version: 66.12
glider: 177
mission: 10
dive: 4
start: 7 2 114 19 51 18
data:
$ID,177
$MISSION,10
$DIVE,4
$N_DIVES,4
$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,-674768.62
$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,66
$R_STBD_OVSHOOT,41
$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
$GPS1,020714,194436,4743.505,-12224.348,37,1.2,37,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-67.1
$GPS2,020714,195049,4743.567,-12224.305,11,1.6,11,18.2
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,200.7,875,-20.0,-10.000,-24.74,2204
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.96,-146.6,184,2636,1746,1581,0.0,0.0,0,112,0.00,0.00,-91.03,0.000,16386,0.000,0.000,185,2637,3875,3928,3822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.96,-146.6,185,2637,3929,3822,4.2,-5.7,9,132,8.98,0.00,-0.47,0.000,18438,0.252,0.000,2347,2637,3899,3954,3844,0,0,0,0,0,0,25.99,28.83,26.46
$GC,313,-0.93,-146.6,2347,2637,3961,3836,36.4,-13.0,29,314,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2637,3900,3961,3840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,493,-0.93,-146.6,2346,2637,3961,3840,60.2,-11.4,47,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2637,3900,3961,3840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,673,-0.93,-146.6,2346,2637,3961,3841,82.8,-13.2,65,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2637,3901,3961,3841,0,0,0,0,0,0,28.83,28.83,28.83
$GC,853,-0.93,-146.6,2346,2637,3961,3840,105.3,-10.8,83,858,0.00,2.10,0.00,0.000,516,0.000,0.050,2347,1234,3900,3961,3839,0,0,0,0,0,0,28.83,26.54,28.83
$GC,901,-0.96,-146.6,2347,1233,3963,3838,110.3,-10.0,92,907,0.00,2.08,0.00,0.000,1030,0.000,0.049,2338,2613,3900,3963,3838,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1086,-0.96,-146.6,2337,2614,3963,3838,131.0,-11.1,111,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2614,3900,3963,3838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1266,-0.96,-146.6,2337,2614,3963,3838,150.9,-10.9,129,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2614,3900,3963,3838,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1394,begin apogee
$GC,1401,-0.19,0.0,2337,2397,3963,3837,165.1,-11.1,142,1536,0.80,0.00,128.30,0.496,10246,0.132,0.000,2599,2397,3293,3394,3192,0,0,0,0,0,0,26.49,28.83,25.13
$STATE,1539,end apogee,CONTROL_FINISHED_OK
$STATE,1539,begin climb
$GC,1542,0.96,146.6,2598,2397,3389,3188,168.7,0.0,156,1683,1.02,2.20,130.98,0.434,10756,0.060,0.048,2986,1013,2693,2816,2571,0,0,0,0,0,0,25.61,25.27,24.89
$GC,1888,0.79,146.6,2986,1012,2810,2558,124.1,17.6,223,1895,0.28,2.10,0.00,0.000,5126,0.175,0.039,2916,2410,2683,2810,2557,0,0,0,0,0,0,25.81,25.99,28.83
$GC,2074,0.72,146.6,2915,2408,2810,2552,97.9,13.0,242,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2408,2681,2810,2552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2254,0.65,146.6,2915,2408,2810,2551,75.4,12.4,260,2260,0.15,2.00,0.00,0.000,4356,0.174,0.048,2872,3717,2680,2810,2551,0,0,0,0,0,0,26.17,26.28,28.83
$GC,2319,0.59,146.6,2871,3717,2807,2550,67.3,12.1,272,2324,0.00,1.90,0.00,0.000,1030,0.000,0.029,2880,2395,2679,2807,2551,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2512,0.59,146.6,2880,2394,2807,2549,49.1,10.6,292,2517,0.00,2.10,0.00,0.000,516,0.000,0.051,2890,1009,2678,2807,2549,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2640,0.59,146.6,2889,1009,2807,2549,36.5,10.9,317,2648,0.15,2.08,0.00,0.000,5126,0.161,0.041,2852,2407,2678,2807,2549,0,0,0,0,0,0,26.30,26.46,28.83
$GC,2827,0.69,183.4,2851,2407,2807,2549,20.2,8.3,336,2864,0.00,2.08,31.70,0.418,8452,0.000,0.051,2852,3708,2546,2669,2424,0,0,0,0,0,0,28.83,26.20,25.83
$GC,2899,0.73,194.1,2852,3706,2656,2406,14.1,9.5,349,2908,0.10,1.90,2.83,0.068,11270,0.098,0.029,2909,2386,2507,2628,2386,0,0,0,0,0,0,26.27,26.30,26.19
$STATE,3013,end climb,SURFACE_DEPTH_REACHED
$STATE,3014,begin surface coast
$FINISH,0.4,1.023896
$STATE,3045,end surface coast,CONTROL_FINISHED_OK
$STATE,3045,begin surface
$SM_CCo,3064,86.47,0.055,0,0,1667,400.08
$SM_GC,1.39,7.45,0.35,86.47,0.067,0.057,0.055,189,2626,1667,-7.65,-1.05,400.08,0,0,0,0,0,0,26.36,26.39,26.29
$IRIDIUM_FIX,4726.11,-12225.08,050921,052022
$TT8_MAMPS,0.020972,0.020972
$HUMID,64.76
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,4018048
$24V_AH,24.89,0.760
$10V_AH,10.24,0.391
$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,18.925,21.150,293.800,86.475,0.000,0.000,0.000,203.650,0.000,0.000,14.535,805.981,1318.371,440.363,809.133,166.202,0.000,981.285,0.000,564.210,0.000,0.542,0.000
$DEVICE_MAMPS,252.450,56.610,495.720,55.080,0.000,0.000,0.000,118.575,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3081.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.433,0.000,0.000,0.000
$MEM,322872
$DATA_FILE_SIZE,13492,364
$CAP_FILE_SIZE,63444,0
$CFSIZE,260034560,252600320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3629.42,0x23790a,7,5
$CURRENT,0.110, 27.9,1
$GPS,020714,204507,4743.451,-12224.523,28,1.7,34,18.2