version: 66.10
glider: 170
mission: 8
dive: 20
start: 4 21 112 20 27 40
data:
$ID,170
$MISSION,8
$DIVE,20
$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,-124189.43
$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,36
$R_STBD_OVSHOOT,37
$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
$GPS1,210412,202243,2219.496,12015.104,12,1.3,12,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-73.4
$GPS2,210412,202713,2219.414,12015.129,14,1.6,14,-3.2
$SPEED_LIMITS,0.192,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,2219.414,12003.455
$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,415
$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,-243.3,0.0,0.0,0,112,0.00,0.00,-92.35,0.000,2,0.000,0.000,136,2506,2992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.71,-243.3,3.6,-4.6,9,150,10.50,2.20,-16.25,0.000,4,0.258,0.050,2652,1077,3965,0,0,0,0,0,0,25.86,26.21,26.50
$GC,231,-0.56,-243.3,35.1,-19.3,20,239,0.20,2.20,0.00,0.000,6,0.160,0.048,2710,2491,3968,0,0,0,0,0,0,26.09,26.24,28.83
$GC,547,-0.67,-243.3,77.6,-10.4,41,553,0.12,1.88,0.00,0.000,4,0.092,0.057,2640,3694,3969,0,0,0,0,0,0,26.48,26.38,28.83
$GC,710,-0.61,-243.3,101.5,-13.5,49,716,0.17,1.80,0.00,0.000,6,0.132,0.031,2696,2460,3970,0,0,0,0,0,0,26.35,26.52,28.83
$GC,1034,-0.93,-243.3,126.0,-6.3,65,1040,0.28,1.95,0.00,0.000,4,0.063,0.056,2565,3705,3972,0,0,0,0,0,0,26.58,26.49,28.83
$GC,1132,-0.75,-243.3,139.2,-15.9,69,1139,0.28,1.75,0.00,0.000,6,0.145,0.031,2648,2490,3972,0,0,0,0,0,0,26.37,26.61,28.83
$GC,1437,-0.93,-243.3,168.9,-8.0,85,1443,0.15,1.92,0.00,0.000,4,0.088,0.056,2572,3704,3973,0,0,0,0,0,0,26.64,26.54,28.83
$GC,1530,-0.84,-243.3,179.4,-12.6,89,1536,0.15,1.77,0.00,0.000,6,0.148,0.031,2616,2495,3973,0,0,0,0,0,0,26.46,26.67,28.83
$GC,1844,-0.94,-243.3,208.6,-8.8,105,1849,0.00,1.90,0.00,0.000,4,0.000,0.058,2616,3699,3974,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1952,-1.09,-243.3,217.7,-8.9,110,1958,0.22,1.75,0.00,0.000,6,0.068,0.033,2514,2507,3973,0,0,0,0,0,0,26.66,26.70,28.83
$GC,2270,-0.72,-243.3,272.8,-17.3,126,2275,0.43,1.88,0.00,0.000,4,0.149,0.057,2650,3701,3973,0,0,0,0,0,0,26.43,26.60,28.83
$GC,2402,-1.11,-243.3,282.3,-6.3,132,2408,0.32,1.77,0.00,0.000,6,0.064,0.033,2519,2488,3974,0,0,0,0,0,0,26.66,26.72,28.83
$GC,2715,-0.84,-243.3,331.3,-16.4,148,2721,0.30,1.92,0.00,0.000,4,0.146,0.057,2617,3701,3973,0,0,0,0,0,0,26.46,26.61,28.83
$GC,2819,-1.09,-243.3,340.6,-7.8,153,2825,0.22,1.77,0.00,0.000,6,0.067,0.033,2511,2484,3973,0,0,0,0,0,0,26.70,26.72,28.83
$GC,3143,-0.79,-243.3,388.0,-15.4,169,3149,0.35,1.92,0.00,0.000,4,0.144,0.060,2626,3699,3972,0,0,0,0,0,0,26.44,26.61,28.83
$GC,3280,-1.13,-243.3,399.6,-7.4,175,3291,0.28,1.77,0.00,0.000,6,0.060,0.034,2505,2488,3970,0,0,0,0,0,0,26.71,26.73,28.83
$STATE,3404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3404,begin apogee
$GC,3409,-0.14,0.0,418.2,-15.4,182,3600,1.00,0.00,185.30,0.962,6,0.137,0.000,2835,1988,2966,0,0,0,0,0,0,26.45,28.83,24.36
$STATE,3602,end apogee,CONTROL_FINISHED_OK
$STATE,3602,begin climb
$GC,3603,0.71,243.3,425.5,0.0,191,3811,0.75,2.42,196.88,0.935,4,0.043,0.053,3134,3411,1974,0,0,0,0,0,0,25.15,24.98,24.33
$GC,3943,0.00,243.3,363.5,29.2,208,3950,0.82,2.15,0.00,0.000,6,0.152,0.037,2896,2033,1969,0,0,0,0,0,0,25.65,25.83,28.83
$GC,4249,0.59,433.0,336.9,5.3,224,4411,0.47,2.33,152.40,0.890,4,0.051,0.047,3106,589,1201,0,0,0,0,0,0,26.25,25.04,24.38
$GC,4513,0.32,433.0,279.0,23.0,237,4519,0.35,2.22,0.00,0.000,6,0.129,0.039,2998,2001,1199,0,0,0,0,0,0,25.65,25.75,28.83
$GC,4836,0.42,433.0,236.8,13.0,253,4841,0.00,2.20,0.00,0.000,4,0.000,0.044,2998,587,1196,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4873,0.54,433.0,234.0,12.9,254,4880,0.20,2.20,0.00,0.000,6,0.073,0.041,3094,2008,1196,0,0,0,0,0,0,26.26,26.23,28.83
$GC,5179,0.27,433.0,164.9,21.9,270,5185,0.35,2.17,0.00,0.000,4,0.133,0.044,2982,591,1194,0,0,0,0,0,0,26.26,26.36,28.83
$GC,5251,0.38,433.0,157.6,13.7,273,5256,0.00,2.17,0.00,0.000,6,0.000,0.040,2982,2008,1193,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5564,1.15,523.8,137.2,8.3,289,5645,0.75,2.28,72.15,0.774,4,0.085,0.050,3259,3411,830,0,0,0,0,0,0,26.40,25.46,24.87
$GC,5721,0.46,523.8,92.4,38.1,296,5728,0.75,2.20,0.00,0.000,6,0.148,0.035,3037,1997,827,0,0,0,0,0,0,25.67,25.84,28.83
$GC,6027,1.27,523.8,55.7,12.5,312,6033,0.68,2.12,0.00,0.000,4,0.068,0.041,3296,586,826,0,0,0,0,0,0,26.19,26.22,28.83
$GC,6054,1.96,523.8,52.8,12.6,313,6060,0.57,2.17,0.00,0.000,6,0.047,0.039,3529,2001,825,0,0,0,0,0,0,26.27,26.24,28.83
$STATE,6171,end climb,SURFACE_DEPTH_REACHED
$STATE,6171,begin surface coast
$FINISH,0.5,0.996895
$STATE,6181,end surface coast,CONTROL_FINISHED_OK
$STATE,6181,begin surface
$SM_CCo,6258,0.00,0.000,0,0,824,525.68
$SM_GC,1.50,8.90,0.77,0.00,0.054,0.049,0.000,140,2507,824,-8.56,-0.96,525.68,0,0,0,0,0,0,26.20,26.32,28.83
$IRIDIUM_FIX,2209.02,12015.89,210412,181819
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.80
$INTERNAL_PRESSURE,7.34952
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,24.3,3.854
$10V_AH,9.9,1.351
$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,29.575,58.275,606.725,0.000,0.000,0.000,0.000,163.150,1.500,0.000,15.649,1072.607,3597.042,603.217,1181.537,86.430,0.000,1390.458,0.000,962.732,0.000,10.727,0.000
$DEVICE_MAMPS,257.805,59.670,962.370,0.000,0.000,0.000,0.000,90.270,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6185.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.839,0.000,0.000,0.000
$MEM,325556
$DATA_FILE_SIZE,10148,325
$CAP_FILE_SIZE,91502,0
$CFSIZE,260165632,249438208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210412,221305,2218.938,12014.360,35,1.6,35,-3.2