version: 66.11
glider: 171
mission: 4
dive: 450
start: 4 28 113 17 50 37
data:
$ID,171
$MISSION,4
$DIVE,450
$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,-21356.008
$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,58
$R_STBD_OVSHOOT,35
$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
$GPS1,280413,174315,2354.091,12141.959,12,2.4,31,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-69.5
$GPS2,280413,175005,2354.154,12141.994,13,1.1,29,-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,192.2,285,-26.8,-7.273,-30.00,825
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.21,-39.2,128,2496,826,668,0.0,0.0,0,83,0.00,0.00,-61.60,0.000,16386,0.000,0.000,128,2497,2509,2602,2417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.21,-39.2,128,2497,2602,2420,4.3,-7.4,8,105,9.45,1.90,-0.57,0.000,18692,0.230,0.060,2404,3672,2544,2643,2446,0,0,0,0,0,0,25.28,26.09,26.32
$GC,262,-1.15,-39.2,2404,3672,2650,2446,54.3,-21.7,37,269,0.12,1.73,0.00,0.000,3078,0.176,0.024,2434,2492,2548,2650,2446,0,0,0,0,0,0,25.96,26.34,28.83
$GC,398,-1.15,-39.2,2436,2492,2653,2446,78.1,-15.8,50,404,0.00,1.88,0.00,0.000,260,0.000,0.054,2426,3667,2549,2653,2446,0,0,0,0,0,0,28.83,26.15,28.83
$GC,478,-1.15,-39.2,2426,3667,2653,2446,89.9,-15.1,57,484,0.00,1.70,0.00,0.000,1030,0.000,0.026,2426,2501,2549,2653,2446,0,0,0,0,0,0,28.83,26.40,28.83
$GC,612,-1.15,-39.2,2426,2500,2655,2446,110.9,-14.7,70,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2501,2550,2655,2446,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,671,begin apogee
$GC,678,-0.20,0.0,2426,1986,2656,2446,120.2,-16.0,76,744,0.98,0.00,61.17,0.412,10246,0.129,0.000,2738,1986,2377,2515,2240,0,0,0,0,0,0,25.79,28.83,25.12
$STATE,746,end apogee,CONTROL_FINISHED_OK
$STATE,746,begin climb
$GC,749,1.21,39.2,2737,1986,2511,2234,124.6,0.0,81,798,1.25,2.15,37.95,0.427,10756,0.066,0.036,3209,609,2209,2370,2048,0,0,0,0,0,0,25.92,25.84,24.96
$GC,887,1.56,139.9,3209,608,2359,2038,128.3,-5.3,92,991,0.28,2.12,90.43,0.439,11270,0.042,0.030,3356,2012,1795,1919,1672,0,0,0,0,0,0,26.15,26.06,24.91
$GC,1120,1.43,139.9,3356,2012,1885,1669,108.7,15.1,113,1127,0.28,2.17,0.00,0.000,4356,0.152,0.044,3273,3404,1777,1885,1669,0,0,0,0,0,0,25.70,26.03,28.83
$GC,1372,1.34,139.9,3273,3404,1880,1669,79.9,9.9,136,1379,0.15,2.08,0.00,0.000,5126,0.158,0.029,3243,2020,1774,1880,1669,0,0,0,0,0,0,25.97,26.31,28.83
$GC,1509,1.34,139.9,3243,2020,1879,1667,68.2,7.5,149,1514,0.00,2.17,0.00,0.000,260,0.000,0.047,3244,3405,1773,1879,1667,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1764,1.40,171.9,3243,3404,1878,1667,57.1,3.3,172,1806,0.00,2.10,28.55,0.391,9222,0.000,0.030,3254,1995,1664,1765,1563,0,0,0,0,0,0,28.83,26.41,25.27
$GC,1929,1.40,171.9,2240,1993,1702,1550,46.3,8.4,191,1937,0.00,2.12,0.00,0.000,516,0.000,0.041,3265,604,1650,1745,1556,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2185,1.56,215.6,2240,604,1695,1550,30.8,1.8,237,2235,0.12,2.10,39.90,0.383,11270,0.076,0.031,3357,2003,1492,1594,1391,0,0,0,0,0,0,26.36,26.35,25.27
$GC,2370,1.48,215.6,2336,2001,1534,1366,20.4,7.8,267,2378,0.20,2.15,0.00,0.000,4612,0.146,0.035,3304,594,1470,1570,1370,0,0,0,0,0,0,25.96,26.22,28.83
$STATE,2574,end climb,SURFACE_DEPTH_REACHED
$STATE,2574,begin surface coast
$FINISH,0.8,1.022907
$STATE,2614,end surface coast,CONTROL_FINISHED_OK
$STATE,2614,begin surface
$SM_CCo,2636,85.80,0.057,0,0,747,400.08
$SM_GC,1.48,8.18,2.97,85.80,0.035,0.037,0.057,135,2490,747,-8.27,-1.24,400.08,0,0,0,0,0,0,26.34,26.27,26.13
$IRIDIUM_FIX,2345.05,12132.59,280413,161630
$TT8_MAMPS,0.049434,0.049434
$HUMID,44.84
$INTERNAL_PRESSURE,9.69133
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3876736
$24V_AH,24.9,69.135
$10V_AH,10.3,48.925
$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,21.000,30.075,258.000,85.800,0.000,0.000,0.000,209.425,0.000,0.000,32.328,1104.143,481.268,397.132,863.634,292.938,0.000,965.370,0.000,623.945,0.000,0.539,0.000
$DEVICE_MAMPS,230.265,60.435,439.110,57.375,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2626.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.021,0.000,0.000,0.000
$MEM,323916
$DATA_FILE_SIZE,10128,311
$CAP_FILE_SIZE,139753,0
$CFSIZE,260034560,202833920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096, 45.1,1
$GPS,280413,183715,2354.210,12142.058,12,2.2,31,-3.2