version: 66.11
glider: 171
mission: 4
dive: 454
start: 4 28 113 21 31 0
data:
$ID,171
$MISSION,4
$DIVE,454
$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,-21363.068
$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
$GPS1,280413,212407,2354.705,12141.790,11,1.8,11,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-70.0
$GPS2,280413,213030,2354.862,12141.797,16,1.8,33,-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,194.9,1633,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.10,-194.6,137,2497,830,665,0.0,0.0,0,77,0.00,0.00,-54.47,0.000,16386,0.000,0.000,137,2497,2255,2296,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-1.10,-194.6,137,2497,2302,2214,3.2,-3.6,7,113,9.25,1.95,-17.40,0.000,18692,0.225,0.072,2443,3674,3178,3253,3104,0,0,0,0,0,0,25.48,26.17,26.70
$GC,223,-0.86,-194.6,2442,3674,3256,3104,44.4,-24.7,30,231,0.30,1.73,0.00,0.000,3078,0.135,0.027,2533,2486,3180,3256,3104,0,0,0,0,0,0,26.00,26.43,28.83
$GC,362,-0.75,-194.6,2532,2486,3259,3104,69.0,-15.3,45,369,0.12,2.08,0.00,0.000,2564,0.148,0.036,2575,1105,3183,3259,3107,0,0,0,0,0,0,26.34,26.39,28.83
$GC,404,-0.67,-194.6,2576,1105,3259,3104,74.1,-14.1,48,412,0.00,2.15,0.00,0.000,1030,0.000,0.041,2566,2497,3181,3258,3104,0,0,0,0,0,0,28.83,26.34,28.83
$GC,531,-0.60,-194.6,2566,2497,3260,3104,90.4,-12.2,61,538,0.12,1.85,0.00,0.000,2308,0.138,0.056,2601,3674,3182,3260,3104,0,0,0,0,0,0,26.39,26.33,28.83
$GC,590,-0.60,-194.6,2601,3674,3261,3104,96.2,-9.0,66,596,0.00,1.70,0.00,0.000,1030,0.000,0.027,2601,2493,3182,3261,3104,0,0,0,0,0,0,28.83,26.51,28.83
$GC,726,-0.60,-194.6,2601,2493,3261,3104,106.5,-7.6,79,733,0.00,2.08,0.00,0.000,516,0.000,0.037,2602,1110,3182,3261,3104,0,0,0,0,0,0,28.83,26.46,28.83
$GC,764,-0.60,-194.6,2601,1110,3261,3104,109.8,-8.6,82,770,0.00,2.15,0.00,0.000,1030,0.000,0.042,2591,2504,3182,3261,3104,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,867,begin apogee
$GC,876,-0.20,0.0,2591,1996,3261,3104,120.5,-10.6,92,1131,0.43,0.00,245.62,0.415,10246,0.093,0.000,2743,1994,2373,2534,2212,0,0,0,0,0,0,26.27,28.83,25.01
$STATE,1136,end apogee,CONTROL_FINISHED_OK
$STATE,1136,begin climb
$GC,1138,1.10,194.6,2743,1993,2531,2204,140.1,0.0,112,1313,1.12,2.15,165.85,0.442,10756,0.055,0.036,3176,612,1574,1675,1474,0,0,0,0,0,0,25.81,25.73,24.95
$GC,1442,0.89,194.6,3176,612,1650,1457,120.5,13.9,137,1448,0.25,2.12,0.00,0.000,5126,0.122,0.031,3100,2015,1553,1650,1457,0,0,0,0,0,0,25.94,26.18,28.83
$GC,1578,0.76,194.6,3100,2015,1650,1454,105.1,10.4,150,1585,0.12,2.20,0.00,0.000,4356,0.138,0.049,3056,3412,1552,1650,1454,0,0,0,0,0,0,26.25,26.25,28.83
$GC,1692,0.67,194.6,3056,3412,1649,1453,95.6,8.1,160,1699,0.15,2.08,0.00,0.000,5126,0.122,0.028,3020,2012,1551,1650,1452,0,0,0,0,0,0,26.22,26.43,28.83
$GC,1828,0.78,235.4,3019,2012,1649,1451,86.4,6.2,173,1881,0.12,0.00,45.35,0.392,10246,0.078,0.000,3126,2010,1416,1530,1303,0,0,0,0,0,0,26.58,28.83,25.30
$GC,2003,0.64,235.4,3126,2011,1509,1286,71.6,8.8,190,2010,0.30,2.20,0.00,0.000,4356,0.109,0.048,3021,3411,1397,1509,1286,0,0,0,0,0,0,26.10,26.22,28.83
$GC,2104,0.78,283.9,3021,3411,1507,1284,65.1,6.0,199,2170,0.00,2.08,59.62,0.386,9222,0.000,0.028,3031,1996,1219,1337,1102,0,0,0,0,0,0,28.83,26.41,25.26
$GC,2289,1.14,387.3,3031,1997,1316,1082,56.4,4.6,216,2434,0.35,2.22,133.02,0.387,10756,0.040,0.037,3242,609,792,883,701,0,0,0,0,0,0,26.38,25.83,25.13
$GC,2633,0.97,387.3,2176,609,862,682,7.3,15.4,267,2642,0.38,2.10,0.00,0.000,5126,0.109,0.031,3121,2009,775,868,682,0,0,0,0,0,0,26.03,26.27,28.83
$STATE,2665,end climb,SURFACE_DEPTH_REACHED
$STATE,2665,begin surface coast
$FINISH,0.9,0.999657
$STATE,2696,end surface coast,CONTROL_FINISHED_OK
$STATE,2697,begin surface
$SM_CCo,2716,3.40,0.037,0,0,747,400.08
$SM_GC,3.02,7.65,0.75,3.40,0.032,0.050,0.037,139,2495,747,-8.27,-1.39,400.08,0,0,0,0,0,0,26.32,26.29,26.24
$IRIDIUM_FIX,2345.05,12141.08,280413,202019
$TT8_MAMPS,0.049434,0.049434
$HUMID,48.38
$INTERNAL_PRESSURE,9.71087
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3875456
$24V_AH,24.9,69.419
$10V_AH,10.3,49.127
$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,20.675,34.300,649.475,3.400,0.000,0.000,0.000,186.800,0.000,0.000,34.317,868.773,537.226,614.253,798.423,292.749,0.000,1225.200,0.000,564.231,0.000,0.539,0.000
$DEVICE_MAMPS,224.910,71.910,442.170,37.485,0.000,0.000,0.000,119.340,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2703.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.931,0.000,0.000,0.000
$MEM,323928
$DATA_FILE_SIZE,10131,277
$CAP_FILE_SIZE,133571,0
$CFSIZE,260034560,202592256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.232, 19.5,1
$GPS,280413,221719,2354.878,12141.658,16,1.4,16,-3.2