version: 66.11
glider: 171
mission: 4
dive: 3
start: 2 25 113 5 4 23
data:
$ID,171
$MISSION,4
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,270
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,3
$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,90
$T_MISSION,110
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52107
$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,557.86951
$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,-20146.426
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3952
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,415
$VBD_MAX,3400
$C_VBD,2730
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-74.53199
$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,0
$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
$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,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,0.0043708701
$SEABIRD_T_H,0.00064764963
$SEABIRD_T_I,2.5888983e-05
$SEABIRD_T_J,2.7074855e-06
$SEABIRD_C_G,-10.475479
$SEABIRD_C_H,1.2050543
$SEABIRD_C_I,-0.0015894541
$SEABIRD_C_J,0.00021379974
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,250213,050013,2201.835,12100.415,11,1.0,11,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-68.8
$GPS2,250213,050355,2201.829,12100.448,14,1.2,14,-2.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$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,68.4,122310,-14.9,-10.000,-18.74,2959
$D_GRID,943
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-0.74,-194.6,142,2313,507,341,0.0,0.0,0,88,0.00,0.00,-67.85,0.000,16386,0.000,0.000,139,2314,2361,2430,2292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.74,-194.6,139,2314,2431,2293,3.2,-4.4,9,131,9.43,2.15,-19.15,0.000,18692,0.233,0.076,2562,3647,3412,3439,3386,0,0,0,0,0,0,26.39,26.59,26.91
$GC,155,-0.56,-194.6,2562,3647,3438,3392,21.5,-22.7,18,163,0.25,2.00,0.00,0.000,3078,0.115,0.031,2641,2296,3417,3440,3394,0,0,0,0,0,0,26.55,26.65,28.83
$GC,467,-0.70,-194.6,2641,2293,3438,3405,59.3,-9.1,45,474,0.12,2.10,0.00,0.000,4612,0.083,0.041,2559,904,3421,3438,3405,0,0,0,0,0,0,26.82,26.73,28.83
$GC,506,-0.79,-194.6,2559,905,3438,3405,62.7,-11.0,46,514,0.00,2.12,0.00,0.000,1030,0.000,0.048,2549,2297,3421,3438,3405,0,0,0,0,0,0,28.83,26.73,28.83
$GC,813,-0.69,-194.6,2548,2297,3438,3406,116.5,-16.6,62,819,0.12,2.15,0.00,0.000,2308,0.150,0.061,2581,3673,3422,3438,3406,0,0,0,0,0,0,26.74,26.77,28.83
$GC,1049,-0.69,-194.6,2581,3673,3438,3406,147.4,-13.9,73,1055,0.00,2.00,0.00,0.000,1030,0.000,0.031,2581,2302,3422,3438,3406,0,0,0,0,0,0,28.83,26.85,28.83
$GC,1363,-0.76,-194.6,2581,2302,3438,3406,187.2,-11.3,89,1369,0.00,2.15,0.00,0.000,260,0.000,0.064,2572,3666,3422,3438,3406,0,0,0,0,0,0,28.83,26.82,28.83
$GC,1508,-0.87,-194.6,2571,3667,3438,3406,204.2,-11.7,96,1514,0.00,2.03,0.00,0.000,1030,0.000,0.033,2572,2296,3424,3438,3411,0,0,0,0,0,0,28.83,26.88,28.83
$GC,1834,-0.94,-194.6,2571,2296,3438,3406,243.8,-11.1,112,1840,0.12,2.15,0.00,0.000,4356,0.087,0.063,2474,3667,3421,3437,3406,0,0,0,0,0,0,26.94,26.84,28.83
$GC,1972,-0.79,-194.6,2474,3667,3435,3407,264.1,-16.1,118,1978,0.30,2.03,0.00,0.000,3078,0.117,0.033,2571,2299,3421,3436,3406,0,0,0,0,0,0,26.79,26.89,28.83
$STATE,2004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2005,begin apogee
$GC,2009,-0.17,0.0,2571,2147,3436,3406,270.2,-15.2,120,2151,0.55,0.00,130.68,0.679,10246,0.095,0.000,2770,2145,2730,2851,2610,0,0,0,0,1,0,26.81,28.83,25.08
$STATE,2153,end apogee,CONTROL_FINISHED_OK
$STATE,2153,begin climb
$GC,2154,0.74,194.6,2770,2145,2851,2610,279.1,0.0,126,2331,0.75,2.40,159.98,0.695,10500,0.050,0.057,3063,3556,1933,2081,1786,0,0,0,0,1,0,25.74,25.46,24.90
$GC,2561,0.60,334.5,3063,3556,2076,1786,281.9,5.1,147,2702,0.20,2.12,126.20,0.498,13318,0.146,0.033,3016,2147,1361,1486,1236,0,0,0,0,1,0,26.29,26.41,25.28
$GC,3021,0.81,415.8,3016,2147,1491,1236,250.6,7.2,169,3099,0.15,2.30,66.62,0.634,10756,0.075,0.051,3129,749,1032,1159,906,0,0,0,0,1,0,26.56,25.80,25.25
$GC,3156,0.66,415.8,2112,748,1147,905,233.5,14.1,175,3162,0.30,2.22,0.00,0.000,5126,0.124,0.056,3036,2143,1033,1160,906,0,0,0,0,0,0,26.03,26.10,28.83
$GC,3476,0.85,475.3,3036,2142,1161,906,203.6,7.9,191,3551,0.15,2.25,60.62,0.503,10756,0.076,0.057,3145,756,793,909,677,0,0,0,0,1,0,26.61,26.00,25.46
$GC,3652,0.73,475.3,3145,756,911,677,174.0,18.2,199,3659,0.30,2.22,0.00,0.000,5126,0.123,0.060,3050,2150,794,911,677,0,0,0,0,0,0,26.23,26.29,28.83
$GC,3977,0.89,475.3,3050,2150,911,677,136.5,10.9,215,3984,0.12,2.20,0.00,0.000,2564,0.086,0.056,3146,753,794,911,677,0,0,0,0,0,0,26.67,26.58,28.83
$GC,4007,0.99,475.3,3146,753,911,677,133.0,11.2,216,4013,0.00,2.22,0.00,0.000,1030,0.000,0.058,3146,2156,794,912,677,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4326,0.84,475.3,3146,2157,911,676,80.5,15.3,232,4332,0.15,2.17,0.00,0.000,4612,0.148,0.052,3107,750,793,911,676,0,0,0,0,0,0,26.63,26.70,28.83
$GC,4380,0.78,475.3,3107,750,911,677,75.0,13.7,234,4386,0.12,2.20,0.00,0.000,5126,0.142,0.054,3071,2158,793,911,676,0,0,0,0,0,0,26.63,26.71,28.83
$GC,4695,1.15,592.5,3070,2158,911,675,48.6,5.9,251,4784,0.28,2.25,72.38,0.452,10756,0.052,0.054,3238,753,411,498,324,0,0,0,0,1,0,26.83,26.15,25.79
$STATE,4935,end climb,SURFACE_DEPTH_REACHED
$STATE,4936,begin surface coast
$FINISH,0.7,1.022767
$STATE,4953,end surface coast,CONTROL_FINISHED_OK
$STATE,4953,begin surface
$SM_CCo,5030,0.00,0.000,0,0,416,567.87
$SM_GC,1.23,7.93,2.47,0.00,0.031,0.048,0.000,136,2302,416,-8.31,-0.76,567.87,0,0,0,0,0,0,26.50,26.47,28.83
$IRIDIUM_FIX,2155.06,12101.41,250213,040411
$TT8_MAMPS,0.047936,0.047936
$HUMID,48.22
$INTERNAL_PRESSURE,9.66204
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,4019136
$24V_AH,24.9,1.808
$10V_AH,10.6,1.753
$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,21.350,48.125,616.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,15.782,1195.591,2363.830,639.427,847.186,61.992,0.000,1164.057,0.000,799.744,0.000,0.542,0.000
$DEVICE_MAMPS,232.560,76.500,694.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4933.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.345,0.000,0.000,0.000
$MEM,323980
$DATA_FILE_SIZE,10141,285
$CAP_FILE_SIZE,175123,0
$CFSIZE,260034560,253399040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.056, 15.7,1
$GPS,250213,062918,2201.968,12101.330,12,1.7,29,-2.7