version: 66.11
glider: 171
mission: 4
dive: 29
start: 2 28 113 10 16 5
data:
$ID,171
$MISSION,4
$DIVE,29
$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,-20329.381
$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,37
$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
$GPS1,280213,100936,2300.747,12131.030,41,0.9,41,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-71.8
$GPS2,280213,101537,2300.962,12130.973,15,1.2,15,-3.0
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,91.7,260346,-16.1,-10.000,-19.78,2593
$D_GRID,1458
$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,-170.3,130,2490,1079,860,0.0,0.0,0,72,0.00,0.00,-53.05,0.000,16386,0.000,0.000,130,2490,2507,2574,2441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-1.12,-170.3,130,2490,2576,2442,3.2,-5.4,7,106,8.90,2.10,-14.62,0.000,18948,0.230,0.048,2391,1104,3406,3419,3393,0,0,0,0,0,0,25.91,26.15,26.43
$GC,179,-1.12,-170.3,2391,1102,3418,3397,49.3,-39.0,19,187,0.00,2.15,0.00,0.000,1030,0.000,0.042,2381,2490,3407,3419,3395,0,0,0,0,0,0,28.83,26.20,28.83
$GC,486,-1.12,-170.3,2382,2490,3417,3401,154.9,-30.8,35,492,0.00,1.88,0.00,0.000,260,0.000,0.063,2373,3668,3409,3418,3401,0,0,0,0,0,0,28.83,26.39,28.83
$GC,727,-1.12,-170.3,2372,3668,3419,3408,221.0,-29.2,46,733,0.00,1.70,0.00,0.000,1030,0.000,0.028,2373,2507,3413,3419,3408,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1040,-1.12,-170.3,2372,2505,3419,3410,317.2,-28.5,62,1047,0.00,1.85,0.00,0.000,260,0.000,0.061,2364,3676,3414,3419,3410,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1119,-1.12,-170.3,2364,3675,3419,3410,337.0,-30.1,65,1128,0.15,1.73,0.00,0.000,3078,0.167,0.027,2406,2488,3414,3419,3410,0,0,0,0,0,0,26.48,26.64,28.83
$GC,1425,-1.12,-170.3,2402,2486,3419,3410,418.9,-24.6,81,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2486,3414,3418,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1726,-1.12,-170.3,2402,2486,3418,3409,492.6,-23.9,96,1731,0.00,1.88,0.00,0.000,260,0.000,0.063,2395,3671,3413,3418,3409,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1824,-1.12,-170.3,2394,3671,3418,3410,512.8,-24.3,100,1831,0.00,1.70,0.00,0.000,1030,0.000,0.028,2394,2500,3413,3418,3409,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2129,-1.12,-170.3,2394,2498,3417,3408,589.5,-23.7,116,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2499,3412,3417,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2429,-1.12,-170.3,2394,2499,3414,3405,657.2,-21.5,127,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2499,3409,3414,3405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2729,-1.12,-170.3,2394,2499,3412,3402,726.5,-23.7,137,2735,0.00,1.85,0.00,0.000,260,0.000,0.064,2386,3671,3406,3412,3401,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2756,-1.12,-170.3,2386,3671,3411,3402,726.5,-23.7,137,2764,0.00,1.70,0.00,0.000,1030,0.000,0.028,2386,2495,3406,3411,3401,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3063,-1.12,-170.3,2385,2494,3408,3398,803.0,-22.4,148,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2494,3403,3408,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3363,-1.12,-170.3,2385,2494,3406,3395,869.8,-21.7,158,3369,0.00,1.85,0.00,0.000,260,0.000,0.062,2377,3673,3400,3406,3395,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3441,-1.12,-170.3,2377,3673,3405,3395,884.4,-22.1,160,3447,0.00,1.73,0.00,0.000,1030,0.000,0.026,2377,2499,3400,3405,3395,0,0,0,0,0,0,28.83,26.85,28.83
$GC,3760,-1.12,-170.3,2377,2496,3403,3391,960.3,-23.2,171,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2496,3397,3403,3391,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3909,begin apogee
$GC,3914,-0.29,0.0,2377,2003,3401,3389,994.1,-22.5,176,4177,0.85,0.00,255.40,0.733,10246,0.127,0.000,2659,2001,2728,2851,2606,0,0,0,0,0,0,26.70,28.83,24.25
$STATE,4178,end apogee,CONTROL_FINISHED_OK
$STATE,4178,begin climb
$GC,4180,1.12,170.3,2658,2001,2845,2598,1011.3,0.0,184,4297,1.33,0.00,112.12,0.770,10498,0.073,0.000,3118,2000,2413,2563,2264,0,0,0,0,0,0,25.03,28.83,28.83
$STATE,4298,end climb,ABORT_DEPTH_EXCEEDED
$SM_CCo,4310,495.92,1.025,34,0,413,567.87
$SM_GC,1.10,7.80,0.00,0.00,0.053,0.000,0.000,141,2000,483,-8.11,0.00,551.19,0,0,0,0,0,0,26.77,28.83,28.83
$IRIDIUM_FIX,2251.04,12128.33,280213,060646
$TT8_MAMPS,0.050183,0.050183
$HUMID,45.27
$INTERNAL_PRESSURE,9.58391
$TCM_TEMP,17.20
$XPDR_PINGS,0
$SC_FREEKB,4011104
$24V_AH,23.6,5.944
$10V_AH,10.4,3.897
$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,19.025,22.800,367.525,495.925,0.000,0.000,0.000,227.225,0.000,0.000,16.468,935.426,7244.104,1045.151,784.352,75.823,0.000,1709.858,0.000,507.093,0.000,0.538,0.000
$DEVICE_MAMPS,229.500,64.260,769.590,1025.100,0.000,0.000,0.000,127.755,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4194.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.731,0.000,0.000,0.000
$MEM,324052
$DATA_FILE_SIZE,6821,189
$CAP_FILE_SIZE,125249,0
$CFSIZE,260034560,251002880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,280213,125927,2300.712,12131.331,11,3.0,31,-3.0