version: 66.11
glider: 171
mission: 4
dive: 234
start: 3 30 113 5 38 18
data:
$ID,171
$MISSION,4
$DIVE,234
$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,-20813.234
$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,40
$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
$GPS1,300313,053203,2230.360,12227.510,8,3.3,28,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-67.6
$GPS2,300313,053754,2230.495,12227.506,12,1.3,17,-3.0
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2232.370,12215.991
$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,4866
$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,-219.0,126,2499,839,659,0.0,0.0,0,78,0.00,0.00,-57.65,0.000,16386,0.000,0.000,126,2499,2379,2422,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.25,-219.0,125,2500,2427,2341,3.7,-6.3,8,112,8.88,1.90,-15.30,0.000,18692,0.220,0.067,2400,3667,3277,3348,3207,0,0,0,0,0,0,25.75,26.19,26.60
$GC,346,-1.25,-219.0,2399,3667,3355,3207,99.2,-33.3,29,352,0.00,1.67,0.00,0.000,1030,0.000,0.024,2400,2501,3281,3355,3207,0,0,0,0,0,0,28.83,26.45,28.83
$GC,665,-1.25,-219.0,2399,2499,3358,3209,197.7,-29.0,45,671,0.00,1.85,0.00,0.000,260,0.000,0.054,2391,3662,3283,3357,3209,0,0,0,0,0,0,28.83,26.39,28.83
$GC,792,-1.25,-219.0,2391,3662,3357,3210,237.4,-32.5,51,797,0.00,1.67,0.00,0.000,1030,0.000,0.025,2391,2499,3283,3357,3210,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1117,-1.25,-219.0,2391,2498,3358,3210,333.2,-28.8,67,1122,0.00,1.80,0.00,0.000,260,0.000,0.053,2382,3661,3284,3358,3210,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1150,-1.25,-219.0,2385,3661,3358,3210,340.0,-28.1,68,1156,0.12,1.67,0.00,0.000,3078,0.155,0.025,2415,2486,3284,3358,3210,0,0,0,0,0,0,26.32,26.62,28.83
$GC,1468,-1.25,-219.0,2414,2486,3358,3210,423.8,-26.7,84,1474,0.00,1.83,0.00,0.000,260,0.000,0.053,2406,3661,3284,3358,3210,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1522,-1.25,-219.0,2406,3661,3358,3210,436.2,-26.0,86,1528,0.00,1.65,0.00,0.000,1030,0.000,0.024,2406,2496,3284,3359,3210,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1837,-1.25,-219.0,2406,2494,3359,3210,509.9,-22.1,102,1843,0.00,2.03,0.00,0.000,516,0.000,0.028,2407,1104,3284,3358,3210,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1884,-1.25,-219.0,2406,1105,3358,3210,519.5,-21.6,104,1889,0.00,2.10,0.00,0.000,1030,0.000,0.038,2396,2495,3284,3358,3210,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2209,-1.25,-219.0,2396,2495,3357,3210,591.7,-21.3,120,2215,0.00,2.05,0.00,0.000,516,0.000,0.031,2396,1109,3285,3361,3210,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2237,-1.25,-219.0,2395,1109,3358,3210,597.1,-21.1,121,2243,0.12,2.12,0.00,0.000,3078,0.162,0.037,2418,2504,3284,3358,3210,0,0,0,0,0,0,26.33,26.53,28.83
$GC,2558,-1.25,-219.0,2418,2504,3358,3209,657.1,-18.0,132,2563,0.00,2.05,0.00,0.000,516,0.000,0.028,2418,1107,3283,3358,3208,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2605,-1.25,-219.0,1536,1107,3342,3203,663.7,-18.2,133,2611,0.00,2.12,0.00,0.000,1030,0.000,0.038,2408,2500,3283,3358,3208,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2924,-1.25,-219.0,2408,2500,3358,3203,731.0,-21.0,144,2930,0.00,1.83,0.00,0.000,260,0.000,0.055,2399,3674,3280,3358,3203,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2978,-1.25,-219.0,2399,3674,3357,3203,738.7,-21.5,145,2983,0.00,1.67,0.00,0.000,1030,0.000,0.025,2399,2494,3280,3358,3202,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3294,-1.25,-219.0,2399,2494,3358,3197,811.6,-21.6,156,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2493,3277,3357,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3592,-1.25,-219.0,2398,2494,3356,3193,873.1,-20.1,166,3598,0.00,2.03,0.00,0.000,516,0.000,0.028,2398,1114,3274,3357,3192,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3640,-1.25,-219.0,2398,1114,3355,3192,880.0,-19.9,167,3647,0.12,2.12,0.00,0.000,3078,0.161,0.040,2423,2506,3274,3356,3192,0,0,0,0,0,0,26.32,26.51,28.83
$GC,3960,-1.25,-219.0,2421,2506,3355,3189,939.0,-16.8,178,3966,0.00,1.85,0.00,0.000,260,0.000,0.055,2413,3662,3271,3354,3188,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4013,-1.25,-219.0,2413,3663,3353,3188,944.8,-16.8,179,4019,0.00,1.70,0.00,0.000,1030,0.000,0.028,2413,2512,3270,3353,3188,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,4145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4145,begin apogee
$GC,4151,-0.20,0.0,2413,1986,3354,3186,971.1,-17.1,184,4502,1.00,0.00,337.55,0.750,10246,0.116,0.000,2748,1984,2372,2532,2212,0,0,0,0,0,0,26.21,28.83,24.44
$STATE,4503,end apogee,CONTROL_FINISHED_OK
$STATE,4503,begin climb
$GC,4506,1.25,219.0,2748,1984,2529,2207,987.8,0.0,195,4752,1.30,2.20,234.98,0.887,10756,0.049,0.034,3240,631,1476,1579,1373,0,0,0,0,0,0,25.23,24.82,24.07
$GC,4856,1.25,219.0,3240,631,1557,1354,934.2,24.3,206,4862,0.00,2.15,0.00,0.000,1030,0.000,0.031,3240,2019,1456,1557,1356,0,0,0,0,0,0,28.83,25.59,28.83
$GC,5175,1.25,219.0,3240,2019,1550,1348,852.5,24.0,217,5181,0.00,2.17,0.00,0.000,260,0.000,0.046,3240,3405,1449,1550,1348,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5223,1.25,219.0,3240,3405,1549,1348,843.7,24.5,218,5230,0.12,2.08,0.00,0.000,5126,0.181,0.028,3222,2014,1448,1549,1348,0,0,0,0,0,0,25.97,26.25,28.83
$GC,5543,1.25,219.0,3221,2013,1547,1345,770.2,21.7,229,5549,0.00,2.15,0.00,0.000,516,0.000,0.037,3232,606,1446,1547,1345,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5566,1.25,219.0,3232,606,1548,1345,770.2,21.7,229,5572,0.00,2.10,0.00,0.000,1030,0.000,0.031,3232,2004,1446,1547,1345,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5881,1.25,219.0,3232,2004,1547,1344,697.6,22.5,240,5887,0.00,2.17,0.00,0.000,260,0.000,0.047,3232,3400,1445,1547,1344,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5977,1.25,219.0,3232,3402,1546,1344,676.2,22.3,243,5983,0.00,2.08,0.00,0.000,1030,0.000,0.028,3244,2004,1444,1546,1343,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6312,1.25,219.0,3243,2004,1545,1342,605.4,22.2,254,6318,0.00,2.12,0.00,0.000,516,0.000,0.039,3255,609,1442,1544,1341,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6408,1.25,219.0,3254,609,1544,1341,585.4,23.3,258,6415,0.12,2.08,0.00,0.000,5126,0.174,0.031,3223,2003,1442,1543,1341,0,0,0,0,0,0,26.25,26.52,28.83
$GC,6724,1.25,219.0,3223,2004,1544,1340,516.3,19.8,274,6730,0.00,2.17,0.00,0.000,260,0.000,0.047,3223,3400,1441,1544,1339,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6742,1.25,219.0,3223,3401,1544,1340,516.3,19.8,274,6750,0.00,2.08,0.00,0.000,1030,0.000,0.030,3234,1996,1442,1544,1340,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7048,1.25,219.0,3234,1995,1542,1337,449.6,20.4,290,7054,0.00,2.20,0.00,0.000,260,0.000,0.046,3234,3406,1440,1543,1337,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7098,1.25,219.0,3234,3406,1542,1337,440.1,21.3,292,7104,0.00,2.08,0.00,0.000,1030,0.000,0.030,3245,2004,1440,1542,1338,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7418,1.25,219.0,3245,2004,1541,1336,372.7,21.6,308,7424,0.00,2.17,0.00,0.000,260,0.000,0.045,3246,3403,1438,1541,1336,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7467,1.25,219.0,3245,3402,1542,1336,362.3,22.7,310,7474,0.12,2.08,0.00,0.000,5126,0.174,0.029,3226,1996,1438,1541,1336,0,0,0,0,0,0,26.28,26.59,28.83
$GC,7788,1.25,219.0,3226,1994,1541,1335,298.4,18.0,326,7794,0.00,2.20,0.00,0.000,260,0.000,0.045,3226,3411,1438,1541,1335,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7868,1.25,219.0,3225,3411,1540,1336,286.0,18.2,329,7877,0.00,2.10,0.00,0.000,1030,0.000,0.029,3237,1991,1438,1541,1335,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8176,1.25,219.0,3237,1991,1541,1335,225.4,19.1,345,8182,0.00,2.20,0.00,0.000,260,0.000,0.044,3237,3410,1438,1541,1335,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8209,1.25,219.0,3236,3409,1541,1336,220.7,18.9,346,8215,0.00,2.08,0.00,0.000,1030,0.000,0.028,3248,1998,1437,1540,1335,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8523,1.25,219.0,3248,1997,1541,1335,162.0,18.6,362,8530,0.00,2.17,0.00,0.000,260,0.000,0.045,3248,3402,1438,1541,1335,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8557,1.25,219.0,3247,3402,1541,1335,157.5,17.8,363,8563,0.15,2.05,0.00,0.000,5126,0.161,0.028,3219,1999,1438,1541,1335,0,0,0,0,0,0,26.26,26.61,28.83
$GC,8873,1.25,219.0,3219,1999,1541,1335,106.4,13.7,379,8879,0.00,2.17,0.00,0.000,260,0.000,0.045,3219,3402,1438,1541,1335,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9111,1.25,219.0,3219,3402,1541,1335,70.4,15.0,390,9117,0.00,2.05,0.00,0.000,1030,0.000,0.027,3230,1996,1438,1541,1335,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9427,1.25,219.0,3230,1995,1541,1335,32.3,8.8,414,9432,0.00,2.17,0.00,0.000,260,0.000,0.045,3230,3402,1438,1541,1335,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9547,1.48,284.6,3230,3402,1542,1335,22.9,7.0,427,9637,0.15,2.05,80.60,0.357,11270,0.073,0.027,3335,1990,1215,1323,1107,0,0,0,0,0,0,26.58,26.63,25.63
$STATE,9725,end climb,SURFACE_DEPTH_REACHED
$STATE,9725,begin surface coast
$FINISH,0.4,1.017910
$STATE,9743,end surface coast,CONTROL_FINISHED_OK
$STATE,9743,begin surface
$SM_CCo,9762,54.97,0.059,0,0,748,400.08
$SM_GC,1.62,8.18,0.80,54.97,0.025,0.044,0.059,142,2495,748,-8.30,-1.13,400.08,0,0,0,0,0,0,26.22,26.17,26.10
$IRIDIUM_FIX,2223.01,12230.24,300313,020220
$TT8_MAMPS,0.047936,0.047936
$HUMID,46.22
$INTERNAL_PRESSURE,9.65227
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3945696
$24V_AH,24.1,34.142
$10V_AH,10.2,23.384
$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,20.400,94.575,653.125,54.975,0.000,0.000,0.000,194.225,0.000,0.000,18.003,1883.612,5733.555,721.587,1499.406,322.448,0.000,1709.502,0.000,1241.403,0.000,0.538,0.000
$DEVICE_MAMPS,219.555,67.320,887.400,58.905,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9741.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.051,0.000,0.000,0.000
$MEM,324116
$DATA_FILE_SIZE,16819,459
$CAP_FILE_SIZE,261357,0
$CFSIZE,260034560,229978112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300313,082305,2231.676,12225.602,29,1.0,30,-3.0