version: 66.11
glider: 171
mission: 3
dive: 3
start: 1 15 113 19 10 29
data:
$ID,171
$MISSION,3
$DIVE,3
$N_DIVES,4
$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,-3712.2236
$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,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,415
$VBD_MAX,3400
$C_VBD,2931
$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
$GPS1,150113,190418,4743.552,-12224.312,11,1.5,11,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-72.5
$GPS2,150113,191000,4743.578,-12224.282,12,1.3,16,18.2
$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,215.1,906,-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,-146.6,143,2168,1206,974,0.0,0.0,0,101,0.00,0.00,-81.22,0.000,16390,0.000,0.000,143,2169,3403,3393,3413,0,0,0,0,0,0,28.83,28.83,26.72
$GC,104,-0.69,-146.6,143,2168,3391,3419,3.7,-9.7,11,122,9.88,2.25,0.00,0.000,2308,0.252,0.055,2559,3552,3406,3390,3423,0,0,0,0,0,0,26.11,26.34,28.83
$GC,266,-0.69,-146.6,1536,3551,3372,3424,41.2,-13.2,41,274,0.00,2.20,0.00,0.000,1030,0.000,0.046,2559,2152,3409,3390,3429,0,0,0,0,0,0,28.83,26.43,28.83
$GC,458,-0.61,-146.6,1536,2147,3372,3428,69.3,-12.9,78,466,0.12,2.28,0.00,0.000,2308,0.156,0.067,2589,3539,3409,3390,3429,0,0,0,0,0,0,26.44,26.47,28.83
$GC,495,-0.66,-146.6,2589,3536,3390,3429,74.1,-13.1,84,504,0.00,2.17,0.00,0.000,1030,0.000,0.046,2589,2147,3409,3390,3429,0,0,0,0,0,0,28.83,26.50,28.83
$GC,692,-0.72,-146.6,1568,2144,3373,3425,96.7,-11.3,121,700,0.00,2.28,0.00,0.000,260,0.000,0.072,2579,3538,3409,3390,3429,0,0,0,0,0,0,28.83,26.52,28.83
$GC,713,-0.77,-146.6,2579,3537,3390,3429,99.1,-11.0,124,722,0.00,2.17,0.00,0.000,1030,0.000,0.047,2579,2148,3409,3390,3429,0,0,0,0,0,0,28.83,26.56,28.83
$GC,910,-0.83,-146.6,1568,2145,3373,3425,121.6,-12.5,161,918,0.12,2.22,0.00,0.000,4612,0.094,0.060,2509,735,3409,3390,3429,0,0,0,0,0,0,26.67,26.59,28.83
$GC,931,-0.78,-146.6,1552,735,3374,3425,124.8,-14.3,164,941,0.17,2.20,0.00,0.000,3078,0.157,0.056,2546,2133,3409,3390,3428,0,0,0,0,0,0,26.48,26.60,28.83
$STATE,1109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1110,begin apogee
$GC,1113,-0.15,0.0,2546,2029,3390,3432,150.4,-13.2,198,1224,0.60,0.00,96.65,0.685,10246,0.122,0.000,2747,2027,2929,3000,2858,0,0,0,0,1,0,26.55,28.83,24.89
$STATE,1225,end apogee,CONTROL_FINISHED_OK
$STATE,1225,begin climb
$GC,1227,0.69,146.6,2747,2027,3000,2857,156.1,0.0,213,1368,0.77,2.38,123.40,0.667,10756,0.084,0.064,3030,653,2330,2512,2148,0,0,0,0,1,0,25.53,25.13,24.56
$GC,1500,0.84,267.6,2016,653,2453,2133,155.6,4.4,257,1613,0.12,2.25,100.57,0.665,11270,0.091,0.055,3095,2058,1840,2001,1679,0,0,0,0,1,0,25.93,25.92,24.62
$GC,1797,0.75,267.6,2048,2056,1939,1670,124.0,12.2,308,1806,0.17,2.30,0.00,0.000,4356,0.150,0.068,3040,3452,1833,1989,1678,0,0,0,0,0,0,25.91,25.99,28.83
$GC,1869,0.75,267.6,1952,3450,1933,1670,115.9,11.1,321,1877,0.00,2.22,0.00,0.000,1030,0.000,0.050,3050,2061,1832,1987,1678,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2062,0.75,267.6,1984,2058,1933,1671,93.9,12.1,358,2070,0.00,2.30,0.00,0.000,516,0.000,0.069,3061,647,1832,1987,1678,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2098,0.79,267.6,3061,647,1986,1678,89.3,12.3,364,2107,0.00,2.22,0.00,0.000,1030,0.000,0.060,3061,2048,1834,1991,1678,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2293,0.79,267.6,3061,2048,1986,1678,63.7,13.5,401,2301,0.00,2.30,0.00,0.000,260,0.000,0.071,3062,3463,1832,1986,1678,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2410,0.71,267.6,2016,3461,1933,1671,47.9,13.5,423,2419,0.15,2.22,0.00,0.000,5126,0.158,0.049,3032,2041,1832,1986,1678,0,0,0,0,0,0,26.39,26.50,28.83
$GC,2605,0.83,267.6,3032,2042,1985,1678,28.3,11.2,460,2614,0.10,2.25,0.00,0.000,2564,0.106,0.067,3096,645,1831,1985,1678,0,0,0,0,0,0,26.62,26.53,28.83
$GC,2658,0.83,267.6,2080,645,1934,1671,21.1,14.9,469,2666,0.00,2.22,0.00,0.000,1030,0.000,0.059,3097,2050,1831,1985,1678,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,2787,end climb,SURFACE_DEPTH_REACHED
$STATE,2787,begin surface coast
$FINISH,0.4,1.021936
$STATE,2809,end surface coast,CONTROL_FINISHED_OK
$STATE,2810,begin surface
$SM_CCo,2825,89.40,0.070,0,0,1094,450.13
$SM_GC,-0.06,7.88,0.15,89.40,0.056,0.089,0.070,145,2156,1094,-8.24,-0.99,450.13,0,0,0,0,0,0,26.59,26.62,26.46
$IRIDIUM_FIX,4726.11,-12306.80,150113,191910
$TT8_MAMPS,0.04494,0.04494
$HUMID,49.64
$INTERNAL_PRESSURE,9.35929
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,4019136
$24V_AH,24.6,0.598
$10V_AH,10.3,0.464
$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,20.100,40.750,320.625,89.400,0.000,0.000,0.000,0.000,0.000,0.000,16.837,1459.777,142.799,532.720,796.026,65.166,0.000,959.120,0.000,755.519,0.000,0.534,0.000
$DEVICE_MAMPS,251.685,88.740,685.440,69.615,0.000,0.000,0.000,0.000,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2793.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.426,0.000,0.000,0.000
$MEM,323160
$DATA_FILE_SIZE,16739,498
$CAP_FILE_SIZE,199091,0
$CFSIZE,260034560,254763008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.143,350.1,1
$GPS,150113,195955,4743.580,-12224.755,13,1.4,13,18.2