version: 66.11
glider: 160
mission: 9
dive: 3
start: 3 25 113 16 2 32
data:
$ID,160
$MISSION,9
$DIVE,3
$N_DIVES,3
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,60
$T_MISSION,72
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55936
$MASS_COMP,0
$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,551.4917
$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,-41216.219
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3900
$C_PITCH,3330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,335
$ROLL_MAX,3200
$ROLL_DEG,40
$C_ROLL_DIVE,1767
$C_ROLL_CLIMB,1767
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,190
$VBD_MAX,3660
$C_VBD,2479
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-21.182281
$PRESSURE_SLOPE,0.0001158597
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.0043567605
$SEABIRD_T_H,0.00063562888
$SEABIRD_T_I,2.4601901e-05
$SEABIRD_T_J,2.6145824e-06
$SEABIRD_C_G,-9.8833933
$SEABIRD_C_H,1.1029875
$SEABIRD_C_I,-0.0011442616
$SEABIRD_C_J,0.00017903016
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,250313,155754,2433.228,-3759.011,8,1.8,8,-15.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-70.4
$GPS2,250313,160206,2433.240,-3759.013,37,0.8,37,-15.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,S
$TGT_LATLONG,2357.000,-3800.000
$TGT_RADIUS,1852.000
$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,171.5,67137,-17.5,-10.000,-21.06,2227
$D_GRID,180
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,20,-0.76,-146.0,151,1760,210,238,0.0,0.0,0,137,0.00,0.00,-112.57,0.000,16390,0.000,0.000,150,1760,3076,3016,3136,0,0,0,0,0,0,28.83,28.83,15.16
$GC,140,-0.76,-146.0,150,1760,3016,3136,2.2,-2.3,7,163,14.60,3.22,0.00,0.000,2308,0.417,0.060,3060,3181,3076,3020,3133,0,0,0,0,0,0,14.74,14.93,28.83
$GC,319,-0.62,-146.0,3060,3181,3023,3132,36.4,-15.9,19,326,0.25,3.10,0.00,0.000,3078,0.243,0.041,3123,1760,3075,3020,3130,0,0,0,0,0,0,14.86,14.99,28.83
$GC,632,-0.62,-146.0,3123,1761,3026,3127,74.6,-11.5,40,634,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1760,3076,3026,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,933,-0.66,-146.0,3123,1761,3026,3125,106.7,-10.6,60,938,0.00,3.22,0.00,0.000,260,0.000,0.070,3122,3181,3075,3026,3125,0,0,0,0,0,0,28.83,15.00,28.83
$GC,959,-0.70,-146.0,3123,3182,3026,3125,108.5,-10.2,61,966,0.00,3.08,0.00,0.000,1030,0.000,0.041,3123,1766,3075,3026,3125,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1265,-0.76,-146.0,3123,1767,3026,3125,141.1,-10.9,82,1272,0.12,2.92,0.00,0.000,4612,0.135,0.059,3070,361,3076,3027,3125,0,0,0,0,0,0,15.05,15.03,28.83
$GC,1299,-0.76,-146.0,3070,360,3027,3125,145.8,-12.7,84,1304,0.00,2.90,0.00,0.000,1030,0.000,0.043,3069,1770,3075,3027,3124,0,0,0,0,0,0,28.83,15.05,28.83
$STATE,1540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1540,begin apogee
$GC,1543,-0.17,0.0,3069,1772,3027,3124,181.4,-14.9,100,1656,0.70,0.00,105.15,0.998,10246,0.213,0.000,3268,1772,2473,2525,2422,0,0,0,0,0,0,14.92,28.83,14.19
$STATE,1659,end apogee,CONTROL_FINISHED_OK
$STATE,1659,begin climb
$GC,1660,0.76,146.0,3268,1772,2523,2420,187.3,0.0,107,1778,0.95,3.10,107.62,1.023,10756,0.132,0.063,3566,362,1876,1965,1788,0,0,0,0,0,0,14.62,14.52,14.09
$GC,1859,0.80,173.3,3566,362,1964,1779,178.0,8.7,120,1886,0.00,2.95,20.12,0.949,9222,0.000,0.041,3567,1765,1768,1863,1673,0,0,0,0,0,0,28.83,14.76,14.24
$GC,2198,0.81,182.5,3565,1768,1850,1667,145.2,9.6,143,2209,0.00,3.20,5.05,0.850,8452,0.000,0.067,3566,3177,1736,1828,1645,0,0,0,0,0,0,28.83,14.90,14.47
$GC,2282,0.73,182.5,3566,3177,1825,1646,136.7,11.7,148,2287,0.00,3.10,0.00,0.000,1030,0.000,0.044,3566,1768,1739,1832,1646,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2595,0.74,190.6,3566,1769,1824,1646,106.0,9.6,169,2610,0.00,2.97,8.62,0.870,8708,0.000,0.063,3566,357,1697,1784,1611,0,0,0,0,0,0,28.83,14.94,14.55
$GC,2691,0.74,190.6,2816,356,1741,1606,96.1,11.0,175,2697,0.00,2.92,0.00,0.000,1030,0.000,0.041,3566,1780,1696,1782,1611,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3004,0.74,190.6,3566,1780,1778,1611,62.0,10.7,196,3009,0.00,3.12,0.00,0.000,260,0.000,0.070,3566,3166,1698,1786,1611,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3061,0.74,190.6,3566,3166,1774,1611,56.4,11.8,199,3067,0.00,3.08,0.00,0.000,1030,0.000,0.044,3566,1763,1692,1774,1611,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3366,0.74,190.6,3565,1763,1774,1611,23.5,10.4,220,3372,0.00,3.20,0.00,0.000,260,0.000,0.069,3566,3162,1692,1774,1611,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3384,0.74,190.6,3566,3165,1774,1607,21.6,10.4,221,3389,0.00,3.08,0.00,0.000,1030,0.000,0.042,3566,1759,1692,1773,1611,0,0,0,0,0,0,28.83,15.02,28.83
$STATE,3580,end climb,SURFACE_DEPTH_REACHED
$STATE,3580,begin surface coast
$FINISH,0.4,1.014905
$STATE,3611,end surface coast,CONTROL_FINISHED_OK
$STATE,3611,begin surface
$SM_CCo,3630,164.80,0.083,0,0,228,551.68
$SM_GC,1.39,9.93,0.00,164.80,0.069,0.000,0.083,143,1754,228,-9.89,-0.34,551.68,0,0,0,0,0,0,15.03,28.83,14.98
$IRIDIUM_FIX,2422.84,-3800.39,250313,151554
$TT8_MAMPS,0.023968,0.023968
$HUMID,38.30
$INTERNAL_PRESSURE,9.32063
$TCM_TEMP,23.40
$XPDR_PINGS,57
$SC_FREEKB,4018880
$TM_FREEKB,7881756
$24V_AH,14.1,5.494
$10V_AH,14.1,0.000
$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,26.550,49.175,246.575,164.800,0.000,0.000,0.000,0.000,14.250,0.000,39.741,724.773,2035.111,487.696,621.085,28.863,0.000,846.602,0.000,554.453,0.000,0.543,0.000
$DEVICE_MAMPS,416.925,69.615,1022.805,82.620,0.000,0.000,0.000,0.000,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3592.000,3592.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.956,13.030,0.000,0.000
$MEM,345608
$DATA_FILE_SIZE,6810,236
$CAP_FILE_SIZE,76237,0
$CFSIZE,260034560,250556416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,257.5,1
$GPS,250313,170637,2432.809,-3759.052,9,1.4,9,-15.1