version: 66.10
glider: 170
mission: 8
dive: 23
start: 4 22 112 1 32 21
data:
$ID,170
$MISSION,8
$DIVE,23
$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,-124193.2
$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,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
$GPS1,220412,012248,2218.126,12013.269,15,1.3,15,-3.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-74.5
$GPS2,220412,013153,2218.050,12013.462,24,0.9,24,-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,190.4,367546,-14.5,-11.111
$D_GRID,601
$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,-91.75,0.000,2,0.000,0.000,141,2517,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.71,-243.3,4.5,-6.1,9,140,10.30,1.92,-10.62,0.000,4,0.259,0.074,2609,3694,3963,0,0,0,0,0,0,25.91,26.21,26.55
$GC,302,-0.14,-243.3,66.9,-28.2,23,311,0.62,1.80,0.00,0.000,6,0.148,0.031,2804,2477,3967,0,0,0,0,0,0,26.15,26.39,28.83
$GC,609,-0.93,-243.3,105.2,-12.5,39,615,0.68,1.92,0.00,0.000,4,0.073,0.057,2545,3692,3968,0,0,0,0,0,0,26.41,26.41,28.83
$GC,845,-0.40,-243.3,154.5,-23.2,50,851,0.57,1.75,0.00,0.000,6,0.150,0.030,2723,2491,3969,0,0,0,0,0,0,26.31,26.56,28.83
$GC,1158,-1.19,-243.3,184.5,-9.5,66,1164,0.65,1.90,0.00,0.000,4,0.068,0.057,2465,3697,3972,0,0,0,0,0,0,26.53,26.51,28.83
$GC,1203,-1.55,-243.3,189.8,-10.9,68,1209,0.32,1.73,0.00,0.000,6,0.071,0.029,2335,2497,3971,0,0,0,0,0,0,26.55,26.62,28.83
$GC,1526,-0.44,-243.3,315.0,-40.3,84,1533,1.25,1.88,0.00,0.000,4,0.188,0.057,2700,3688,3972,0,0,0,0,0,0,26.29,26.55,28.83
$GC,1760,-1.09,-243.3,339.4,-10.1,95,1767,0.55,1.75,0.00,0.000,6,0.067,0.032,2487,2489,3972,0,0,0,0,0,0,26.58,26.67,28.83
$GC,2074,-0.70,-243.3,390.5,-17.9,111,2081,0.40,1.90,0.00,0.000,4,0.148,0.058,2615,3695,3972,0,0,0,0,0,0,26.41,26.59,28.83
$GC,2246,-1.01,-243.3,402.2,-4.9,119,2252,0.25,1.75,0.00,0.000,6,0.060,0.034,2497,2480,3971,0,0,0,0,0,0,26.69,26.72,28.83
$GC,2564,-0.71,-243.3,454.8,-18.2,135,2570,0.38,1.92,0.00,0.000,4,0.139,0.060,2619,3690,3970,0,0,0,0,0,0,26.45,26.60,28.83
$GC,2652,-0.91,-243.3,462.5,-9.1,139,2660,0.17,1.75,0.00,0.000,6,0.076,0.034,2531,2496,3968,0,0,0,0,0,0,26.67,26.73,28.83
$STATE,2973,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2973,begin apogee
$GC,2978,-0.14,0.0,501.9,-12.8,155,3174,0.80,0.00,189.18,1.024,6,0.124,0.000,2802,1986,2967,0,0,0,0,0,0,26.46,28.83,24.28
$STATE,3175,end apogee,CONTROL_FINISHED_OK
$STATE,3176,begin climb
$GC,3177,0.71,243.3,509.4,0.0,165,3386,0.73,2.38,199.15,0.992,4,0.045,0.053,3097,3410,1975,0,0,0,0,0,0,25.11,24.91,24.25
$GC,3558,0.16,243.3,444.2,22.7,184,3565,0.68,2.15,0.00,0.000,6,0.148,0.035,2900,2024,1967,0,0,0,0,0,0,25.70,25.89,28.83
$GC,3877,0.85,514.9,431.3,2.7,200,4107,0.57,2.33,220.68,0.946,4,0.047,0.046,3146,598,868,0,0,0,0,0,0,26.26,24.96,24.30
$GC,4168,0.30,514.9,343.0,35.1,214,4175,0.65,2.22,0.00,0.000,6,0.136,0.039,2947,1995,864,0,0,0,0,0,0,25.43,25.54,28.83
$GC,4483,1.12,514.9,299.1,14.5,230,4490,0.68,2.22,0.00,0.000,4,0.066,0.053,3208,3411,861,0,0,0,0,0,0,26.13,26.11,28.83
$GC,4511,1.75,514.9,295.7,14.4,231,4518,0.52,2.17,0.00,0.000,6,0.050,0.034,3430,1995,860,0,0,0,0,0,0,26.19,26.18,28.83
$GC,4830,0.57,514.9,109.5,56.8,247,4837,1.33,2.22,0.00,0.000,4,0.181,0.050,3038,3410,859,0,0,0,0,0,0,26.12,26.31,28.83
$GC,4874,-0.14,514.9,95.2,44.1,249,4881,0.68,2.15,0.00,0.000,6,0.101,0.035,2802,2001,857,0,0,0,0,0,0,26.25,26.36,28.83
$GC,5199,1.14,597.5,63.1,8.6,265,5281,1.05,2.22,70.43,0.723,4,0.050,0.044,3228,595,533,0,0,0,0,0,0,26.47,25.52,24.91
$GC,5313,1.22,597.5,50.5,12.1,270,5319,0.00,2.20,0.00,0.000,6,0.000,0.040,3228,2000,532,0,0,0,0,0,0,28.83,25.72,28.83
$STATE,5494,end climb,SURFACE_DEPTH_REACHED
$STATE,5494,begin surface coast
$FINISH,0.5,1.021666
$STATE,5505,end surface coast,CONTROL_FINISHED_OK
$STATE,5505,begin surface
$SM_CCo,5582,0.00,0.000,0,0,530,598.04
$SM_GC,1.28,8.20,0.80,0.00,0.055,0.050,0.000,138,2515,530,-8.44,-0.65,598.04,0,0,0,0,0,0,26.00,26.08,28.83
$IRIDIUM_FIX,2211.35,12010.69,220412,010105
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.44
$INTERNAL_PRESSURE,7.31046
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,501.9,9.8
$24V_AH,24.2,4.386
$10V_AH,10.3,1.484
$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,32.025,45.750,679.425,0.000,0.000,0.000,0.000,305.925,2.500,0.000,25.778,1034.717,3109.414,633.550,1279.226,83.054,0.000,1537.849,0.000,900.249,0.000,20.249,0.000
$DEVICE_MAMPS,258.570,74.205,1023.570,0.000,0.000,0.000,0.000,89.505,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5497.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.813,0.000,0.000,0.000
$MEM,324980
$DATA_FILE_SIZE,10131,289
$CAP_FILE_SIZE,86621,0
$CFSIZE,260165632,249294848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.261,108.2,1
$GPS,220412,030635,2217.253,12013.438,39,0.9,39,-3.2