version: 66.10
glider: 170
mission: 8
dive: 26
start: 4 22 112 6 32 56
data:
$ID,170
$MISSION,8
$DIVE,26
$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,-124197.5
$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,70
$R_STBD_OVSHOOT,41
$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,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,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
$GPS1,220412,062726,2215.676,12013.090,15,0.8,15,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-73.7
$GPS2,220412,063228,2215.594,12013.074,36,0.8,37,-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,218.8,362962,-14.5,-11.111
$D_GRID,729
$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,16,begin dive
$GC,17,-0.71,-243.3,0.0,0.0,0,101,0.00,0.00,-81.38,0.000,2,0.000,0.000,139,2521,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.71,-243.3,4.0,-5.2,8,134,10.50,1.92,-14.02,0.000,4,0.263,0.076,2612,3690,3962,0,0,0,0,0,0,25.84,26.17,26.53
$GC,245,-0.12,-243.3,52.0,-30.2,21,251,0.62,1.75,0.00,0.000,6,0.145,0.031,2806,2498,3966,0,0,0,0,0,0,26.08,26.35,28.83
$GC,559,-0.89,-243.3,85.6,-10.3,37,566,0.62,1.88,0.00,0.000,4,0.066,0.055,2558,3690,3967,0,0,0,0,0,0,26.39,26.36,28.83
$GC,598,-1.52,-243.3,88.3,-10.7,38,607,0.52,1.75,0.00,0.000,6,0.058,0.030,2346,2488,3967,0,0,0,0,0,0,26.41,26.50,28.83
$GC,903,-0.38,-243.3,216.4,-39.4,54,910,1.27,1.90,0.00,0.000,4,0.185,0.053,2719,3692,3969,0,0,0,0,0,0,26.18,26.45,28.83
$GC,1138,-1.08,-243.3,236.9,-9.2,65,1144,0.57,1.75,0.00,0.000,6,0.063,0.034,2495,2505,3971,0,0,0,0,0,0,26.52,26.60,28.83
$GC,1452,-0.64,-243.3,294.4,-18.9,81,1458,0.45,1.85,0.00,0.000,4,0.148,0.054,2640,3694,3971,0,0,0,0,0,0,26.35,26.53,28.83
$GC,1605,-1.01,-243.3,306.1,-6.8,88,1610,0.32,1.77,0.00,0.000,6,0.058,0.034,2500,2488,3971,0,0,0,0,0,0,26.61,26.65,28.83
$GC,1918,-0.67,-243.3,364.6,-18.9,104,1923,0.40,1.90,0.00,0.000,4,0.143,0.056,2629,3689,3973,0,0,0,0,0,0,26.39,26.55,28.83
$GC,1990,-0.67,-243.3,370.4,-11.4,107,1995,0.00,1.75,0.00,0.000,6,0.000,0.034,2630,2505,3971,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2303,-0.98,-243.3,394.6,-7.5,123,2309,0.22,1.85,0.00,0.000,4,0.069,0.057,2518,3689,3970,0,0,0,0,0,0,26.67,26.58,28.83
$GC,2366,-0.98,-243.3,402.5,-11.4,126,2371,0.00,1.77,0.00,0.000,6,0.000,0.033,2518,2494,3969,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2689,-0.76,-243.3,449.1,-13.6,142,2695,0.25,1.88,0.00,0.000,4,0.147,0.057,2601,3689,3966,0,0,0,0,0,0,26.44,26.58,28.83
$GC,2801,-0.96,-243.3,457.6,-7.1,147,2808,0.17,1.77,0.00,0.000,6,0.074,0.036,2512,2509,3966,0,0,0,0,0,0,26.67,26.71,28.83
$GC,3115,-0.73,-243.3,500.4,-13.6,163,3121,0.30,1.88,0.00,0.000,4,0.138,0.057,2611,3692,3964,0,0,0,0,0,0,26.43,26.59,28.83
$GC,3228,-1.02,-243.3,506.5,-4.6,168,3233,0.25,1.77,0.00,0.000,6,0.066,0.037,2498,2501,3963,0,0,0,0,0,0,26.67,26.71,28.83
$GC,3541,-0.74,-243.3,550.5,-15.7,184,3546,0.32,1.88,0.00,0.000,4,0.142,0.057,2604,3684,3962,0,0,0,0,0,0,26.41,26.59,28.83
$GC,3618,-0.74,-243.3,556.5,-10.9,187,3624,0.00,1.77,0.00,0.000,6,0.000,0.036,2605,2490,3960,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3924,-0.97,-243.3,577.4,-6.7,203,3930,0.15,1.88,0.00,0.000,4,0.087,0.057,2521,3683,3958,0,0,0,0,0,0,26.73,26.59,28.83
$GC,4008,-0.92,-243.3,586.5,-11.1,207,4014,0.12,1.77,0.00,0.000,6,0.146,0.035,2557,2480,3957,0,0,0,0,0,0,26.51,26.73,28.83
$STATE,4149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4149,begin apogee
$GC,4155,-0.14,0.0,600.4,-9.6,214,4351,0.70,0.00,191.50,1.114,6,0.116,0.000,2799,1986,2968,0,0,0,0,0,0,26.45,28.83,24.13
$STATE,4353,end apogee,CONTROL_FINISHED_OK
$STATE,4353,begin climb
$GC,4354,0.71,243.3,607.0,0.0,220,4566,0.75,2.38,202.30,1.076,4,0.045,0.050,3100,3404,1974,0,0,0,0,0,0,24.98,24.78,24.08
$GC,4617,0.12,243.3,563.2,25.0,232,4623,0.73,2.17,0.00,0.000,6,0.151,0.035,2892,2035,1969,0,0,0,0,0,0,25.25,25.39,28.83
$GC,4936,0.65,395.7,541.4,6.4,248,5070,0.45,2.38,127.07,1.041,4,0.051,0.047,3092,590,1353,0,0,0,0,0,0,26.09,24.90,24.19
$GC,5107,0.21,395.7,503.5,27.7,256,5113,0.57,2.25,0.00,0.000,6,0.131,0.041,2917,1984,1351,0,0,0,0,0,0,25.25,25.35,28.83
$GC,5420,0.99,395.7,471.2,11.6,272,5422,0.73,0.00,0.00,0.000,6,0.081,0.000,3176,1985,1346,0,0,0,0,0,0,26.01,28.83,28.83
$GC,5720,0.17,395.7,365.3,41.7,287,5726,0.88,2.15,0.00,0.000,4,0.165,0.044,2916,591,1345,0,0,0,0,0,0,26.06,26.25,28.83
$GC,5808,0.29,395.7,352.7,14.2,291,5813,0.00,2.17,0.00,0.000,6,0.000,0.037,2916,2011,1344,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6126,1.12,395.7,314.8,13.6,307,6132,0.77,2.17,0.00,0.000,4,0.071,0.051,3211,3415,1344,0,0,0,0,0,0,26.36,26.36,28.83
$GC,6170,1.38,395.7,305.8,16.8,309,6176,0.22,2.17,0.00,0.000,6,0.073,0.037,3312,1999,1344,0,0,0,0,0,0,26.41,26.41,28.83
$GC,6493,0.32,395.7,155.2,42.9,325,6500,1.17,2.20,0.00,0.000,4,0.181,0.049,2961,3408,1343,0,0,0,0,0,0,26.19,26.42,28.83
$GC,6606,0.76,521.6,141.4,7.2,330,6719,0.38,2.15,100.45,0.806,6,0.060,0.032,3116,1973,839,0,0,0,0,0,0,26.49,26.52,24.58
$GC,7018,0.70,521.6,67.7,14.9,351,7023,0.12,2.12,0.00,0.000,4,0.145,0.042,3077,597,833,0,0,0,0,0,0,25.97,26.03,28.83
$GC,7105,1.04,573.5,59.8,9.5,355,7156,0.30,2.15,42.38,0.719,6,0.063,0.037,3203,2006,629,0,0,0,0,0,0,26.13,26.11,24.94
$STATE,7361,end climb,SURFACE_DEPTH_REACHED
$STATE,7361,begin surface coast
$FINISH,0.7,1.021357
$STATE,7374,end surface coast,CONTROL_FINISHED_OK
$STATE,7374,begin surface
$SM_CCo,7451,0.00,0.000,0,0,624,574.74
$SM_GC,1.48,8.20,0.77,0.00,0.057,0.050,0.000,139,2504,624,-8.44,-0.99,574.74,0,0,0,0,0,0,25.92,26.02,28.83
$IRIDIUM_FIX,2211.35,12013.88,220412,040429
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.30
$INTERNAL_PRESSURE,7.31046
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,24.1,4.910
$10V_AH,9.9,1.623
$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,33.075,64.375,663.700,0.000,0.000,0.000,0.000,162.525,0.000,0.000,38.240,1340.106,4347.339,656.251,1320.451,96.408,0.000,1495.014,0.000,1070.804,0.000,0.544,0.000
$DEVICE_MAMPS,263.160,75.735,1113.840,0.000,0.000,0.000,0.000,94.860,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7378.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.748,0.000,0.000,0.000
$MEM,324992
$DATA_FILE_SIZE,13473,379
$CAP_FILE_SIZE,105644,0
$CFSIZE,260165632,249122816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.188, 95.2,1
$GPS,220412,083756,2214.777,12012.699,16,0.8,17,-3.2