version: 66.12
glider: 170
mission: 11
dive: 4
start: 5 1 114 19 13 8
data:
$ID,170
$MISSION,11
$DIVE,4
$N_DIVES,5
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,20
$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,50
$T_MISSION,65
$T_ABORT,720
$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,51404
$MASS_COMP,0
$NAV_MODE,0
$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,711.18201
$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,-144817.67
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,2790
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$PITCH_ADJ_DBAND,3
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1931
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$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,146.94
$AH0_10V,97.260002
$MINV_24V,21.5
$MINV_10V,8.8000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.958393
$PRESSURE_SLOPE,0.0001165368
$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,4
$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,0.0042923521
$SEABIRD_T_H,0.00062393176
$SEABIRD_T_I,2.3083565e-05
$SEABIRD_T_J,2.4373064e-06
$SEABIRD_C_G,-9.7949886
$SEABIRD_C_H,1.0814518
$SEABIRD_C_I,-0.00099028531
$SEABIRD_C_J,0.00015507228
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,010514,190923,4743.866,-12224.587,25,1.4,25,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-73.2
$GPS2,010514,191242,4743.870,-12224.578,19,1.4,19,16.6
$SPEED_LIMITS,0.173,0.276
$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,200.9,863,-18.0,-10.000,-19.94,2244
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.66,-146.6,134,2109,615,316,0.0,0.0,0,183,0.00,0.00,-159.43,0.000,16386,0.000,0.000,134,2110,3505,3496,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,187,-0.66,-146.6,134,2109,3496,3516,3.3,-7.4,30,207,10.48,2.25,-2.90,0.000,19204,0.265,0.051,2571,671,3649,3623,3676,0,0,0,0,0,0,25.49,25.99,26.29
$GC,215,-0.56,-146.6,2571,671,3623,3677,15.1,-36.5,34,223,0.15,2.25,0.00,0.000,3078,0.210,0.054,2605,2092,3650,3623,3677,0,0,0,0,0,0,25.65,25.91,28.83
$GC,346,-0.56,-146.6,2605,2093,3623,3677,37.3,-15.1,51,351,0.00,2.17,0.00,0.000,516,0.000,0.044,2605,683,3650,3623,3677,0,0,0,0,0,0,28.83,26.03,28.83
$GC,479,-0.56,-146.6,2605,682,3624,3677,52.7,-11.8,62,485,0.00,2.25,0.00,0.000,1030,0.000,0.054,2605,2104,3650,3624,3676,0,0,0,0,0,0,28.83,26.03,28.83
$GC,613,-0.56,-146.6,2605,2105,3624,3676,69.4,-11.7,69,619,0.00,2.30,0.00,0.000,260,0.000,0.065,2606,3517,3650,3624,3676,0,0,0,0,0,0,28.83,26.05,28.83
$GC,739,-0.56,-146.6,2605,3517,3624,3676,83.5,-11.4,75,745,0.00,2.17,0.00,0.000,1030,0.000,0.037,2605,2091,3650,3624,3676,0,0,0,0,0,0,28.83,26.20,28.83
$GC,883,-0.56,-146.6,2605,2087,3624,3676,100.1,-10.8,82,889,0.00,2.30,0.00,0.000,260,0.000,0.064,2605,3508,3649,3624,3674,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1016,-0.56,-146.6,2606,3508,3624,3675,113.2,-10.8,88,1021,0.00,2.15,0.00,0.000,1030,0.000,0.037,2606,2094,3649,3624,3675,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1150,-0.56,-146.6,2605,2091,3624,3674,127.3,-9.9,95,1156,0.00,2.28,0.00,0.000,260,0.000,0.061,2606,3509,3649,3624,3675,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1223,-0.56,-146.6,2605,3509,3624,3675,134.1,-10.6,98,1228,0.00,2.15,0.00,0.000,1030,0.000,0.037,2606,2093,3649,3624,3675,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1357,-0.56,-146.6,2605,2090,3624,3674,149.4,-10.9,105,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2090,3649,3624,3674,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1374,begin apogee
$GC,1382,-0.17,0.0,2605,1905,3624,3674,151.8,-11.2,106,1512,0.38,0.00,122.32,0.651,10246,0.128,0.000,2733,1903,3045,3118,2972,0,0,0,0,0,0,26.05,28.83,24.27
$STATE,1514,end apogee,CONTROL_FINISHED_OK
$STATE,1514,begin climb
$GC,1517,0.66,146.6,2733,1903,3114,2967,157.0,0.0,112,1653,0.75,2.25,124.85,0.627,10756,0.083,0.048,3007,544,2442,2572,2313,0,0,0,0,0,0,25.02,24.77,24.10
$GC,1768,0.65,146.6,3007,544,2561,2308,134.1,14.2,125,1773,0.00,2.25,0.00,0.000,1030,0.000,0.049,3008,1943,2434,2561,2308,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1908,0.63,146.6,3007,1943,2561,2304,112.5,15.0,132,1913,0.00,2.28,0.00,0.000,260,0.000,0.060,3007,3344,2433,2562,2304,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1926,0.61,146.6,3007,3344,2561,2303,112.5,15.0,132,1933,0.00,2.17,0.00,0.000,1030,0.000,0.040,3017,1958,2432,2561,2303,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2052,0.59,146.6,3016,1955,2561,2302,89.8,15.5,139,2058,0.12,2.25,0.00,0.000,4356,0.187,0.059,2982,3344,2431,2561,2302,0,0,0,0,0,0,25.73,25.82,28.83
$GC,2126,0.58,146.6,2982,3344,2561,2301,80.1,15.0,142,2131,0.00,2.20,0.00,0.000,1030,0.000,0.039,2992,1929,2431,2561,2301,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2260,0.57,146.6,2992,1926,2561,2300,61.1,13.1,149,2266,0.00,2.20,0.00,0.000,516,0.000,0.050,3000,515,2431,2561,2301,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2367,0.56,146.6,3000,514,2561,2300,46.8,13.9,155,2373,0.12,2.22,0.00,0.000,5126,0.166,0.048,2968,1934,2430,2560,2300,0,0,0,0,0,0,25.87,26.03,28.83
$GC,2502,0.55,146.6,2968,1934,2561,2300,29.5,12.0,168,2507,0.00,2.28,0.00,0.000,260,0.000,0.060,2968,3341,2430,2561,2300,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2593,0.54,146.6,2968,3341,2560,2299,18.8,12.0,181,2600,0.00,2.17,0.00,0.000,1030,0.000,0.039,2977,1924,2429,2560,2299,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2725,0.56,185.9,2977,1921,2561,2299,5.6,8.2,206,2748,0.00,2.28,16.38,0.077,8452,0.000,0.057,2977,3343,2289,2425,2153,0,0,0,0,0,0,28.83,26.06,26.06
$STATE,2754,end climb,SURFACE_DEPTH_REACHED
$STATE,2754,begin surface coast
$FINISH,0.5,1.020598
$STATE,2792,end surface coast,CONTROL_FINISHED_OK
$STATE,2792,begin surface
$SM_CCo,2813,202.32,0.068,0,0,458,635.33
$SM_CCo,3020,-0.17,0.000,0,0,461,635.33
$SM_CCo,3024,0.08,0.155,0,0,461,635.33
$SM_GC,1.11,7.50,1.98,0.08,0.053,0.035,0.155,126,2081,461,-8.26,0.74,635.33,0,0,0,0,0,0,26.10,26.19,25.91
$IRIDIUM_FIX,4729.30,-12225.08,010514,191915
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.95
$INTERNAL_PRESSURE,8.98045
$TCM_TEMP,18.40
$XPDR_PINGS,1
$SC_FREEKB,4018464
$24V_AH,24.1,0.430
$10V_AH,10.2,0.773
$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,19.500,49.025,263.550,202.400,0.000,0.000,0.000,0.000,0.250,0.000,21.012,661.834,1150.599,571.693,604.728,119.945,0.000,960.511,0.000,576.974,0.000,0.539,0.000
$DEVICE_MAMPS,265.455,65.025,651.015,154.530,0.000,0.000,0.000,0.000,420.000,0.000,29.210,12.460,2.190,12.460,37.180,43.920,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2772.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.059,0.000,0.000,0.000
$MEM,322804
$DATA_FILE_SIZE,6826,218
$CAP_FILE_SIZE,71381,0
$CFSIZE,260034560,252612608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010514,200457,4743.796,-12224.659,20,1.3,40,16.6