version: 66.12
glider: 171
mission: 8
dive: 2
start: 3 13 115 17 40 10
data:
$ID,171
$MISSION,8
$DIVE,2
$N_DIVES,2
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$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,65
$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,51821
$MASS_COMP,0
$NAV_MODE,2
$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,500
$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,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,175
$PITCH_MAX,3952
$C_PITCH,2180
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3820
$C_VBD,3025
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$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,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-73.252762
$PRESSURE_SLOPE,0.0001165165
$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,120
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,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,0.004389904
$SEABIRD_T_H,0.00063959236
$SEABIRD_T_I,2.6546981e-05
$SEABIRD_T_J,3.01253e-06
$SEABIRD_C_G,-10.191363
$SEABIRD_C_H,1.1409097
$SEABIRD_C_I,-0.0015713738
$SEABIRD_C_J,0.00020770991
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,130315,173603,4742.9399,-12224.2354,103,1.2,103,18.2,0.1,246.4,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-43.7
$GPS2,130315,173941,4742.9316,-12224.2490,14,1.7,18,18.2,0.0,0.0,8,5.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,316.2,1408,-17.5,-10.000,-21.04,2225
$D_GRID,173
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.95,-146.6,173,2401,547,462,0.0,0.0,0,277,0.00,0.00,-254.98,0.000,16386,0.000,0.000,173,2401,3539,3529,3549,0,0,0,0,0,0,26.58,28.83,26.66
$GC,279,-0.95,-146.6,173,2401,3525,3550,4.1,-11.6,43,299,7.10,2.05,-2.55,0.000,18692,0.261,0.078,1858,3666,3625,3561,3690,0,0,0,0,0,0,26.12,25.30,26.31
$GC,431,-0.89,-146.6,1857,3666,3562,3693,34.2,-15.7,72,439,0.10,1.95,0.00,0.000,3078,0.163,0.041,1889,2380,3627,3562,3693,0,0,0,0,0,0,26.33,26.48,26.48
$GC,626,-0.89,-146.6,1889,2380,3562,3693,61.0,-13.1,102,631,0.00,2.08,0.00,0.000,260,0.000,0.066,1888,3663,3628,3562,3694,0,0,0,0,0,0,26.76,26.48,26.82
$GC,658,-0.89,-146.6,1887,3663,3562,3693,65.4,-13.1,108,663,0.00,1.92,0.00,0.000,1030,0.000,0.042,1888,2398,3627,3562,3693,0,0,0,0,0,0,26.60,26.55,26.63
$GC,850,-0.89,-146.6,1888,2397,3562,3691,90.4,-13.1,128,851,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2398,3626,3560,3693,0,0,0,0,0,0,26.80,26.88,26.86
$GC,1030,-0.89,-146.6,1887,2397,3562,3694,113.8,-13.0,146,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2397,3627,3561,3693,0,0,0,0,0,0,26.83,26.91,26.89
$GC,1210,-0.89,-146.6,1887,2398,3561,3694,136.7,-12.8,164,1215,0.00,2.03,0.00,0.000,260,0.000,0.067,1888,3663,3627,3562,3693,0,0,0,0,0,0,26.86,26.56,26.92
$GC,1296,-0.89,-146.6,1887,3663,3561,3693,147.7,-12.4,181,1304,0.00,1.90,0.00,0.000,1030,0.000,0.041,1888,2397,3627,3562,3693,0,0,0,0,0,0,26.70,26.64,26.72
$STATE,1321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1321,begin apogee
$GC,1325,-0.21,0.0,1887,1930,3562,3694,150.9,-12.6,184,1443,0.70,0.00,114.43,0.542,10246,0.130,0.000,2114,1928,3024,3049,3000,0,0,0,0,0,0,26.46,25.51,25.07
$STATE,1445,end apogee,CONTROL_FINISHED_OK
$STATE,1445,begin climb
$GC,1446,0.95,146.6,2113,1927,3046,2996,154.7,0.0,196,1570,1.05,2.30,113.62,0.526,10756,0.075,0.049,2490,526,2422,2492,2352,0,0,0,0,0,0,25.57,25.06,24.76
$GC,1656,0.74,146.6,2489,526,2484,2346,130.4,17.2,236,1664,0.25,2.22,0.00,0.000,5126,0.170,0.044,2424,1932,2415,2484,2346,0,0,0,0,0,0,25.58,25.73,25.76
$GC,1842,0.61,146.6,2423,1932,2483,2344,102.7,13.8,255,1848,0.15,2.25,0.00,0.000,4356,0.181,0.054,2381,3343,2413,2483,2344,0,0,0,0,0,0,25.94,26.06,26.03
$GC,1880,0.51,146.6,2380,3343,2483,2344,97.6,12.5,262,1887,0.15,2.15,0.00,0.000,5126,0.180,0.034,2349,1929,2413,2482,2344,0,0,0,0,0,0,25.97,26.15,26.15
$GC,2065,0.49,155.8,2348,1927,2482,2342,79.6,9.6,281,2078,0.00,2.22,6.78,0.500,8708,0.000,0.047,2349,526,2387,2459,2315,0,0,0,0,0,0,26.50,26.15,25.69
$GC,2184,0.49,168.7,2348,526,2455,2314,68.7,9.4,304,2202,0.00,2.17,11.27,0.506,9222,0.000,0.041,2349,1935,2337,2412,2262,0,0,0,0,0,0,26.36,26.28,25.67
$GC,2381,0.47,174.7,2348,1935,2407,2260,49.4,9.7,325,2395,0.00,2.20,6.47,0.499,8708,0.000,0.045,2349,526,2308,2386,2230,0,0,0,0,0,0,26.54,26.20,25.73
$GC,2452,0.47,174.7,2348,526,2384,2226,42.1,10.4,338,2459,0.00,2.17,0.00,0.000,1030,0.000,0.041,2349,1935,2304,2384,2225,0,0,0,0,0,0,26.36,26.29,26.38
$GC,2641,0.48,175.5,2348,1936,2384,2225,23.7,10.0,375,2647,0.00,2.17,0.00,0.000,516,0.000,0.045,2349,523,2304,2384,2225,0,0,0,0,0,0,26.61,26.37,26.67
$GC,2749,0.48,175.5,2348,524,2383,2224,13.3,10.5,396,2756,0.00,2.15,0.00,0.000,1030,0.000,0.041,2349,1932,2303,2382,2224,0,0,0,0,0,0,26.49,26.42,26.51
$STATE,2862,end climb,SURFACE_DEPTH_REACHED
$STATE,2862,begin surface coast
$FINISH,0.2,1.021884
$STATE,2893,end surface coast,CONTROL_FINISHED_OK
$STATE,2893,begin surface
$SM_CCo,2906,132.93,0.050,0,0,985,500.17
$SM_GC,0.38,5.80,0.73,132.93,0.051,0.052,0.050,174,2401,985,-6.24,-1.07,500.17,0,0,0,0,0,0,26.46,26.46,26.36
$IRIDIUM_FIX,4729.30,-12536.37,130315,173033
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.85
$INTERNAL_PRESSURE,9.02725
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,121.3,67.1
$SC_FREEKB,4019296
$24V_AH,24.76,1.679
$10V_AH,9.88,2.604
$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,15.300,35.375,252.575,132.925,0.000,0.000,0.000,0.000,0.500,0.000,19.109,883.833,938.881,590.304,677.324,31.589,0.000,988.527,0.000,638.457,0.000,5.603,0.000
$DEVICE_MAMPS,260.865,78.030,542.385,49.725,0.000,0.000,0.000,0.000,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2876.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.505,0.000,0.000,0.000
$MEM,312680
$DATA_FILE_SIZE,13403,424
$CAP_FILE_SIZE,79381,0
$CFSIZE,260034560,251871232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,158.92,1
$GPS,130315,183142,4743.245,-12224.351,11,1.3,16,18.2,0.0,0.0,7,8.2