version: 66.11
glider: 177
mission: 6
dive: 5
start: 10 17 113 19 57 56
data:
$ID,177
$MISSION,6
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,165
$D_NO_BLEED,100
$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,45
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52551
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0021066901
$HD_B,0.0143107
$HD_C,7.8476302e-07
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-59479.984
$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,2150
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,161
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,47
$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,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,-158.60982
$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
$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,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043611913
$SEABIRD_T_H,0.0006293527
$SEABIRD_T_I,2.4644907e-05
$SEABIRD_T_J,2.7026813e-06
$SEABIRD_C_G,-9.9724722
$SEABIRD_C_H,1.1030712
$SEABIRD_C_I,-0.0019705244
$SEABIRD_C_J,0.00022268099
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,171013,195107,4742.912,-12225.272,8,2.0,8,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-63.2
$GPS2,171013,195730,4742.853,-12225.352,10,1.6,15,18.2
$SPEED_LIMITS,0.192,0.229
$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,352.5,1275,-20.0,-11.111,-25.89,2022
$D_GRID,189
$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,19,-1.02,-146.6,138,2012,1793,1651,0.0,0.0,0,123,0.00,0.00,-101.32,0.000,16386,0.000,0.000,138,2012,3890,3939,3842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-1.02,-146.6,141,2012,3940,3842,3.2,-7.6,17,144,7.12,2.20,-1.95,0.000,18948,0.264,0.057,1821,587,3962,4000,3925,0,0,0,0,0,0,25.82,26.06,26.32
$GC,158,-0.43,-146.6,1821,587,4000,3926,9.1,-17.8,21,165,0.75,2.08,0.00,0.000,3078,0.213,0.032,2007,2007,3963,4000,3927,0,0,0,0,0,0,25.86,26.10,28.83
$GC,350,-0.37,-146.6,2006,2009,4000,3927,34.4,-13.2,58,358,0.10,2.15,0.00,0.000,2564,0.204,0.048,2031,589,3963,4000,3927,0,0,0,0,0,0,26.09,26.17,28.83
$GC,446,-0.37,-146.6,1216,589,3999,3927,45.3,-10.6,76,453,0.00,2.05,0.00,0.000,1030,0.000,0.032,2021,1998,3964,4000,3928,0,0,0,0,0,0,28.83,26.25,28.83
$GC,637,-0.35,-146.6,2021,1999,4000,3928,66.9,-12.5,99,643,0.08,2.10,0.00,0.000,2308,0.210,0.041,2026,3409,3963,4000,3927,0,0,0,0,0,0,26.27,26.29,28.83
$GC,691,-0.35,-146.6,2025,3408,4000,3927,72.7,-11.4,104,696,0.00,2.10,0.00,0.000,1030,0.000,0.034,2026,1998,3963,4000,3927,0,0,0,0,0,0,28.83,26.32,28.83
$GC,884,-0.35,-146.6,2026,2002,4000,3927,94.8,-12.6,123,890,0.03,2.10,0.00,0.000,2564,0.263,0.049,2035,589,3963,4000,3927,0,0,0,0,0,0,26.44,26.33,28.83
$GC,1004,-0.35,-146.6,1248,589,3999,3927,108.0,-10.8,134,1010,0.00,2.05,0.00,0.000,1030,0.000,0.033,2025,2004,3964,4000,3928,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1191,-0.32,-146.6,2025,2005,4000,3934,128.2,-10.7,153,1198,0.08,0.00,0.00,0.000,2054,0.206,0.000,2040,2005,3963,4000,3927,0,0,0,0,0,0,26.37,28.83,28.83
$GC,1381,-0.32,-146.6,2041,2005,4000,3928,144.8,-8.2,172,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2005,3964,4000,3928,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1438,begin apogee
$GC,1444,-0.20,0.0,2041,2005,4000,3928,150.1,-9.0,178,1569,0.12,0.00,119.28,0.496,10246,0.174,0.000,2078,2005,3360,3451,3269,0,0,0,0,0,0,26.34,28.83,25.01
$STATE,1571,end apogee,CONTROL_FINISHED_OK
$STATE,1571,begin climb
$GC,1573,1.02,146.6,2078,2005,3446,3262,158.4,0.0,190,1712,1.27,0.00,125.68,0.477,10502,0.139,0.000,2470,2006,2754,2867,2642,0,0,0,0,0,0,25.36,28.83,24.70
$GC,1890,0.89,146.6,2470,2006,2862,2627,109.6,17.3,223,1896,0.12,2.12,0.00,0.000,4356,0.198,0.039,2439,3407,2744,2862,2627,0,0,0,0,0,0,25.62,25.77,28.83
$GC,1970,0.80,146.6,2439,3407,2852,2627,97.7,15.0,230,1978,0.17,2.12,0.00,0.000,5126,0.196,0.033,2406,1995,2741,2856,2627,0,0,0,0,0,0,25.72,25.89,28.83
$GC,2156,0.78,146.6,2406,1995,2856,2625,74.0,13.2,249,2162,0.00,2.12,0.00,0.000,516,0.000,0.051,2415,594,2740,2856,2625,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2234,0.78,146.6,2415,595,2856,2625,64.2,13.3,256,2242,0.08,2.05,0.00,0.000,5126,0.182,0.029,2401,2011,2740,2856,2625,0,0,0,0,0,0,26.02,26.15,28.83
$GC,2422,0.80,164.0,1456,2010,2792,2616,42.2,10.2,282,2441,0.00,2.15,12.85,0.450,8452,0.000,0.041,2400,3400,2687,2800,2575,0,0,0,0,0,0,28.83,26.11,25.70
$GC,2465,0.81,169.9,2400,3400,2795,2573,37.5,10.8,289,2478,0.00,2.10,3.30,0.356,9222,0.000,0.033,2409,1992,2669,2780,2559,0,0,0,0,0,0,28.83,26.11,25.52
$GC,2663,0.79,169.9,2408,1992,2779,2561,13.8,12.3,327,2670,0.00,2.10,0.00,0.000,516,0.000,0.053,2420,596,2670,2779,2561,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2735,0.79,169.9,2420,596,2780,2561,3.7,14.9,340,2744,0.08,2.03,0.00,0.000,5126,0.177,0.028,2405,2008,2670,2779,2561,0,0,0,0,0,0,26.14,26.27,28.83
$STATE,2749,end climb,SURFACE_DEPTH_REACHED
$STATE,2749,begin surface coast
$FINISH,0.4,1.002991
$STATE,2770,end surface coast,CONTROL_FINISHED_OK
$STATE,2770,begin surface
$SM_CCo,2788,95.50,0.050,0,0,1729,400.08
$SM_GC,0.92,5.88,0.00,95.50,0.041,0.000,0.050,140,2011,1729,-6.20,0.31,400.08,0,0,0,0,0,0,26.27,28.83,26.19
$IRIDIUM_FIX,4726.11,-12227.78,171013,191932
$TT8_MAMPS,0.024717,0.024717
$HUMID,56.37
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3961632
$24V_AH,24.7,0.785
$10V_AH,10.2,1.432
$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,15.875,33.625,261.100,95.500,0.000,0.000,0.000,207.475,0.000,0.000,17.883,867.908,924.720,445.363,869.858,171.243,0.000,1023.508,0.000,610.271,0.000,0.542,0.000
$DEVICE_MAMPS,263.925,57.375,495.720,50.490,0.000,0.000,0.000,121.635,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2803.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,27.528,0.000,0.000,0.000
$MEM,323100
$DATA_FILE_SIZE,10159,346
$CAP_FILE_SIZE,68867,0
$CFSIZE,260034560,253952000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.218,197.0,1
$GPS,171013,204715,4742.795,-12225.415,10,3.9,30,18.2