version: 66.11
glider: 171
mission: 4
dive: 452
start: 4 28 113 19 42 16
data:
$ID,171
$MISSION,4
$DIVE,452
$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,-21360.459
$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,54
$R_STBD_OVSHOOT,36
$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
$GPS1,280413,193503,2354.118,12141.913,8,4.4,27,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-70.1
$GPS2,280413,194137,2354.226,12141.935,14,1.4,14,-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,189.8,433,-22.0,-7.273,-25.66,1186
$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,17,begin dive
$GC,20,-1.08,-56.5,133,2507,833,672,0.0,0.0,0,81,0.00,0.00,-58.67,0.000,16386,0.000,0.000,133,2507,2393,2456,2331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.18,-86.0,133,2507,2461,2331,3.9,-4.7,8,109,9.32,2.12,-6.47,0.000,18948,0.230,0.041,2420,1081,2736,2832,2640,0,0,0,0,0,0,25.37,26.28,26.64
$GC,192,-1.09,-86.0,1408,1080,2780,2630,34.3,-19.3,25,201,0.17,2.17,0.00,0.000,3078,0.164,0.038,2458,2499,2736,2833,2640,0,0,0,0,0,0,25.91,26.25,28.83
$GC,332,-1.04,-86.0,2457,2499,2835,2639,61.3,-21.1,45,338,0.00,1.83,0.00,0.000,260,0.000,0.054,2449,3669,2737,2835,2639,0,0,0,0,0,0,28.83,26.25,28.83
$GC,392,-0.97,-86.0,2449,3669,2835,2640,72.6,-19.6,50,401,0.10,1.75,0.00,0.000,3078,0.134,0.026,2496,2487,2738,2836,2640,0,0,0,0,0,0,26.08,26.47,28.83
$GC,520,-0.97,-86.0,2495,2487,2838,2640,92.8,-15.2,63,526,0.00,1.88,0.00,0.000,260,0.000,0.055,2487,3676,2738,2837,2640,0,0,0,0,0,0,28.83,26.27,28.83
$GC,558,-0.97,-86.0,2487,3676,2838,2640,98.4,-15.3,66,564,0.00,1.70,0.00,0.000,1030,0.000,0.025,2487,2499,2738,2838,2639,0,0,0,0,0,0,28.83,26.50,28.83
$GC,694,-0.97,-86.0,2487,2499,2840,2639,117.8,-14.0,79,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2499,2740,2840,2640,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,711,begin apogee
$GC,718,-0.20,0.0,2487,1998,2840,2640,120.5,-13.5,81,846,0.77,0.00,118.80,0.410,10246,0.119,0.000,2742,1997,2373,2529,2217,0,0,0,0,0,0,26.01,28.83,25.06
$STATE,848,end apogee,CONTROL_FINISHED_OK
$STATE,848,begin climb
$GC,851,1.18,86.0,2741,1997,2526,2215,126.8,0.0,91,939,1.23,2.22,77.32,0.430,10756,0.063,0.041,3203,609,2015,2166,1865,0,0,0,0,0,0,25.82,25.74,24.94
$GC,1177,1.20,118.3,3204,606,2139,1864,119.3,4.5,119,1223,0.00,2.12,36.28,0.404,9222,0.000,0.031,3204,2016,1892,2030,1755,0,0,0,0,0,0,28.83,26.28,25.25
$GC,1353,1.12,118.3,3204,2016,2002,1746,107.1,7.5,135,1359,0.12,2.17,0.00,0.000,4356,0.157,0.047,3166,3407,1874,2003,1746,0,0,0,0,0,0,26.12,26.18,28.83
$GC,1605,1.08,125.1,3165,3407,1999,1746,90.2,6.7,158,1611,0.00,2.10,0.00,0.000,1030,0.000,0.029,3176,1989,1873,2000,1746,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1741,1.13,154.1,3175,1989,1998,1745,83.9,4.8,171,1788,0.00,2.28,36.58,0.394,8452,0.000,0.049,3176,3400,1742,1858,1626,0,0,0,0,0,0,28.83,26.15,25.32
$GC,2034,1.13,169.7,3176,3400,1831,1625,64.0,5.9,197,2060,0.00,2.08,14.18,0.375,9222,0.000,0.027,3187,1990,1679,1781,1577,0,0,0,0,0,0,28.83,26.43,25.30
$GC,2181,1.15,174.3,3187,1990,1766,1573,54.5,6.9,211,2187,0.00,2.20,0.00,0.000,260,0.000,0.047,3187,3401,1669,1765,1573,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2263,1.14,185.0,2112,3400,1717,1567,48.8,6.4,219,2287,0.00,2.08,15.80,0.369,9222,0.000,0.027,3199,1994,1618,1716,1521,0,0,0,0,0,0,28.83,26.44,25.33
$GC,2422,1.18,196.5,3197,1994,1696,1511,38.5,6.3,246,2430,0.00,0.00,3.72,0.266,8198,0.000,0.000,3198,1994,1579,1677,1482,0,0,0,0,0,0,28.83,28.83,25.08
$GC,2565,1.24,213.9,2112,1992,1634,1477,29.2,5.8,271,2596,0.00,2.28,25.83,0.373,8452,0.000,0.048,3198,3400,1497,1601,1393,0,0,0,0,0,0,28.83,26.20,25.37
$GC,2646,1.34,254.0,2120,3398,1550,1379,25.0,3.8,283,2694,0.00,2.08,36.95,0.372,9222,0.000,0.026,3210,1999,1328,1440,1217,0,0,0,0,0,0,28.83,26.34,25.27
$GC,2829,1.34,254.0,3209,2000,1425,1206,12.5,9.1,313,2836,0.00,2.12,0.00,0.000,516,0.000,0.037,3221,606,1315,1424,1206,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,2931,end climb,SURFACE_DEPTH_REACHED
$STATE,2931,begin surface coast
$FINISH,1.0,1.009084
$STATE,2970,end surface coast,CONTROL_FINISHED_OK
$STATE,2970,begin surface
$SM_CCo,2993,67.30,0.057,0,0,748,400.08
$SM_GC,1.82,8.00,2.95,67.30,0.039,0.035,0.057,137,2492,748,-8.27,-1.19,400.08,0,0,0,0,0,0,26.36,26.28,26.18
$IRIDIUM_FIX,2342.70,12143.09,280413,181816
$TT8_MAMPS,0.049434,0.049434
$HUMID,45.98
$INTERNAL_PRESSURE,9.71087
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3876096
$24V_AH,24.9,69.259
$10V_AH,10.3,49.032
$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,19.725,38.850,365.450,67.300,0.000,0.000,0.000,209.575,0.000,0.000,15.250,1198.220,524.406,488.467,928.806,330.591,0.000,1122.558,0.000,684.527,0.000,0.539,0.000
$DEVICE_MAMPS,229.500,55.080,429.930,56.610,0.000,0.000,0.000,120.870,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2981.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.452,0.000,0.000,0.000
$MEM,323916
$DATA_FILE_SIZE,10113,338
$CAP_FILE_SIZE,157882,0
$CFSIZE,260034560,202686464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.196,359.6,1
$GPS,280413,203413,2354.430,12141.937,13,1.6,13,-3.2