version: 66.11
glider: 170
mission: 10
dive: 3
start: 11 5 112 23 57 15
data:
$ID,170
$MISSION,10
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,270
$D_ABORT,500
$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,90
$T_MISSION,110
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,9
$N_NOCOMM,2
$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,-141832.58
$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,3110
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,84
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2769
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00060000003
$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
$GPS1,051112,235306,2156.180,12025.491,20,1.1,21,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-78.9
$GPS2,051112,235647,2156.074,12025.525,21,1.0,21,-3.1
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,W2
$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,293.1,48461,-15.6,-10.000,-17.73
$D_GRID,1026
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.51,-194.6,0.0,0.0,0,105,0.00,0.00,-84.30,0.000,2,0.000,0.000,131,2529,2860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.51,-194.6,3.5,-7.5,15,140,11.45,2.08,-12.07,0.000,4,0.258,0.044,2942,1084,3565,0,0,0,0,0,0,26.39,26.71,26.94
$GC,201,-0.58,-194.6,29.3,-10.4,27,208,0.00,2.15,0.00,0.000,6,0.000,0.050,2942,2483,3565,0,0,0,0,0,0,28.83,26.65,28.83
$GC,508,-0.58,-194.6,76.6,-14.5,50,513,0.00,1.90,0.00,0.000,4,0.000,0.062,2942,3703,3564,0,0,0,0,0,0,28.83,26.72,28.83
$GC,740,-0.52,-194.6,116.7,-17.4,61,745,0.00,1.73,0.00,0.000,6,0.000,0.031,2942,2501,3564,0,0,0,0,0,0,28.83,26.85,28.83
$GC,1053,-0.58,-194.6,143.2,-7.5,77,1060,0.00,2.00,0.00,0.000,4,0.000,0.029,2942,1082,3564,0,0,0,0,0,0,28.83,26.85,28.83
$GC,1098,-0.67,-194.6,146.0,-6.6,79,1105,0.15,2.17,0.00,0.000,6,0.088,0.049,2875,2509,3564,0,0,0,0,0,0,26.80,26.79,28.83
$GC,1422,-0.69,-194.6,177.7,-11.1,95,1428,0.00,2.03,0.00,0.000,4,0.000,0.029,2875,1089,3564,0,0,0,0,0,0,28.83,26.88,28.83
$GC,1469,-0.73,-194.6,181.8,-10.2,97,1476,0.00,2.17,0.00,0.000,6,0.000,0.051,2875,2508,3564,0,0,0,0,0,0,28.83,26.81,28.83
$GC,1788,-0.75,-194.6,214.5,-10.2,113,1793,0.00,2.03,0.00,0.000,4,0.000,0.029,2875,1093,3563,0,0,0,0,0,0,28.83,26.89,28.83
$GC,1860,-0.80,-194.6,220.3,-9.3,116,1867,0.00,2.17,0.00,0.000,6,0.000,0.051,2875,2511,3562,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2175,-0.83,-194.6,252.8,-8.9,132,2180,0.00,2.05,0.00,0.000,4,0.000,0.030,2875,1082,3560,0,0,0,0,0,0,28.83,26.89,28.83
$GC,2248,-0.89,-194.6,257.6,-7.9,135,2253,0.15,2.20,0.00,0.000,6,0.086,0.053,2793,2511,3560,0,0,0,0,0,0,26.85,26.82,28.83
$STATE,2340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2340,begin apogee
$GC,2344,-0.12,0.0,270.5,-14.1,140,2496,0.82,0.00,144.00,0.875,6,0.145,0.000,3064,2512,2767,0,0,0,0,0,0,26.70,28.83,24.90
$STATE,2498,end apogee,CONTROL_FINISHED_OK
$STATE,2498,begin climb
$GC,2499,0.51,194.6,275.4,0.0,147,2663,0.52,1.95,152.73,0.853,4,0.044,0.059,3293,3697,1973,0,0,0,0,0,0,25.70,25.46,24.84
$GC,2776,0.33,194.6,238.0,25.0,161,2783,0.28,1.77,0.00,0.000,6,0.168,0.031,3219,2516,1968,0,0,0,0,0,0,26.08,26.25,28.83
$GC,3091,0.29,194.6,194.4,12.1,177,3096,0.00,1.90,0.00,0.000,4,0.000,0.061,3221,3698,1963,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3324,0.20,194.6,163.9,11.7,188,3330,0.17,1.77,0.00,0.000,6,0.154,0.031,3174,2478,1962,0,0,0,0,0,0,26.58,26.74,28.83
$GC,3638,0.29,288.5,142.3,6.8,204,3718,0.00,2.10,70.68,0.809,4,0.000,0.035,3174,1109,1590,0,0,0,0,0,0,28.83,25.84,25.22
$GC,3805,0.53,426.4,132.9,5.3,212,3923,0.30,2.20,105.28,0.784,6,0.098,0.052,3281,2503,1028,0,0,0,0,0,0,26.20,26.22,24.94
$GC,4221,0.57,426.4,84.1,12.0,233,4227,0.00,2.08,0.00,0.000,4,0.000,0.036,3281,1109,1022,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4285,0.64,426.4,77.3,11.0,236,4292,0.10,2.20,0.00,0.000,6,0.119,0.054,3324,2508,1021,0,0,0,0,0,0,26.49,26.50,28.83
$GC,4599,0.64,426.4,36.8,12.0,257,4605,0.00,2.10,0.00,0.000,4,0.000,0.035,3324,1099,1021,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4694,0.76,493.6,28.8,7.7,266,4736,0.00,2.17,32.88,0.689,6,0.000,0.053,3324,2500,754,0,0,0,0,0,0,28.83,26.67,25.72
$STATE,4897,end climb,SURFACE_DEPTH_REACHED
$STATE,4897,begin surface coast
$FINISH,0.6,1.022090
$STATE,4918,end surface coast,CONTROL_FINISHED_OK
$STATE,4919,begin surface
$SM_CCo,4995,0.00,0.000,0,0,750,495.26
$SM_GC,1.47,8.32,0.00,0.00,0.060,0.000,0.000,138,2501,750,-9.25,0.03,495.26,0,0,0,0,0,0,26.47,28.83,28.83
$IRIDIUM_FIX,2148.09,12024.75,051112,232354
$TT8_MAMPS,0.025466,0.025466
$HUMID,50.59
$INTERNAL_PRESSURE,9.66407
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,4018976
$24V_AH,24.8,1.049
$10V_AH,10.0,0.439
$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,22.275,44.925,505.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,22.027,985.313,2637.669,517.151,868.991,67.629,0.000,1040.277,0.000,823.513,0.000,0.547,0.000
$DEVICE_MAMPS,257.805,61.965,875.160,0.000,0.000,0.000,0.000,0.000,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4900.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.547,0.000,0.000,0.000
$MEM,324424
$DATA_FILE_SIZE,10130,306
$CAP_FILE_SIZE,86918,0
$CFSIZE,260034560,250601472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.571,151.5,1
$GPS,061112,012136,2154.629,12026.397,30,1.2,30,-3.1