version: 66.11
glider: 170
mission: 10
dive: 241
start: 12 21 112 15 42 18
data:
$ID,170
$MISSION,10
$DIVE,241
$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,-143397.84
$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,75
$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
$GPS1,211212,153128,2006.950,11949.367,36,0.7,40,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-74.4
$GPS2,211212,154153,2006.984,11949.155,16,1.2,17,-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,53.5,182482,-14.0,-8.049,-16.39
$D_GRID,3363
$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,-170.3,0.0,0.0,0,106,0.00,0.00,-82.95,0.000,2,0.000,0.000,137,2574,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.48,-170.3,3.2,-2.6,15,131,11.25,1.80,-4.57,0.000,4,0.244,0.067,2888,3686,2495,0,0,0,0,0,0,25.72,26.34,26.72
$GC,306,-0.40,-170.3,38.7,-13.3,44,312,0.12,1.58,0.00,0.000,6,0.177,0.028,2921,2605,2496,0,0,0,0,0,0,26.25,26.55,28.83
$GC,500,-0.34,-170.3,62.5,-11.5,58,505,0.00,2.03,0.00,0.000,4,0.000,0.031,2921,1198,2496,0,0,0,0,0,0,28.83,26.53,28.83
$GC,587,-0.29,-170.3,71.3,-10.7,62,593,0.12,2.15,0.00,0.000,6,0.165,0.046,2955,2592,2496,0,0,0,0,0,0,26.28,26.46,28.83
$GC,788,-0.26,-170.3,79.1,-2.5,72,793,0.00,2.05,0.00,0.000,4,0.000,0.035,2956,1206,2496,0,0,0,0,0,0,28.83,26.53,28.83
$GC,882,-0.23,-170.3,81.4,-2.8,76,887,0.00,2.17,0.00,0.000,6,0.000,0.048,2956,2611,2496,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1075,-0.21,-170.3,84.5,-1.0,86,1081,0.00,1.67,0.00,0.000,4,0.000,0.050,2956,3703,2497,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1129,-0.19,-170.3,85.7,-2.1,88,1135,0.12,1.60,0.00,0.000,6,0.151,0.024,2992,2571,2496,0,0,0,0,0,0,26.36,26.63,28.83
$GC,1325,-0.19,-170.3,92.4,-2.7,98,1330,0.00,1.92,0.00,0.000,4,0.000,0.030,2992,1211,2496,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1477,-0.19,-170.3,93.7,-0.6,105,1483,0.00,2.12,0.00,0.000,6,0.000,0.041,2992,2613,2497,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,1548,end dive,NO_VERTICAL_VELOCITY
$STATE,1548,begin apogee
$GC,1555,-0.15,0.0,93.7,0.0,109,1701,0.00,0.00,139.12,0.721,6,0.000,0.000,2992,2149,1798,0,0,0,0,0,0,28.83,28.83,25.02
$STATE,1702,end apogee,CONTROL_FINISHED_OK
$STATE,1702,begin climb
$GC,1705,0.48,170.3,87.5,0.0,116,1847,0.60,2.17,132.38,0.707,4,0.093,0.050,3205,712,1105,0,0,0,0,0,0,25.78,25.78,25.04
$GC,2039,0.56,170.3,56.3,10.2,133,2044,0.00,2.10,0.00,0.000,6,0.000,0.036,3205,2130,1101,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2227,0.65,170.3,37.1,10.4,148,2233,0.12,2.15,0.00,0.000,4,0.107,0.045,3260,3529,1101,0,0,0,0,0,0,26.52,26.44,28.83
$GC,2463,0.73,170.3,13.6,9.5,183,2470,0.00,2.08,0.00,0.000,6,0.000,0.024,3260,2098,1101,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,2572,end climb,SURFACE_DEPTH_REACHED
$STATE,2572,begin surface coast
$FINISH,1.3,0.999357
$STATE,2598,end surface coast,CONTROL_FINISHED_OK
$STATE,2598,begin surface
$SM_CCo,2616,65.70,0.053,0,0,459,328.70
$SM_CCo,2685,-0.15,0.000,0,0,461,328.70
$SM_CCo,2689,0.22,0.108,0,0,460,328.70
$SM_GC,2.24,7.93,0.80,0.22,0.042,0.044,0.108,130,2608,460,-9.08,-0.99,328.70,0,0,0,0,0,0,26.34,26.51,26.41
$IRIDIUM_FIX,1957.29,11952.09,211212,151507
$TT8_MAMPS,0.025466,0.025466
$HUMID,55.23
$INTERNAL_PRESSURE,9.74219
$TCM_TEMP,24.30
$XPDR_PINGS,2
$SC_FREEKB,3927552
$24V_AH,25.0,50.523
$10V_AH,10.1,23.971
$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,20.275,29.075,271.500,65.925,0.000,0.000,0.000,394.450,0.500,0.000,18.177,701.929,1102.364,370.944,982.982,167.348,0.000,1117.811,0.000,553.121,0.000,0.547,0.000
$DEVICE_MAMPS,244.035,66.555,721.395,107.865,0.000,0.000,0.000,129.285,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2631.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.517,0.000,0.000,0.000
$MEM,323856
$DATA_FILE_SIZE,6833,209
$CAP_FILE_SIZE,58359,0
$CFSIZE,260034560,226684928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.601,254.2,1
$GPS,211212,162806,2007.015,11948.591,18,1.0,18,-2.6