version: 66.13
glider: 178
mission: 28
dive: 6
start: 3 17 117 18 9 7
data:
$ID,178
$MISSION,28
$DIVE,6
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,200
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,5400
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51842
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019901099
$HD_B,0.0121201
$HD_C,4.4319302e-14
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2080
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,32
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,98
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3197
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00038000001
$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,148
$AH0_10V,95
$MINV_24V,22
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-43.355331
$PRESSURE_SLOPE,0.0001161899
$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,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$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,3
$LOGGERDEVICE1,51
$LOGGERDEVICE2,85
$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,0.0043966938
$SEABIRD_T_H,0.00063700025
$SEABIRD_T_I,2.5067597e-05
$SEABIRD_T_J,2.9826379e-06
$SEABIRD_C_G,-9.7293062
$SEABIRD_C_H,1.1206031
$SEABIRD_C_I,0.00047059715
$SEABIRD_C_J,5.505409e-05
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,0.0
$GPS1,170317,180333,2908.4641,-7610.1597,34,0.9,34,-9.0,0.7,49.4,9,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-58.1
$GPS2,170317,180845,2908.4746,-7610.0386,10,1.1,14,-9.0,0.7,74.8,8,4.5
$SPEED_LIMITS,-0.057,-0.057
$TGT_NAME,WS
$TGT_LATLONG,2906.500,-7615.500
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,211.5,9563,-23487.5,-12.500,65.57,4343942
$D_GRID,4990
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-734.06,-194.6,137,2705,1168,1030,0.0,0.0,0,122,0.00,0.00,-96.65,0.000,16386,0.000,0.000,136,2705,3424,3452,3396,0,0,0,0,0,0,27.36,28.83,27.43
$GC,124,-734.06,-194.6,137,2706,3453,3396,3.5,-3.2,13,151,0.12,1.75,-10.27,0.000,18724,0.272,1.278,156,3765,3963,4009,3918,0,0,0,0,0,0,26.84,25.92,27.01
$GC,376,-734.06,-194.6,157,3765,4010,3920,208.7,-83.4,61,393,0.00,1.50,0.00,0.000,3078,0.000,0.020,159,2675,3964,4010,3918,0,0,0,0,0,0,27.32,27.28,27.33
$GC,718,-734.06,-194.6,160,2671,4010,3919,481.1,-78.8,77,731,0.00,1.88,0.00,0.000,2564,0.000,0.021,159,1355,3964,4010,3918,0,0,0,0,0,0,27.58,27.35,27.61
$GC,956,-734.06,-194.6,159,1356,4011,3919,665.8,-76.3,123,973,0.00,2.00,0.00,0.000,3078,0.000,0.029,152,2722,3964,4010,3918,0,0,0,0,0,0,27.43,27.38,27.45
$STATE,1065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1065,begin apogee
$GC,1070,-0.16,0.0,153,2318,4011,3918,750.7,-76.5,128,1246,7.55,0.00,158.57,1.036,10246,0.241,0.000,2022,2308,3197,3260,3134,0,0,0,0,0,0,26.98,25.67,25.01
$STATE,1247,end apogee,CONTROL_FINISHED_OK
$STATE,1247,begin loiter
$GC,1525,78.98,208261.8,2022,2309,3258,3130,788.9,-4.9,143,2134,4.93,0.00,586.40,0.993,10278,0.027,0.000,3978,2304,426,539,313,0,0,0,0,0,0,26.95,25.51,25.11
$GC,2427,78.98,208261.8,3978,2309,526,317,167.6,102.3,175,2450,0.10,0.00,0.00,0.000,4102,0.166,0.000,3959,2309,421,526,317,0,0,0,0,0,0,26.82,26.95,26.91
$STATE,2595,end loiter,SURFACE_DEPTH_REACHED
$STATE,2595,begin surface coast
$FINISH,1.0,1.024146
$STATE,2597,end surface coast,CONTROL_FINISHED_OK
$STATE,2597,begin surface
$SM_CCo,2678,0.00,0.000,0,0,417,681.93
$SM_GC,1.77,9.85,0.57,0.00,0.041,0.036,0.000,143,2695,417,-5.95,-1.58,681.93,0,0,0,0,0,0,27.07,27.08,27.11
$IRIDIUM_FIX,2855.60,-7612.79,170317,161953
$TT8_MAMPS,0.049434,0.279377
$HUMID,38.93
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,22.00
$XPDR_PINGS,0
$SC_FREEKB,7900768
$PM_FREEKB,62309504
$24V_AH,25.01,10.305
$10V_AH,10.36,6.470
$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,22.550,8.200,744.975,0.000,0.000,0.000,0.000,193.025,0.000,0.000,16.776,0.000,1166.067,297.453,1435.020,89.400,0.000,1301.536,0.000,285.913,0.000,0.552,0.000
$DEVICE_MAMPS,272.340,1277.550,1035.810,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2604.000,303.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.111,12.318,0.000,0.000
$MEM,152704
$DATA_FILE_SIZE,6783,192
$CAP_FILE_SIZE,52542,0
$CFSIZE,260034560,255594496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.321,89.85,1
$GPS,170317,185450,2908.538,-7609.462,8,1.3,35,-9.0,0.5,73.6,7,5.2