,2204.37,12014.72,210412,171750
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.72
$INTERNAL_PRESSURE,7.32023
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,24.4,3.694
$10V_AH,9.9,1.302
$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,29.800,43.000,639.950,0.000,0.000,0.000,0.000,180.075,1.250,0.000,16.478,830.816,2549.823,595.569,1004.162,72.081,0.000,1301.635,0.000,773.974,0.000,9.732,0.000
$DEVICE_MAMPS,260.100,57.375,921.060,0.000,0.000,0.000,0.000,83.385,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4679.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.411,0.000,0.000,0.000
$MEM,325512
$DATA_FILE_SIZE,10138,260
$CAP_FILE_SIZE,73261,0
$CFSIZE,260165632,249507840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210412,202243,2219.496,12015.104,12,1.3,12,-3.2