version: 66.11
glider: 171
mission: 3
dive: 4
start: 1 15 113 20 18 11
data:
$ID,171
$MISSION,3
$DIVE,4
$N_DIVES,6
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,170
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,3
$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,70
$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,51745
$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,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,-3760.2781
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3952
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2090
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,415
$VBD_MAX,3400
$C_VBD,2730
$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,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,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-75.071579
$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,0
$ALTIM_PING_DELTA,0
$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
$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,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043708701
$SEABIRD_T_H,0.00064764963
$SEABIRD_T_I,2.5888983e-05
$SEABIRD_T_J,2.7074855e-06
$SEABIRD_C_G,-10.475479
$SEABIRD_C_H,1.2050543
$SEABIRD_C_I,-0.0015894541
$SEABIRD_C_J,0.00021379974
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,150113,201507,4743.669,-12224.596,10,1.5,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.11
$_SM_ANGLEo,-71.8
$GPS2,150113,201742,4743.684,-12224.574,13,1.5,13,18.2
$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,188.5,630,-17.5,-10.000,-21.04,2225
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.69,-146.6,144,2203,1007,772,0.0,0.0,0,107,0.00,0.00,-85.97,0.000,16390,0.000,0.000,144,2203,3330,3354,3306,0,0,0,0,0,0,28.83,28.83,26.72
$GC,109,-0.69,-146.6,143,2203,3355,3306,3.6,-10.3,12,127,9.82,2.28,0.00,0.000,2820,0.251,0.057,2559,3605,3333,3361,3306,0,0,0,0,0,0,26.11,26.33,28.83
$GC,291,-0.69,-146.6,1536,3603,3351,3307,41.3,-14.5,46,299,0.00,2.15,0.00,0.000,1030,0.000,0.041,2560,2204,3341,3370,3312,0,0,0,0,0,0,28.83,26.44,28.83
$GC,484,-0.64,-146.6,2560,2203,3369,3311,69.0,-14.9,83,492,0.12,0.00,0.00,0.000,2054,0.155,0.000,2599,2202,3343,3370,3316,0,0,0,0,0,0,26.45,28.83,28.83
$GC,679,-0.71,-146.6,1584,2200,3351,3307,93.5,-11.2,120,687,0.00,2.28,0.00,0.000,260,0.000,0.073,2590,3597,3341,3370,3312,0,0,0,0,0,0,28.83,26.53,28.83
$GC,699,-0.76,-146.6,2590,3598,3370,3312,96.2,-13.4,123,708,0.10,2.17,0.00,0.000,5126,0.107,0.044,2535,2192,3341,3370,3312,0,0,0,0,0,0,26.58,26.57,28.83
$GC,895,-0.63,-146.6,2535,2191,3369,3312,124.9,-13.9,160,903,0.17,0.00,0.00,0.000,2054,0.148,0.000,2590,2192,3340,3369,3312,0,0,0,0,0,0,26.52,28.83,28.83
$GC,1089,-0.70,-146.6,1584,2189,3351,3307,145.5,-10.9,197,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2191,3341,3369,3313,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1133,begin apogee
$GC,1137,-0.15,0.0,2593,2067,3370,3312,150.1,-9.8,205,1276,0.45,0.00,124.12,0.693,10246,0.118,0.000,2744,2066,2728,2851,2605,0,0,0,0,1,0,26.57,28.83,24.70
$STATE,1277,end apogee,CONTROL_FINISHED_OK
$STATE,1278,begin climb
$GC,1279,0.69,146.6,2744,2066,2850,2603,155.2,0.0,224,1416,0.80,0.00,124.22,0.664,10758,0.090,0.000,3018,2065,2130,2306,1954,0,0,0,0,1,0,25.33,28.83,24.49
$GC,1602,0.80,174.5,3018,2066,2297,1953,138.1,8.7,278,1641,0.12,2.47,27.15,0.535,10500,0.090,0.068,3089,3494,2016,2175,1857,0,0,0,0,1,0,26.01,25.68,25.13
$GC,1680,0.56,174.5,2080,3492,2116,1850,128.0,14.7,290,1689,0.40,2.20,0.00,0.000,5126,0.150,0.046,2986,2115,2015,2172,1858,0,0,0,0,0,0,25.74,25.84,28.83
$GC,1875,0.83,222.6,1920,2112,2109,1849,111.6,7.8,327,1929,0.20,0.00,44.00,0.588,10758,0.070,0.000,3084,2114,1819,1977,1661,0,0,0,0,1,0,26.21,28.83,25.13
$GC,2115,0.77,222.6,2048,2111,1920,1654,79.5,13.2,370,2123,0.12,2.28,0.00,0.000,4356,0.161,0.068,3045,3489,1818,1975,1661,0,0,0,0,0,0,26.02,26.08,28.83
$GC,2191,0.77,222.6,1984,3487,1920,1654,69.3,13.3,384,2199,0.00,2.25,0.00,0.000,1030,0.000,0.048,3056,2076,1817,1973,1661,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2385,0.85,241.7,1984,2073,1919,1654,48.9,9.1,421,2415,0.00,0.00,20.67,0.460,8198,0.000,0.000,3056,2076,1743,1894,1593,0,0,0,0,1,0,28.83,28.83,25.58
$GC,2601,0.92,244.5,1984,2073,1840,1586,26.7,9.9,461,2611,0.12,2.40,2.80,0.332,10500,0.092,0.070,3126,3490,1732,1879,1586,0,0,0,0,0,0,26.39,26.27,25.68
$GC,2665,0.67,244.5,3126,3490,1879,1586,16.5,18.1,472,2674,0.40,2.20,0.00,0.000,5126,0.148,0.049,3018,2090,1732,1879,1586,0,0,0,0,0,0,26.22,26.33,28.83
$STATE,2813,end climb,SURFACE_DEPTH_REACHED
$STATE,2813,begin surface coast
$FINISH,-0.3,1.022011
$STATE,2851,end surface coast,CONTROL_FINISHED_OK
$STATE,2851,begin surface
$SM_CCo,2866,102.65,0.070,0,0,893,450.13
$SM_GC,-0.14,7.65,0.17,102.65,0.051,0.087,0.070,143,2193,893,-8.24,-1.05,450.13,0,0,0,0,0,0,26.44,26.44,26.30
$IRIDIUM_FIX,4726.11,-12223.37,150113,202007
$TT8_MAMPS,0.044191,0.044191
$HUMID,47.99
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,4018816
$24V_AH,24.5,0.676
$10V_AH,10.3,0.523
$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,20.500,23.000,342.975,102.650,0.000,0.000,0.000,0.000,0.000,0.000,13.962,1478.987,143.896,552.395,807.906,65.268,0.000,981.495,0.000,772.216,0.000,0.535,0.000
$DEVICE_MAMPS,250.920,89.505,693.090,69.615,0.000,0.000,0.000,0.000,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2836.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.361,0.000,0.000,0.000
$MEM,323148
$DATA_FILE_SIZE,16778,507
$CAP_FILE_SIZE,205785,0
$CFSIZE,260034560,254681088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.133,343.0,1
$GPS,150113,210851,4743.557,-12224.909,12,2.2,31,18.2