version: 66.12
glider: 169
mission: 9
dive: 4
start: 12 31 113 22 0 14
data:
$ID,169
$MISSION,9
$DIVE,4
$N_DIVES,5
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,180
$D_NO_BLEED,50
$D_BOOST,130
$T_BOOST,4
$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,47
$T_MISSION,60
$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,51654
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0119
$HD_C,1.6100001e-05
$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,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,-25356.902
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3945
$C_PITCH,2450
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,32
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,3150
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,8.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-152.80907
$PRESSURE_SLOPE,0.0001078585
$AD7714Ch0Gain,1
$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,12.5
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$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,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043559056
$SEABIRD_T_H,0.00062826526
$SEABIRD_T_I,2.4452604e-05
$SEABIRD_T_J,2.6567245e-06
$SEABIRD_C_G,-10.477052
$SEABIRD_C_H,1.2053633
$SEABIRD_C_I,-0.0016692164
$SEABIRD_C_J,0.00021618098
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,311213,215531,4743.327,-12224.922,7,1.8,7,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-70.7
$GPS2,311213,215945,4743.330,-12224.916,13,6.2,33,18.2
$SPEED_LIMITS,0.184,0.242
$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,323.5,332,-26.8,-10.638,-30.00,1192
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,24,-1.09,-83.5,241,2177,1441,1181,0.0,0.0,0,131,0.00,0.10,-103.40,0.000,16390,0.000,0.444,242,2220,3491,3361,3622,0,0,0,0,0,0,28.83,26.03,26.54
$GC,140,-1.28,-146.6,241,2220,3361,3622,2.0,-1.7,11,161,7.32,2.25,-6.78,0.000,18948,0.256,0.059,2042,743,3748,3567,3930,0,0,0,0,0,0,25.94,26.18,26.50
$GC,396,-0.91,-146.6,2042,743,3567,3931,73.1,-27.3,35,403,0.43,2.25,0.00,0.000,3078,0.196,0.048,2148,2216,3749,3567,3931,0,0,0,0,0,0,26.09,26.28,28.83
$GC,584,-0.75,-146.6,2147,2214,3567,3930,116.6,-22.0,54,590,0.17,2.22,0.00,0.000,2564,0.187,0.044,2198,749,3748,3567,3930,0,0,0,0,0,0,26.20,26.34,28.83
$GC,643,-0.75,-146.6,2198,750,3567,3931,127.1,-17.1,59,650,0.00,2.25,0.00,0.000,1030,0.000,0.050,2197,2221,3748,3567,3930,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,756,begin apogee
$GC,769,-0.16,0.0,2197,2607,3567,3930,150.1,-19.7,71,900,0.62,0.00,120.65,0.441,10246,0.152,0.000,2393,2607,3146,3100,3193,0,0,0,0,0,0,26.24,28.83,25.13
$STATE,902,end apogee,CONTROL_FINISHED_OK
$STATE,902,begin climb
$GC,906,1.28,146.6,2393,2606,3095,3185,160.4,0.0,84,1047,1.35,2.12,130.88,0.409,10500,0.099,0.044,2840,3827,2543,2586,2501,0,0,0,0,0,0,25.48,25.20,24.83
$GC,1071,0.83,146.6,2840,3827,2571,2490,132.3,26.9,100,1079,0.52,2.10,0.00,0.000,5126,0.213,0.026,2720,2577,2533,2576,2490,0,0,0,0,0,0,25.19,25.44,28.83
$GC,1259,0.83,146.6,2721,2575,2569,2479,91.1,19.8,119,1264,0.00,2.20,0.00,0.000,260,0.000,0.053,2711,3828,2524,2570,2478,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1315,0.73,146.6,2711,3828,2567,2479,79.2,22.0,124,1320,0.12,2.08,0.00,0.000,5126,0.196,0.031,2691,2579,2522,2567,2478,0,0,0,0,0,0,25.79,25.99,28.83
$GC,1511,0.81,146.6,2690,2576,2566,2476,47.3,14.8,143,1516,0.00,2.17,0.00,0.000,260,0.000,0.055,2681,3830,2521,2566,2476,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1556,0.81,146.6,2680,3829,2565,2476,39.4,17.2,147,1561,0.00,2.05,0.00,0.000,1030,0.000,0.034,2690,2584,2521,2566,2476,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1751,0.91,146.6,2691,2582,2565,2475,10.0,15.0,166,1757,0.12,2.15,0.00,0.000,2308,0.085,0.051,2756,3833,2520,2565,2475,0,0,0,0,0,0,26.32,26.24,28.83
$GC,1782,0.91,146.6,2756,3833,2565,2475,5.4,16.3,168,1789,0.00,2.05,0.00,0.000,1030,0.000,0.030,2765,2582,2520,2565,2475,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,1794,end climb,SURFACE_DEPTH_REACHED
$STATE,1794,begin surface coast
$FINISH,0.2,0.999802
$STATE,1806,end surface coast,CONTROL_FINISHED_OK
$STATE,1806,begin surface
$SM_CCo,1829,166.32,0.458,2,0,1313,450.13
$SM_GC,1.01,6.45,0.80,166.32,0.034,0.044,0.458,233,2178,1313,-6.83,0.34,450.13,0,0,0,0,2,0,26.31,26.30,24.76
$IRIDIUM_FIX,4726.11,-12220.67,311213,212111
$TT8_MAMPS,0.02247,0.02247
$HUMID,37.36
$INTERNAL_PRESSURE,9.11524
$TCM_TEMP,18.00
$XPDR_PINGS,1
$SC_FREEKB,3749184
$24V_AH,24.8,0.363
$10V_AH,10.1,0.824
$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,17.125,27.700,251.525,166.325,0.000,0.000,0.000,0.000,0.250,0.000,34.243,448.014,625.047,473.316,431.533,121.693,0.000,758.628,0.000,403.330,0.000,0.539,0.000
$DEVICE_MAMPS,255.510,444.465,441.405,458.235,0.000,0.000,0.000,0.000,420.000,0.000,30.710,12.320,2.190,12.320,37.030,44.520,0.000,12.400,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1783.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.767,0.000,0.000,0.000
$MEM,199944
$DATA_FILE_SIZE,6802,171
$CAP_FILE_SIZE,52257,0
$CFSIZE,260034560,255406080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,311213,223451,4743.414,-12225.242,12,5.4,32,18.2