version: 66.11
glider: 171
mission: 4
dive: 456
start: 4 28 113 23 21 13
data:
$ID,171
$MISSION,4
$DIVE,456
$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,-21365.678
$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,63
$R_STBD_OVSHOOT,39
$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
$GPS1,280413,231343,2354.929,12141.579,11,1.7,11,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-69.4
$GPS2,280413,232043,2355.055,12141.596,12,1.8,12,-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,187.6,2071,-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,-194.6,138,2481,612,475,0.0,0.0,0,84,0.00,0.00,-62.47,0.000,16386,0.000,0.000,138,2482,2251,2292,2211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.10,-194.6,138,2481,2297,2211,3.4,-3.7,8,121,9.18,1.95,-17.95,0.000,18692,0.223,0.071,2442,3658,3178,3253,3103,0,0,0,0,0,0,25.51,26.17,26.68
$GC,272,-0.86,-194.6,2442,3658,3253,3103,53.6,-24.7,37,281,0.22,1.73,0.00,0.000,3078,0.128,0.027,2527,2493,3179,3256,3103,0,0,0,0,0,0,26.03,26.47,28.83
$GC,400,-0.73,-194.6,2527,2493,3253,3103,76.7,-16.7,50,407,0.12,2.08,0.00,0.000,2564,0.153,0.031,2569,1105,3178,3253,3104,0,0,0,0,0,0,26.33,26.45,28.83
$GC,441,-0.64,-194.6,2570,1105,3253,3103,82.2,-15.6,53,448,0.15,2.12,0.00,0.000,3078,0.128,0.041,2604,2491,3178,3253,3104,0,0,0,0,0,0,26.23,26.36,28.83
$GC,577,-0.64,-194.6,2604,2491,3253,3103,97.5,-9.8,66,583,0.00,1.85,0.00,0.000,260,0.000,0.057,2597,3668,3179,3254,3104,0,0,0,0,0,0,28.83,26.34,28.83
$GC,620,-0.64,-194.6,2596,3668,3253,3104,100.8,-9.7,69,628,0.00,1.70,0.00,0.000,1030,0.000,0.028,2599,2503,3178,3253,3104,0,0,0,0,0,0,28.83,26.51,28.83
$GC,746,-0.64,-194.6,2596,2503,3253,3104,114.3,-10.2,82,752,0.00,2.10,0.00,0.000,516,0.000,0.037,2597,1098,3178,3253,3103,0,0,0,0,0,0,28.83,26.46,28.83
$GC,771,-0.64,-194.6,2596,1098,3253,3104,116.8,-10.6,84,777,0.00,2.15,0.00,0.000,1030,0.000,0.043,2586,2500,3178,3253,3103,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,803,begin apogee
$GC,812,-0.20,0.0,2586,1982,3253,3103,120.7,-10.7,87,1014,0.45,0.00,190.20,0.567,10246,0.096,0.000,2746,1980,2378,2541,2215,0,0,0,0,1,0,26.27,28.83,24.70
$STATE,1019,end apogee,CONTROL_FINISHED_OK
$STATE,1019,begin climb
$GC,1021,1.10,194.6,2745,1980,2540,2214,135.8,0.0,103,1198,1.12,2.17,165.48,0.451,10756,0.054,0.038,3180,618,1573,1674,1472,0,0,0,0,0,0,25.72,25.75,24.97
$GC,1275,0.89,194.6,3179,618,1660,1465,126.9,12.0,123,1284,0.28,2.10,0.00,0.000,5126,0.123,0.031,3095,2007,1562,1660,1465,0,0,0,0,0,0,25.87,26.10,28.83
$GC,1403,0.75,194.6,3095,2007,1660,1462,114.6,8.8,136,1410,0.12,2.20,0.00,0.000,4356,0.138,0.049,3052,3415,1561,1660,1462,0,0,0,0,0,0,26.22,26.23,28.83
$GC,1550,0.65,194.6,3051,3415,1659,1461,103.2,7.4,149,1557,0.15,2.08,0.00,0.000,5126,0.120,0.027,3015,2008,1560,1659,1461,0,0,0,0,0,0,26.25,26.44,28.83
$GC,1686,0.93,282.6,3015,2008,1659,1459,96.3,5.0,162,1807,0.22,2.30,107.70,0.402,10500,0.050,0.050,3157,3410,1217,1330,1105,0,0,0,0,0,0,26.58,25.86,25.13
$GC,1906,0.75,282.6,3157,3410,1318,1099,72.5,13.9,180,1915,0.38,2.10,0.00,0.000,5126,0.115,0.031,3048,2002,1207,1316,1098,0,0,0,0,0,0,25.96,26.24,28.83
$GC,2034,0.92,331.4,3050,2002,1315,1096,62.7,6.0,193,2101,0.12,2.22,60.53,0.384,10756,0.076,0.040,3165,604,1022,1132,913,0,0,0,0,0,0,26.48,26.01,25.26
$GC,2236,0.80,331.4,3165,604,1114,898,39.5,11.6,217,2245,0.30,2.12,0.00,0.000,5126,0.107,0.033,3067,2004,1005,1113,898,0,0,0,0,0,0,26.05,26.26,28.83
$GC,2380,0.92,365.3,1952,2002,1097,894,28.7,6.4,242,2430,0.12,2.28,41.17,0.374,10500,0.076,0.050,3162,3405,885,989,781,0,0,0,0,0,0,26.54,26.10,25.33
$GC,2472,0.78,365.3,2112,3403,972,766,18.9,11.7,255,2483,0.35,2.10,0.00,0.000,5126,0.108,0.028,3060,1990,873,980,766,0,0,0,0,0,0,25.99,26.27,28.83
$GC,2619,1.01,428.4,3059,1990,977,760,9.8,5.7,280,2661,0.17,2.30,33.08,0.076,10500,0.059,0.048,3170,3413,631,711,551,0,0,0,0,0,0,26.51,26.25,26.14
$STATE,2694,end climb,SURFACE_DEPTH_REACHED
$STATE,2694,begin surface coast
$FINISH,1.1,1.021790
$STATE,2725,end surface coast,CONTROL_FINISHED_OK
$STATE,2725,begin surface
$SM_CCo,2806,0.00,0.000,0,0,633,428.54
$SM_GC,1.91,7.75,1.38,0.00,0.031,0.027,0.000,132,2490,633,-8.27,1.78,428.54,0,0,0,0,0,0,26.39,26.45,28.83
$IRIDIUM_FIX,2345.05,12051.36,280413,222231
$TT8_MAMPS,0.049434,0.049434
$HUMID,47.51
$INTERNAL_PRESSURE,9.71087
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3874816
$24V_AH,24.7,69.593
$10V_AH,10.3,49.229
$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,21.225,41.775,598.150,0.000,0.000,0.000,0.000,236.500,0.000,0.000,13.881,945.773,520.147,592.084,863.147,308.841,0.000,1268.223,0.000,598.755,0.000,0.539,0.000
$DEVICE_MAMPS,223.380,71.145,566.865,0.000,0.000,0.000,0.000,118.575,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2737.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.045,0.000,0.000,0.000
$MEM,323956
$DATA_FILE_SIZE,10149,296
$CAP_FILE_SIZE,142571,0
$CFSIZE,260034560,202465280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.112, 24.5,1
$GPS,290413,000906,2354.896,12141.546,27,1.9,27,-3.2