version: 66.11
glider: 177
mission: 6
dive: 4
start: 10 17 113 19 3 51
data:
$ID,177
$MISSION,6
$DIVE,4
$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,-59478.73
$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,33
$R_STBD_OVSHOOT,44
$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
$GPS1,171013,185937,4742.858,-12225.195,10,1.5,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-63.5
$GPS2,171013,190325,4742.833,-12225.236,13,1.5,13,18.2
$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,345.4,1269,-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,-146.6,151,2010,1791,1646,0.0,0.0,0,123,0.00,0.00,-101.50,0.000,16386,0.000,0.000,151,2010,3877,3926,3828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-1.02,-146.6,150,2010,3927,3829,3.1,-7.5,17,150,7.07,2.15,-2.33,0.000,18948,0.266,0.056,1822,591,3963,4000,3926,0,0,0,0,0,0,25.91,26.16,26.42
$GC,168,-0.62,-146.6,1822,591,4000,3928,11.7,-21.8,23,177,0.52,2.05,0.00,0.000,3078,0.213,0.032,1945,1999,3964,4000,3928,0,0,0,0,0,0,25.97,26.21,28.83
$GC,363,-0.49,-146.6,1948,2000,4001,3929,43.2,-16.1,60,370,0.12,2.12,0.00,0.000,2564,0.209,0.046,1984,587,3965,4001,3929,0,0,0,0,0,0,26.12,26.25,28.83
$GC,474,-0.42,-146.6,1216,586,3999,3928,59.5,-14.5,74,481,0.15,2.05,0.00,0.000,3078,0.187,0.033,2013,1999,3965,4001,3929,0,0,0,0,0,0,26.16,26.33,28.83
$GC,661,-0.38,-146.6,2013,2001,4001,3929,83.7,-11.8,93,667,0.05,2.10,0.00,0.000,2308,0.239,0.041,2014,3410,3965,4001,3929,0,0,0,0,0,0,26.37,26.35,28.83
$GC,675,-0.33,-146.6,2014,3410,4000,3928,85.6,-12.2,94,681,0.10,2.08,0.00,0.000,3078,0.179,0.032,2038,1994,3965,4001,3929,0,0,0,0,0,0,26.24,26.36,28.83
$GC,869,-0.33,-146.6,2039,1991,4001,3929,105.6,-10.2,113,874,0.00,2.08,0.00,0.000,516,0.000,0.050,2039,592,3964,4001,3928,0,0,0,0,0,0,28.83,26.38,28.83
$GC,913,-0.35,-146.6,2038,592,4000,3929,110.5,-11.2,117,918,0.00,2.05,0.00,0.000,1030,0.000,0.033,2029,2011,3965,4001,3929,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1106,-0.35,-146.6,2029,2012,4001,3929,130.1,-9.8,136,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2012,3965,4001,3929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1287,-0.35,-146.6,2029,2012,4001,3929,149.2,-10.5,154,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2012,3965,4001,3929,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1293,begin apogee
$GC,1299,-0.20,0.0,2029,2012,4000,3929,150.2,-10.5,155,1428,0.17,0.00,120.00,0.492,10246,0.166,0.000,2081,2012,3356,3447,3265,0,0,0,0,0,0,26.34,28.83,25.04
$STATE,1430,end apogee,CONTROL_FINISHED_OK
$STATE,1430,begin climb
$GC,1432,1.02,146.6,2081,2012,3447,3262,159.3,0.0,167,1568,1.27,0.00,126.68,0.473,11014,0.139,0.000,2472,2013,2756,2862,2650,0,0,0,0,0,0,25.39,28.83,24.72
$GC,1747,0.89,146.6,2472,2013,2863,2631,111.9,18.2,200,1753,0.12,2.12,0.00,0.000,4356,0.201,0.038,2440,3415,2744,2857,2631,0,0,0,0,0,0,25.63,25.79,28.83
$GC,1775,0.76,146.6,1504,3413,2791,2624,107.6,17.3,202,1782,0.22,2.12,0.00,0.000,5126,0.194,0.033,2394,2005,2740,2853,2628,0,0,0,0,0,0,25.67,25.83,28.83
$GC,1961,0.76,146.6,2394,2006,2853,2628,83.9,12.9,221,1966,0.00,2.15,0.00,0.000,516,0.000,0.053,2403,593,2740,2853,2628,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1988,0.76,146.6,2403,593,2853,2628,81.0,12.8,223,1995,0.00,2.05,0.00,0.000,1030,0.000,0.028,2403,2012,2740,2852,2629,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2175,0.74,146.6,2403,2014,2852,2628,57.2,11.7,242,2180,0.00,2.08,0.00,0.000,260,0.000,0.041,2402,3402,2740,2852,2628,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2202,0.72,146.6,2403,3402,2850,2628,54.3,12.1,244,2210,0.12,2.10,0.00,0.000,5126,0.186,0.034,2384,1993,2739,2850,2628,0,0,0,0,0,0,26.05,26.19,28.83
$GC,2392,0.80,180.0,1408,1990,2782,2619,34.6,9.4,278,2429,0.10,2.17,27.77,0.431,10756,0.098,0.053,2447,599,2620,2724,2517,0,0,0,0,0,0,26.34,25.99,25.65
$GC,2459,0.75,180.0,2447,599,2722,2512,26.4,14.2,289,2467,0.22,2.03,0.00,0.000,5126,0.167,0.029,2388,2001,2616,2722,2511,0,0,0,0,0,0,25.93,26.10,28.83
$STATE,2652,end climb,SURFACE_DEPTH_REACHED
$STATE,2652,begin surface coast
$FINISH,0.2,1.004765
$STATE,2677,end surface coast,CONTROL_FINISHED_OK
$STATE,2677,begin surface
$SM_CCo,2694,90.03,0.050,0,0,1730,400.08
$SM_GC,0.94,5.85,0.00,90.03,0.042,0.000,0.050,138,2011,1730,-6.20,0.31,400.08,0,0,0,0,0,0,26.25,28.83,26.17
$IRIDIUM_FIX,4726.11,-12225.08,171013,181805
$TT8_MAMPS,0.023968,0.023968
$HUMID,56.61
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3962144
$24V_AH,24.7,0.740
$10V_AH,10.4,1.384
$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,16.125,33.500,274.450,90.025,0.000,0.000,0.000,0.000,0.000,0.000,16.766,811.584,915.482,440.244,600.037,96.392,0.000,799.769,0.000,580.672,0.000,0.543,0.000
$DEVICE_MAMPS,266.220,55.845,491.895,50.490,0.000,0.000,0.000,0.000,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2660.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,27.547,0.000,0.000,0.000
$MEM,323104
$DATA_FILE_SIZE,10118,331
$CAP_FILE_SIZE,73119,0
$CFSIZE,260034560,254009344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.155,186.1,1
$GPS,171013,195107,4742.912,-12225.272,8,2.0,8,18.2