version: 66.11
glider: 171
mission: 3
dive: 6
start: 1 15 113 21 56 32
data:
$ID,171
$MISSION,3
$DIVE,6
$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,-3762.7952
$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,24
$R_STBD_OVSHOOT,26
$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
$GPS1,150113,215153,4743.511,-12224.791,28,1.7,38,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.25
$_SM_ANGLEo,-72.2
$GPS2,150113,215601,4743.528,-12224.791,10,1.8,10,18.2
$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,211.5,265,-27.2,-10.000,-30.00,962
$D_GRID,176
$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,-0.88,-63.1,142,2202,1005,770,0.0,0.0,0,100,0.00,0.00,-76.03,0.000,16390,0.000,0.000,142,2203,2989,3040,2938,0,0,0,0,0,0,28.83,28.83,26.60
$GC,102,-0.95,-117.4,142,2203,3041,2938,1.5,-4.2,11,127,9.45,2.33,-4.72,0.000,18692,0.246,0.083,2480,3597,3213,3274,3153,0,0,0,0,0,0,26.03,26.23,26.54
$GC,343,-1.03,-117.4,1536,3596,3256,3147,54.9,-20.2,56,352,0.00,2.20,0.00,0.000,1030,0.000,0.044,2480,2193,3216,3278,3154,0,0,0,0,0,0,28.83,26.39,28.83
$GC,540,-1.12,-117.4,1488,2189,3255,3148,91.5,-18.4,93,547,0.12,0.00,0.00,0.000,4102,0.094,0.000,2403,2191,3216,3279,3153,0,0,0,0,0,0,26.53,28.83,28.83
$GC,735,-1.00,-117.4,2403,2191,3278,3153,133.6,-21.9,130,744,0.22,2.30,0.00,0.000,2308,0.162,0.068,2462,3607,3216,3279,3154,0,0,0,0,0,0,26.41,26.50,28.83
$GC,751,-0.91,-117.4,2462,3607,3279,3153,137.0,-21.5,132,761,0.15,2.17,0.00,0.000,3078,0.164,0.041,2502,2190,3215,3278,3153,0,0,0,0,0,0,26.41,26.53,28.83
$STATE,837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,837,begin apogee
$GC,841,-0.15,0.0,2502,2071,3279,3153,150.7,-14.3,148,967,0.75,0.00,114.78,0.535,10246,0.137,0.000,2744,2069,2730,2860,2600,0,0,0,0,1,0,26.44,28.83,24.88
$STATE,969,end apogee,CONTROL_FINISHED_OK
$STATE,969,begin climb
$GC,971,0.95,117.4,2744,2070,2861,2600,157.0,0.0,165,1086,1.02,2.40,102.65,0.662,11012,0.085,0.062,3110,696,2249,2429,2069,0,0,0,0,1,0,25.48,25.03,24.46
$GC,1146,1.12,117.4,3111,696,2422,2069,148.2,10.6,191,1154,0.15,2.30,0.00,0.000,3078,0.080,0.056,3181,2089,2245,2422,2069,0,0,0,0,0,0,25.56,25.53,28.83
$GC,1340,1.04,117.4,3183,2089,2420,2069,121.6,13.3,228,1349,0.15,2.33,0.00,0.000,4356,0.171,0.065,3140,3495,2244,2420,2069,0,0,0,0,0,0,25.90,25.99,28.83
$GC,1519,0.98,117.4,2048,3493,2356,2058,96.5,14.0,262,1528,0.15,2.20,0.00,0.000,5126,0.177,0.047,3114,2107,2243,2418,2068,0,0,0,0,0,0,26.08,26.20,28.83
$GC,1715,1.12,117.4,2064,2104,2359,2056,75.0,11.6,299,1724,0.12,2.30,0.00,0.000,2564,0.090,0.063,3193,680,2242,2417,2068,0,0,0,0,0,0,26.40,26.33,28.83
$GC,1747,1.07,117.4,3193,679,2417,2067,70.6,13.8,304,1757,0.17,2.22,0.00,0.000,5126,0.177,0.057,3149,2089,2242,2417,2067,0,0,0,0,0,0,26.22,26.36,28.83
$GC,1942,1.07,117.4,2064,2088,2354,2057,41.0,15.5,341,1949,0.00,2.30,0.00,0.000,260,0.000,0.069,3149,3505,2242,2416,2068,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2013,0.95,117.4,3148,3505,2417,2068,28.6,17.5,354,2022,0.20,2.22,0.00,0.000,5126,0.176,0.050,3107,2088,2242,2416,2068,0,0,0,0,0,0,26.32,26.46,28.83
$GC,2210,1.21,124.3,2048,2085,2356,2056,5.4,9.3,391,2219,0.20,0.00,2.85,0.079,10502,0.070,0.000,3209,2088,2222,2398,2046,0,0,0,0,0,0,26.58,28.83,26.48
$STATE,2240,end climb,SURFACE_DEPTH_REACHED
$STATE,2240,begin surface coast
$FINISH,-0.4,1.022013
$STATE,2272,end surface coast,CONTROL_FINISHED_OK
$STATE,2272,begin surface
$SM_CCo,2287,157.73,0.070,0,0,893,450.13
$SM_GC,-0.26,8.20,0.20,157.73,0.056,0.080,0.070,147,2207,893,-8.23,-0.62,450.13,0,0,0,0,0,0,26.53,26.55,26.32
$IRIDIUM_FIX,4729.30,-12222.38,150113,212139
$TT8_MAMPS,0.043442,0.043442
$HUMID,47.24
$INTERNAL_PRESSURE,9.32999
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,4018176
$24V_AH,24.5,0.771
$10V_AH,10.2,0.607
$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,21.075,27.625,220.275,157.725,0.000,0.000,0.000,157.175,0.000,0.000,11.146,1216.281,120.070,496.923,814.151,63.994,0.000,1002.188,0.000,615.109,0.000,0.533,0.000
$DEVICE_MAMPS,246.330,89.505,661.725,70.380,0.000,0.000,0.000,119.340,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2273.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.299,0.000,0.000,0.000
$MEM,323104
$DATA_FILE_SIZE,13430,402
$CAP_FILE_SIZE,156018,0
$CFSIZE,260034560,254607360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.027,323.2,1
$GPS,150113,223807,4743.404,-12225.103,11,2.0,11,18.2