version: 66.11
glider: 170
mission: 10
dive: 267
start: 12 23 112 3 24 27
data:
$ID,170
$MISSION,10
$DIVE,267
$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,-143430.34
$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,64
$R_STBD_OVSHOOT,40
$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
$GPS1,231212,031429,2016.611,11932.239,16,1.0,16,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-65.6
$GPS2,231212,032402,2016.613,11932.075,32,0.9,34,-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,64.1,170594,-14.0,-8.049,-16.39
$D_GRID,3089
$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,21,-0.48,-170.3,0.0,0.0,0,98,0.00,0.00,-74.85,0.000,2,0.000,0.000,132,2618,2178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.48,-170.3,3.2,-2.5,13,128,11.15,1.75,-9.12,0.000,4,0.237,0.073,2890,3682,2496,0,0,0,0,0,0,25.63,26.25,26.72
$GC,141,-0.35,-170.3,9.4,-17.3,19,149,0.15,1.58,0.00,0.000,6,0.169,0.025,2931,2568,2497,0,0,0,0,0,0,26.06,26.46,28.83
$GC,334,-0.30,-170.3,39.4,-13.2,46,339,0.00,1.92,0.00,0.000,4,0.000,0.029,2931,1227,2497,0,0,0,0,0,0,28.83,26.48,28.83
$GC,539,-0.25,-170.3,64.7,-10.6,60,545,0.12,2.10,0.00,0.000,6,0.168,0.044,2965,2603,2497,0,0,0,0,0,0,26.20,26.43,28.83
$GC,745,-0.23,-170.3,77.6,-6.0,70,750,0.00,1.67,0.00,0.000,4,0.000,0.051,2965,3693,2497,0,0,0,0,0,0,28.83,26.39,28.83
$GC,793,-0.20,-170.3,80.4,-6.2,72,798,0.00,1.55,0.00,0.000,6,0.000,0.027,2965,2590,2497,0,0,0,0,0,0,28.83,26.60,28.83
$GC,991,-0.19,-170.3,87.7,-2.3,82,996,0.00,1.95,0.00,0.000,4,0.000,0.029,2965,1213,2496,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1164,-0.16,-170.3,92.0,-3.1,90,1169,0.00,2.10,0.00,0.000,6,0.000,0.041,2966,2601,2497,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1358,-0.15,-170.3,99.3,-3.8,100,1365,0.12,1.67,0.00,0.000,4,0.156,0.050,3009,3690,2497,0,0,0,0,0,0,26.41,26.39,28.83
$GC,1593,-0.16,-170.3,102.7,-0.9,111,1599,0.00,1.55,0.00,0.000,6,0.000,0.027,3009,2585,2496,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1790,-0.18,-170.3,106.7,-2.3,121,1795,0.00,1.75,0.00,0.000,4,0.000,0.050,3009,3689,2497,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1834,-0.20,-170.3,108.0,-2.5,123,1840,0.00,1.58,0.00,0.000,6,0.000,0.028,3009,2604,2497,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2040,-0.22,-170.3,111.0,-1.4,133,2045,0.00,2.00,0.00,0.000,4,0.000,0.033,3009,1210,2497,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2274,-0.24,-170.3,116.0,-3.2,144,2281,0.12,2.10,0.00,0.000,6,0.084,0.039,2937,2598,2496,0,0,0,0,0,0,26.44,26.43,28.83
$GC,2471,-0.22,-170.3,122.2,-3.1,154,2477,0.12,2.00,0.00,0.000,4,0.148,0.026,2979,1207,2496,0,0,0,0,0,0,26.41,26.53,28.83
$GC,2706,-0.22,-170.3,125.9,-0.8,165,2711,0.00,2.12,0.00,0.000,6,0.000,0.039,2980,2610,2496,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,2797,end dive,NO_VERTICAL_VELOCITY
$STATE,2797,begin apogee
$GC,2804,-0.15,0.0,125.4,0.0,170,2949,0.00,0.00,138.93,0.754,6,0.000,0.000,2980,2105,1800,0,0,0,0,0,0,28.83,28.83,24.89
$STATE,2950,end apogee,CONTROL_FINISHED_OK
$STATE,2950,begin climb
$GC,2953,0.48,170.3,120.8,0.0,177,3101,0.62,2.10,133.95,0.737,4,0.101,0.036,3197,748,1104,0,0,0,0,0,0,25.67,25.70,24.90
$GC,3294,0.56,170.3,88.3,11.4,194,3301,0.10,2.08,0.00,0.000,6,0.125,0.033,3239,2139,1102,0,0,0,0,0,0,26.26,26.34,28.83
$GC,3490,0.64,170.3,69.0,9.0,204,3496,0.00,2.15,0.00,0.000,4,0.000,0.050,3240,3527,1102,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3564,0.73,170.3,62.6,9.7,207,3570,0.12,2.00,0.00,0.000,6,0.096,0.026,3295,2144,1102,0,0,0,0,0,0,26.41,26.54,28.83
$GC,3761,0.81,170.3,45.4,8.9,219,3767,0.00,2.12,0.00,0.000,4,0.000,0.047,3296,3521,1102,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3998,0.90,170.3,25.1,8.6,242,4004,0.15,2.05,0.00,0.000,6,0.097,0.027,3355,2115,1102,0,0,0,0,0,0,26.41,26.56,28.83
$GC,4190,0.95,238.4,15.3,5.9,278,4227,0.00,2.10,30.83,0.086,4,0.000,0.036,3355,729,827,0,0,0,0,0,0,28.83,26.42,26.21
$GC,4287,0.97,238.4,7.2,8.1,295,4293,0.00,2.08,0.00,0.000,6,0.000,0.034,3355,2122,826,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,4323,end climb,SURFACE_DEPTH_REACHED
$STATE,4323,begin surface coast
$FINISH,1.3,1.021610
$STATE,4352,end surface coast,CONTROL_FINISHED_OK
$STATE,4352,begin surface
$SM_CCo,4371,37.35,0.054,0,0,458,328.70
$SM_CCo,4412,-0.15,0.000,0,0,461,328.70
$SM_CCo,4416,0.20,0.115,0,0,460,328.70
$SM_GC,2.05,8.27,0.75,0.20,0.047,0.056,0.115,132,2608,460,-9.07,-0.90,328.70,0,0,0,0,0,0,26.22,26.41,26.36
$IRIDIUM_FIX,2006.47,11930.73,231212,010145
$TT8_MAMPS,0.025466,0.025466
$HUMID,57.60
$INTERNAL_PRESSURE,9.6836
$TCM_TEMP,23.80
$XPDR_PINGS,3
$SC_FREEKB,3917536
$24V_AH,24.9,52.503
$10V_AH,10.1,25.478
$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,21.075,47.500,303.700,37.550,0.000,0.000,0.000,373.875,0.750,0.000,35.030,1137.718,1923.389,392.964,1330.498,213.000,0.000,1291.537,0.000,890.962,0.000,0.546,0.000
$DEVICE_MAMPS,237.150,73.440,753.525,114.750,0.000,0.000,0.000,131.580,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4391.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.129,0.000,0.000,0.000
$MEM,323980
$DATA_FILE_SIZE,10142,307
$CAP_FILE_SIZE,84934,0
$CFSIZE,260034560,225091584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.395,268.9,1
$GPS,231212,043901,2017.068,11931.708,16,0.6,16,-2.7