version: 66.11
glider: 160
mission: 8
dive: 2
start: 3 4 113 21 52 10
data:
$ID,160
$MISSION,8
$DIVE,2
$N_DIVES,2
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,170
$D_NO_BLEED,50
$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,50
$T_MISSION,64
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,55614
$MASS_COMP,0
$NAV_MODE,0
$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,593.43799
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-40432.602
$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,3400
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,335
$ROLL_MAX,3200
$ROLL_DEG,40
$C_ROLL_DIVE,1930
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,190
$VBD_MAX,3660
$C_VBD,2650
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$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,-22.015081
$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,90
$ALTIM_PING_DELTA,10
$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
$GPS1,040313,214901,4743.077,-12224.471,12,1.7,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-70.9
$GPS2,040313,215143,4743.077,-12224.479,13,1.6,13,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$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,302.2,1017,-17.5,-10.000,-21.04,2225
$D_GRID,177
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.76,-146.6,155,1935,220,237,0.0,0.0,0,155,0.00,0.00,-131.27,0.000,16386,0.000,0.000,150,1936,2920,2886,2954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,157,-0.76,-146.6,154,1936,2886,2955,3.2,-2.6,13,193,16.17,3.08,-9.27,0.000,18692,0.457,0.104,3144,3198,3250,3238,3263,0,0,0,0,0,0,14.52,14.69,14.90
$GC,420,-0.50,-146.6,3144,3198,3238,3262,44.8,-16.5,39,426,0.38,2.90,0.00,0.000,3078,0.259,0.054,3235,1924,3249,3239,3260,0,0,0,0,0,0,14.66,14.78,28.83
$GC,613,-0.59,-146.6,3236,1926,3243,3257,63.9,-9.4,58,619,0.00,3.00,0.00,0.000,260,0.000,0.083,3235,3192,3250,3243,3257,0,0,0,0,0,0,28.83,14.78,28.83
$GC,760,-0.75,-146.6,3235,3192,3243,3256,77.9,-9.7,72,768,0.25,2.88,0.00,0.000,5126,0.105,0.052,3149,1922,3250,3244,3256,0,0,0,0,0,0,14.84,14.82,28.83
$GC,946,-0.54,-146.6,3149,1920,3243,3256,104.4,-14.9,91,948,0.30,0.00,0.00,0.000,2054,0.260,0.000,3221,1921,3250,3244,3256,0,0,0,0,0,0,14.71,28.83,28.83
$GC,1126,-0.60,-146.6,3221,1920,3244,3255,123.8,-10.3,109,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1921,3249,3243,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1306,-0.68,-146.6,3221,1920,3243,3258,139.5,-8.1,127,1308,0.15,0.00,0.00,0.000,4102,0.132,0.000,3171,1921,3249,3244,3255,0,0,0,0,0,0,14.85,28.83,28.83
$STATE,1394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1394,begin apogee
$GC,1399,-0.17,0.0,3171,1784,3244,3255,150.4,-12.7,136,1531,0.60,0.00,119.97,1.305,10246,0.236,0.000,3332,1784,2652,2711,2593,0,0,0,0,1,0,14.73,28.83,13.74
$STATE,1534,end apogee,CONTROL_FINISHED_OK
$STATE,1534,begin climb
$GC,1535,0.76,146.6,3331,1784,2711,2593,156.0,0.0,149,1715,1.05,0.00,170.85,1.085,10246,0.166,0.000,3633,1784,2041,2098,1985,0,0,0,0,0,0,14.21,28.83,13.76
$GC,1896,0.60,146.6,3633,1784,2092,1966,122.6,12.3,186,1898,0.15,0.00,0.00,0.000,4102,0.261,0.000,3601,1784,2029,2093,1966,0,0,0,0,0,0,14.45,28.83,28.83
$GC,2076,0.62,158.5,3601,1784,2093,1964,103.2,9.5,204,2087,0.00,3.35,4.05,0.865,8452,0.000,0.078,3601,3193,2002,2070,1935,0,0,0,0,0,0,28.83,14.64,14.10
$GC,2154,0.49,158.5,3601,3193,2070,1945,94.4,12.2,211,2161,0.17,3.17,0.00,0.000,5126,0.277,0.057,3564,1814,2008,2071,1945,0,0,0,0,0,0,14.58,14.69,28.83
$GC,2340,0.67,216.4,3564,1815,2072,1948,79.3,7.3,230,2425,0.17,3.22,76.43,1.032,10756,0.118,0.084,3619,393,1757,1844,1670,0,0,0,0,0,0,14.75,14.40,14.02
$GC,2491,0.67,216.4,3620,393,1838,1662,61.8,13.0,245,2497,0.00,3.10,0.00,0.000,1030,0.000,0.057,3619,1800,1749,1838,1661,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2683,0.67,216.4,3619,1800,1836,1656,37.6,12.4,264,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,3619,1801,1745,1836,1655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2863,0.67,216.4,3618,1801,1834,1655,14.8,12.2,282,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,3619,1801,1744,1834,1655,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2972,end climb,SURFACE_DEPTH_REACHED
$STATE,2972,begin surface coast
$FINISH,1.3,1.018965
$STATE,2994,end surface coast,CONTROL_FINISHED_OK
$STATE,2994,begin surface
$SM_CCo,3013,189.62,0.102,0,0,230,593.63
$SM_GC,2.22,10.52,0.30,189.62,0.085,0.105,0.102,154,1933,230,-10.10,-0.57,593.63,0,0,0,0,0,0,14.75,14.76,14.69
$IRIDIUM_FIX,4729.30,-12206.43,040313,212119
$TT8_MAMPS,0.023968,0.023968
$HUMID,39.60
$INTERNAL_PRESSURE,8.88116
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.5,47.3
$SC_FREEKB,4019264
$TM_FREEKB,7882380
$24V_AH,13.7,4.699
$10V_AH,13.7,0.000
$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,29.925,25.275,371.300,189.625,0.000,0.000,0.000,0.000,2.000,0.000,16.173,723.114,1266.929,639.141,623.344,29.555,0.000,1007.822,0.000,578.156,0.000,16.229,0.000
$DEVICE_MAMPS,456.705,104.805,1305.090,101.745,0.000,0.000,0.000,0.000,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2976.000,2974.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.962,12.620,0.000,0.000
$MEM,322824
$DATA_FILE_SIZE,10104,295
$CAP_FILE_SIZE,83788,0
$CFSIZE,260034560,252694528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040313,224635,4743.347,-12224.881,12,1.8,22,18.2