version: 66.10
glider: 170
mission: 8
dive: 29
start: 4 22 112 13 13 10
data:
$ID,170
$MISSION,8
$DIVE,29
$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,-124201.26
$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,39
$R_STBD_OVSHOOT,33
$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
$GPS1,220412,130759,2212.806,12011.644,21,1.0,21,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-73.9
$GPS2,220412,131242,2212.683,12011.714,16,1.0,16,-3.1
$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,197.3,357437,-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,-243.3,0.0,0.0,0,101,0.00,0.00,-81.47,0.000,2,0.000,0.000,133,2516,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.71,-243.3,3.6,-4.4,8,137,10.27,2.22,-16.90,0.000,4,0.257,0.050,2612,1074,3963,0,0,0,0,0,0,25.88,26.25,26.55
$GC,211,-0.33,-243.3,37.2,-24.2,18,217,0.43,2.25,0.00,0.000,6,0.160,0.050,2737,2503,3966,0,0,0,0,0,0,26.06,26.25,28.83
$GC,524,-0.61,-243.3,70.3,-7.1,38,530,0.20,1.85,0.00,0.000,4,0.070,0.055,2632,3697,3967,0,0,0,0,0,0,26.45,26.36,28.83
$GC,756,-0.35,-243.3,110.4,-17.8,49,763,0.32,1.80,0.00,0.000,6,0.125,0.031,2736,2459,3968,0,0,0,0,0,0,26.30,26.53,28.83
$GC,1071,-1.11,-243.3,134.1,-8.6,65,1078,0.62,1.95,0.00,0.000,4,0.073,0.052,2493,3700,3970,0,0,0,0,0,0,26.46,26.47,28.83
$GC,1150,-1.17,-243.3,142.7,-11.7,68,1158,0.00,1.75,0.00,0.000,6,0.000,0.028,2494,2480,3970,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1456,-0.59,-243.3,228.4,-25.1,84,1462,0.52,1.92,0.00,0.000,4,0.163,0.054,2657,3698,3971,0,0,0,0,0,0,26.32,26.51,28.83
$GC,1594,-0.93,-243.3,240.0,-6.9,90,1602,0.22,1.75,0.00,0.000,6,0.035,0.033,2530,2512,3972,0,0,0,0,0,0,26.60,26.65,28.83
$GC,1899,-0.57,-243.3,291.1,-17.8,106,1905,0.40,2.03,0.00,0.000,4,0.148,0.030,2660,1107,3972,0,0,0,0,0,0,26.39,26.62,28.83
$GC,1932,-0.32,-243.3,294.3,-17.1,107,1938,0.25,2.15,0.00,0.000,6,0.097,0.046,2750,2508,3972,0,0,0,0,0,0,26.51,26.58,28.83
$GC,2246,-1.05,-243.3,320.9,-9.3,123,2253,0.62,1.85,0.00,0.000,4,0.068,0.052,2503,3703,3972,0,0,0,0,0,0,26.58,26.58,28.83
$GC,2302,-1.46,-243.3,325.4,-9.9,125,2308,0.32,1.75,0.00,0.000,6,0.067,0.032,2370,2499,3971,0,0,0,0,0,0,26.61,26.70,28.83
$GC,2615,-0.57,-243.3,418.8,-31.1,141,2622,0.95,1.88,0.00,0.000,4,0.176,0.055,2658,3700,3971,0,0,0,0,0,0,26.31,26.58,28.83
$GC,2850,-1.33,-243.3,438.8,-8.7,152,2857,0.65,1.75,0.00,0.000,6,0.076,0.035,2414,2514,3971,0,0,0,0,0,0,26.57,26.70,28.83
$GC,3164,-0.66,-243.3,507.0,-24.2,168,3166,0.73,0.00,0.00,0.000,6,0.166,0.000,2633,2514,3968,0,0,0,0,0,0,26.34,28.83,28.83
$GC,3465,-0.98,-243.3,522.0,-3.4,183,3471,0.25,1.85,0.00,0.000,4,0.067,0.057,2510,3696,3967,0,0,0,0,0,0,26.70,26.59,28.83
$GC,3532,-0.98,-243.3,527.8,-7.7,186,3537,0.00,1.77,0.00,0.000,6,0.000,0.034,2510,2491,3966,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3850,-0.74,-243.3,565.9,-12.7,202,3856,0.30,1.90,0.00,0.000,4,0.139,0.057,2609,3689,3964,0,0,0,0,0,0,26.43,26.59,28.83
$GC,3975,-1.04,-243.3,571.6,-3.9,208,3981,0.28,1.77,0.00,0.000,6,0.063,0.037,2487,2499,3963,0,0,0,0,0,0,26.68,26.72,28.83
$STATE,4197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4198,begin apogee
$GC,4202,-0.14,0.0,600.8,-13.8,219,4402,0.95,0.00,191.82,1.114,6,0.137,0.000,2800,1976,2964,0,0,0,0,0,0,26.38,28.83,24.15
$STATE,4404,end apogee,CONTROL_FINISHED_OK
$STATE,4404,begin climb
$GC,4406,0.71,243.3,603.8,0.0,225,4620,0.73,2.25,201.52,1.074,4,0.042,0.044,3105,631,1973,0,0,0,0,0,0,25.03,24.78,24.08
$GC,4766,0.23,243.3,541.7,18.5,243,4772,0.60,2.17,0.00,0.000,6,0.143,0.044,2924,1994,1965,0,0,0,0,0,0,25.57,25.70,28.83
$GC,5085,0.62,420.4,525.0,5.6,259,5240,0.32,2.38,145.70,1.037,4,0.056,0.052,3079,3411,1253,0,0,0,0,0,0,26.17,24.87,24.16
$GC,5281,0.13,420.4,479.2,30.9,268,5289,0.62,2.20,0.00,0.000,6,0.142,0.035,2891,2031,1251,0,0,0,0,0,0,25.27,25.39,28.83
$GC,5588,0.93,420.4,434.7,14.6,284,5594,0.68,2.22,0.00,0.000,4,0.073,0.042,3148,590,1247,0,0,0,0,0,0,26.02,26.05,28.83
$GC,5626,1.61,420.4,431.1,14.5,285,5634,0.57,2.20,0.00,0.000,6,0.049,0.041,3384,2010,1247,0,0,0,0,0,0,26.12,26.08,28.83
$GC,5931,0.33,420.4,258.3,57.5,301,5938,1.45,2.20,0.00,0.000,4,0.190,0.041,2974,586,1245,0,0,0,0,0,0,26.03,26.26,28.83
$GC,6061,0.76,508.2,236.3,8.4,307,6142,0.32,2.15,71.03,0.868,6,0.057,0.037,3113,2005,895,0,0,0,0,0,0,26.35,26.32,24.59
$GC,6459,0.39,508.2,127.8,25.8,327,6465,0.40,2.20,0.00,0.000,4,0.138,0.041,2983,584,887,0,0,0,0,0,0,25.94,26.06,28.83
$GC,6496,0.15,508.2,123.3,23.7,328,6504,0.25,2.20,0.00,0.000,6,0.083,0.037,2890,2005,887,0,0,0,0,0,0,26.06,26.10,28.83
$GC,6803,0.98,521.9,91.6,10.7,344,6824,0.73,2.25,11.05,0.705,4,0.069,0.052,3169,3407,839,0,0,0,0,0,0,26.25,26.10,25.40
$GC,6890,1.09,521.9,79.5,14.3,348,6895,0.00,2.17,0.00,0.000,6,0.000,0.034,3171,1996,838,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7197,0.90,521.9,15.1,17.7,372,7204,0.12,2.15,0.00,0.000,4,0.165,0.043,3132,587,836,0,0,0,0,0,0,26.22,26.31,28.83
$GC,7282,1.13,539.7,4.7,10.6,380,7296,0.22,2.17,7.70,0.070,6,0.067,0.039,3233,2006,766,0,0,0,0,0,0,26.38,26.35,26.29
$STATE,7301,end climb,SURFACE_DEPTH_REACHED
$STATE,7301,begin surface coast
$FINISH,0.7,1.021319
$STATE,7323,end surface coast,CONTROL_FINISHED_OK
$STATE,7324,begin surface
$SM_CCo,7400,0.00,0.000,0,0,763,541.13
$SM_GC,1.54,8.00,0.77,0.00,0.045,0.050,0.000,133,2508,763,-8.45,-0.85,541.13,0,0,0,0,0,0,26.26,26.34,28.83
$IRIDIUM_FIX,2202.04,12107.80,220412,111131
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.18
$INTERNAL_PRESSURE,7.32023
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,24.1,5.481
$10V_AH,9.9,1.788
$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,33.325,66.625,628.825,0.000,0.000,0.000,0.000,166.100,0.000,0.000,18.194,1376.881,4259.139,623.156,1337.913,95.264,0.000,1491.454,0.000,1106.089,0.000,0.542,0.000
$DEVICE_MAMPS,257.040,57.375,1113.840,0.000,0.000,0.000,0.000,91.035,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7329.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.546,0.000,0.000,0.000
$MEM,324948
$DATA_FILE_SIZE,13418,384
$CAP_FILE_SIZE,109752,0
$CFSIZE,260165632,248930304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.203,107.1,1
$GPS,220412,151736,2211.539,12011.645,34,0.9,34,-3.1