version: 66.11
glider: 177
mission: 3
dive: 3
start: 1 11 113 20 4 30
data:
$ID,177
$MISSION,3
$DIVE,3
$N_DIVES,4
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$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,40
$T_MISSION,60
$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,51788
$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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5345.3872
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,159
$PITCH_MAX,3950
$C_PITCH,2940
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,161
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,1942
$C_ROLL_CLIMB,1942
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,3362
$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,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,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-43.457619
$PRESSURE_SLOPE,0.000115925
$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,0
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0044109048
$SEABIRD_T_H,0.00065266038
$SEABIRD_T_I,2.7513828e-05
$SEABIRD_T_J,3.0466049e-06
$SEABIRD_C_G,-9.9740562
$SEABIRD_C_H,1.1339458
$SEABIRD_C_I,-0.0018908759
$SEABIRD_C_J,0.0002126007
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,110113,200031,4743.120,-12224.656,7,1.8,7,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-70.8
$GPS2,110113,200401,4743.102,-12224.676,15,1.8,15,18.2
$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,321.0,840,-17.5,-10.000,-21.04,2225
$D_GRID,177
$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,16,-0.68,-146.6,151,1945,550,456,0.0,0.0,0,151,0.00,0.00,-131.23,0.000,16386,0.000,0.000,151,1945,3575,3642,3508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,153,-0.68,-146.6,151,1945,3642,3509,3.5,-8.4,18,179,11.00,2.22,-8.35,0.000,18692,0.270,0.071,2706,3346,3961,4013,3909,0,0,0,0,0,0,25.81,26.11,26.43
$GC,298,-0.36,-146.6,1664,3344,4012,3909,35.2,-18.4,44,307,0.40,2.12,0.00,0.000,3078,0.152,0.042,2823,1928,3962,4015,3910,0,0,0,0,0,0,26.03,26.17,28.83
$GC,495,-0.63,-146.6,1760,1922,4016,3907,53.7,-9.0,81,504,0.22,2.15,0.00,0.000,4356,0.070,0.054,2726,3341,3962,4017,3908,0,0,0,0,0,0,26.29,26.25,28.83
$GC,552,-0.42,-146.6,1696,3340,4016,3907,61.8,-15.8,91,561,0.28,2.10,0.00,0.000,3078,0.150,0.041,2808,1933,3962,4017,3908,0,0,0,0,0,0,26.12,26.27,28.83
$GC,749,-0.56,-146.6,1744,1927,4016,3907,82.4,-8.8,128,758,0.12,2.15,0.00,0.000,4356,0.096,0.054,2745,3345,3962,4018,3907,0,0,0,0,0,0,26.38,26.31,28.83
$GC,823,-0.45,-146.6,1728,3343,4017,3907,91.7,-13.4,141,832,0.17,2.08,0.00,0.000,3078,0.153,0.043,2793,1941,3962,4018,3907,0,0,0,0,0,0,26.20,26.33,28.83
$GC,1019,-0.54,-146.6,1744,1936,4016,3906,110.5,-9.2,178,1027,0.10,0.00,0.00,0.000,4102,0.106,0.000,2750,1937,3963,4018,3908,0,0,0,0,0,0,26.44,28.83,28.83
$STATE,1089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1090,begin apogee
$GC,1093,-0.14,0.0,2750,1937,4017,3908,120.0,-14.4,191,1234,0.45,0.00,127.75,0.425,10246,0.140,0.000,2892,1937,3363,3459,3268,0,0,0,0,1,0,26.23,28.83,24.85
$STATE,1236,end apogee,CONTROL_FINISHED_OK
$STATE,1236,begin climb
$GC,1237,0.68,146.6,2892,1937,3459,3268,126.3,0.0,210,1373,0.77,2.35,118.05,0.612,10756,0.103,0.069,3162,548,2764,2869,2659,0,0,0,0,1,0,25.43,24.87,24.37
$GC,1463,0.50,157.4,2112,548,2800,2650,113.9,9.5,245,1486,0.22,2.12,12.55,0.454,13318,0.161,0.041,3103,1951,2713,2820,2606,0,0,0,0,0,0,25.39,25.55,25.04
$GC,1673,0.73,223.6,3102,1952,2820,2599,97.6,7.0,284,1743,0.20,2.25,60.38,0.404,10500,0.073,0.054,3184,3340,2441,2550,2332,0,0,0,0,0,0,25.90,25.46,25.09
$GC,1842,0.47,223.6,2144,3338,2465,2316,73.8,15.9,312,1851,0.35,2.17,0.00,0.000,5126,0.166,0.050,3092,1946,2433,2546,2320,0,0,0,0,0,0,25.60,25.73,28.83
$GC,2039,0.95,279.4,2048,1942,2465,2305,58.0,7.4,349,2101,0.43,2.17,51.20,0.382,10500,0.057,0.050,3260,3336,2212,2323,2101,0,0,0,0,0,0,26.01,25.63,25.27
$GC,2145,0.40,279.4,2248,3334,2238,2085,37.4,24.7,365,2154,0.70,2.17,0.00,0.000,5126,0.171,0.050,3071,1941,2205,2318,2093,0,0,0,0,0,0,25.59,25.73,28.83
$GC,2341,1.19,346.7,2016,1937,2236,2077,20.4,6.9,402,2410,0.65,2.25,60.33,0.355,10500,0.052,0.052,3324,3338,1938,2049,1827,0,0,0,0,0,0,26.01,25.61,25.27
$STATE,2421,end climb,SURFACE_DEPTH_REACHED
$STATE,2421,begin surface coast
$FINISH,-0.0,1.022446
$STATE,2433,end surface coast,CONTROL_FINISHED_OK
$STATE,2434,begin surface
$SM_CCo,2451,64.70,0.063,0,0,1322,500.17
$SM_GC,0.85,8.55,2.20,64.70,0.048,0.041,0.063,152,1929,1322,-8.67,0.74,500.17,0,0,0,0,0,0,25.75,25.71,25.72
$IRIDIUM_FIX,4742.09,-12238.13,110113,191938
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.33
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,17.50
$XPDR_PINGS,0
$SC_FREEKB,4019168
$24V_AH,24.4,0.364
$10V_AH,10.1,0.868
$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,24.625,30.525,430.250,64.700,0.000,0.000,0.000,0.000,0.000,0.000,17.906,1141.627,116.701,619.733,665.309,55.859,0.000,1007.265,0.000,632.101,0.000,0.539,0.000
$DEVICE_MAMPS,270.045,71.145,612.000,62.730,0.000,0.000,0.000,0.000,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2418.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.850,0.000,0.000,0.000
$MEM,323140
$DATA_FILE_SIZE,13446,415
$CAP_FILE_SIZE,169149,0
$CFSIZE,260034560,255098880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.121,181.1,1
$GPS,110113,204735,4743.280,-12224.865,12,1.3,28,18.2