version: 66.11
glider: 171
mission: 4
dive: 22
start: 2 27 113 22 43 51
data:
$ID,171
$MISSION,4
$DIVE,22
$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,-20320.584
$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,52
$R_STBD_OVSHOOT,38
$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
$GPS1,270213,223925,2253.595,12124.036,10,1.7,10,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-67.1
$GPS2,270213,224325,2253.734,12124.101,13,1.2,13,-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,349.0,18511,-16.1,-10.000,-19.78,2593
$D_GRID,257
$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,-1.12,-170.3,127,2509,944,700,0.0,0.0,0,74,0.00,0.00,-53.95,0.000,16386,0.000,0.000,127,2509,2392,2445,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.12,-170.3,127,2509,2454,2339,3.9,-8.6,7,108,8.77,2.15,-16.15,0.000,18948,0.229,0.043,2391,1088,3408,3429,3388,0,0,0,0,0,0,26.17,26.38,26.63
$GC,116,-1.12,-170.3,2391,1087,3426,3391,23.6,-46.3,12,124,0.00,2.17,0.00,0.000,1030,0.000,0.044,2382,2495,3409,3426,3392,0,0,0,0,0,0,28.83,26.34,28.83
$GC,422,-1.12,-170.3,2381,2495,3426,3413,132.1,-29.8,31,428,0.00,2.10,0.00,0.000,516,0.000,0.033,2381,1092,3419,3426,3413,0,0,0,0,0,0,28.83,26.53,28.83
$GC,500,-1.12,-170.3,2381,1092,3426,3415,150.7,-29.0,34,509,0.12,2.15,0.00,0.000,3078,0.170,0.044,2402,2503,3420,3426,3415,0,0,0,0,0,0,26.44,26.52,28.83
$GC,806,-1.12,-170.3,2402,2503,3426,3420,243.5,-32.3,50,812,0.00,1.83,0.00,0.000,260,0.000,0.060,2395,3673,3423,3426,3420,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,871,begin apogee
$GC,877,-0.29,0.0,2394,1989,3426,3420,263.3,-30.1,53,1034,0.80,0.00,143.73,0.654,10246,0.129,0.000,2657,1985,2729,2849,2610,0,0,0,0,1,0,26.53,28.83,24.72
$STATE,1036,end apogee,CONTROL_FINISHED_OK
$STATE,1036,begin climb
$GC,1037,1.12,170.3,2657,1986,2850,2610,278.0,0.0,60,1202,1.30,2.40,152.45,0.520,11012,0.073,0.052,3115,3408,2023,2174,1873,0,0,0,0,0,0,25.33,25.21,24.79
$GC,1436,1.21,265.3,3114,3408,2151,1869,272.6,6.2,78,1562,0.00,2.10,118.95,0.455,9222,0.000,0.029,3126,1996,1648,1764,1532,0,0,0,0,0,0,28.83,26.13,25.06
$GC,1879,1.21,265.3,3126,1995,1732,1523,230.3,10.7,100,1886,0.00,2.28,0.00,0.000,260,0.000,0.053,3127,3417,1627,1732,1523,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1913,1.21,265.3,3126,3417,1730,1523,227.5,10.7,101,1918,0.00,2.10,0.00,0.000,1030,0.000,0.031,3134,2012,1626,1730,1523,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2226,1.21,265.3,3137,2012,1727,1523,187.3,13.1,117,2232,0.00,2.20,0.00,0.000,260,0.000,0.054,3137,3412,1625,1727,1523,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2344,1.21,265.3,3137,3412,1725,1522,173.6,13.1,122,2352,0.00,2.10,0.00,0.000,1030,0.000,0.032,3148,2008,1624,1725,1523,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2651,1.22,276.2,3148,2007,1723,1523,140.2,9.6,138,2656,0.00,0.00,3.10,0.254,8198,0.000,0.000,3149,2008,1602,1708,1497,0,0,0,0,0,0,28.83,28.83,26.15
$GC,2951,1.22,276.2,3148,2008,1708,1497,110.7,10.4,153,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2008,1602,1708,1497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3251,1.49,540.5,3148,2008,1710,1497,91.3,-0.5,168,3648,0.20,2.30,380.12,0.376,10756,0.060,0.042,3273,601,523,601,445,0,0,0,0,1,0,26.74,25.46,25.13
$GC,3671,1.49,540.5,3273,600,601,445,25.2,21.7,191,3677,0.12,2.20,0.00,0.000,5126,0.152,0.035,3241,2009,523,602,445,0,0,0,0,0,0,25.54,25.63,28.83
$STATE,3775,end climb,SURFACE_DEPTH_REACHED
$STATE,3775,begin surface coast
$FINISH,0.2,1.022496
$STATE,3788,end surface coast,CONTROL_FINISHED_OK
$STATE,3788,begin surface
$SM_CCo,3864,0.00,0.000,0,0,523,541.38
$SM_GC,0.93,8.05,0.77,0.00,0.030,0.053,0.000,140,2499,523,-8.11,-1.05,541.38,0,0,0,0,0,0,26.02,25.96,28.83
$IRIDIUM_FIX,2241.69,12123.89,270213,212123
$TT8_MAMPS,0.048685,0.048685
$HUMID,42.24
$INTERNAL_PRESSURE,9.61321
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,4013152
$24V_AH,24.7,5.125
$10V_AH,10.5,3.497
$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,19.375,31.375,798.350,0.000,0.000,0.000,0.000,149.575,0.000,0.000,14.058,771.518,1769.994,708.897,802.541,64.355,0.000,1321.208,0.000,602.444,0.000,0.539,0.000
$DEVICE_MAMPS,228.735,60.435,654.075,0.000,0.000,0.000,0.000,113.985,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3773.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.967,0.000,0.000,0.000
$MEM,323940
$DATA_FILE_SIZE,6814,212
$CAP_FILE_SIZE,123425,0
$CFSIZE,260034560,251453440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.517, 29.6,1
$GPS,270213,234901,2255.143,12124.571,12,1.4,12,-3.0