version: 66.12
glider: 171
mission: 9
dive: 4
start: 11 4 115 9 20 28
data:
$ID,171
$MISSION,9
$DIVE,4
$N_DIVES,5
$D_SURF,3
$D_FLARE,3
$D_TGT,330
$D_ABORT,400
$D_NO_BLEED,200
$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,110
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$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,1.0275
$MASS,52091
$MASS_COMP,0
$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,587.06018
$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,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,175
$PITCH_MAX,3952
$C_PITCH,2130
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,1928
$C_ROLL_CLIMB,1928
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3820
$C_VBD,2899
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$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,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,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,-75.620842
$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,20
$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
$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,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004389904
$SEABIRD_T_H,0.00063959236
$SEABIRD_T_I,2.6546981e-05
$SEABIRD_T_J,3.01253e-06
$SEABIRD_C_G,-10.191363
$SEABIRD_C_H,1.1409097
$SEABIRD_C_I,-0.0015713738
$SEABIRD_C_J,0.00020770991
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,041115,091634,752.9215,8235.3545,12,1.4,17,-2.2,0.5,287.8,7,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-52.2
$GPS2,041115,092018,752.9160,8235.3242,16,1.2,16,-2.2,0.0,0.0,6,9.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,PIES
$TGT_LATLONG,800.000,8325.052
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,90.3,92138,-17.5,-10.000,-21.06,2227
$D_GRID,100
$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,17,-0.72,-146.0,174,1938,543,464,0.0,0.0,0,164,0.00,0.00,-144.38,0.000,16386,0.000,0.000,174,1937,2950,2978,2922,0,0,0,0,0,0,26.80,28.83,26.86
$GC,166,-0.72,-146.0,174,1938,2980,2923,3.5,-5.7,14,193,6.32,2.25,-13.35,0.000,18948,0.210,1.201,1891,546,3498,3476,3520,0,0,0,0,0,0,26.32,25.37,26.58
$GC,208,-0.60,-146.0,1891,546,3476,3523,17.8,-26.0,22,215,0.15,2.10,0.00,0.000,3078,0.124,0.039,1934,1912,3498,3475,3522,0,0,0,0,0,0,26.41,26.53,26.48
$GC,519,-0.63,-146.0,1934,1913,3475,3524,63.4,-12.5,49,526,0.00,2.20,0.00,0.000,260,0.000,0.050,1924,3336,3499,3475,3523,0,0,0,0,0,0,26.97,26.70,27.03
$GC,750,-0.69,-146.0,1923,3336,3475,3524,94.4,-12.0,95,757,0.00,2.10,0.00,0.000,1030,0.000,0.033,1924,1930,3499,3475,3524,0,0,0,0,0,0,26.82,26.79,26.84
$STATE,820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,820,begin apogee
$GC,823,-0.14,0.0,1925,1931,3475,3525,102.1,-11.0,100,935,0.45,0.00,109.50,0.416,10246,0.099,0.000,2081,1927,2898,2949,2847,0,0,0,0,0,0,26.67,25.97,25.59
$STATE,937,end apogee,CONTROL_FINISHED_OK
$STATE,937,begin climb
$GC,938,0.72,146.0,2081,1928,2948,2845,105.8,0.0,105,1058,0.73,2.15,110.80,0.402,10756,0.058,0.039,2370,529,2298,2383,2214,0,0,0,0,0,0,26.09,25.69,25.44
$GC,1282,0.84,254.4,2369,529,2380,2209,86.6,5.0,174,1374,0.00,2.12,84.28,0.393,9222,0.000,0.032,2370,1944,1859,1944,1774,0,0,0,0,0,0,26.57,26.54,25.57
$GC,1678,0.95,317.0,2369,1944,1938,1772,56.3,7.1,208,1737,0.20,2.15,50.72,0.383,10756,0.061,0.040,2468,528,1602,1688,1517,0,0,0,0,0,0,26.66,26.01,25.76
$GC,1742,0.89,317.0,2468,529,1687,1517,49.2,12.0,220,1748,0.15,2.10,0.00,0.000,5126,0.122,0.034,2415,1932,1600,1685,1516,0,0,1,0,0,0,26.16,26.31,26.25
$GC,2053,0.89,317.0,2414,1932,1684,1515,15.8,10.0,252,2059,0.00,2.12,0.00,0.000,260,0.000,0.042,2415,3323,1598,1683,1514,0,0,0,0,0,0,26.88,26.64,26.94
$GC,2148,0.89,317.0,2415,3324,1683,1515,4.8,11.6,271,2156,0.00,2.08,0.00,0.000,1030,0.000,0.028,2415,1922,1598,1683,1514,0,0,0,0,0,0,26.74,26.71,26.76
$STATE,2172,end climb,SURFACE_DEPTH_REACHED
$STATE,2172,begin surface coast
$FINISH,-0.4,1.021434
$STATE,2192,end surface coast,CONTROL_FINISHED_OK
$STATE,2192,begin surface
$SM_CCo,2203,108.15,0.045,0,0,504,587.25
$SM_GC,0.13,5.60,0.00,108.15,0.027,0.000,0.045,175,1922,504,-6.07,-0.17,587.25,0,0,0,0,0,0,26.75,27.00,26.62
$IRIDIUM_FIX,749.46,8236.84,041115,083504
$TT8_MAMPS,0.049434,0.049434
$HUMID,48.22
$INTERNAL_PRESSURE,9.74993
$TCM_TEMP,26.40
$XPDR_PINGS,0
$SC_FREEKB,4018528
$24V_AH,25.37,2.210
$10V_AH,9.99,2.983
$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,13.600,21.375,355.300,108.150,0.000,0.000,0.000,149.300,0.000,0.000,17.627,0.000,1201.079,603.319,668.913,66.576,0.000,990.526,0.000,411.819,0.000,0.547,0.000
$DEVICE_MAMPS,210.375,1201.050,416.160,45.135,0.000,0.000,0.000,103.275,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2194.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.469,0.000,0.000,0.000
$MEM,260840
$DATA_FILE_SIZE,10150,276
$CAP_FILE_SIZE,44102,0
$CFSIZE,260034560,250445824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.079,281.88,1
$GPS,041115,095934,752.814,8235.334,10,1.5,14,-2.2,0.0,209.3,6,10.0