version: 66.11
glider: 171
mission: 4
dive: 238
start: 3 30 113 17 19 15
data:
$ID,171
$MISSION,4
$DIVE,238
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,970
$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,370
$T_MISSION,400
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52107
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,280
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-20818.268
$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,2820
$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
$PITCH_ADJ_DBAND,0
$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,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,22
$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,49
$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
$GPS1,300313,171239,2237.864,12221.561,9,7.1,29,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-72.1
$GPS2,300313,171851,2237.998,12221.589,13,2.2,32,-3.0
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2239.873,12210.063
$TGT_RADIUS,1852.000
$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,283.0,20000,-12.0,-8.739,-16.47,3810
$D_GRID,5028
$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,18,-1.25,-219.0,125,2498,830,661,0.0,0.0,0,78,0.00,0.00,-57.83,0.000,16386,0.000,0.000,125,2499,2394,2441,2347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.25,-219.0,125,2496,2444,2348,3.7,-6.4,8,113,8.93,1.92,-15.10,0.000,19204,0.220,0.070,2402,3674,3277,3348,3206,0,0,0,0,0,0,25.77,26.19,26.60
$GC,122,-1.25,-219.0,2401,3674,3350,3206,21.2,-41.8,13,130,0.00,1.70,0.00,0.000,1030,0.000,0.025,2401,2491,3278,3350,3206,0,0,0,0,0,0,28.83,26.34,28.83
$GC,448,-1.25,-219.0,2401,2489,3356,3209,128.2,-30.3,34,454,0.00,2.05,0.00,0.000,516,0.000,0.030,2401,1099,3283,3357,3209,0,0,0,0,0,0,28.83,26.44,28.83
$GC,596,-1.25,-219.0,2401,1099,3358,3211,171.9,-29.9,41,602,0.00,2.12,0.00,0.000,1030,0.000,0.041,2391,2494,3284,3357,3211,0,0,0,0,0,0,28.83,26.39,28.83
$GC,922,-1.25,-219.0,2391,2494,3363,3213,270.5,-29.7,57,928,0.00,1.85,0.00,0.000,260,0.000,0.054,2382,3674,3286,3359,3213,0,0,0,0,0,0,28.83,26.43,28.83
$GC,961,-1.25,-219.0,2382,3674,3359,3213,278.2,-29.9,58,969,0.12,1.67,0.00,0.000,3078,0.159,0.024,2413,2487,3286,3359,3213,0,0,0,0,0,0,26.28,26.60,28.83
$GC,1267,-1.25,-219.0,2413,2487,3360,3213,364.6,-27.2,74,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2487,3286,3360,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1566,-1.25,-219.0,2413,2487,3359,3213,437.6,-22.8,89,1572,0.00,2.00,0.00,0.000,516,0.000,0.028,2414,1111,3286,3360,3213,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1615,-1.25,-219.0,2413,1110,3360,3213,447.9,-22.9,91,1621,0.00,2.12,0.00,0.000,1030,0.000,0.040,2403,2506,3286,3360,3213,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1935,-1.25,-219.0,2403,2506,3359,3213,517.3,-21.5,107,1941,0.00,1.80,0.00,0.000,260,0.000,0.054,2394,3674,3286,3359,3213,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1963,-1.25,-219.0,2394,3674,3359,3213,522.8,-21.6,108,1969,0.00,1.67,0.00,0.000,1030,0.000,0.024,2394,2488,3286,3359,3213,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2283,-1.25,-219.0,2394,2488,3360,3213,594.0,-22.1,124,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2485,3285,3359,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2593,-1.25,-219.0,2394,2488,3359,3210,661.6,-21.6,135,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2488,3284,3359,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2892,-1.25,-219.0,2394,2488,3359,3205,724.4,-20.3,145,2898,0.00,1.85,0.00,0.000,260,0.000,0.054,2386,3672,3282,3359,3205,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2975,-1.25,-219.0,2385,3674,3359,3204,737.5,-20.4,147,2982,0.12,1.67,0.00,0.000,3078,0.149,0.025,2419,2487,3281,3359,3204,0,0,0,0,0,0,26.39,26.70,28.83
$GC,3290,-1.25,-219.0,2419,2488,3359,3199,795.4,-17.3,158,3296,0.00,2.00,0.00,0.000,516,0.000,0.028,2419,1117,3278,3359,3198,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3336,-1.25,-219.0,2419,1117,3359,3198,801.5,-17.6,159,3342,0.00,2.12,0.00,0.000,1030,0.000,0.039,2409,2510,3278,3359,3198,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3660,-1.25,-219.0,2409,2511,3358,3193,861.7,-17.6,170,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2511,3275,3358,3193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3960,-1.25,-219.0,2409,2511,3355,3190,912.4,-16.5,180,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2510,3272,3355,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4260,-1.25,-219.0,2409,2511,3354,3187,959.8,-15.6,190,4266,0.00,1.83,0.00,0.000,260,0.000,0.055,2400,3679,3270,3354,3186,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4283,-1.25,-219.0,2400,3679,3353,3186,959.8,-15.6,190,4289,0.00,1.67,0.00,0.000,1030,0.000,0.028,2400,2516,3269,3353,3186,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,4325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4325,begin apogee
$GC,4331,-0.20,0.0,2400,1998,3352,3183,970.8,-16.0,192,4681,1.05,0.00,340.08,0.750,10246,0.118,0.000,2748,1996,2376,2535,2218,0,0,0,0,0,0,26.17,28.83,24.41
$STATE,4683,end apogee,CONTROL_FINISHED_OK
$STATE,4683,begin climb
$GC,4685,1.25,219.0,2748,1996,2531,2212,986.1,0.0,203,4941,1.30,0.00,248.90,0.861,10758,0.047,0.000,3230,1995,1486,1589,1384,0,0,0,0,0,0,25.19,28.83,24.06
$GC,5227,1.25,219.0,3230,1995,1551,1347,887.2,23.8,222,5233,0.00,2.15,0.00,0.000,516,0.000,0.039,3241,614,1449,1552,1347,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5261,1.25,219.0,3241,614,1551,1347,879.5,23.6,223,5267,0.00,2.15,0.00,0.000,1030,0.000,0.031,3242,2022,1449,1551,1347,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5596,1.25,219.0,3241,2022,1548,1345,800.8,23.4,234,5602,0.00,2.15,0.00,0.000,260,0.000,0.046,3241,3402,1447,1549,1345,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5635,1.25,219.0,3241,3402,1548,1345,792.7,23.3,235,5642,0.12,2.08,0.00,0.000,5126,0.181,0.028,3222,2009,1446,1548,1345,0,0,0,0,0,0,26.08,26.36,28.83
$GC,5965,1.25,219.0,3222,2009,1547,1342,723.9,20.4,246,5971,0.00,2.12,0.00,0.000,516,0.000,0.037,3233,607,1446,1547,1345,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5993,1.25,219.0,3233,607,1547,1342,723.9,20.4,246,6001,0.00,2.08,0.00,0.000,1030,0.000,0.031,3233,2000,1444,1547,1342,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6301,1.25,219.0,3233,2001,1546,1341,645.2,24.6,257,6307,0.00,2.17,0.00,0.000,260,0.000,0.046,3233,3402,1443,1546,1341,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6410,1.25,219.0,3233,3402,1544,1341,619.7,26.2,260,6416,0.00,2.08,0.00,0.000,1030,0.000,0.029,3244,1999,1442,1544,1341,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6729,1.25,219.0,3244,1999,1545,1340,540.7,23.0,275,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1999,1442,1544,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7029,1.25,219.0,3245,1999,1542,1339,465.8,26.1,290,7035,0.00,2.20,0.00,0.000,260,0.000,0.047,3244,3408,1440,1543,1338,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7096,1.25,219.0,3244,3409,1542,1338,448.5,25.6,293,7102,0.12,2.10,0.00,0.000,5126,0.177,0.030,3224,1996,1440,1542,1338,0,0,0,0,0,0,26.25,26.57,28.83
$GC,7423,1.25,219.0,3225,1995,1541,1334,388.0,18.5,309,7429,0.00,2.12,0.00,0.000,516,0.000,0.041,3236,606,1438,1541,1335,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7455,1.25,219.0,3235,606,1541,1335,383.4,18.1,310,7461,0.00,2.08,0.00,0.000,1030,0.000,0.031,3236,2001,1438,1541,1335,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7770,1.25,219.0,3236,2002,1540,1336,319.7,20.4,326,7776,0.00,2.17,0.00,0.000,260,0.000,0.046,3236,3412,1437,1540,1335,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7906,1.25,219.0,3235,3412,1541,1336,290.6,23.1,332,7911,0.00,2.08,0.00,0.000,1030,0.000,0.029,3247,2000,1438,1541,1335,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8220,1.25,219.0,3247,2000,1540,1334,228.0,17.0,348,8226,0.00,2.10,0.00,0.000,516,0.000,0.041,3259,609,1435,1537,1334,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8311,1.25,219.0,3258,609,1540,1333,212.0,18.5,352,8318,0.15,2.05,0.00,0.000,5126,0.158,0.030,3217,2003,1437,1540,1334,0,0,0,0,0,0,26.25,26.56,28.83
$GC,8632,1.25,219.0,3217,2003,1540,1334,159.2,16.5,368,8638,0.00,2.15,0.00,0.000,260,0.000,0.045,3218,3402,1437,1540,1334,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8707,1.25,219.0,3217,3402,1540,1334,147.1,17.8,371,8713,0.00,2.05,0.00,0.000,1030,0.000,0.028,3229,1997,1437,1540,1334,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9022,1.25,219.0,3228,1997,1540,1334,97.7,14.3,387,9023,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1997,1437,1540,1334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9321,1.25,219.0,3228,1996,1540,1334,51.3,14.8,402,9327,0.00,2.10,0.00,0.000,516,0.000,0.039,3240,607,1438,1541,1336,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9407,1.25,219.0,3239,607,1541,1333,38.8,15.0,409,9413,0.00,2.05,0.00,0.000,1030,0.000,0.030,3238,2001,1436,1540,1333,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9721,1.67,339.1,2184,1999,1508,1330,15.8,5.5,457,9783,0.28,2.17,55.45,0.093,10756,0.047,0.037,3407,610,994,1094,894,0,0,0,0,0,0,26.70,26.43,26.24
$STATE,9815,end climb,SURFACE_DEPTH_REACHED
$STATE,9815,begin surface coast
$FINISH,0.4,0.999120
$STATE,9829,end surface coast,CONTROL_FINISHED_OK
$STATE,9829,begin surface
$SM_CCo,9850,33.17,0.060,0,0,748,400.08
$SM_GC,1.53,8.32,2.92,33.17,0.030,0.037,0.060,130,2481,748,-8.30,-1.39,400.08,0,0,0,0,0,0,26.51,26.39,26.32
$IRIDIUM_FIX,2225.34,12223.08,300313,141421
$TT8_MAMPS,0.047936,0.047936
$HUMID,46.10
$INTERNAL_PRESSURE,9.6425
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3944416
$24V_AH,24.1,34.706
$10V_AH,10.3,23.713
$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,20.525,78.125,644.425,33.175,0.000,0.000,0.000,198.700,0.000,0.000,34.582,1792.232,6061.085,673.532,1415.672,305.471,0.000,1604.867,0.000,1138.872,0.000,0.538,0.000
$DEVICE_MAMPS,220.320,69.615,861.390,60.435,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9827.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.063,0.000,0.000,0.000
$MEM,324116
$DATA_FILE_SIZE,16761,473
$CAP_FILE_SIZE,249228,0
$CFSIZE,260034560,229629952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300313,200505,2239.079,12219.466,26,1.1,27,-3.0