version: 66.11
glider: 170
mission: 10
dive: 253
start: 12 22 112 6 26 44
data:
$ID,170
$MISSION,10
$DIVE,253
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$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,410
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51479
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-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,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$NOCOMM_ACTION,163
$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,-143412.84
$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,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,1800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$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,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.120956
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043559377
$SEABIRD_T_H,0.00062550703
$SEABIRD_T_I,2.3551509e-05
$SEABIRD_T_J,2.509174e-06
$SEABIRD_C_G,-10.138787
$SEABIRD_C_H,1.1450038
$SEABIRD_C_I,-0.0015582878
$SEABIRD_C_J,0.00020114503
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,221212,061704,2011.383,11943.275,30,1.2,30,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-71.8
$GPS2,221212,062619,2011.361,11943.247,20,0.9,21,-2.7
$SPEED_LIMITS,0.139,0.274
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$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,27.4,175797,-14.0,-8.049,-16.39
$D_GRID,3264
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.48,-170.3,0.0,0.0,0,104,0.00,0.00,-81.05,0.000,2,0.000,0.000,133,2623,2274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.48,-170.3,3.1,-2.8,14,134,11.07,1.73,-6.12,0.000,4,0.236,0.080,2886,3681,2495,0,0,0,0,0,0,25.63,26.23,26.71
$GC,142,-0.26,-170.3,9.0,-17.4,19,149,0.28,1.58,0.00,0.000,6,0.159,0.030,2966,2604,2497,0,0,0,0,0,0,25.96,26.41,28.83
$GC,340,-0.22,-170.3,29.8,-9.8,52,345,0.00,2.12,0.00,0.000,4,0.000,0.048,2967,1211,2497,0,0,0,0,0,0,28.83,26.37,28.83
$GC,475,-0.19,-170.3,42.7,-8.0,65,481,0.00,2.17,0.00,0.000,6,0.000,0.052,2968,2594,2497,0,0,0,0,0,0,28.83,26.32,28.83
$GC,669,-0.16,-170.3,54.4,-6.2,81,675,0.12,1.75,0.00,0.000,4,0.162,0.055,3009,3716,2497,0,0,0,0,0,0,26.39,26.42,28.83
$GC,728,-0.14,-170.3,57.3,-6.7,83,735,0.00,1.65,0.00,0.000,6,0.000,0.025,3009,2590,2497,0,0,0,0,0,0,28.83,26.60,28.83
$GC,913,-0.15,-170.3,69.0,-5.4,93,918,0.00,2.03,0.00,0.000,4,0.000,0.035,3010,1211,2497,0,0,0,0,0,0,28.83,26.51,28.83
$GC,967,-0.15,-170.3,71.2,-4.8,95,972,0.00,2.17,0.00,0.000,6,0.000,0.049,3009,2614,2497,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1162,-0.15,-170.3,77.3,-2.8,105,1168,0.00,2.15,0.00,0.000,4,0.000,0.046,3009,1221,2497,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1395,-0.15,-170.3,87.2,-4.3,116,1401,0.00,2.15,0.00,0.000,6,0.000,0.052,3009,2602,2497,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1592,-0.16,-170.3,94.1,-3.7,126,1597,0.00,2.12,0.00,0.000,4,0.000,0.043,3010,1197,2497,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1824,-0.17,-170.3,102.3,-3.0,137,1830,0.00,2.15,0.00,0.000,6,0.000,0.044,3010,2618,2497,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2020,-0.18,-170.3,105.4,-1.4,147,2026,0.00,2.10,0.00,0.000,4,0.000,0.031,3009,1197,2498,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2254,-0.19,-170.3,112.6,-3.8,158,2261,0.00,2.15,0.00,0.000,6,0.000,0.041,3010,2612,2497,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2449,-0.21,-170.3,119.4,-2.9,168,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2612,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2629,-0.23,-170.3,122.3,-1.2,177,2635,0.00,1.65,0.00,0.000,4,0.000,0.050,3010,3687,2497,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2863,-0.25,-170.3,125.5,-1.5,188,2869,0.12,1.58,0.00,0.000,6,0.083,0.024,2931,2544,2496,0,0,0,0,0,0,26.53,26.63,28.83
$GC,3059,-0.22,-170.3,124.5,1.3,198,3065,0.12,1.80,0.00,0.000,4,0.151,0.047,2973,3686,2496,0,0,0,0,0,0,26.41,26.42,28.83
$GC,3293,-0.22,-170.3,124.9,-2.0,209,3298,0.00,1.55,0.00,0.000,6,0.000,0.023,2973,2542,2496,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3487,-0.22,-170.3,128.1,-0.6,219,3492,0.00,1.80,0.00,0.000,4,0.000,0.050,2974,3686,2495,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,3589,end dive,NO_VERTICAL_VELOCITY
$STATE,3589,begin apogee
$GC,3597,-0.15,0.0,128.1,0.0,224,3745,0.00,0.00,140.00,0.763,6,0.000,0.000,2976,2088,1798,0,0,0,0,0,0,28.83,28.83,24.90
$STATE,3747,end apogee,CONTROL_FINISHED_OK
$STATE,3747,begin climb
$GC,3749,0.48,170.3,123.2,0.0,231,3893,0.65,2.30,132.88,0.747,4,0.098,0.044,3201,3533,1104,0,0,0,0,0,0,25.70,25.67,24.92
$GC,4121,0.56,170.3,87.2,12.1,250,4127,0.00,2.03,0.00,0.000,6,0.000,0.023,3201,2126,1102,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4320,0.65,170.3,65.5,10.6,260,4326,0.15,2.17,0.00,0.000,4,0.091,0.042,3271,3536,1101,0,0,0,0,0,0,26.50,26.40,28.83
$GC,4364,0.74,170.3,60.8,10.6,262,4370,0.00,2.00,0.00,0.000,6,0.000,0.022,3271,2124,1101,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4560,0.82,170.3,40.8,10.6,275,4567,0.12,0.00,0.00,0.000,6,0.110,0.000,3320,2124,1101,0,0,0,0,0,0,26.55,28.83,28.83
$GC,4748,0.91,170.3,22.5,9.9,296,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2124,1101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4940,1.00,170.3,4.6,10.1,333,4948,0.12,2.03,0.00,0.000,4,0.112,0.033,3380,748,1101,0,0,0,0,0,0,26.55,26.48,28.83
$STATE,4958,end climb,SURFACE_DEPTH_REACHED
$STATE,4958,begin surface coast
$FINISH,1.3,1.021703
$STATE,4991,end surface coast,CONTROL_FINISHED_OK
$STATE,4992,begin surface
$SM_CCo,5013,66.05,0.053,0,0,459,328.70
$SM_CCo,5082,-0.05,0.000,0,0,460,328.70
$SM_CCo,5086,0.00,0.000,0,0,460,328.70
$SM_GC,1.84,8.30,2.90,0.00,0.046,0.047,0.000,138,2594,460,-9.06,-1.27,328.70,0,0,0,0,0,0,26.25,26.46,28.83
$IRIDIUM_FIX,2001.88,11941.85,221212,040445
$TT8_MAMPS,0.024717,0.024717
$HUMID,58.70
$INTERNAL_PRESSURE,9.6836
$TCM_TEMP,23.70
$XPDR_PINGS,1
$SC_FREEKB,3922944
$24V_AH,24.9,51.383
$10V_AH,9.9,24.620
$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,21.075,52.150,272.875,66.050,0.000,0.000,0.000,363.950,0.250,0.000,22.175,1262.449,2349.526,417.008,1402.815,215.127,0.000,1339.374,0.000,980.611,0.000,0.547,0.000
$DEVICE_MAMPS,236.385,79.560,763.470,52.785,0.000,0.000,0.000,130.815,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5038.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.593,0.000,0.000,0.000
$MEM,323904
$DATA_FILE_SIZE,10110,342
$CAP_FILE_SIZE,91435,0
$CFSIZE,260034560,225964032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.328,190.8,1
$GPS,221212,075241,2011.487,11943.273,30,1.0,30,-2.7