version: 66.10
glider: 170
mission: 8
dive: 30
start: 4 22 112 15 25 41
data:
$ID,170
$MISSION,8
$DIVE,30
$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,-124202.61
$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,32
$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
$GPS1,220412,151736,2211.539,12011.645,34,0.9,34,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.6
$GPS2,220412,152513,2211.318,12011.694,18,1.0,18,-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,222.3,354912,-14.5,-11.111
$D_GRID,721
$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,-81.95,0.000,2,0.000,0.000,132,2519,3083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.71,-243.3,4.0,-5.3,8,136,10.25,2.22,-14.52,0.000,4,0.255,0.049,2609,1074,3964,0,0,0,0,0,0,25.83,26.21,26.51
$GC,243,-0.35,-243.3,43.6,-22.6,21,251,0.40,2.25,0.00,0.000,6,0.155,0.050,2728,2506,3967,0,0,0,0,0,0,26.06,26.23,28.83
$GC,559,-0.60,-243.3,77.8,-9.3,39,566,0.17,1.88,0.00,0.000,4,0.078,0.056,2632,3697,3967,0,0,0,0,0,0,26.45,26.35,28.83
$GC,789,-0.52,-243.3,114.5,-14.6,50,795,0.15,1.80,0.00,0.000,6,0.134,0.030,2678,2456,3966,0,0,0,0,0,0,26.34,26.51,28.83
$GC,1108,-0.82,-243.3,141.7,-7.9,66,1114,0.22,1.95,0.00,0.000,4,0.067,0.056,2563,3700,3970,0,0,0,0,0,0,26.56,26.46,28.83
$GC,1205,-0.67,-243.3,154.9,-16.1,70,1212,0.22,1.75,0.00,0.000,6,0.135,0.030,2632,2484,3969,0,0,0,0,0,0,26.36,26.58,28.83
$GC,1511,-0.77,-243.3,186.9,-8.1,86,1516,0.00,1.92,0.00,0.000,4,0.000,0.057,2632,3701,3971,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1548,-0.87,-243.3,188.6,-7.9,87,1556,0.17,1.75,0.00,0.000,6,0.076,0.031,2545,2503,3970,0,0,0,0,0,0,26.58,26.64,28.83
$GC,1854,-0.53,-243.3,241.8,-19.0,103,1860,0.40,1.88,0.00,0.000,4,0.140,0.056,2676,3697,3970,0,0,0,0,0,0,26.40,26.54,28.83
$GC,1973,-1.02,-243.3,249.4,-5.7,108,1981,0.43,1.77,0.00,0.000,6,0.078,0.033,2518,2477,3970,0,0,0,0,0,0,26.54,26.67,28.83
$GC,2279,-0.66,-243.3,299.8,-17.5,124,2285,0.35,1.92,0.00,0.000,4,0.142,0.056,2632,3697,3970,0,0,0,0,0,0,26.41,26.58,28.83
$GC,2363,-0.79,-243.3,306.3,-7.5,128,2369,0.12,1.75,0.00,0.000,6,0.093,0.032,2570,2497,3970,0,0,0,0,0,0,26.62,26.70,28.83
$GC,2686,-0.72,-243.3,340.9,-12.1,144,2692,0.12,1.92,0.00,0.000,4,0.156,0.058,2612,3704,3969,0,0,0,0,0,0,26.53,26.58,28.83
$GC,2786,-0.90,-243.3,347.9,-8.3,148,2794,0.15,1.77,0.00,0.000,6,0.083,0.032,2535,2489,3968,0,0,0,0,0,0,26.65,26.71,28.83
$GC,3090,-0.69,-243.3,393.0,-15.9,164,3096,0.28,1.92,0.00,0.000,4,0.134,0.059,2627,3697,3966,0,0,0,0,0,0,26.46,26.58,28.83
$GC,3209,-1.01,-243.3,402.5,-8.0,169,3217,0.28,1.77,0.00,0.000,6,0.058,0.033,2503,2507,3965,0,0,0,0,0,0,26.70,26.72,28.83
$GC,3514,-0.71,-243.3,451.0,-15.8,185,3521,0.35,1.90,0.00,0.000,4,0.144,0.059,2617,3697,3963,0,0,0,0,0,0,26.42,26.58,28.83
$GC,3604,-0.87,-243.3,458.7,-9.0,189,3610,0.15,1.77,0.00,0.000,6,0.085,0.034,2536,2492,3963,0,0,0,0,0,0,26.65,26.72,28.83
$GC,3922,-0.75,-243.3,500.5,-13.5,205,3928,0.20,1.92,0.00,0.000,4,0.138,0.060,2603,3695,3960,0,0,0,0,0,0,26.48,26.58,28.83
$GC,4000,-0.81,-243.3,506.8,-10.7,208,4007,0.00,1.77,0.00,0.000,6,0.000,0.033,2603,2486,3960,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4306,-0.99,-243.3,533.9,-8.4,224,4311,0.17,1.95,0.00,0.000,4,0.076,0.060,2508,3701,3958,0,0,0,0,0,0,26.73,26.58,28.83
$GC,4358,-1.04,-243.3,539.2,-10.3,226,4365,0.00,1.80,0.00,0.000,6,0.000,0.032,2508,2493,3957,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4672,-0.79,-243.3,586.9,-14.3,242,4674,0.28,0.00,0.00,0.000,6,0.145,0.000,2592,2487,3954,0,0,0,0,0,0,26.41,28.83,28.83
$STATE,4850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4850,begin apogee
$GC,4855,-0.14,0.0,600.5,-6.9,251,5052,0.60,0.00,190.32,1.116,6,0.105,0.000,2806,1981,2967,0,0,0,0,0,0,26.48,28.83,24.13
$STATE,5053,end apogee,CONTROL_FINISHED_OK
$STATE,5053,begin climb
$GC,5055,0.71,243.3,606.6,0.0,257,5267,0.73,2.20,201.93,1.079,4,0.043,0.041,3107,629,1974,0,0,0,0,0,0,25.01,24.78,24.07
$GC,5449,0.17,243.3,542.2,22.9,275,5457,0.68,2.17,0.00,0.000,6,0.142,0.041,2901,2004,1965,0,0,0,0,0,0,25.63,25.77,28.83
$GC,5755,0.64,381.5,515.8,6.8,291,5877,0.40,2.40,114.10,1.037,4,0.053,0.054,3082,3407,1411,0,0,0,0,0,0,26.19,24.91,24.18
$GC,5925,0.14,381.5,476.9,28.4,299,5931,0.65,2.17,0.00,0.000,6,0.146,0.034,2897,2035,1408,0,0,0,0,0,0,25.31,25.45,28.83
$GC,6243,0.93,381.5,437.5,12.8,315,6246,0.70,0.00,0.00,0.000,6,0.067,0.000,3159,2029,1403,0,0,0,0,0,0,26.06,28.83,28.83
$GC,6543,0.13,381.5,338.4,36.6,330,6549,0.85,2.20,0.00,0.000,4,0.161,0.043,2903,591,1402,0,0,0,0,0,0,26.06,26.26,28.83
$GC,6606,0.13,381.5,330.4,18.0,333,6611,0.00,2.15,0.00,0.000,6,0.000,0.037,2903,2012,1401,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6929,0.90,381.5,293.0,12.9,349,6935,0.62,2.15,0.00,0.000,4,0.072,0.051,3146,3401,1400,0,0,0,0,0,0,26.35,26.36,28.83
$GC,6962,1.51,381.5,289.6,12.9,350,6969,0.50,2.15,0.00,0.000,6,0.052,0.034,3357,1988,1401,0,0,0,0,0,0,26.42,26.42,28.83
$GC,7276,0.33,381.5,135.8,47.7,366,7283,1.33,2.10,0.00,0.000,4,0.184,0.043,2976,590,1399,0,0,0,0,0,0,26.18,26.44,28.83
$GC,7401,0.96,522.4,118.3,6.8,372,7522,0.50,2.15,111.32,0.787,6,0.060,0.037,3174,2008,837,0,0,0,0,0,0,26.46,26.48,24.56
$GC,7821,0.69,522.4,22.9,22.1,399,7827,0.30,2.20,0.00,0.000,4,0.139,0.041,3078,587,829,0,0,0,0,0,0,25.89,26.01,28.83
$GC,7879,1.00,558.5,16.2,10.0,404,7902,0.25,2.17,16.33,0.105,6,0.068,0.038,3185,1994,691,0,0,0,0,0,0,26.08,26.08,25.94
$STATE,7979,end climb,SURFACE_DEPTH_REACHED
$STATE,7979,begin surface coast
$FINISH,0.6,0.998812
$STATE,7990,end surface coast,CONTROL_FINISHED_OK
$STATE,7990,begin surface
$SM_CCo,8066,0.00,0.000,0,0,686,559.77
$SM_GC,1.57,8.02,0.77,0.00,0.051,0.036,0.000,139,2502,686,-8.43,-0.96,559.77,0,0,0,0,0,0,26.03,26.16,28.83
$IRIDIUM_FIX,2202.04,12001.15,220412,151539
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.77
$INTERNAL_PRESSURE,7.30069
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,24.1,5.667
$10V_AH,10.3,1.847
$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,31.000,69.075,634.000,0.000,0.000,0.000,0.000,275.900,0.000,0.000,20.032,1452.336,4846.499,627.724,1502.663,102.680,0.000,1632.113,0.000,1159.400,0.000,0.543,0.000
$DEVICE_MAMPS,254.745,59.670,1116.135,0.000,0.000,0.000,0.000,94.095,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7993.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.573,0.000,0.000,0.000
$MEM,324984
$DATA_FILE_SIZE,16844,415
$CAP_FILE_SIZE,114294,0
$CFSIZE,260165632,248860672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.140,141.3,1
$GPS,220412,174101,2210.046,12010.974,21,0.9,22,-3.1