version: 66.11
glider: 160
mission: 7
dive: 4
start: 2 27 113 20 4 0
data:
$ID,160
$MISSION,7
$DIVE,4
$N_DIVES,4
$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,450
$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,-40046.664
$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,2600
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,190
$VBD_MAX,3660
$C_VBD,2880
$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
$GPS1,270213,195727,4743.596,-12224.554,12,3.1,31,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-77.1
$GPS2,270213,200333,4743.637,-12224.517,11,99.0,30,18.2
$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,228.9,654,-21.5,-10.000,-24.65,1521
$D_GRID,174
$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,21,-0.84,-100.0,154,2612,1001,1079,0.0,0.0,0,95,0.00,0.00,-72.32,0.000,16386,0.000,0.000,154,2612,2488,2451,2526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.90,-146.6,154,2612,2451,2526,3.1,-1.7,7,167,16.30,3.30,-44.83,0.000,18948,0.462,0.083,3104,1191,3478,3509,3447,0,0,0,0,0,0,14.45,14.65,14.83
$GC,229,-0.59,-146.6,3101,1191,3510,3448,17.4,-21.8,20,235,0.43,3.25,0.00,0.000,3078,0.298,0.078,3203,2593,3476,3504,3448,0,0,0,0,0,0,14.54,14.65,28.83
$GC,422,-0.71,-146.6,3203,2595,3511,3448,43.7,-12.9,39,427,0.00,3.20,0.00,0.000,516,0.000,0.069,3204,1186,3479,3511,3448,0,0,0,0,0,0,28.83,14.71,28.83
$GC,654,-0.86,-146.6,3204,1186,3511,3448,73.2,-12.1,62,660,0.25,3.28,0.00,0.000,5126,0.106,0.081,3120,2602,3479,3510,3448,0,0,0,0,0,0,14.77,14.74,28.83
$GC,848,-0.73,-146.6,3120,2603,3510,3448,106.9,-18.4,81,854,0.15,3.20,0.00,0.000,2564,0.286,0.067,3156,1192,3477,3510,3444,0,0,0,0,0,0,14.66,14.78,28.83
$GC,1084,-0.73,-146.6,3156,1193,3511,3453,142.7,-13.4,104,1090,0.00,3.25,0.00,0.000,1030,0.000,0.080,3155,2604,3479,3511,3448,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,1135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1135,begin apogee
$GC,1139,-0.17,0.0,3156,2389,3510,3448,150.3,-14.7,109,1308,0.68,0.00,157.50,1.146,10246,0.241,0.000,3336,2388,2880,2939,2821,0,0,0,0,1,0,14.70,28.83,13.68
$STATE,1311,end apogee,CONTROL_FINISHED_OK
$STATE,1311,begin climb
$GC,1312,0.90,146.6,3337,2388,2939,2821,159.7,0.0,126,1484,1.20,2.05,161.30,1.108,10500,0.171,0.095,3677,3202,2272,2289,2255,0,0,0,0,0,0,14.15,14.10,13.70
$GC,1611,0.55,146.6,3679,3202,2271,2248,130.8,15.5,156,1617,0.45,1.80,0.00,0.000,5126,0.308,0.057,3585,2409,2259,2271,2248,0,0,0,0,0,0,14.33,14.45,28.83
$GC,1804,0.67,177.6,3586,2409,2271,2246,114.7,7.9,175,1844,0.00,3.30,30.62,1.046,8708,0.000,0.078,3588,998,2145,2172,2118,0,0,0,0,0,0,28.83,14.45,14.06
$GC,2000,0.85,177.6,2864,999,2117,2103,96.8,10.2,194,2008,0.28,3.22,0.00,0.000,3078,0.104,0.070,3681,2406,2139,2168,2111,0,0,0,0,0,0,14.62,14.60,28.83
$GC,2187,0.65,177.6,3681,2407,2166,2111,66.7,15.5,213,2193,0.28,3.22,0.00,0.000,4612,0.291,0.073,3617,992,2138,2166,2110,0,0,0,0,0,0,14.56,14.67,28.83
$GC,2229,0.65,177.6,3617,992,2165,2110,61.3,12.5,217,2235,0.00,3.22,0.00,0.000,1030,0.000,0.071,3617,2411,2138,2166,2110,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2421,0.65,177.6,3617,2411,2166,2109,40.5,10.6,236,2427,0.00,3.22,0.00,0.000,516,0.000,0.076,3617,992,2137,2165,2109,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2654,0.78,177.6,3617,993,2166,2109,17.2,10.6,259,2660,0.12,3.17,0.00,0.000,3078,0.140,0.071,3662,2403,2137,2166,2109,0,0,0,0,0,0,14.78,14.77,28.83
$STATE,2766,end climb,SURFACE_DEPTH_REACHED
$STATE,2766,begin surface coast
$FINISH,1.4,1.015877
$STATE,2787,end surface coast,CONTROL_FINISHED_OK
$STATE,2787,begin surface
$SM_CCo,2807,132.27,0.099,0,0,1044,450.13
$SM_GC,2.53,10.75,0.47,132.27,0.092,0.086,0.099,150,2610,1044,-10.11,-0.48,450.13,0,0,0,0,0,0,14.77,14.80,14.72
$IRIDIUM_FIX,4726.11,-12220.67,270213,181850
$TT8_MAMPS,0.023968,0.023968
$HUMID,38.22
$INTERNAL_PRESSURE,9.12531
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.9,58.6
$SC_FREEKB,4018496
$TM_FREEKB,7877652
$24V_AH,13.7,3.527
$10V_AH,13.8,0.000
$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,30.875,43.650,349.425,132.275,0.000,0.000,0.000,215.750,1.500,0.000,34.050,759.384,1013.402,524.757,977.113,46.114,0.000,1160.659,0.000,652.901,0.000,11.807,0.000
$DEVICE_MAMPS,462.060,94.860,1145.970,99.450,0.000,0.000,0.000,225.675,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2787.000,2788.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.732,12.553,0.000,0.000
$MEM,322820
$DATA_FILE_SIZE,10136,272
$CAP_FILE_SIZE,65998,0
$CFSIZE,260034560,252624896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270213,205354,4743.363,-12224.793,8,1.1,13,18.2