version: 66.10
glider: 170
mission: 8
dive: 28
start: 4 22 112 11 4 58
data:
$ID,170
$MISSION,8
$DIVE,28
$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,-124200.01
$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,40
$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
$GPS1,220412,105929,2213.665,12012.152,36,1.0,36,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.0
$GPS2,220412,110430,2213.556,12012.270,17,1.0,18,-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,214.0,359108,-14.5,-11.111
$D_GRID,779
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.71,-243.3,0.0,0.0,0,101,0.00,0.00,-81.18,0.000,2,0.000,0.000,137,2509,3099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.71,-243.3,4.4,-6.0,8,136,10.45,2.17,-13.65,0.000,4,0.261,0.051,2608,1074,3964,0,0,0,0,0,0,25.79,26.17,26.47
$GC,260,-0.39,-243.3,51.2,-23.6,23,266,0.38,2.25,0.00,0.000,6,0.159,0.051,2719,2491,3967,0,0,0,0,0,0,26.03,26.20,28.83
$GC,573,-0.51,-243.3,89.2,-9.5,39,580,0.12,1.90,0.00,0.000,4,0.098,0.057,2649,3708,3967,0,0,0,0,0,0,26.44,26.34,28.83
$GC,806,-0.31,-243.3,125.1,-16.2,50,812,0.32,1.83,0.00,0.000,6,0.129,0.031,2752,2460,3967,0,0,0,0,0,0,26.28,26.50,28.83
$GC,1120,-1.06,-243.3,156.9,-11.2,66,1127,0.62,1.95,0.00,0.000,4,0.069,0.031,2507,1108,3969,0,0,0,0,0,0,26.47,26.53,28.83
$GC,1138,-1.82,-243.3,156.9,-11.2,66,1147,0.62,2.15,0.00,0.000,6,0.051,0.045,2248,2510,3969,0,0,0,0,0,0,26.52,26.49,28.83
$GC,1444,-0.47,-243.3,282.3,-41.9,82,1450,1.52,1.88,0.00,0.000,4,0.202,0.054,2692,3696,3971,0,0,0,0,0,0,26.18,26.51,28.83
$GC,1678,-1.18,-243.3,305.3,-9.9,93,1684,0.60,1.75,0.00,0.000,6,0.065,0.031,2458,2502,3972,0,0,0,0,0,0,26.55,26.65,28.83
$GC,1991,-0.59,-243.3,372.5,-23.4,109,1997,0.62,1.88,0.00,0.000,4,0.155,0.056,2656,3689,3971,0,0,0,0,0,0,26.34,26.55,28.83
$GC,2049,-0.37,-243.3,377.9,-18.3,111,2056,0.15,1.77,0.00,0.000,6,0.070,0.034,2736,2504,3972,0,0,0,0,0,0,26.55,26.67,28.83
$GC,2355,-1.13,-243.3,405.7,-8.4,127,2362,0.65,2.08,0.00,0.000,4,0.068,0.032,2478,1090,3970,0,0,0,0,0,0,26.58,26.64,28.83
$GC,2460,-0.88,-243.3,418.6,-13.2,132,2466,0.28,2.17,0.00,0.000,6,0.158,0.049,2560,2497,3970,0,0,0,0,0,0,26.39,26.58,28.83
$GC,2784,-0.88,-243.3,452.9,-10.9,148,2790,0.00,1.85,0.00,0.000,4,0.000,0.060,2560,3693,3967,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2901,-0.88,-243.3,463.7,-10.2,153,2908,0.00,1.77,0.00,0.000,6,0.000,0.034,2561,2482,3966,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3207,-0.88,-243.3,499.6,-11.4,169,3212,0.00,1.92,0.00,0.000,4,0.000,0.060,2561,3691,3964,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3258,-0.88,-243.3,504.1,-11.1,171,3263,0.00,1.75,0.00,0.000,6,0.000,0.034,2561,2507,3964,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3571,-0.88,-243.3,535.6,-9.6,187,3576,0.00,1.90,0.00,0.000,4,0.000,0.061,2561,3694,3961,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3674,-0.88,-243.3,545.4,-9.7,192,3679,0.00,1.77,0.00,0.000,6,0.000,0.034,2561,2481,3960,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3996,-0.88,-243.3,572.0,-7.6,208,4002,0.00,1.92,0.00,0.000,4,0.000,0.060,2561,3691,3958,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4180,-0.95,-243.3,586.7,-8.3,217,4185,0.00,1.75,0.00,0.000,6,0.000,0.034,2561,2503,3956,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,4361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4361,begin apogee
$GC,4366,-0.14,0.0,601.1,-7.8,226,4563,0.70,0.00,190.80,1.113,6,0.113,0.000,2805,2003,2968,0,0,0,0,0,0,26.46,28.83,24.14
$STATE,4564,end apogee,CONTROL_FINISHED_OK
$STATE,4564,begin climb
$GC,4566,0.71,243.3,606.3,0.0,232,4777,0.73,2.40,202.05,1.077,4,0.044,0.053,3098,3416,1974,0,0,0,0,0,0,24.98,24.76,24.06
$GC,4854,0.13,243.3,558.8,24.8,245,4860,0.73,2.22,0.00,0.000,6,0.151,0.034,2891,2011,1968,0,0,0,0,0,0,25.34,25.48,28.83
$GC,5167,0.79,489.2,538.8,3.5,261,5382,0.55,2.35,203.02,1.038,4,0.049,0.048,3118,606,971,0,0,0,0,0,0,26.10,24.84,24.15
$GC,5478,0.30,489.2,453.2,33.6,276,5484,0.57,2.22,0.00,0.000,6,0.141,0.039,2945,2007,967,0,0,0,0,0,0,25.47,25.60,28.83
$GC,5792,1.10,489.2,409.8,15.5,292,5794,0.70,0.00,0.00,0.000,6,0.063,0.000,3210,2007,964,0,0,0,0,0,0,26.08,28.83,28.83
$GC,6092,0.26,489.2,290.1,44.7,307,6098,0.90,2.20,0.00,0.000,4,0.169,0.045,2943,587,963,0,0,0,0,0,0,26.06,26.25,28.83
$GC,6241,1.05,557.9,268.9,9.0,314,6307,0.65,2.17,57.45,0.886,6,0.061,0.041,3194,2011,692,0,0,0,0,0,0,26.32,26.32,24.71
$GC,6620,0.50,557.9,136.8,37.1,333,6627,0.57,2.22,0.00,0.000,4,0.151,0.043,3023,591,686,0,0,0,0,0,0,25.93,26.07,28.83
$GC,6698,0.50,557.9,124.5,23.1,336,6705,0.00,2.17,0.00,0.000,6,0.000,0.039,3025,1998,684,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7005,1.28,557.9,86.7,11.9,352,7011,0.62,2.20,0.00,0.000,4,0.070,0.050,3264,3414,684,0,0,0,0,0,0,26.27,26.27,28.83
$GC,7058,1.70,557.9,80.8,12.6,354,7064,0.35,2.17,0.00,0.000,6,0.057,0.036,3416,1991,684,0,0,0,0,0,0,26.34,26.34,28.83
$STATE,7239,end climb,SURFACE_DEPTH_REACHED
$STATE,7239,begin surface coast
$FINISH,0.7,1.008451
$STATE,7251,end surface coast,CONTROL_FINISHED_OK
$STATE,7251,begin surface
$SM_CCo,7328,0.00,0.000,0,0,682,560.76
$SM_GC,1.40,8.75,0.82,0.00,0.063,0.050,0.000,134,2506,682,-8.45,-0.93,560.76,0,0,0,0,0,0,26.27,26.37,28.83
$IRIDIUM_FIX,2211.35,12010.69,220412,080848
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.06
$INTERNAL_PRESSURE,7.30069
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,24.1,5.294
$10V_AH,9.9,1.734
$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,32.175,62.300,653.325,0.000,0.000,0.000,0.000,176.675,0.000,0.000,18.820,1351.094,4206.190,627.295,1358.346,93.396,0.000,1507.389,0.000,1111.257,0.000,0.543,0.000
$DEVICE_MAMPS,260.865,61.200,1113.075,0.000,0.000,0.000,0.000,91.800,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7256.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.152,0.000,0.000,0.000
$MEM,324992
$DATA_FILE_SIZE,13446,370
$CAP_FILE_SIZE,104529,0
$CFSIZE,260165632,248991744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.104, 41.2,1
$GPS,220412,130759,2212.806,12011.644,21,1.0,21,-3.1