version: 66.11
glider: 170
mission: 10
dive: 236
start: 12 21 112 10 58 24
data:
$ID,170
$MISSION,10
$DIVE,236
$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,-143391.31
$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,34
$R_STBD_OVSHOOT,27
$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
$GPS1,211212,104851,2007.076,11951.130,23,0.8,24,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-71.7
$GPS2,211212,105759,2007.074,11951.094,21,0.8,31,-2.6
$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,52.4,182004,-14.0,-8.049,-16.39
$D_GRID,3379
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.48,-170.3,0.0,0.0,0,100,0.00,0.00,-77.62,0.000,2,0.000,0.000,137,2606,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.48,-170.3,3.1,-2.6,14,130,11.20,1.80,-8.57,0.000,4,0.243,0.070,2891,3711,2497,0,0,0,0,0,0,25.78,26.34,26.75
$GC,248,-0.38,-170.3,28.9,-21.1,39,256,0.12,1.67,0.00,0.000,6,0.164,0.028,2926,2566,2497,0,0,0,0,0,0,26.26,26.53,28.83
$GC,434,-0.32,-170.3,49.7,-10.7,58,440,0.00,2.00,0.00,0.000,4,0.000,0.037,2926,1197,2497,0,0,0,0,0,0,28.83,26.53,28.83
$GC,668,-0.26,-170.3,68.9,-9.3,70,674,0.12,2.17,0.00,0.000,6,0.173,0.046,2959,2611,2497,0,0,0,0,0,0,26.27,26.46,28.83
$GC,865,-0.24,-170.3,83.7,-6.1,80,870,0.00,1.70,0.00,0.000,4,0.000,0.060,2959,3696,2497,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1098,-0.22,-170.3,94.7,-4.0,91,1103,0.00,1.60,0.00,0.000,6,0.000,0.027,2960,2601,2499,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1293,-0.19,-170.3,99.7,-2.0,101,1298,0.00,2.08,0.00,0.000,4,0.000,0.041,2959,1198,2497,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1423,-0.17,-170.3,102.1,-1.8,107,1429,0.12,2.17,0.00,0.000,6,0.156,0.047,2996,2605,2497,0,0,0,0,0,0,26.32,26.46,28.83
$GC,1624,-0.17,-170.3,105.9,-2.2,117,1629,0.00,1.73,0.00,0.000,4,0.000,0.057,2996,3697,2497,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1729,-0.17,-170.3,109.2,-3.4,122,1734,0.00,1.60,0.00,0.000,6,0.000,0.025,2996,2585,2497,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1934,-0.17,-170.3,114.2,-1.9,132,1940,0.00,2.03,0.00,0.000,4,0.000,0.041,2996,1207,2497,0,0,0,0,0,0,28.83,25.30,28.83
$GC,2033,-0.17,-170.3,114.5,-0.3,136,2039,0.00,2.17,0.00,0.000,6,0.000,0.049,2996,2604,2497,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,2096,end dive,NO_VERTICAL_VELOCITY
$STATE,2096,begin apogee
$GC,2102,-0.15,0.0,114.5,0.0,140,2248,0.00,0.00,139.38,0.741,6,0.000,0.000,2996,2117,1800,0,0,0,0,0,0,28.83,28.83,24.99
$STATE,2250,end apogee,CONTROL_FINISHED_OK
$STATE,2250,begin climb
$GC,2252,0.48,170.3,110.2,0.0,147,2394,0.57,2.35,132.95,0.729,4,0.083,0.047,3208,3545,1104,0,0,0,0,0,0,25.79,25.74,25.01
$GC,2623,0.55,170.3,72.2,11.2,166,2628,0.00,2.10,0.00,0.000,6,0.000,0.029,3208,2111,1101,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2827,0.64,170.3,51.5,9.7,176,2833,0.12,2.22,0.00,0.000,4,0.099,0.046,3268,3544,1101,0,0,0,0,0,0,26.55,26.41,28.83
$GC,2926,0.72,170.3,42.9,9.8,184,2933,0.00,2.12,0.00,0.000,6,0.000,0.035,3269,2141,1101,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3112,0.80,175.1,26.0,7.9,203,3121,0.12,0.00,1.95,0.122,6,0.104,0.000,3324,2141,1085,0,0,0,0,0,0,26.60,28.83,26.25
$GC,3302,0.89,190.2,12.6,7.6,239,3315,0.00,0.00,6.85,0.083,6,0.000,0.000,3324,2140,1023,0,0,0,0,0,0,28.83,28.83,26.36
$STATE,3408,end climb,SURFACE_DEPTH_REACHED
$STATE,3408,begin surface coast
$FINISH,1.2,1.008692
$STATE,3434,end surface coast,CONTROL_FINISHED_OK
$STATE,3434,begin surface
$SM_CCo,3452,57.55,0.053,0,0,459,328.70
$SM_CCo,3513,-0.15,0.000,0,0,461,328.70
$SM_CCo,3517,0.10,0.175,0,0,460,328.70
$SM_GC,2.25,8.02,0.75,0.10,0.038,0.047,0.175,131,2603,460,-9.07,-0.74,328.70,0,0,0,0,0,0,26.36,26.46,26.43
$IRIDIUM_FIX,1959.59,11952.09,211212,090907
$TT8_MAMPS,0.025466,0.025466
$HUMID,55.51
$INTERNAL_PRESSURE,9.74219
$TCM_TEMP,24.20
$XPDR_PINGS,4
$SC_FREEKB,3929472
$24V_AH,25.0,50.173
$10V_AH,10.3,23.763
$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,20.425,32.975,281.125,57.650,0.000,0.000,0.000,368.075,1.000,0.000,31.843,921.461,1441.706,385.037,1148.189,180.644,0.000,1186.146,0.000,729.203,0.000,0.548,0.000
$DEVICE_MAMPS,242.505,70.380,740.520,175.185,0.000,0.000,0.000,123.930,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3465.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.547,0.000,0.000,0.000
$MEM,323880
$DATA_FILE_SIZE,10173,264
$CAP_FILE_SIZE,69824,0
$CFSIZE,260034560,226910208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.515,222.1,1
$GPS,211212,115824,2006.966,11950.601,42,0.9,42,-2.6