version: 66.10
glider: 170
mission: 8
dive: 21
start: 4 21 112 22 20 57
data:
$ID,170
$MISSION,8
$DIVE,21
$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,-124190.69
$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,41
$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
$GPS1,210412,221305,2218.938,12014.360,35,1.6,35,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-75.7
$GPS2,210412,222030,2218.892,12014.395,15,1.4,15,-3.2
$SPEED_LIMITS,0.192,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,2218.892,12002.721
$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,503
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.71,-243.3,0.0,0.0,0,100,0.00,0.00,-81.75,0.000,2,0.000,0.000,140,2512,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.71,-243.3,4.6,-6.4,8,134,10.55,2.15,-12.35,0.000,4,0.259,0.044,2650,1069,3964,0,0,0,0,0,0,25.86,26.26,26.54
$GC,241,-0.54,-243.3,41.0,-17.9,21,248,0.22,2.22,0.00,0.000,6,0.155,0.048,2715,2491,3966,0,0,0,0,0,0,26.13,26.27,28.83
$GC,556,-0.54,-243.3,85.7,-12.6,40,561,0.00,1.88,0.00,0.000,4,0.000,0.060,2716,3693,3967,0,0,0,0,0,0,28.83,26.39,28.83
$GC,718,-0.85,-243.3,99.9,-8.2,48,724,0.28,1.80,0.00,0.000,6,0.062,0.031,2596,2465,3968,0,0,0,0,0,0,26.51,26.55,28.83
$GC,1042,-0.63,-243.3,159.6,-16.5,64,1047,0.25,1.95,0.00,0.000,4,0.145,0.057,2678,3703,3970,0,0,0,0,0,0,26.36,26.49,28.83
$GC,1129,-0.87,-243.3,166.8,-8.5,68,1135,0.20,1.77,0.00,0.000,6,0.070,0.031,2588,2491,3970,0,0,0,0,0,0,26.58,26.63,28.83
$GC,1447,-0.81,-243.3,208.6,-13.5,84,1449,0.15,0.00,0.00,0.000,6,0.151,0.000,2631,2485,3971,0,0,0,0,0,0,26.48,28.83,28.83
$GC,1748,-1.00,-243.3,237.1,-8.4,99,1754,0.17,1.90,0.00,0.000,4,0.080,0.059,2538,3696,3971,0,0,0,0,0,0,26.67,26.56,28.83
$GC,1887,-0.78,-243.3,256.4,-16.4,105,1895,0.25,1.77,0.00,0.000,6,0.119,0.031,2637,2490,3971,0,0,0,0,0,0,26.46,26.69,28.83
$GC,2194,-1.04,-243.3,278.2,-6.4,121,2199,0.20,1.92,0.00,0.000,4,0.074,0.059,2535,3697,3971,0,0,0,0,0,0,26.70,26.59,28.83
$GC,2306,-0.82,-243.3,292.7,-15.5,126,2312,0.30,1.75,0.00,0.000,6,0.131,0.031,2630,2499,3970,0,0,0,0,0,0,26.47,26.71,28.83
$GC,2619,-1.05,-243.3,316.9,-6.7,142,2625,0.20,1.90,0.00,0.000,4,0.071,0.059,2528,3695,3969,0,0,0,0,0,0,26.71,26.60,28.83
$GC,2696,-1.05,-243.3,324.5,-10.9,145,2703,0.00,1.75,0.00,0.000,6,0.000,0.033,2528,2500,3968,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3002,-0.82,-243.3,376.4,-16.1,161,3008,0.28,1.92,0.00,0.000,4,0.142,0.060,2618,3700,3966,0,0,0,0,0,0,26.46,26.60,28.83
$GC,3080,-0.88,-243.3,382.2,-10.7,164,3087,0.00,1.77,0.00,0.000,6,0.000,0.034,2618,2490,3966,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3386,-1.11,-243.3,399.6,-4.3,180,3392,0.20,1.92,0.00,0.000,4,0.076,0.061,2515,3693,3964,0,0,0,0,0,0,26.73,26.60,28.83
$STATE,3411,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3411,begin apogee
$GC,3418,-0.14,0.0,401.3,-4.9,181,3610,0.98,0.00,186.35,0.955,6,0.129,0.000,2842,2012,2968,0,0,0,0,0,0,26.45,28.83,24.35
$STATE,3611,end apogee,CONTROL_FINISHED_OK
$STATE,3611,begin climb
$GC,3613,0.71,243.3,406.8,0.0,191,3819,0.75,2.30,196.95,0.923,4,0.040,0.046,3147,608,1975,0,0,0,0,0,0,25.13,24.97,24.32
$GC,3832,0.05,243.3,374.0,23.1,202,3838,0.80,2.28,0.00,0.000,6,0.144,0.040,2909,2012,1972,0,0,0,0,0,0,25.12,25.23,28.83
$GC,4155,0.65,481.5,355.6,3.8,218,4356,0.47,2.30,191.38,0.895,4,0.049,0.044,3118,599,1004,0,0,0,0,0,0,26.15,25.01,24.37
$GC,4442,0.31,481.5,289.2,26.1,232,4449,0.43,2.22,0.00,0.000,6,0.128,0.040,2987,2005,1001,0,0,0,0,0,0,25.58,25.67,28.83
$GC,4761,0.75,588.7,257.2,7.8,248,4862,0.38,2.33,90.72,0.842,4,0.054,0.047,3159,605,566,0,0,0,0,0,0,26.20,25.16,24.51
$GC,4899,0.24,588.7,219.2,35.0,254,4907,0.62,2.22,0.00,0.000,6,0.135,0.041,2968,1998,567,0,0,0,0,0,0,25.41,25.53,28.83
$GC,5205,1.05,588.7,172.9,14.6,270,5211,0.70,2.25,0.00,0.000,4,0.076,0.052,3228,3420,563,0,0,0,0,0,0,26.09,26.11,28.83
$GC,5232,1.77,588.7,169.6,14.4,271,5238,0.60,2.17,0.00,0.000,6,0.047,0.034,3479,1996,563,0,0,0,0,0,0,26.18,26.19,28.83
$STATE,5539,end climb,SURFACE_DEPTH_REACHED
$STATE,5539,begin surface coast
$FINISH,0.5,1.009965
$STATE,5550,end surface coast,CONTROL_FINISHED_OK
$STATE,5550,begin surface
$SM_CCo,5627,0.00,0.000,0,0,559,590.93
$SM_GC,1.27,8.75,0.82,0.00,0.054,0.051,0.000,142,2510,559,-8.55,-0.82,590.93,0,0,0,0,0,0,26.24,26.34,28.83
$IRIDIUM_FIX,2213.68,12017.06,210412,222253
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.34
$INTERNAL_PRESSURE,7.30069
$TCM_TEMP,21.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.3,9.5
$24V_AH,24.3,4.031
$10V_AH,9.9,1.396
$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,27.725,49.850,665.400,0.000,0.000,0.000,0.000,271.200,1.750,0.000,16.648,900.171,3327.908,636.543,1137.797,80.182,0.000,1455.177,0.000,812.487,0.000,13.572,0.000
$DEVICE_MAMPS,259.335,61.200,955.485,0.000,0.000,0.000,0.000,87.975,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5548.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.426,0.000,0.000,0.000
$MEM,325536
$DATA_FILE_SIZE,10147,291
$CAP_FILE_SIZE,81112,0
$CFSIZE,260165632,249397248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210412,235552,2218.710,12013.502,15,3.7,34,-3.2