version: 66.11
glider: 171
mission: 4
dive: 457
start: 4 29 113 0 16 19
data:
$ID,171
$MISSION,4
$DIVE,457
$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,-21368.82
$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,64
$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
$GPS1,290413,000906,2354.896,12141.546,27,1.9,27,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-70.0
$GPS2,290413,001549,2354.947,12141.591,14,1.9,14,-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,179.7,1885,-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,-194.6,130,2488,714,557,0.0,0.0,0,76,0.00,0.00,-54.30,0.000,16386,0.000,0.000,130,2488,2127,2162,2092,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-1.10,-194.6,130,2488,2166,2094,3.2,-3.7,7,122,9.18,1.88,-20.77,0.000,18692,0.223,0.069,2440,3658,3176,3253,3100,0,0,0,0,0,0,25.53,26.20,26.71
$GC,266,-0.86,-194.6,2440,3657,3254,3101,53.6,-23.5,37,272,0.30,1.67,0.00,0.000,3078,0.136,0.026,2530,2512,3177,3254,3100,0,0,0,0,0,0,26.03,26.46,28.83
$GC,402,-0.75,-194.6,2530,2512,3254,3100,77.3,-15.9,50,408,0.12,2.10,0.00,0.000,2564,0.150,0.029,2572,1093,3177,3254,3100,0,0,0,0,0,0,26.36,26.46,28.83
$GC,442,-0.66,-194.6,2572,1093,3254,3100,82.8,-15.4,53,448,0.12,2.15,0.00,0.000,3078,0.136,0.039,2598,2494,3177,3254,3100,0,0,0,0,0,0,26.26,26.38,28.83
$GC,577,-0.66,-194.6,2598,2494,3256,3101,99.4,-11.3,66,583,0.00,1.85,0.00,0.000,260,0.000,0.058,2591,3669,3178,3257,3100,0,0,0,0,0,0,28.83,26.34,28.83
$GC,650,-0.66,-194.6,2590,3669,3257,3100,107.3,-11.6,72,659,0.00,1.70,0.00,0.000,1030,0.000,0.028,2591,2495,3178,3257,3100,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,776,begin apogee
$GC,783,-0.20,0.0,2590,1999,3257,3100,120.6,-9.7,85,1039,0.43,0.00,246.00,0.416,10246,0.095,0.000,2742,1998,2372,2533,2211,0,0,0,0,0,0,26.29,28.83,25.04
$STATE,1040,end apogee,CONTROL_FINISHED_OK
$STATE,1043,begin climb
$GC,1046,1.10,194.6,2742,1998,2531,2203,139.5,0.0,105,1227,1.12,2.17,169.00,0.445,10756,0.056,0.039,3177,603,1568,1669,1467,0,0,0,0,0,0,25.83,25.75,24.99
$GC,1323,0.89,194.6,3177,603,1652,1456,130.2,11.9,127,1331,0.28,2.12,0.00,0.000,5126,0.122,0.034,3092,2009,1552,1650,1455,0,0,0,0,0,0,25.91,26.15,28.83
$GC,1451,0.76,194.6,3092,2008,1650,1452,118.2,8.6,140,1457,0.12,2.17,0.00,0.000,4356,0.139,0.049,3049,3401,1551,1650,1452,0,0,0,0,0,0,26.25,26.24,28.83
$GC,1607,0.67,194.6,3048,3401,1650,1450,105.3,7.8,154,1614,0.12,2.12,0.00,0.000,5126,0.127,0.029,3020,1985,1550,1650,1450,0,0,0,0,0,0,26.27,26.45,28.83
$GC,1745,1.03,310.7,3020,1985,1650,1449,98.3,4.3,167,1895,0.30,2.35,141.65,0.400,10500,0.041,0.050,3194,3402,1105,1218,993,0,0,0,0,0,0,26.59,25.81,25.10
$GC,2000,0.83,310.7,3194,3403,1196,978,66.9,17.3,188,2009,0.40,2.10,0.00,0.000,5126,0.120,0.028,3080,1996,1086,1195,977,0,0,0,0,0,0,25.92,26.24,28.83
$GC,2129,0.77,310.7,3080,1997,1195,975,52.9,9.3,201,2135,0.00,2.12,0.00,0.000,516,0.000,0.038,3090,600,1084,1194,974,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2199,0.73,310.7,1984,599,1176,973,47.3,7.4,210,2208,0.15,2.10,0.00,0.000,5126,0.113,0.031,3040,2001,1083,1193,974,0,0,0,0,0,0,26.24,26.36,28.83
$GC,2343,0.90,359.9,3040,2001,1193,973,39.1,6.0,235,2415,0.15,2.30,64.12,0.377,10500,0.069,0.050,3150,3411,905,1011,799,0,0,0,0,0,0,26.58,26.02,25.27
$GC,2498,0.78,359.9,3149,3411,1000,785,23.2,11.1,258,2507,0.30,2.10,0.00,0.000,5126,0.107,0.028,3063,1994,891,997,785,0,0,0,0,0,0,26.03,26.28,28.83
$GC,2641,1.17,469.7,1968,1993,989,782,14.3,4.5,283,2705,0.30,0.00,58.15,0.085,10502,0.044,0.000,3238,1994,461,531,392,0,0,0,0,0,0,26.49,28.83,26.15
$STATE,2734,end climb,SURFACE_DEPTH_REACHED
$STATE,2734,begin surface coast
$FINISH,0.8,1.020643
$STATE,2761,end surface coast,CONTROL_FINISHED_OK
$STATE,2761,begin surface
$SM_CCo,2841,0.00,0.000,0,0,467,469.26
$SM_GC,1.83,7.93,0.77,0.00,0.031,0.046,0.000,130,2495,467,-8.28,-1.41,469.26,0,0,0,0,0,0,26.37,26.34,28.83
$IRIDIUM_FIX,2345.05,12143.09,280413,232349
$TT8_MAMPS,0.049434,0.049434
$HUMID,47.36
$INTERNAL_PRESSURE,9.71087
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3874496
$24V_AH,25.0,69.675
$10V_AH,10.3,49.280
$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,21.325,34.525,678.925,0.000,0.000,0.000,0.000,218.800,0.000,0.000,17.127,927.888,520.431,637.302,851.638,308.281,0.000,1306.788,0.000,607.671,0.000,0.540,0.000
$DEVICE_MAMPS,222.615,68.850,445.230,0.000,0.000,0.000,0.000,117.810,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2768.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.014,0.000,0.000,0.000
$MEM,323904
$DATA_FILE_SIZE,10108,300
$CAP_FILE_SIZE,141912,0
$CFSIZE,260034560,202403840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.009,261.2,1
$GPS,290413,010451,2354.635,12141.526,11,2.2,30,-3.2