version: 66.12
glider: 177
mission: 10
dive: 5
start: 7 2 114 20 52 37
data:
$ID,177
$MISSION,10
$DIVE,5
$N_DIVES,6
$D_SURF,3
$D_FLARE,3
$D_TGT,165
$D_ABORT,180
$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,55
$T_MISSION,72
$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,52959
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0143107
$HD_C,1.6100001e-05
$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,400
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-674769.88
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2660
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,161
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,2620
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,3300
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,50
$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
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-158.36624
$PRESSURE_SLOPE,0.00010898
$AD7714Ch0Gain,1
$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,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004354998
$SEABIRD_T_H,0.00062502571
$SEABIRD_T_I,2.3150107e-05
$SEABIRD_T_J,2.4680064e-06
$SEABIRD_C_G,-9.81075
$SEABIRD_C_H,1.1317941
$SEABIRD_C_I,-0.0019965407
$SEABIRD_C_J,0.00022967349
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,020714,204507,4743.451,-12224.523,28,1.7,34,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.1
$GPS2,020714,205209,4743.468,-12224.451,8,2.1,28,18.2
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,228.9,686,-20.0,-10.000,-24.74,2204
$D_GRID,175
$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,19,-0.96,-146.6,189,2627,1743,1583,0.0,0.0,0,101,0.00,0.00,-80.45,0.000,16386,0.000,0.000,189,2627,3570,3633,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.96,-146.6,189,2627,3633,3508,3.1,-3.4,8,128,9.02,1.75,-7.95,0.000,18692,0.255,0.075,2337,3708,3901,3963,3839,0,0,0,0,0,0,25.89,26.15,26.49
$GC,232,-0.87,-146.6,2336,3707,3965,3839,25.5,-16.8,32,238,0.15,1.58,0.00,0.000,3078,0.164,0.034,2381,2617,3902,3965,3839,0,0,0,0,0,0,26.11,26.32,28.83
$GC,426,-0.91,-146.6,2376,2617,3967,3839,49.9,-13.1,52,432,0.00,1.67,0.00,0.000,260,0.000,0.056,2369,3710,3903,3967,3839,0,0,0,0,0,0,28.83,26.34,28.83
$GC,503,-0.91,-146.6,2369,3710,3967,3839,59.4,-12.2,67,510,0.00,1.58,0.00,0.000,1030,0.000,0.034,2369,2613,3903,3967,3839,0,0,0,0,0,0,28.83,26.46,28.83
$GC,691,-0.95,-146.6,2369,2613,3967,3839,79.8,-10.7,86,696,0.00,2.08,0.00,0.000,516,0.000,0.049,2369,1230,3903,3968,3839,0,0,0,0,0,0,28.83,26.45,28.83
$GC,755,-1.00,-146.6,2369,1229,3967,3839,86.6,-10.4,98,760,0.00,2.10,0.00,0.000,1030,0.000,0.050,2359,2619,3903,3967,3839,0,0,0,0,0,0,28.83,26.48,28.83
$GC,949,-1.03,-146.6,2359,2620,3967,3839,106.4,-10.1,118,955,0.00,2.08,0.00,0.000,516,0.000,0.047,2359,1228,3903,3967,3839,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1023,-1.07,-146.6,2359,1228,3967,3839,114.5,-10.7,132,1028,0.00,2.10,0.00,0.000,1030,0.000,0.047,2349,2629,3903,3968,3839,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1217,-1.10,-146.6,2349,2629,3967,3839,136.0,-11.2,152,1219,0.15,0.00,0.00,0.000,4102,0.078,0.000,2274,2630,3903,3967,3839,0,0,0,0,0,0,26.63,28.83,28.83
$GC,1398,-1.02,-146.6,2274,2629,3967,3838,162.2,-15.7,170,1404,0.17,2.10,0.00,0.000,2564,0.170,0.047,2326,1233,3905,3972,3838,0,0,0,0,0,0,26.41,26.58,28.83
$STATE,1414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1414,begin apogee
$GC,1422,-0.19,0.0,2319,2412,3967,3838,165.1,-15.1,173,1557,0.85,0.00,128.85,0.496,10246,0.137,0.000,2592,2412,3293,3395,3191,0,0,0,0,0,0,26.43,28.83,25.06
$STATE,1561,end apogee,CONTROL_FINISHED_OK
$STATE,1561,begin climb
$GC,1564,0.96,146.6,2591,2412,3394,3186,169.5,0.0,187,1702,1.05,0.00,131.62,0.438,10246,0.063,0.000,2973,2412,2700,2825,2576,0,0,0,0,0,0,25.55,28.83,24.82
$GC,1882,0.80,146.6,2973,2412,2815,2550,129.8,16.4,219,1889,0.20,0.00,0.00,0.000,4102,0.179,0.000,2921,2412,2682,2815,2549,0,0,0,0,0,0,25.72,28.83,28.83
$GC,2071,0.72,146.6,2921,2412,2814,2548,102.3,13.2,238,2076,0.00,2.12,0.00,0.000,516,0.000,0.047,2930,1023,2681,2815,2548,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2156,0.64,146.6,2930,1022,2814,2548,91.5,12.8,254,2162,0.25,2.08,0.00,0.000,5126,0.159,0.040,2864,2411,2681,2814,2548,0,0,0,0,0,0,26.03,26.20,28.83
$GC,2351,0.66,163.8,2863,2411,2815,2546,72.1,9.2,274,2369,0.00,0.00,13.52,0.467,8198,0.000,0.000,2863,2411,2627,2758,2496,0,0,0,0,0,0,28.83,28.83,25.75
$GC,2551,0.69,163.8,2859,2411,2757,2485,51.8,10.8,294,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2411,2621,2757,2485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2731,0.72,167.0,2863,2411,2757,2484,33.4,9.9,312,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2411,2620,2757,2484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2911,0.83,222.1,2861,2411,2757,2483,17.9,7.4,330,2942,0.20,0.00,25.77,0.095,10246,0.069,0.000,2958,2411,2393,2524,2262,0,0,0,0,0,0,26.49,28.83,26.32
$STATE,3058,end climb,SURFACE_DEPTH_REACHED
$STATE,3058,begin surface coast
$FINISH,0.7,1.025013
$STATE,3089,end surface coast,CONTROL_FINISHED_OK
$STATE,3089,begin surface
$SM_CCo,3109,73.35,0.057,0,0,1668,400.08
$SM_GC,1.13,7.70,0.30,73.35,0.076,0.059,0.057,187,2627,1668,-7.67,-1.13,400.08,0,0,0,0,0,0,26.46,26.48,26.37
$IRIDIUM_FIX,4726.11,-12222.38,050921,062100
$TT8_MAMPS,0.020972,0.020972
$HUMID,65.04
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,18.40
$XPDR_PINGS,0
$SC_FREEKB,4017536
$24V_AH,24.82,0.806
$10V_AH,9.99,0.446
$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,19.750,23.350,299.775,73.350,0.000,0.000,0.000,234.825,0.000,0.000,33.270,811.411,1352.268,455.065,834.090,166.695,0.000,1008.212,0.000,540.420,0.000,0.541,0.000
$DEVICE_MAMPS,254.745,74.970,495.720,56.610,0.000,0.000,0.000,117.045,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3124.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.147,0.000,0.000,0.000
$MEM,322872
$DATA_FILE_SIZE,10113,348
$CAP_FILE_SIZE,64516,0
$CFSIZE,260034560,252547072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3677.24,0x23790a,7,5
$CURRENT,0.065, 23.4,1
$GPS,020714,214715,4743.422,-12224.920,32,2.2,52,18.2