version: 66.11
glider: 171
mission: 4
dive: 26
start: 2 28 113 2 35 28
data:
$ID,171
$MISSION,4
$DIVE,26
$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,-20325.607
$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,56
$R_STBD_OVSHOOT,22
$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
$GPS1,280213,023059,2258.452,12126.675,32,1.3,42,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-69.6
$GPS2,280213,023501,2258.576,12126.749,15,1.3,15,-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,308.5,9433,-16.1,-10.000,-19.78,2593
$D_GRID,208
$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,-170.3,126,2496,1156,929,0.0,0.0,0,66,0.00,0.00,-46.20,0.000,16386,0.000,0.000,125,2497,2360,2411,2310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-1.12,-170.3,126,2497,2414,2310,3.4,-5.4,6,101,8.68,1.92,-18.33,0.000,18692,0.226,0.074,2385,3677,3406,3429,3383,0,0,0,0,0,0,26.29,26.44,26.74
$GC,300,-1.12,-170.3,2385,3677,3427,3388,92.3,-35.7,25,306,0.00,1.70,0.00,0.000,1030,0.000,0.026,2385,2500,3408,3428,3388,0,0,0,0,0,0,28.83,26.61,28.83
$GC,614,-1.12,-170.3,2385,2498,3428,3395,185.9,-28.8,41,620,0.00,2.10,0.00,0.000,516,0.000,0.039,2385,1095,3409,3427,3392,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,698,begin apogee
$GC,703,-0.29,0.0,2377,2013,3427,3397,210.1,-28.5,45,928,0.85,0.00,214.90,0.425,10246,0.127,0.000,2658,2013,2722,2844,2600,0,0,0,0,0,0,26.60,28.83,25.27
$STATE,929,end apogee,CONTROL_FINISHED_OK
$STATE,930,begin climb
$GC,931,1.12,170.3,2658,2013,2841,2597,227.3,0.0,55,1088,1.30,2.33,147.20,0.477,11012,0.080,0.052,3118,3403,2025,2173,1877,0,0,0,0,0,0,25.64,25.45,25.08
$GC,1322,1.18,232.9,3118,3403,2141,1868,216.0,7.5,73,1387,0.00,2.10,55.58,0.455,9222,0.000,0.031,3129,2003,1767,1900,1635,0,0,0,0,0,0,28.83,26.28,25.49
$GC,1679,1.18,232.9,3129,2003,1864,1631,180.0,11.2,91,1686,0.00,2.22,0.00,0.000,260,0.000,0.054,3129,3402,1747,1864,1631,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1805,1.18,232.9,3129,3403,1861,1631,165.1,12.1,97,1812,0.00,2.10,0.00,0.000,1030,0.000,0.031,3140,1994,1745,1860,1631,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2130,1.23,281.1,3140,1994,1857,1631,140.2,8.1,113,2181,0.00,2.15,43.47,0.425,8708,0.000,0.044,3151,603,1572,1682,1463,0,0,0,0,0,0,28.83,26.25,25.92
$GC,2410,1.23,281.1,3150,603,1658,1452,111.0,11.3,126,2416,0.00,2.12,0.00,0.000,1030,0.000,0.040,3151,2004,1557,1663,1451,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2724,1.30,358.1,3150,2005,1654,1448,81.0,6.9,142,2802,0.00,2.33,71.90,0.396,8452,0.000,0.057,3151,3411,1259,1372,1147,0,0,0,0,0,0,28.83,26.09,25.79
$GC,3026,1.31,360.4,3152,3411,1348,1134,47.4,9.9,157,3033,0.00,2.12,0.00,0.000,1030,0.000,0.035,3161,2006,1240,1348,1133,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3336,1.37,419.8,2112,2004,1323,1129,23.6,7.6,189,3398,0.10,2.28,53.78,0.354,10756,0.098,0.049,3255,589,1003,1115,891,0,0,0,0,0,0,26.65,26.23,25.96
$STATE,3481,end climb,SURFACE_DEPTH_REACHED
$STATE,3481,begin surface coast
$FINISH,0.9,1.022460
$STATE,3493,end surface coast,CONTROL_FINISHED_OK
$STATE,3493,begin surface
$SM_CCo,3571,0.00,0.000,0,0,985,428.05
$SM_GC,1.61,8.02,3.05,0.00,0.036,0.048,0.000,141,2492,985,-8.11,-0.93,428.05,0,0,0,0,0,0,26.40,26.36,28.83
$IRIDIUM_FIX,2248.70,12125.11,280213,010114
$TT8_MAMPS,0.048685,0.048685
$HUMID,42.95
$INTERNAL_PRESSURE,9.71087
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,4011872
$24V_AH,25.1,5.454
$10V_AH,10.6,3.662
$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,18.950,29.950,586.825,0.000,0.000,0.000,0.000,149.450,0.000,0.000,16.358,944.506,1405.756,539.534,872.055,66.716,0.000,1132.050,0.000,668.677,0.000,0.539,0.000
$DEVICE_MAMPS,225.675,74.205,476.595,0.000,0.000,0.000,0.000,117.810,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3480.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.148,0.000,0.000,0.000
$MEM,323956
$DATA_FILE_SIZE,6805,215
$CAP_FILE_SIZE,128971,0
$CFSIZE,260034560,251256832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.402, 38.3,1
$GPS,280213,033543,2259.270,12127.042,10,1.4,10,-3.0