version: 66.10
glider: 170
mission: 8
dive: 33
start: 4 23 112 0 5 23
data:
$ID,170
$MISSION,8
$DIVE,33
$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,300
$T_MISSION,360
$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,-124206.38
$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,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2645
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,220412,235930,2205.814,12009.835,39,0.8,39,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-73.6
$GPS2,230412,000454,2205.676,12009.864,15,1.2,15,-3.1
$SPEED_LIMITS,0.191,0.336
$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,180.5,344304,-14.4,-11.000
$D_GRID,884
$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,-0.78,-243.3,0.0,0.0,0,100,0.00,0.00,-81.10,0.000,2,0.000,0.000,136,2625,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.78,-243.3,3.8,-4.6,8,136,10.05,2.10,-14.32,0.000,4,0.253,0.044,2545,1220,3963,0,0,0,0,0,0,25.70,26.12,26.41
$GC,198,-0.78,-243.3,39.3,-31.8,17,203,0.00,2.22,0.00,0.000,6,0.000,0.049,2545,2623,3965,0,0,0,0,0,0,28.83,26.10,28.83
$GC,520,-0.78,-243.3,136.2,-26.2,35,525,0.00,1.70,0.00,0.000,4,0.000,0.056,2545,3707,3965,0,0,0,0,0,0,28.83,26.26,28.83
$GC,751,-0.78,-243.3,187.0,-18.5,46,757,0.00,1.55,0.00,0.000,6,0.000,0.031,2545,2640,3967,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1065,-0.78,-243.3,250.3,-19.3,62,1070,0.00,1.67,0.00,0.000,4,0.000,0.057,2545,3702,3968,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1297,-0.78,-243.3,285.9,-14.6,73,1302,0.00,1.48,0.00,0.000,6,0.000,0.033,2545,2713,3969,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1609,-0.78,-243.3,333.9,-13.7,89,1615,0.00,1.58,0.00,0.000,4,0.000,0.057,2544,3709,3969,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1646,-0.78,-243.3,336.9,-13.3,90,1652,0.00,1.50,0.00,0.000,6,0.000,0.034,2545,2699,3969,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1952,-0.78,-243.3,373.1,-11.8,106,1957,0.00,2.12,0.00,0.000,4,0.000,0.034,2545,1256,3968,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2023,-0.78,-243.3,380.2,-11.6,109,2028,0.00,2.22,0.00,0.000,6,0.000,0.049,2545,2698,3968,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2335,-0.78,-243.3,425.9,-15.5,125,2340,0.00,1.58,0.00,0.000,4,0.000,0.060,2545,3705,3966,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2493,-0.78,-243.3,445.8,-13.5,132,2499,0.00,1.48,0.00,0.000,6,0.000,0.034,2545,2719,3964,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2797,-0.78,-243.3,484.7,-12.4,148,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2719,3962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3098,-0.78,-243.3,517.6,-11.1,163,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2719,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3398,-0.78,-243.3,553.4,-12.9,178,3403,0.00,2.12,0.00,0.000,4,0.000,0.034,2545,1260,3956,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3430,-0.78,-243.3,556.2,-12.7,179,3436,0.00,2.28,0.00,0.000,6,0.000,0.049,2545,2719,3956,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3743,-0.78,-243.3,594.4,-10.9,195,3748,0.00,1.55,0.00,0.000,4,0.000,0.061,2545,3704,3953,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3805,-0.78,-243.3,601.1,-10.6,198,3810,0.00,1.45,0.00,0.000,6,0.000,0.035,2545,2747,3953,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4138,-0.78,-243.3,643.4,-13.2,209,4143,0.00,2.20,0.00,0.000,4,0.000,0.033,2545,1253,3951,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4194,-0.78,-243.3,647.7,-13.0,210,4201,0.00,2.28,0.00,0.000,6,0.000,0.050,2545,2722,3951,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4500,-0.78,-243.3,686.9,-12.8,221,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2722,3949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4800,-0.78,-243.3,726.6,-13.9,231,4805,0.00,1.55,0.00,0.000,4,0.000,0.062,2546,3705,3947,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4866,-0.78,-243.3,735.3,-14.4,233,4871,0.00,1.48,0.00,0.000,6,0.000,0.037,2546,2734,3946,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5194,-0.78,-243.3,776.3,-13.6,244,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2734,3944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5493,-0.78,-243.3,796.1,-0.4,254,5499,0.00,1.55,0.00,0.000,4,0.000,0.064,2545,3697,3943,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,5615,end dive,NO_VERTICAL_VELOCITY
$STATE,5615,begin apogee
$GC,5622,-0.17,0.0,796.1,0.0,258,5826,0.57,0.00,195.00,1.267,4,0.109,0.000,2747,1963,2967,0,0,0,0,0,0,26.38,28.83,23.85
$STATE,5829,end apogee,CONTROL_FINISHED_OK
$STATE,5829,begin climb
$GC,5830,0.78,243.3,796.0,0.0,265,6047,0.90,2.30,208.90,1.226,4,0.076,0.040,3057,537,1977,0,0,0,0,0,0,24.87,24.89,23.71
$GC,6204,0.78,243.3,755.5,17.4,277,6210,0.00,2.22,0.00,0.000,6,0.000,0.042,3057,1943,1967,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6523,0.78,243.3,688.7,21.3,288,6528,0.00,2.28,0.00,0.000,4,0.000,0.054,3057,3358,1964,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6646,0.78,243.3,660.4,23.0,292,6651,0.00,2.22,0.00,0.000,6,0.000,0.036,3066,1928,1963,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6960,0.78,243.3,585.9,24.4,303,6965,0.00,2.15,0.00,0.000,4,0.000,0.046,3075,526,1962,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7042,0.78,243.3,569.0,20.0,307,7048,0.00,2.17,0.00,0.000,6,0.000,0.041,3076,1924,1961,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7364,0.78,243.3,507.4,20.3,323,7370,0.00,2.25,0.00,0.000,4,0.000,0.053,3075,3346,1961,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7441,0.78,243.3,494.0,21.0,326,7448,0.00,2.17,0.00,0.000,6,0.000,0.036,3079,1926,1960,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7748,0.78,243.3,422.8,22.0,342,7753,0.00,2.15,0.00,0.000,4,0.000,0.047,3079,527,1961,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7830,0.78,243.3,405.4,20.8,346,7835,0.00,2.15,0.00,0.000,6,0.000,0.041,3079,1920,1959,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8152,0.78,243.3,339.8,19.2,362,8157,0.00,2.15,0.00,0.000,4,0.000,0.047,3079,530,1959,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8203,0.78,243.3,332.4,18.8,364,8209,0.00,2.10,0.00,0.000,6,0.000,0.041,3081,1915,1958,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8516,0.78,243.3,270.8,20.0,380,8521,0.00,2.25,0.00,0.000,4,0.000,0.054,3079,3354,1958,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8587,0.78,243.3,258.2,20.1,383,8593,0.00,2.17,0.00,0.000,6,0.000,0.035,3079,1926,1958,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8900,0.78,243.3,205.1,17.4,399,8905,0.00,2.12,0.00,0.000,4,0.000,0.047,3080,525,1958,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8951,0.78,243.3,197.5,18.0,401,8957,0.00,2.17,0.00,0.000,6,0.000,0.042,3080,1943,1957,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9263,0.78,243.3,149.2,11.5,417,9269,0.00,2.17,0.00,0.000,4,0.000,0.053,3079,3353,1957,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9279,0.78,243.3,149.2,11.5,417,9286,0.00,2.17,0.00,0.000,6,0.000,0.035,3080,1917,1957,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9586,0.78,243.3,107.5,12.1,433,9591,0.00,2.10,0.00,0.000,4,0.000,0.044,3080,524,1957,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9657,0.80,261.8,101.2,10.4,436,9677,0.00,2.15,13.90,0.734,6,0.000,0.040,3080,1939,1899,0,0,0,0,0,0,28.83,26.53,25.65
$GC,9990,0.95,383.6,73.7,7.3,453,10095,0.00,2.33,96.88,0.731,4,0.000,0.050,3080,3339,1403,0,0,0,0,0,0,28.83,25.24,24.66
$GC,10144,1.01,430.7,60.8,9.6,460,10188,0.12,2.22,38.20,0.698,6,0.093,0.033,3146,1920,1212,0,0,0,0,0,0,25.56,25.58,24.62
$GC,10495,1.01,430.7,10.5,12.1,492,10500,0.00,2.12,0.00,0.000,4,0.000,0.043,3145,537,1206,0,0,0,0,0,0,28.83,25.97,28.83
$STATE,10566,end climb,SURFACE_DEPTH_REACHED
$STATE,10566,begin surface coast
$FINISH,0.8,1.010475
$STATE,10587,end surface coast,CONTROL_FINISHED_OK
$STATE,10587,begin surface
$SM_CCo,10607,39.15,0.060,0,0,826,525.19
$SM_GC,1.53,8.07,3.33,39.15,0.060,0.039,0.060,133,2643,826,-8.30,-1.13,525.19,0,0,0,0,0,0,25.96,26.05,26.01
$IRIDIUM_FIX,2159.71,12005.17,220412,202038
$TT8_MAMPS,0.025466,0.025466
$HUMID,37.71
$INTERNAL_PRESSURE,7.33976
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.7,6.173
$10V_AH,9.9,2.043
$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,19.725,93.950,552.875,39.150,0.000,0.000,0.000,199.700,0.000,0.000,17.365,1773.239,6774.122,628.573,1686.954,116.068,0.000,1668.741,0.000,1409.897,0.000,0.543,0.000
$DEVICE_MAMPS,253.215,64.260,1266.840,59.670,0.000,0.000,0.000,94.860,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10577.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.982,0.000,0.000,0.000
$MEM,324932
$DATA_FILE_SIZE,16801,501
$CAP_FILE_SIZE,125981,0
$CFSIZE,260165632,248647680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.055,181.9,1
$GPS,230412,030400,2204.151,12009.573,36,0.9,36,-3.1