version: 66.10
glider: 170
mission: 8
dive: 27
start: 4 22 112 8 43 34
data:
$ID,170
$MISSION,8
$DIVE,27
$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,-124198.76
$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,53
$R_STBD_OVSHOOT,35
$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
$GPS1,220412,083756,2214.777,12012.699,16,0.8,17,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-75.0
$GPS2,220412,084305,2214.668,12012.578,24,0.8,26,-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,220.6,361197,-14.5,-11.111
$D_GRID,738
$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,-243.3,0.0,0.0,0,111,0.00,0.00,-91.50,0.000,2,0.000,0.000,138,2507,3243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.71,-243.3,5.0,-7.0,9,140,10.52,2.12,-10.82,0.000,4,0.263,0.045,2608,1086,3963,0,0,0,0,0,0,25.77,26.16,26.44
$GC,172,0.65,-243.3,31.9,-45.7,14,180,1.45,2.22,0.00,0.000,6,0.156,0.051,3051,2490,3967,0,0,0,0,0,0,25.95,26.12,28.83
$GC,488,-0.24,-243.3,60.6,-8.8,40,494,0.77,1.92,0.00,0.000,4,0.096,0.057,2771,3704,3967,0,0,0,0,0,0,26.24,26.28,28.83
$GC,655,-0.98,-243.3,79.1,-12.9,48,662,0.65,1.80,0.00,0.000,6,0.070,0.031,2527,2485,3967,0,0,0,0,0,0,26.34,26.44,28.83
$GC,974,-0.44,-243.3,162.5,-24.0,64,980,0.57,1.92,0.00,0.000,4,0.163,0.058,2704,3696,3969,0,0,0,0,0,0,26.22,26.41,28.83
$GC,1208,-1.17,-243.3,181.9,-10.2,75,1214,0.62,1.77,0.00,0.000,6,0.070,0.031,2465,2485,3970,0,0,0,0,0,0,26.46,26.56,28.83
$GC,1521,-0.51,-243.3,257.9,-27.6,91,1527,0.70,1.92,0.00,0.000,4,0.165,0.058,2681,3703,3971,0,0,0,0,0,0,26.28,26.49,28.83
$GC,1620,-0.77,-243.3,265.5,-8.5,95,1627,0.25,1.80,0.00,0.000,6,0.097,0.031,2592,2464,3972,0,0,0,0,0,0,26.49,26.63,28.83
$GC,1925,-1.14,-243.3,289.2,-7.8,111,1931,0.28,2.00,0.00,0.000,4,0.063,0.034,2455,1103,3972,0,0,0,0,0,0,26.63,26.60,28.83
$GC,2038,-0.71,-243.3,307.1,-19.3,116,2044,0.52,2.17,0.00,0.000,6,0.157,0.048,2615,2508,3971,0,0,0,0,0,0,26.34,26.55,28.83
$GC,2352,-0.90,-243.3,335.9,-6.5,132,2357,0.15,1.88,0.00,0.000,4,0.082,0.058,2528,3705,3970,0,0,0,0,0,0,26.67,26.55,28.83
$GC,2439,-0.81,-243.3,344.9,-11.1,136,2445,0.20,1.75,0.00,0.000,6,0.135,0.031,2590,2506,3970,0,0,0,0,0,0,26.45,26.67,28.83
$GC,2758,-0.88,-243.3,371.6,-9.5,152,2763,0.00,1.90,0.00,0.000,4,0.000,0.059,2590,3700,3969,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2922,-1.00,-243.3,386.7,-8.7,160,2928,0.17,1.77,0.00,0.000,6,0.076,0.033,2507,2487,3968,0,0,0,0,0,0,26.65,26.70,28.83
$GC,3245,-0.73,-243.3,435.3,-16.4,176,3252,0.32,1.92,0.00,0.000,4,0.142,0.060,2613,3701,3966,0,0,0,0,0,0,26.43,26.58,28.83
$GC,3339,-0.89,-243.3,442.9,-8.8,180,3345,0.15,1.80,0.00,0.000,6,0.086,0.034,2534,2487,3965,0,0,0,0,0,0,26.65,26.71,28.83
$GC,3652,-0.75,-243.3,485.0,-14.4,196,3658,0.20,1.92,0.00,0.000,4,0.143,0.060,2602,3700,3963,0,0,0,0,0,0,26.47,26.58,28.83
$GC,3790,-1.00,-243.3,496.4,-8.6,202,3797,0.22,1.80,0.00,0.000,6,0.068,0.034,2499,2481,3962,0,0,0,0,0,0,26.67,26.71,28.83
$GC,4096,-0.73,-243.3,546.9,-15.6,218,4101,0.32,1.92,0.00,0.000,4,0.141,0.061,2606,3694,3960,0,0,0,0,0,0,26.41,26.58,28.83
$GC,4158,-0.78,-243.3,553.0,-10.9,221,4164,0.00,1.77,0.00,0.000,6,0.000,0.034,2607,2497,3960,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4482,-1.02,-243.3,578.1,-7.2,237,4487,0.20,1.90,0.00,0.000,4,0.076,0.062,2508,3693,3957,0,0,0,0,0,0,26.71,26.58,28.83
$GC,4520,-1.18,-243.3,580.3,-7.7,238,4528,0.12,1.77,0.00,0.000,6,0.103,0.035,2450,2495,3957,0,0,0,0,0,0,26.62,26.72,28.83
$STATE,4623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4623,begin apogee
$GC,4629,-0.14,0.0,600.8,-18.4,244,4829,1.10,0.00,191.60,1.117,6,0.153,0.000,2800,1999,2964,0,0,0,0,0,0,26.32,28.83,24.13
$STATE,4831,end apogee,CONTROL_FINISHED_OK
$STATE,4831,begin climb
$GC,4832,0.71,243.3,609.8,0.0,250,5047,0.75,2.40,202.77,1.079,4,0.046,0.053,3100,3407,1973,0,0,0,0,0,0,25.02,24.75,24.06
$GC,5113,0.11,243.3,567.8,24.5,262,5119,0.75,2.22,0.00,0.000,6,0.155,0.034,2886,2003,1968,0,0,0,0,0,0,25.30,25.46,28.83
$GC,5431,0.71,433.8,545.1,5.2,278,5598,0.50,2.30,157.73,1.045,4,0.051,0.044,3106,593,1198,0,0,0,0,0,0,26.10,24.86,24.16
$GC,5636,0.19,433.8,494.7,29.8,288,5642,0.65,2.28,0.00,0.000,6,0.139,0.038,2911,2012,1195,0,0,0,0,0,0,25.22,25.34,28.83
$GC,5959,0.98,433.8,460.5,12.1,304,5965,0.68,2.20,0.00,0.000,4,0.074,0.052,3164,3408,1190,0,0,0,0,0,0,26.03,26.03,28.83
$GC,5987,1.64,433.8,457.5,12.4,305,5993,0.55,2.17,0.00,0.000,6,0.050,0.034,3397,1991,1190,0,0,0,0,0,0,26.10,26.10,28.83
$GC,6306,0.33,433.8,275.3,59.4,321,6313,1.52,2.30,0.00,0.000,4,0.195,0.049,2961,3414,1189,0,0,0,0,0,0,26.01,26.25,28.83
$GC,6391,0.11,433.8,256.5,21.0,325,6398,0.22,2.15,0.00,0.000,6,0.110,0.034,2882,1995,1188,0,0,0,0,0,0,26.23,26.34,28.83
$GC,6716,0.93,433.8,219.8,13.5,341,6718,0.73,0.00,0.00,0.000,6,0.076,0.000,3151,1988,1187,0,0,0,0,0,0,26.34,28.83,28.83
$GC,7016,0.43,433.8,144.3,29.5,356,7021,0.50,2.10,0.00,0.000,4,0.145,0.042,2997,599,1187,0,0,0,0,0,0,26.27,26.44,28.83
$GC,7082,0.43,433.8,134.7,18.4,359,7088,0.00,2.15,0.00,0.000,6,0.000,0.037,2997,2007,1185,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7400,1.32,476.6,107.5,9.8,375,7442,0.73,2.28,33.58,0.760,4,0.079,0.053,3271,3402,1023,0,0,0,0,0,0,26.44,25.96,25.35
$GC,7513,0.86,476.6,84.3,24.9,380,7520,0.50,2.15,0.00,0.000,6,0.161,0.034,3131,2005,1020,0,0,0,0,0,0,25.91,26.11,28.83
$GC,7827,0.77,476.6,29.6,15.6,402,7832,0.12,2.15,0.00,0.000,4,0.148,0.041,3091,592,1019,0,0,0,0,0,0,26.22,26.28,28.83
$GC,7890,1.12,527.3,22.7,9.5,408,7923,0.32,2.15,24.85,0.645,6,0.060,0.038,3226,1998,816,0,0,0,0,0,0,26.34,26.31,25.38
$STATE,7999,end climb,SURFACE_DEPTH_REACHED
$STATE,7999,begin surface coast
$FINISH,0.8,1.021180
$STATE,8010,end surface coast,CONTROL_FINISHED_OK
$STATE,8010,begin surface
$SM_CCo,8087,0.00,0.000,0,0,812,528.87
$SM_GC,1.53,8.20,0.77,0.00,0.056,0.042,0.000,138,2505,812,-8.44,-0.99,528.87,0,0,0,0,0,0,26.01,26.10,28.83
$IRIDIUM_FIX,2209.02,12013.88,220412,060619
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.28
$INTERNAL_PRESSURE,7.33976
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,24.1,5.095
$10V_AH,9.9,1.681
$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,36.250,74.275,610.525,0.000,0.000,0.000,0.000,182.825,0.000,0.000,26.949,1497.480,4737.369,621.397,1446.445,102.744,0.000,1541.502,0.000,1186.542,0.000,0.543,0.000
$DEVICE_MAMPS,263.160,61.965,1116.900,0.000,0.000,0.000,0.000,91.035,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8017.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.255,0.000,0.000,0.000
$MEM,324964
$DATA_FILE_SIZE,16801,420
$CAP_FILE_SIZE,118463,0
$CFSIZE,260165632,249044992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.175, 65.5,1
$GPS,220412,105929,2213.665,12012.152,36,1.0,36,-3.2