version: 66.10
glider: 170
mission: 8
dive: 22
start: 4 22 112 0 0 42
data:
$ID,170
$MISSION,8
$DIVE,22
$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,-124191.94
$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,45
$R_STBD_OVSHOOT,34
$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
$GPS1,210412,235552,2218.710,12013.502,15,3.7,34,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-75.0
$GPS2,220412,000015,2218.738,12013.566,17,0.8,18,-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,186.9,368828,-14.5,-11.111
$D_GRID,535
$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,-92.07,0.000,2,0.000,0.000,142,2511,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.71,-243.3,4.8,-6.7,9,147,10.18,1.90,-12.43,0.000,4,0.256,0.072,2611,3692,3964,0,0,0,0,0,0,25.92,26.25,26.58
$GC,189,0.02,-243.3,35.8,-34.7,16,196,0.80,1.80,0.00,0.000,6,0.159,0.031,2854,2480,3966,0,0,0,0,0,0,26.10,26.35,28.83
$GC,504,-0.71,-243.3,70.6,-11.1,38,510,0.60,1.92,0.00,0.000,4,0.068,0.057,2620,3693,3967,0,0,0,0,0,0,26.41,26.38,28.83
$GC,563,-1.22,-243.3,75.7,-11.4,40,572,0.43,1.77,0.00,0.000,6,0.061,0.031,2444,2486,3967,0,0,0,0,0,0,26.44,26.51,28.83
$GC,867,-0.38,-243.3,185.9,-31.4,56,874,0.90,1.90,0.00,0.000,4,0.174,0.057,2717,3688,3969,0,0,0,0,0,0,26.25,26.46,28.83
$GC,1103,-1.11,-243.3,204.7,-9.3,67,1109,0.60,1.73,0.00,0.000,6,0.067,0.031,2486,2497,3971,0,0,0,0,0,0,26.51,26.60,28.83
$GC,1416,-0.65,-243.3,266.3,-20.9,83,1422,0.47,1.90,0.00,0.000,4,0.153,0.059,2636,3686,3972,0,0,0,0,0,0,26.36,26.53,28.83
$GC,1544,-0.96,-243.3,278.2,-7.5,89,1551,0.28,1.73,0.00,0.000,6,0.060,0.033,2510,2491,3973,0,0,0,0,0,0,26.63,26.65,28.83
$GC,1863,-0.65,-243.3,336.7,-17.7,105,1869,0.38,1.90,0.00,0.000,4,0.139,0.057,2633,3699,3972,0,0,0,0,0,0,26.42,26.57,28.83
$GC,1975,-0.96,-243.3,343.2,-4.6,110,1983,0.25,1.77,0.00,0.000,6,0.066,0.035,2521,2486,3972,0,0,0,0,0,0,26.65,26.70,28.83
$GC,2291,-0.73,-243.3,384.1,-14.5,126,2297,0.28,1.90,0.00,0.000,4,0.137,0.057,2614,3689,3971,0,0,0,0,0,0,26.46,26.59,28.83
$GC,2391,-0.89,-243.3,392.1,-9.3,130,2399,0.15,1.73,0.00,0.000,6,0.083,0.034,2532,2498,3972,0,0,0,0,0,0,26.65,26.71,28.83
$STATE,2456,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2456,begin apogee
$GC,2461,-0.14,0.0,401.1,-11.4,134,2656,0.77,0.00,187.12,0.946,6,0.122,0.000,2796,1986,2965,0,0,0,0,0,0,26.45,28.83,24.35
$STATE,2657,end apogee,CONTROL_FINISHED_OK
$STATE,2657,begin climb
$GC,2659,0.71,243.3,412.3,0.0,144,2864,0.75,2.20,197.02,0.924,4,0.047,0.043,3106,619,1975,0,0,0,0,0,0,25.15,24.96,24.31
$GC,3093,0.28,243.3,347.8,20.1,165,3101,0.52,2.15,0.00,0.000,6,0.135,0.041,2942,1997,1967,0,0,0,0,0,0,25.82,25.97,28.83
$GC,3398,0.67,421.1,322.9,5.6,181,3548,0.32,2.25,142.90,0.881,4,0.054,0.044,3092,628,1249,0,0,0,0,0,0,26.31,25.03,24.37
$GC,3615,0.35,421.1,279.2,25.7,191,3624,0.43,2.17,0.00,0.000,6,0.121,0.039,2958,2000,1247,0,0,0,0,0,0,25.50,25.60,28.83
$GC,3921,0.92,552.5,249.8,7.1,207,4036,0.47,2.25,107.28,0.834,4,0.053,0.044,3173,626,714,0,0,0,0,0,0,26.18,25.10,24.44
$GC,4073,0.39,552.5,207.5,34.4,214,4079,0.65,2.20,0.00,0.000,6,0.139,0.041,2977,2000,713,0,0,0,0,0,0,25.37,25.48,28.83
$GC,4386,1.19,552.5,168.4,13.2,230,4392,0.68,2.22,0.00,0.000,4,0.072,0.054,3230,3415,709,0,0,0,0,0,0,26.10,26.10,28.83
$GC,4441,1.67,552.5,162.4,13.7,232,4447,0.40,2.12,0.00,0.000,6,0.055,0.035,3408,2028,708,0,0,0,0,0,0,26.20,26.20,28.83
$GC,4755,0.74,552.5,12.0,44.8,252,4761,1.02,2.17,0.00,0.000,4,0.167,0.043,3105,585,705,0,0,0,0,0,0,26.15,26.33,28.83
$GC,4778,0.06,552.5,3.6,40.1,254,4785,0.68,2.20,0.00,0.000,6,0.099,0.042,2869,2010,705,0,0,0,0,0,0,26.26,26.34,28.83
$STATE,4790,end climb,SURFACE_DEPTH_REACHED
$STATE,4790,begin surface coast
$FINISH,1.8,1.021854
$STATE,4802,end surface coast,CONTROL_FINISHED_OK
$STATE,4802,begin surface
$SM_CCo,4878,0.00,0.000,0,0,704,555.36
$SM_GC,1.34,7.35,0.77,0.00,0.070,0.050,0.000,142,2513,704,-8.43,-0.74,555.36,0,0,0,0,0,0,26.25,26.36,28.83
$IRIDIUM_FIX,2213.68,12019.08,210412,222202
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.35
$INTERNAL_PRESSURE,7.32023
$TCM_TEMP,22.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.1,10.3
$24V_AH,24.3,4.196
$10V_AH,10.0,1.437
$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,29.350,45.375,634.325,0.000,0.000,0.000,0.000,150.650,2.000,0.000,20.073,911.779,2550.915,635.675,976.547,78.091,0.000,1302.555,0.000,765.049,0.000,16.402,0.000
$DEVICE_MAMPS,255.510,71.910,945.540,0.000,0.000,0.000,0.000,91.035,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4795.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.084,0.000,0.000,0.000
$MEM,325168
$DATA_FILE_SIZE,10162,256
$CAP_FILE_SIZE,79312,0
$CFSIZE,260165632,249348096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.023,121.9,1
$GPS,220412,012248,2218.126,12013.269,15,1.3,15,-3.2