version: 66.11
glider: 177
mission: 6
dive: 3
start: 10 17 113 18 3 25
data:
$ID,177
$MISSION,6
$DIVE,3
$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,-59462.996
$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,32
$R_STBD_OVSHOOT,46
$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
$GPS1,171013,175827,4742.732,-12225.072,6,3.0,26,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-48.8
$GPS2,171013,180259,4742.697,-12225.108,39,1.1,44,18.2
$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,339.1,1493,-20.0,-11.111,-25.89,2022
$D_GRID,186
$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,-146.6,153,2010,540,468,0.0,0.0,0,180,0.00,0.00,-157.35,0.000,16390,0.000,0.000,153,2010,3960,3991,3930,0,0,0,0,0,0,28.83,28.83,26.59
$GC,183,-1.02,-146.6,153,2010,3992,3931,3.0,-6.8,26,197,6.97,2.12,0.00,0.000,2564,0.262,0.040,1826,578,3961,3997,3926,0,0,0,0,0,0,25.98,26.24,28.83
$GC,220,-0.64,-146.6,1826,578,4002,3927,11.4,-21.4,32,229,0.47,2.08,0.00,0.000,3078,0.218,0.033,1938,2007,3964,4002,3927,0,0,0,0,0,0,26.04,26.28,28.83
$GC,415,-0.50,-146.6,1938,2009,4002,3927,44.1,-18.1,69,423,0.15,2.12,0.00,0.000,2564,0.204,0.047,1982,589,3964,4002,3927,0,0,0,0,0,0,26.17,26.30,28.83
$GC,471,-0.43,-146.6,1981,589,4002,3927,52.5,-14.6,78,477,0.15,2.05,0.00,0.000,3078,0.186,0.033,2010,2005,3964,4002,3927,0,0,0,0,0,0,26.19,26.36,28.83
$GC,666,-0.40,-146.6,2010,2006,4003,3927,75.7,-11.8,97,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2006,3964,4002,3927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,846,-0.36,-146.6,2010,2006,4003,3927,98.1,-12.9,115,852,0.10,2.12,0.00,0.000,2564,0.194,0.047,2034,587,3964,4002,3927,0,0,0,0,0,0,26.33,26.40,28.83
$GC,885,-0.34,-146.6,2034,586,4003,3927,102.7,-13.1,118,893,0.08,2.05,0.00,0.000,3078,0.200,0.034,2040,2005,3964,4002,3927,0,0,0,0,0,0,26.32,26.45,28.83
$GC,1072,-0.35,-146.6,2040,2006,4002,3927,123.4,-10.7,137,1077,0.00,2.08,0.00,0.000,260,0.000,0.044,2030,3406,3965,4003,3927,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1109,-0.35,-146.6,1236,3405,4001,3926,127.1,-11.0,140,1116,0.00,2.08,0.00,0.000,1030,0.000,0.034,2030,1992,3964,4002,3927,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1296,-0.35,-146.6,2030,1992,4002,3927,148.3,-10.6,159,1301,0.00,2.08,0.00,0.000,516,0.000,0.050,2030,589,3964,4002,3926,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,1318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1318,begin apogee
$GC,1326,-0.20,0.0,2020,2004,4002,3927,151.0,-10.8,161,1464,0.20,0.00,123.95,0.616,10246,0.161,0.000,2081,2005,3363,3455,3271,0,0,0,0,1,0,26.35,28.83,24.70
$STATE,1466,end apogee,CONTROL_FINISHED_OK
$STATE,1466,begin climb
$GC,1468,1.02,146.6,2080,2005,3454,3271,161.2,0.0,174,1608,1.27,2.17,128.93,0.471,10500,0.134,0.039,2473,3404,2755,2859,2651,0,0,0,0,0,0,25.22,25.15,24.75
$GC,1626,0.87,146.6,2472,3404,2856,2648,143.6,17.5,189,1633,0.22,2.17,0.00,0.000,5126,0.207,0.034,2431,1994,2748,2850,2646,0,0,0,0,0,0,25.16,25.34,28.83
$GC,1821,0.80,146.6,2431,1994,2850,2638,113.8,14.8,208,1823,0.12,0.00,0.00,0.000,4102,0.199,0.000,2402,1993,2744,2850,2638,0,0,0,0,0,0,25.75,28.83,28.83
$GC,2002,0.78,146.6,2402,1991,2850,2635,93.5,11.9,226,2008,0.00,2.17,0.00,0.000,260,0.000,0.041,2402,3408,2742,2850,2635,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2020,0.75,146.6,2402,3408,2848,2635,91.4,13.1,227,2029,0.10,2.12,0.00,0.000,5126,0.200,0.035,2391,1993,2741,2847,2635,0,0,0,0,0,0,25.95,26.08,28.83
$GC,2208,0.78,156.8,2391,1993,2847,2634,69.9,10.6,246,2220,0.00,2.12,3.45,0.352,8708,0.000,0.054,2400,590,2722,2827,2617,0,0,0,0,0,0,28.83,26.15,25.60
$GC,2233,0.81,161.1,2399,590,2827,2620,67.2,10.9,248,2246,0.00,2.05,7.85,0.486,9222,0.000,0.029,2400,2012,2705,2810,2600,0,0,0,0,0,0,28.83,26.22,25.70
$GC,2424,0.81,161.1,2399,2013,2808,2591,45.5,11.3,271,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2013,2699,2808,2590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2616,0.82,168.9,2399,2013,2808,2590,24.3,10.7,308,2625,0.00,2.20,3.17,0.327,8708,0.000,0.050,2408,590,2672,2779,2566,0,0,1,0,0,0,28.83,26.25,25.72
$GC,2664,0.85,168.9,2409,590,2778,2568,18.4,12.0,316,2672,0.00,2.05,0.00,0.000,1030,0.000,0.030,2408,1998,2673,2778,2568,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,2783,end climb,SURFACE_DEPTH_REACHED
$STATE,2783,begin surface coast
$FINISH,0.4,1.000210
$STATE,2810,end surface coast,CONTROL_FINISHED_OK
$STATE,2810,begin surface
$SM_CCo,2826,96.07,0.050,0,0,1729,400.08
$SM_GC,0.98,5.88,0.00,96.07,0.042,0.000,0.050,143,2008,1729,-6.18,0.23,400.08,0,0,0,0,0,0,26.38,28.83,26.27
$IRIDIUM_FIX,4726.11,-12227.78,171013,171731
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.00
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,19.00
$XPDR_PINGS,0
$SC_FREEKB,3962656
$24V_AH,24.7,0.693
$10V_AH,10.2,1.335
$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,15.725,37.950,267.350,96.075,0.000,0.000,0.000,0.000,0.000,0.000,46.692,827.160,973.204,481.966,654.242,96.085,0.000,867.261,0.000,598.844,0.000,0.543,0.000
$DEVICE_MAMPS,262.395,53.550,615.825,50.490,0.000,0.000,0.000,0.000,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2793.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,27.417,0.000,0.000,0.000
$MEM,323156
$DATA_FILE_SIZE,10129,344
$CAP_FILE_SIZE,78476,0
$CFSIZE,260034560,254062592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$CURRENT,0.064,155.7,1
$GPS,171013,185312,4742.904,-12225.114,9,1.1,20,18.2