version: 66.11
glider: 171
mission: 4
dive: 233
start: 3 30 113 2 42 49
data:
$ID,171
$MISSION,4
$DIVE,233
$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,-20811.979
$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,69
$R_STBD_OVSHOOT,31
$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
$GPS1,300313,023553,2228.632,12229.020,42,1.5,60,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.8
$GPS2,300313,024225,2228.762,12229.006,15,1.5,15,-3.0
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2230.637,12217.493
$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,4935
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.25,-219.0,125,2488,828,671,0.0,0.0,0,78,0.00,0.00,-57.97,0.000,16386,0.000,0.000,126,2488,2437,2510,2365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.25,-219.0,126,2488,2512,2365,4.1,-7.8,8,112,8.95,1.88,-13.93,0.000,18692,0.220,0.064,2402,3671,3275,3346,3205,0,0,0,0,0,0,25.71,26.14,26.55
$GC,346,-1.25,-219.0,2402,3671,3354,3206,98.8,-33.9,29,352,0.00,1.67,0.00,0.000,1030,0.000,0.024,2402,2506,3281,3355,3207,0,0,0,0,0,0,28.83,26.43,28.83
$GC,665,-1.25,-219.0,2402,2505,3357,3209,198.1,-28.7,45,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2505,3282,3357,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,965,-1.25,-219.0,2402,2505,3358,3213,282.8,-28.6,60,970,0.00,1.83,0.00,0.000,260,0.000,0.054,2393,3676,3284,3358,3210,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1061,-1.25,-219.0,2393,3675,3358,3210,306.4,-27.9,64,1067,0.00,1.73,0.00,0.000,1030,0.000,0.024,2393,2491,3284,3358,3210,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1375,-1.25,-219.0,2393,2490,3355,3210,393.1,-27.2,80,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2489,3284,3358,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1675,-1.25,-219.0,2393,2489,3358,3210,468.6,-23.1,95,1681,0.00,2.03,0.00,0.000,516,0.000,0.028,2393,1108,3284,3358,3210,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1702,-1.25,-219.0,2393,1107,3359,3210,474.6,-23.8,96,1709,0.12,2.12,0.00,0.000,3078,0.165,0.038,2415,2501,3284,3358,3210,0,0,0,0,0,0,26.31,26.51,28.83
$GC,2024,-1.25,-219.0,2414,2501,3358,3210,546.4,-21.6,112,2030,0.00,1.80,0.00,0.000,260,0.000,0.054,2407,3671,3284,3358,3210,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2171,-1.25,-219.0,2406,3671,3358,3210,576.7,-20.1,119,2177,0.00,1.67,0.00,0.000,1030,0.000,0.025,2406,2491,3284,3358,3210,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2506,-1.25,-219.0,2406,2490,3358,3209,641.1,-19.0,132,2512,0.00,2.03,0.00,0.000,516,0.000,0.028,2406,1102,3283,3358,3208,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2563,-1.25,-219.0,2406,1102,3358,3207,647.5,-18.8,133,2571,0.00,2.12,0.00,0.000,1030,0.000,0.039,2395,2501,3283,3358,3208,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2872,-1.25,-219.0,2395,2501,3358,3204,711.7,-19.3,144,2877,0.00,2.05,0.00,0.000,516,0.000,0.028,2396,1108,3280,3358,3203,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2906,-1.25,-219.0,2395,1108,3358,3203,718.9,-19.6,145,2912,0.12,2.12,0.00,0.000,3078,0.163,0.039,2418,2501,3280,3358,3203,0,0,0,0,0,0,26.32,26.53,28.83
$GC,3241,-1.25,-219.0,2417,2500,3358,3198,782.9,-19.1,156,3246,0.00,1.83,0.00,0.000,260,0.000,0.055,2410,3674,3277,3358,3197,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3336,-1.25,-219.0,2409,3674,3358,3197,801.7,-19.6,159,3342,0.00,1.70,0.00,0.000,1030,0.000,0.025,2410,2489,3276,3357,3196,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3671,-1.25,-219.0,2409,2489,3354,3192,865.5,-18.7,170,3677,0.00,2.03,0.00,0.000,516,0.000,0.028,2410,1108,3273,3356,3191,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3755,-1.25,-219.0,2409,1107,3355,3190,878.0,-19.1,172,3761,0.00,2.12,0.00,0.000,1030,0.000,0.039,2399,2501,3272,3355,3190,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4071,-1.25,-219.0,2399,2501,3354,3187,946.2,-21.1,183,4077,0.00,1.83,0.00,0.000,260,0.000,0.056,2390,3671,3269,3353,3186,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4116,-1.25,-219.0,2390,3671,3352,3186,953.7,-21.1,184,4122,0.00,1.67,0.00,0.000,1030,0.000,0.028,2390,2504,3269,3352,3186,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,4200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4200,begin apogee
$GC,4206,-0.20,0.0,2390,1995,3351,3185,973.9,-21.2,187,4556,1.10,0.00,339.67,0.754,10246,0.121,0.000,2752,1993,2375,2535,2216,0,0,0,0,0,0,26.18,28.83,24.40
$STATE,4557,end apogee,CONTROL_FINISHED_OK
$STATE,4558,begin climb
$GC,4560,1.25,219.0,2752,1993,2531,2209,1002.9,0.0,198,4810,1.27,2.28,235.27,0.900,10756,0.047,0.038,3240,632,1473,1577,1369,0,0,0,0,0,0,25.18,24.77,24.03
$GC,4838,1.25,219.0,3239,632,1562,1357,968.4,20.8,208,4844,0.00,2.17,0.00,0.000,1030,0.000,0.030,3239,2006,1459,1562,1356,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5173,1.25,219.0,3239,2006,1552,1349,880.8,26.8,219,5179,0.00,2.20,0.00,0.000,260,0.000,0.046,3240,3406,1450,1552,1349,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5192,1.25,219.0,3239,3406,1552,1349,880.8,26.8,219,5199,0.12,2.10,0.00,0.000,5126,0.181,0.028,3220,2010,1450,1552,1349,0,0,0,0,0,0,25.90,26.17,28.83
$GC,5512,1.25,219.0,3221,2010,1550,1346,794.7,24.5,230,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2010,1448,1550,1346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5812,1.25,219.0,3221,2010,1548,1345,725.2,23.0,240,5818,0.00,2.20,0.00,0.000,260,0.000,0.047,3221,3414,1446,1548,1345,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5916,1.25,219.0,3221,3414,1547,1345,701.1,25.0,243,5922,0.00,2.10,0.00,0.000,1030,0.000,0.029,3232,2000,1446,1547,1345,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6240,1.25,219.0,3232,1999,1546,1343,627.8,21.6,254,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1999,1445,1547,1343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6550,1.25,219.0,3232,1999,1546,1342,563.6,21.4,267,6556,0.00,2.12,0.00,0.000,516,0.000,0.041,3243,609,1443,1546,1341,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6755,1.25,219.0,3243,609,1545,1341,524.3,20.4,276,6763,0.00,2.08,0.00,0.000,1030,0.000,0.032,3243,2006,1443,1545,1341,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7058,1.25,219.0,3243,2006,1545,1341,461.9,19.4,292,7064,0.00,2.15,0.00,0.000,260,0.000,0.046,3243,3402,1442,1544,1341,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7164,1.25,219.0,3243,3402,1543,1341,439.4,21.3,297,7171,0.12,2.10,0.00,0.000,5126,0.174,0.029,3223,1995,1442,1543,1341,0,0,0,0,0,0,26.27,26.58,28.83
$GC,7491,1.25,219.0,3224,1994,1542,1338,382.9,18.7,313,7497,0.00,2.10,0.00,0.000,516,0.000,0.040,3234,610,1440,1542,1338,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7571,1.25,219.0,3234,610,1542,1338,369.4,19.6,316,7579,0.00,2.08,0.00,0.000,1030,0.000,0.031,3234,2010,1440,1542,1338,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7878,1.25,219.0,3234,2010,1542,1338,303.0,19.3,332,7883,0.00,2.15,0.00,0.000,260,0.000,0.046,3234,3402,1440,1542,1338,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7953,1.25,219.0,3234,3402,1540,1338,289.8,19.1,335,7959,0.00,2.08,0.00,0.000,1030,0.000,0.028,3246,1993,1440,1542,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8267,1.25,219.0,3245,1992,1542,1337,231.3,18.1,351,8273,0.00,2.10,0.00,0.000,516,0.000,0.039,3257,608,1439,1542,1337,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8285,1.25,219.0,3257,607,1542,1337,231.3,18.1,351,8294,0.12,2.05,0.00,0.000,5126,0.169,0.030,3225,1999,1439,1542,1337,0,0,0,0,0,0,26.29,26.57,28.83
$GC,8592,1.25,219.0,3224,1999,1542,1337,173.2,16.8,367,8597,0.00,2.15,0.00,0.000,260,0.000,0.044,3224,3401,1439,1542,1337,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8678,1.25,219.0,3224,3401,1542,1337,159.1,16.4,371,8684,0.00,2.08,0.00,0.000,1030,0.000,0.028,3235,1991,1439,1542,1337,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9004,1.25,219.0,3235,1990,1542,1337,113.4,15.5,387,9010,0.00,2.17,0.00,0.000,260,0.000,0.044,3235,3402,1439,1542,1337,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9242,1.25,219.0,3235,3402,1543,1337,69.9,19.2,398,9248,0.00,2.05,0.00,0.000,1030,0.000,0.027,3246,1996,1440,1543,1337,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9557,1.25,219.0,3246,1995,1543,1337,27.1,9.6,423,9563,0.00,2.17,0.00,0.000,260,0.000,0.044,3247,3405,1440,1543,1337,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9630,1.25,219.0,2208,3402,1511,1333,19.5,9.7,434,9639,0.12,2.05,0.00,0.000,5126,0.161,0.027,3224,1994,1440,1544,1337,0,0,0,0,0,0,26.33,26.63,28.83
$STATE,9939,end climb,SURFACE_DEPTH_REACHED
$STATE,9939,begin surface coast
$FINISH,0.3,1.008702
$STATE,9982,end surface coast,CONTROL_FINISHED_OK
$STATE,9982,begin surface
$SM_CCo,10001,83.45,0.062,0,0,748,400.08
$SM_GC,1.39,7.82,0.77,83.45,0.031,0.047,0.062,135,2496,748,-8.28,-1.39,400.08,0,0,0,0,0,0,26.62,26.57,26.35
$IRIDIUM_FIX,2218.34,12228.99,290313,232329
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.31
$INTERNAL_PRESSURE,9.66204
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3946016
$24V_AH,24.0,33.996
$10V_AH,10.4,23.303
$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,19.900,82.425,574.950,83.450,0.000,0.000,0.000,237.625,0.000,0.000,16.585,2072.333,5754.289,675.506,1643.677,324.153,0.000,1724.390,0.000,1340.140,0.000,0.537,0.000
$DEVICE_MAMPS,220.320,64.260,900.405,61.965,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9980.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.138,0.000,0.000,0.000
$MEM,324156
$DATA_FILE_SIZE,16762,501
$CAP_FILE_SIZE,271601,0
$CFSIZE,260034560,230060032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300313,053203,2230.360,12227.510,8,3.3,28,-3.0