version: 66.11
glider: 171
mission: 4
dive: 451
start: 4 28 113 18 44 26
data:
$ID,171
$MISSION,4
$DIVE,451
$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,-21359.109
$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,51
$R_STBD_OVSHOOT,29
$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
$GPS1,280413,183715,2354.210,12142.058,12,2.2,31,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-71.4
$GPS2,280413,184356,2354.301,12142.086,13,2.1,32,-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,208.6,576,-10.4,-7.273,-15.55,4028
$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,-1.10,-194.6,130,2493,823,673,0.0,0.0,0,76,0.00,0.00,-54.72,0.000,16386,0.000,0.000,130,2494,2254,2313,2196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-1.10,-194.6,129,2494,2316,2198,3.2,-3.9,7,113,9.55,2.20,-17.42,0.000,18948,0.231,0.050,2449,1099,3178,3250,3106,0,0,0,0,0,0,25.33,26.20,26.65
$GC,190,-0.88,-194.6,1432,1099,3225,3100,34.1,-24.8,24,199,0.30,2.17,0.00,0.000,3078,0.142,0.040,2527,2499,3179,3253,3106,0,0,0,0,0,0,25.81,26.19,28.83
$GC,335,-0.75,-194.6,2524,2499,3252,3106,59.9,-16.0,44,343,0.15,0.00,0.00,0.000,2054,0.147,0.000,2573,2499,3179,3253,3106,0,0,0,0,0,0,26.23,28.83,28.83
$GC,464,-0.69,-194.6,2570,2499,3254,3106,77.1,-12.3,57,471,0.00,2.12,0.00,0.000,516,0.000,0.038,2571,1104,3180,3254,3106,0,0,0,0,0,0,28.83,26.31,28.83
$GC,502,-0.64,-194.6,2571,1104,3254,3106,81.4,-11.7,60,509,0.15,2.17,0.00,0.000,3078,0.128,0.042,2606,2504,3180,3254,3106,0,0,0,0,0,0,26.13,26.27,28.83
$GC,639,-0.64,-194.6,2605,2504,3255,3106,95.2,-9.8,73,645,0.00,1.85,0.00,0.000,260,0.000,0.059,2599,3674,3180,3255,3106,0,0,0,0,0,0,28.83,26.25,28.83
$GC,686,-0.64,-194.6,2597,3674,3256,3106,100.1,-10.2,77,693,0.00,1.70,0.00,0.000,1030,0.000,0.026,2598,2491,3181,3257,3106,0,0,0,0,0,0,28.83,26.50,28.83
$GC,822,-0.64,-194.6,2597,2491,3256,3106,112.7,-8.9,90,828,0.00,2.08,0.00,0.000,516,0.000,0.035,2598,1108,3181,3256,3106,0,0,0,0,0,0,28.83,26.41,28.83
$GC,860,-0.64,-194.6,2597,1108,3256,3106,115.8,-8.7,93,866,0.00,2.17,0.00,0.000,1030,0.000,0.042,2588,2510,3181,3257,3106,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,907,begin apogee
$GC,915,-0.20,0.0,2587,1991,3256,3106,120.1,-9.0,97,1162,0.43,0.00,240.30,0.413,10246,0.096,0.000,2739,1989,2375,2535,2216,0,0,0,0,0,0,26.18,28.83,24.94
$STATE,1164,end apogee,CONTROL_FINISHED_OK
$STATE,1164,begin climb
$GC,1166,1.10,194.6,2738,1989,2531,2206,133.1,0.0,116,1346,1.15,2.22,169.27,0.435,10756,0.064,0.038,3170,609,1572,1673,1471,0,0,0,0,0,0,25.69,25.67,24.89
$GC,1535,0.91,194.6,3169,609,1649,1455,110.3,12.0,147,1542,0.22,2.12,0.00,0.000,5126,0.124,0.031,3102,2016,1553,1651,1455,0,0,0,0,0,0,25.94,26.20,28.83
$GC,1672,0.78,194.6,3102,2016,1650,1452,97.4,8.7,160,1680,0.12,0.00,0.00,0.000,4102,0.139,0.000,3059,2016,1550,1650,1451,0,0,0,0,0,0,26.23,28.83,28.83
$GC,1801,0.86,237.6,1984,2015,1611,1445,88.9,6.2,173,1865,0.00,2.17,52.97,0.396,8452,0.000,0.050,3059,3398,1400,1515,1285,0,0,0,0,0,0,28.83,25.99,25.24
$GC,1946,0.82,249.8,3059,3398,1501,1279,79.5,7.0,185,1965,0.00,2.08,10.60,0.373,9222,0.000,0.029,3070,2010,1357,1472,1242,0,0,0,0,0,0,28.83,26.22,25.22
$GC,2095,0.75,249.8,3070,2010,1460,1231,69.1,7.3,199,2101,0.00,2.17,0.00,0.000,516,0.000,0.037,3081,591,1345,1459,1231,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2186,0.69,249.8,3081,592,1458,1231,62.7,7.3,207,2193,0.17,2.12,0.00,0.000,5126,0.110,0.033,3024,1997,1344,1458,1231,0,0,0,0,0,0,26.14,26.30,28.83
$GC,2323,0.98,333.6,3024,1996,1457,1229,56.0,5.1,220,2437,0.25,2.25,106.50,0.386,10500,0.047,0.048,3172,3403,1011,1121,902,0,0,0,0,0,0,26.54,25.82,25.10
$GC,2604,0.85,333.6,2080,3401,1088,885,25.0,11.1,261,2613,0.30,2.10,0.00,0.000,5126,0.111,0.027,3085,1990,993,1101,885,0,0,0,0,0,0,25.95,26.26,28.83
$GC,2748,1.00,376.2,1984,1987,1086,882,14.6,6.2,286,2782,0.12,2.15,20.92,0.088,10756,0.074,0.037,3191,609,845,946,745,0,0,0,0,0,0,26.50,26.26,25.97
$GC,2814,0.89,376.2,3191,609,951,745,8.4,10.9,295,2823,0.30,2.10,0.00,0.000,5126,0.106,0.031,3093,2001,848,951,745,0,0,0,0,0,0,26.06,26.30,28.83
$STATE,2880,end climb,SURFACE_DEPTH_REACHED
$STATE,2880,begin surface coast
$FINISH,0.8,1.022386
$STATE,2929,end surface coast,CONTROL_FINISHED_OK
$STATE,2930,begin surface
$SM_CCo,2950,14.90,0.055,0,0,748,400.08
$SM_GC,1.39,7.53,0.77,14.90,0.028,0.047,0.055,137,2504,748,-8.27,-1.02,400.08,0,0,0,0,0,0,26.36,26.32,26.22
$IRIDIUM_FIX,2342.70,12143.09,280413,171713
$TT8_MAMPS,0.048685,0.048685
$HUMID,46.81
$INTERNAL_PRESSURE,9.7011
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3876416
$24V_AH,24.9,69.210
$10V_AH,10.3,48.978
$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,20.750,39.500,600.575,14.900,0.000,0.000,0.000,199.025,0.000,0.000,35.725,1004.320,569.140,606.444,873.431,319.723,0.000,1256.924,0.000,639.456,0.000,0.539,0.000
$DEVICE_MAMPS,231.030,58.905,435.285,55.080,0.000,0.000,0.000,119.340,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2945.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.230,0.000,0.000,0.000
$MEM,323908
$DATA_FILE_SIZE,10134,315
$CAP_FILE_SIZE,149033,0
$CFSIZE,260034560,202760192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056, 66.5,1
$GPS,280413,193503,2354.118,12141.913,8,4.4,27,-3.2