version: 66.11
glider: 171
mission: 4
dive: 449
start: 4 28 113 16 52 54
data:
$ID,171
$MISSION,4
$DIVE,449
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$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,55
$T_MISSION,65
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-21352.889
$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,2810
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$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,65
$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,2380
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0035000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$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,21.5
$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,48
$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
$GPS1,280413,164329,2353.962,12141.573,38,1.4,43,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.3
$GPS2,280413,165219,2354.007,12141.630,15,1.6,15,-3.2
$SPEED_LIMITS,0.126,0.261
$TGT_NAME,PICKUP
$TGT_LATLONG,2354.000,12142.000
$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,71.1,626,-13.0,-7.273,-17.73,2907
$D_GRID,777
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.01,-139.7,129,2495,823,674,0.0,0.0,0,84,0.00,0.00,-61.85,0.000,16386,0.000,0.000,128,2495,2548,2636,2461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.01,-139.7,128,2495,2637,2462,4.6,-8.9,8,113,9.95,2.10,-6.60,0.000,18948,0.236,0.041,2478,1102,2953,3041,2866,0,0,0,0,0,0,25.22,26.10,26.51
$GC,237,-0.87,-139.7,2477,1102,3045,2867,47.8,-21.4,33,246,0.22,2.15,0.00,0.000,3078,0.145,0.037,2531,2494,2956,3046,2867,0,0,0,0,0,0,25.67,26.06,28.83
$GC,376,-0.77,-139.7,2531,2494,3047,2866,70.8,-17.2,47,382,0.12,1.90,0.00,0.000,2308,0.157,0.053,2564,3675,2956,3047,2866,0,0,0,0,0,0,26.13,26.03,28.83
$GC,414,-0.68,-139.7,2564,3675,3048,2866,76.8,-16.9,50,421,0.00,1.70,0.00,0.000,1030,0.000,0.024,2564,2496,2957,3048,2866,0,0,0,0,0,0,28.83,26.36,28.83
$GC,551,-0.64,-139.7,2564,2495,3050,2867,96.1,-13.1,63,559,0.15,0.00,0.00,0.000,2054,0.131,0.000,2608,2495,2958,3050,2866,0,0,0,0,0,0,26.23,28.83,28.83
$GC,681,-0.64,-139.7,2608,2494,3052,2866,108.8,-9.1,76,686,0.00,2.08,0.00,0.000,516,0.000,0.030,2608,1106,2959,3052,2867,0,0,0,0,0,0,28.83,26.32,28.83
$GC,753,-0.64,-139.7,2608,1106,3052,2866,115.7,-9.9,82,762,0.00,2.15,0.00,0.000,1030,0.000,0.038,2599,2503,2959,3052,2866,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,802,begin apogee
$GC,809,-0.20,0.0,2598,1994,3052,2866,120.8,-10.0,87,941,0.40,0.00,128.05,0.440,10246,0.099,0.000,2739,1992,2379,2543,2216,0,0,0,0,0,0,26.03,28.83,24.82
$STATE,943,end apogee,CONTROL_FINISHED_OK
$STATE,943,begin climb
$GC,946,1.01,139.7,2739,1992,2533,2201,127.9,0.0,97,1079,1.08,2.22,124.97,0.437,10756,0.067,0.035,3141,611,1798,1925,1672,0,0,0,0,0,0,25.63,25.55,24.75
$GC,1190,0.87,139.7,3141,611,1888,1668,122.0,7.6,117,1199,0.17,2.12,0.00,0.000,5126,0.129,0.028,3091,2015,1778,1888,1668,0,0,0,0,0,0,25.70,25.97,28.83
$GC,1318,1.00,205.1,3090,2015,1886,1664,113.4,5.0,130,1402,0.12,2.20,76.55,0.407,10500,0.076,0.046,3183,3400,1534,1637,1431,0,0,0,0,0,0,26.31,25.72,24.97
$GC,1439,0.83,205.1,3183,3400,1626,1423,102.7,11.3,139,1448,0.38,2.08,0.00,0.000,5126,0.125,0.025,3080,2010,1523,1626,1421,0,0,0,0,0,0,25.56,25.95,28.83
$GC,1567,0.82,219.5,3080,2010,1623,1415,92.2,6.8,152,1587,0.00,2.20,13.95,0.379,8708,0.000,0.035,3091,610,1480,1588,1373,0,0,0,0,0,0,28.83,26.04,25.13
$GC,1623,0.86,248.1,3090,610,1579,1364,88.9,6.3,156,1672,0.00,2.10,39.38,0.392,9222,0.000,0.030,3091,2006,1365,1481,1249,0,0,0,0,0,0,28.83,26.08,25.04
$GC,1795,0.83,252.9,3090,2006,1460,1232,77.2,7.1,172,1801,0.00,2.20,0.00,0.000,260,0.000,0.047,3091,3406,1346,1460,1232,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1858,0.77,252.9,3090,3406,1459,1232,72.0,8.3,177,1867,0.15,2.10,0.00,0.000,5126,0.125,0.027,3055,1994,1345,1458,1232,0,0,0,0,0,0,25.96,26.22,28.83
$GC,1986,0.82,269.4,3055,1995,1457,1230,62.5,6.7,190,2017,0.00,2.10,25.05,0.384,8708,0.000,0.034,3066,615,1274,1391,1158,0,0,0,0,0,0,28.83,26.09,25.22
$GC,2060,0.83,269.6,3065,615,1376,1147,57.2,7.3,196,2066,0.00,2.08,0.00,0.000,1030,0.000,0.030,3066,2000,1261,1375,1147,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2193,0.83,269.6,2000,1998,1348,1143,46.8,8.2,212,2202,0.00,2.20,0.00,0.000,260,0.000,0.048,3066,3410,1258,1372,1145,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2429,0.83,269.6,3065,3410,1370,1145,32.8,7.4,254,2437,0.00,2.08,0.00,0.000,1030,0.000,0.028,3076,2001,1257,1370,1145,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2572,0.91,293.0,1984,1998,1345,1142,24.8,6.4,279,2603,0.00,2.20,25.88,0.373,8708,0.000,0.037,3090,606,1180,1294,1066,0,0,0,0,0,0,28.83,26.19,25.26
$GC,2765,1.12,352.7,1984,606,1256,1046,13.8,5.2,312,2806,0.22,2.08,27.58,0.089,11270,0.051,0.030,3227,2002,938,1047,830,0,0,0,0,0,0,26.32,26.27,25.88
$STATE,2873,end climb,SURFACE_DEPTH_REACHED
$STATE,2873,begin surface coast
$FINISH,0.6,0.999333
$STATE,2897,end surface coast,CONTROL_FINISHED_OK
$STATE,2898,begin surface
$SM_CCo,2917,27.52,0.057,0,0,747,400.08
$SM_GC,1.80,7.95,0.75,27.52,0.032,0.048,0.057,135,2493,747,-8.27,-1.50,400.08,0,0,0,0,0,0,26.23,26.24,26.09
$IRIDIUM_FIX,2342.70,12139.85,280413,131340
$TT8_MAMPS,0.048685,0.048685
$HUMID,45.35
$INTERNAL_PRESSURE,9.6718
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3877056
$24V_AH,24.8,69.095
$10V_AH,10.2,48.875
$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,20.925,43.500,461.400,27.525,0.000,0.000,0.000,288.175,0.000,0.000,16.251,1083.220,559.743,522.745,941.900,338.214,0.000,1229.259,0.000,632.582,0.000,0.539,0.000
$DEVICE_MAMPS,235.620,52.785,439.875,56.610,0.000,0.000,0.000,126.990,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2921.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.406,0.000,0.000,0.000
$MEM,323912
$DATA_FILE_SIZE,10136,333
$CAP_FILE_SIZE,154626,0
$CFSIZE,260034560,202883072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,115.7,1
$GPS,280413,174315,2354.091,12141.959,12,2.4,31,-3.2