version: 66.11
glider: 171
mission: 4
dive: 21
start: 2 27 113 21 49 22
data:
$ID,171
$MISSION,4
$DIVE,21
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,330
$T_MISSION,380
$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,175
$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,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,-20319.328
$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,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,30
$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,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$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
$GPS1,270213,214306,2252.057,12123.614,33,0.8,33,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-65.3
$GPS2,270213,214855,2252.266,12123.691,14,1.0,14,-3.0
$SPEED_LIMITS,0.173,0.278
$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,2.3,21307,-16.1,-10.000,-19.78,2593
$D_GRID,301
$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,15,begin dive
$GC,17,-1.12,-170.3,126,2497,601,426,0.0,0.0,0,82,0.00,0.00,-62.97,0.000,16386,0.000,0.000,127,2497,2301,2349,2253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.12,-170.3,126,2498,2359,2253,3.1,-5.8,8,117,8.82,1.95,-19.02,0.000,18692,0.228,0.077,2387,3674,3406,3430,3383,0,0,0,0,0,0,26.04,26.20,26.52
$GC,256,-1.12,-170.3,2387,3674,3428,3412,72.4,-41.2,25,262,0.00,1.73,0.00,0.000,1030,0.000,0.026,2387,2482,3420,3428,3412,0,0,0,0,0,0,28.83,26.39,28.83
$GC,569,-1.12,-170.3,2386,2480,3428,3419,172.2,-30.1,41,575,0.00,2.03,0.00,0.000,516,0.000,0.032,2387,1106,3422,3426,3419,0,0,0,0,0,0,28.83,26.52,28.83
$GC,687,-1.12,-170.3,1492,1105,3415,3418,200.8,-27.3,46,695,0.00,2.12,0.00,0.000,1030,0.000,0.042,2376,2500,3424,3428,3421,0,0,0,0,0,0,28.83,26.53,28.83
$GC,994,-1.12,-170.3,2375,2500,3428,3425,293.8,-28.9,62,1000,0.00,1.83,0.00,0.000,260,0.000,0.061,2368,3668,3424,3428,3421,0,0,0,0,0,0,28.83,26.59,28.83
$STATE,1036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1036,begin apogee
$GC,1042,-0.29,0.0,2364,2006,3428,3421,306.5,-29.1,64,1203,0.90,0.00,146.07,0.687,10246,0.137,0.000,2656,2003,2732,2852,2612,0,0,0,0,1,0,26.51,28.83,24.60
$STATE,1204,end apogee,CONTROL_FINISHED_OK
$STATE,1204,begin climb
$GC,1205,1.12,170.3,2656,2003,2851,2612,318.7,0.0,71,1378,1.33,2.38,157.75,0.545,11012,0.077,0.052,3118,3404,2021,2167,1876,0,0,0,0,0,0,25.25,25.13,24.70
$GC,1401,1.40,459.4,3118,3404,2156,1872,324.6,-1.5,80,1809,0.22,2.17,393.83,0.450,11270,0.053,0.027,3247,1985,852,970,734,0,0,0,0,0,0,25.47,25.45,24.79
$GC,2122,1.40,459.4,3247,1985,956,712,149.3,27.9,114,2130,0.12,2.12,0.00,0.000,4612,0.174,0.038,3220,616,834,956,712,0,0,0,0,0,0,25.98,26.09,28.83
$GC,2162,1.40,459.4,3220,616,955,711,141.8,28.0,115,2170,0.00,2.12,0.00,0.000,1030,0.000,0.035,3220,2009,833,955,711,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2468,1.40,459.4,3220,2010,952,706,67.9,18.4,131,2473,0.00,2.12,0.00,0.000,516,0.000,0.041,3231,622,828,952,705,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2536,1.40,459.4,3232,622,950,705,58.0,15.3,134,2543,0.00,2.08,0.00,0.000,1030,0.000,0.034,3231,2004,827,950,704,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2846,1.40,459.4,2224,2002,944,699,6.2,18.5,172,2855,0.00,2.17,0.00,0.000,260,0.000,0.052,3232,3402,824,948,700,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,2866,end climb,SURFACE_DEPTH_REACHED
$STATE,2866,begin surface coast
$FINISH,0.1,1.022582
$STATE,2883,end surface coast,CONTROL_FINISHED_OK
$STATE,2883,begin surface
$SM_CCo,2959,0.00,0.000,0,0,822,468.03
$SM_GC,0.89,8.12,1.35,0.00,0.048,0.029,0.000,146,2511,822,-8.11,1.98,468.03,0,0,0,0,0,0,26.51,26.55,28.83
$IRIDIUM_FIX,2237.01,12120.68,270213,171713
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.64
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,4013472
$24V_AH,24.6,5.016
$10V_AH,10.4,3.453
$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,19.525,28.675,697.650,0.000,0.000,0.000,0.000,214.450,0.000,0.000,15.304,634.256,1178.558,639.076,783.095,59.721,0.000,1257.972,0.000,510.322,0.000,0.537,0.000
$DEVICE_MAMPS,227.970,77.265,686.970,0.000,0.000,0.000,0.000,130.815,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2887.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.418,0.000,0.000,0.000
$MEM,323952
$DATA_FILE_SIZE,6823,178
$CAP_FILE_SIZE,105314,0
$CFSIZE,260034560,251518976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.556, 20.7,1
$GPS,270213,223925,2253.595,12124.036,10,1.7,10,-3.0