version: 66.11
glider: 171
mission: 4
dive: 455
start: 4 28 113 22 24 7
data:
$ID,171
$MISSION,4
$DIVE,455
$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,-21364.326
$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,55
$R_STBD_OVSHOOT,34
$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
$GPS1,280413,221719,2354.878,12141.658,16,1.4,16,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-71.4
$GPS2,280413,222337,2355.012,12141.681,16,1.4,16,-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,198.2,1951,-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,17,begin dive
$GC,20,-1.10,-194.6,136,2498,833,667,0.0,0.0,0,76,0.00,0.00,-53.90,0.000,16386,0.000,0.000,136,2498,2231,2273,2189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-1.10,-194.6,136,2498,2277,2189,3.1,-3.5,7,113,9.23,1.95,-18.40,0.000,18692,0.225,0.073,2442,3672,3177,3251,3103,0,0,0,0,0,0,25.48,26.18,26.70
$GC,144,-0.82,-194.6,1448,3671,3229,3097,23.2,-29.5,16,154,0.28,1.75,0.00,0.000,3078,0.131,0.026,2544,2496,3179,3255,3103,0,0,0,0,0,0,25.91,26.39,28.83
$GC,288,-0.70,-194.6,2544,2495,3257,3103,51.8,-15.2,40,297,0.12,0.00,0.00,0.000,2054,0.150,0.000,2586,2495,3180,3257,3103,0,0,0,0,0,0,26.31,28.83,28.83
$GC,417,-0.65,-194.6,2586,2495,3259,3103,67.9,-10.9,53,423,0.00,2.08,0.00,0.000,516,0.000,0.032,2586,1092,3180,3258,3103,0,0,0,0,0,0,28.83,26.46,28.83
$GC,467,-0.61,-194.6,2586,1092,3258,3103,73.4,-11.0,57,474,0.12,2.15,0.00,0.000,3078,0.133,0.039,2613,2497,3181,3259,3103,0,0,0,0,0,0,26.25,26.37,28.83
$GC,603,-0.61,-194.6,2613,2497,3259,3104,87.0,-10.0,70,608,0.00,1.85,0.00,0.000,260,0.000,0.057,2605,3675,3181,3259,3103,0,0,0,0,0,0,28.83,26.34,28.83
$GC,670,-0.61,-194.6,2605,3675,3260,3103,93.8,-10.0,76,676,0.00,1.75,0.00,0.000,1030,0.000,0.027,2605,2501,3181,3260,3103,0,0,0,0,0,0,28.83,26.53,28.83
$GC,806,-0.61,-194.6,2605,2501,3260,3103,107.2,-9.4,89,812,0.00,2.10,0.00,0.000,516,0.000,0.036,2605,1093,3181,3260,3103,0,0,0,0,0,0,28.83,26.48,28.83
$GC,834,-0.61,-194.6,2605,1093,3260,3103,109.6,-9.2,91,842,0.00,2.15,0.00,0.000,1030,0.000,0.041,2596,2499,3182,3261,3103,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,951,begin apogee
$GC,958,-0.20,0.0,2595,1986,3261,3105,120.6,-9.2,103,1212,0.43,0.00,245.82,0.416,10246,0.094,0.000,2748,1985,2374,2535,2214,0,0,0,0,0,0,26.29,28.83,25.03
$STATE,1216,end apogee,CONTROL_FINISHED_OK
$STATE,1216,begin climb
$GC,1219,1.10,194.6,2747,1985,2531,2203,136.2,0.0,123,1400,1.12,2.17,166.82,0.440,10756,0.057,0.037,3181,616,1566,1665,1468,0,0,0,0,0,0,25.81,25.75,24.98
$GC,1534,0.89,194.6,3181,616,1650,1459,118.2,12.0,149,1541,0.28,2.10,0.00,0.000,5126,0.123,0.030,3097,2018,1553,1650,1457,0,0,0,0,0,0,25.96,26.21,28.83
$GC,1671,0.76,194.6,3097,2018,1650,1454,106.3,8.5,162,1678,0.12,2.17,0.00,0.000,4356,0.139,0.048,3053,3411,1552,1650,1455,0,0,0,0,0,0,26.27,26.26,28.83
$GC,1853,0.82,238.5,3053,3411,1648,1453,93.7,6.2,178,1911,0.00,2.08,51.00,0.399,9222,0.000,0.027,3063,2009,1403,1518,1289,0,0,0,0,0,0,28.83,26.47,25.30
$GC,2042,0.94,291.5,3064,2010,1492,1272,83.5,5.9,195,2112,0.12,2.22,62.03,0.396,10500,0.077,0.050,3158,3401,1181,1295,1068,0,0,0,0,0,0,26.45,25.94,25.24
$GC,2197,0.77,291.5,3158,3401,1277,1055,63.0,13.7,208,2204,0.35,2.10,0.00,0.000,5126,0.114,0.027,3057,1996,1165,1277,1054,0,0,0,0,0,0,25.94,26.25,28.83
$GC,2334,1.01,359.3,3057,1996,1274,1052,55.1,5.5,221,2423,0.17,2.22,81.90,0.383,10756,0.058,0.037,3183,600,910,1015,806,0,0,0,0,0,0,26.49,25.94,25.23
$GC,2520,0.88,359.3,3183,600,1000,794,34.3,12.1,246,2529,0.28,2.12,0.00,0.000,5126,0.111,0.031,3095,2002,897,1000,794,0,0,0,0,0,0,25.98,26.20,28.83
$GC,2665,1.19,447.5,1992,2000,986,787,22.3,5.0,271,2814,0.22,2.30,138.62,0.368,10500,0.051,0.047,3242,3405,553,625,481,0,0,0,0,0,0,26.47,25.82,25.18
$STATE,2820,end climb,SURFACE_DEPTH_REACHED
$STATE,2820,begin surface coast
$FINISH,0.8,1.003262
$STATE,2844,end surface coast,CONTROL_FINISHED_OK
$STATE,2844,begin surface
$SM_CCo,2925,0.00,0.000,0,0,546,449.88
$SM_GC,1.70,8.10,1.40,0.00,0.034,0.025,0.000,140,2483,546,-8.26,1.44,449.88,0,0,0,0,0,0,26.06,26.11,28.83
$IRIDIUM_FIX,2345.05,12141.08,280413,212103
$TT8_MAMPS,0.049434,0.049434
$HUMID,47.04
$INTERNAL_PRESSURE,9.7011
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3875136
$24V_AH,25.0,69.510
$10V_AH,10.3,49.178
$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,20.950,37.400,746.200,0.000,0.000,0.000,0.000,194.575,0.000,0.000,17.124,898.241,583.791,686.218,837.186,300.523,0.000,1344.707,0.000,613.339,0.000,0.539,0.000
$DEVICE_MAMPS,224.910,72.675,439.875,0.000,0.000,0.000,0.000,117.810,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2853.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.938,0.000,0.000,0.000
$MEM,323912
$DATA_FILE_SIZE,10119,295
$CAP_FILE_SIZE,141867,0
$CFSIZE,260034560,202526720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.159, 22.3,1
$GPS,280413,231343,2354.929,12141.579,11,1.7,11,-3.2