version: 66.10
glider: 170
mission: 8
dive: 25
start: 4 22 112 4 18 29
data:
$ID,170
$MISSION,8
$DIVE,25
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,-124196.24
$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,2850
$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,39
$R_STBD_OVSHOOT,31
$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,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
$GPS1,220412,041349,2216.511,12013.613,14,0.8,15,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-74.3
$GPS2,220412,041801,2216.414,12013.672,13,0.8,14,-3.2
$SPEED_LIMITS,0.192,0.337
$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,232.0,364546,-14.5,-11.111
$D_GRID,663
$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,-243.3,0.0,0.0,0,107,0.00,0.00,-86.57,0.000,2,0.000,0.000,139,2495,3076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.71,-243.3,3.6,-4.3,9,142,10.45,2.12,-14.98,0.000,4,0.262,0.045,2609,1072,3961,0,0,0,0,0,0,25.84,26.20,26.49
$GC,176,0.16,-243.3,28.8,-36.2,15,182,0.95,2.25,0.00,0.000,6,0.155,0.050,2900,2502,3964,0,0,0,0,0,0,26.01,26.20,28.83
$GC,490,-0.82,-243.3,57.4,-8.8,42,496,0.85,1.85,0.00,0.000,4,0.083,0.053,2581,3699,3965,0,0,0,0,0,0,26.34,26.35,28.83
$GC,722,-0.35,-243.3,107.1,-25.4,53,728,0.50,1.80,0.00,0.000,6,0.139,0.029,2738,2456,3965,0,0,0,0,0,0,26.29,26.54,28.83
$GC,1036,-1.09,-243.3,136.9,-8.5,69,1043,0.62,1.95,0.00,0.000,4,0.070,0.053,2493,3696,3966,0,0,0,0,0,0,26.50,26.50,28.83
$GC,1196,-0.44,-243.3,166.2,-25.0,76,1204,0.70,1.73,0.00,0.000,6,0.162,0.028,2705,2490,3966,0,0,0,0,0,0,26.32,26.63,28.83
$GC,1502,-1.22,-243.3,194.6,-9.9,92,1508,0.62,1.88,0.00,0.000,4,0.072,0.054,2459,3697,3968,0,0,0,0,0,0,26.55,26.55,28.83
$GC,1536,-1.80,-243.3,197.3,-10.2,93,1542,0.50,1.73,0.00,0.000,6,0.067,0.030,2264,2498,3967,0,0,0,0,0,0,26.56,26.67,28.83
$GC,1850,-0.53,-243.3,328.3,-41.6,109,1857,1.42,1.90,0.00,0.000,4,0.198,0.055,2671,3704,3967,0,0,0,0,0,0,26.29,26.57,28.83
$GC,2035,-1.28,-243.3,347.1,-8.7,118,2042,0.62,1.75,0.00,0.000,6,0.070,0.032,2433,2500,3969,0,0,0,0,0,0,26.58,26.71,28.83
$GC,2360,-0.67,-243.3,421.6,-26.5,134,2365,0.62,1.90,0.00,0.000,4,0.164,0.056,2628,3701,3967,0,0,0,0,0,0,26.39,26.60,28.83
$GC,2467,-0.98,-243.3,432.4,-7.5,139,2475,0.28,1.75,0.00,0.000,6,0.060,0.034,2503,2508,3967,0,0,0,0,0,0,26.68,26.72,28.83
$GC,2787,-0.70,-243.3,479.2,-14.7,155,2792,0.35,1.88,0.00,0.000,4,0.143,0.057,2617,3694,3965,0,0,0,0,0,0,26.46,26.61,28.83
$GC,2824,-0.53,-243.3,481.9,-13.9,156,2832,0.17,1.77,0.00,0.000,6,0.107,0.034,2680,2485,3964,0,0,0,0,0,0,26.58,26.73,28.83
$GC,3130,-1.29,-243.3,508.8,-10.0,172,3137,0.62,2.03,0.00,0.000,4,0.069,0.034,2433,1086,3964,0,0,0,0,0,0,26.63,26.69,28.83
$GC,3189,-1.64,-243.3,514.3,-11.2,174,3198,0.30,2.20,0.00,0.000,6,0.074,0.047,2318,2513,3962,0,0,0,0,0,0,26.64,26.63,28.83
$STATE,3474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3474,begin apogee
$GC,3479,-0.14,0.0,606.2,-31.4,189,3678,1.62,0.00,190.23,1.105,6,0.194,0.000,2796,1981,2965,0,0,0,0,0,0,26.29,28.83,24.22
$STATE,3680,end apogee,CONTROL_FINISHED_OK
$STATE,3680,begin climb
$GC,3681,0.71,243.3,618.8,0.0,195,3896,0.75,2.25,201.07,1.073,4,0.046,0.044,3106,625,1973,0,0,0,0,0,0,25.12,24.89,24.18
$GC,4124,0.25,243.3,538.3,25.7,215,4130,0.57,2.17,0.00,0.000,6,0.142,0.041,2930,2013,1967,0,0,0,0,0,0,25.81,25.96,28.83
$GC,4443,0.51,329.9,506.6,8.4,231,4522,0.22,0.00,71.70,1.022,6,0.067,0.000,3039,2011,1622,0,0,0,0,0,0,26.31,28.83,24.44
$GC,4822,0.25,329.9,441.5,17.6,250,4828,0.32,2.15,0.00,0.000,4,0.133,0.042,2941,623,1615,0,0,0,0,0,0,25.99,26.10,28.83
$GC,4916,0.53,406.6,434.1,8.7,254,4987,0.22,2.15,62.80,0.981,6,0.066,0.040,3048,2012,1310,0,0,0,0,0,0,26.22,26.19,24.48
$GC,5285,0.27,406.6,357.0,23.2,273,5291,0.32,2.15,0.00,0.000,4,0.135,0.043,2943,624,1304,0,0,0,0,0,0,25.98,26.09,28.83
$GC,5358,0.39,406.6,349.8,14.1,276,5365,0.12,2.12,0.00,0.000,6,0.095,0.038,3005,2003,1303,0,0,0,0,0,0,26.15,26.17,28.83
$GC,5672,0.39,406.6,307.3,13.5,292,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2003,1302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5972,0.39,406.6,264.2,14.4,307,5978,0.00,2.15,0.00,0.000,4,0.000,0.044,3006,613,1300,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6030,0.49,406.6,259.0,12.8,309,6037,0.00,2.12,0.00,0.000,6,0.000,0.040,3005,2000,1300,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6335,0.56,406.6,219.9,12.9,325,6341,0.00,2.12,0.00,0.000,4,0.000,0.044,3005,613,1299,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6381,0.68,406.6,215.4,11.7,327,6388,0.17,2.12,0.00,0.000,6,0.076,0.040,3094,2005,1299,0,0,0,0,0,0,26.53,26.51,28.83
$GC,6701,0.35,406.6,145.3,22.2,343,6707,0.40,2.12,0.00,0.000,4,0.138,0.043,2969,621,1299,0,0,0,0,0,0,26.39,26.53,28.83
$GC,6738,0.13,406.6,141.6,20.8,344,6746,0.22,2.10,0.00,0.000,6,0.093,0.040,2886,2000,1298,0,0,0,0,0,0,26.49,26.54,28.83
$GC,7044,1.15,519.2,117.5,7.6,360,7146,0.88,2.28,88.30,0.768,4,0.076,0.044,3226,623,850,0,0,0,0,0,0,26.51,25.39,24.81
$GC,7372,0.82,519.2,37.3,24.8,378,7380,0.38,2.15,0.00,0.000,6,0.135,0.041,3111,2003,845,0,0,0,0,0,0,25.89,26.03,28.83
$STATE,7647,end climb,SURFACE_DEPTH_REACHED
$STATE,7647,begin surface coast
$FINISH,0.7,1.008661
$STATE,7669,end surface coast,CONTROL_FINISHED_OK
$STATE,7670,begin surface
$SM_CCo,7686,1.67,0.069,0,0,826,525.19
$SM_GC,1.96,7.85,0.77,1.67,0.057,0.044,0.069,139,2517,826,-8.43,-0.82,525.19,0,0,0,0,0,0,26.16,26.28,26.22
$IRIDIUM_FIX,2211.35,12013.88,220412,030335
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.52
$INTERNAL_PRESSURE,7.33976
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,24.2,4.717
$10V_AH,10.2,1.571
$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,33.675,62.175,614.100,1.675,0.000,0.000,0.000,147.650,2.500,0.000,15.705,1426.034,4447.651,638.459,1347.408,96.991,0.000,1484.664,0.000,1134.660,0.000,17.231,0.000
$DEVICE_MAMPS,261.630,56.610,1104.660,68.850,0.000,0.000,0.000,90.270,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7671.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.415,0.000,0.000,0.000
$MEM,324940
$DATA_FILE_SIZE,13459,408
$CAP_FILE_SIZE,110280,0
$CFSIZE,260165632,249180160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.220,129.2,1
$GPS,220412,062726,2215.676,12013.090,15,0.8,15,-3.2