version: 66.11
glider: 171
mission: 4
dive: 235
start: 3 30 113 8 29 31
data:
$ID,171
$MISSION,4
$DIVE,235
$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,-20814.492
$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,68
$R_STBD_OVSHOOT,30
$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
$GPS1,300313,082305,2231.676,12225.602,29,1.0,30,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.8
$GPS2,300313,082907,2231.789,12225.603,11,1.6,11,-3.0
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2233.664,12214.086
$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,4854
$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,-219.0,127,2497,835,660,0.0,0.0,0,78,0.00,0.00,-58.15,0.000,16386,0.000,0.000,126,2497,2414,2478,2351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.25,-219.0,126,2497,2481,2351,3.5,-5.4,8,113,8.93,1.92,-14.52,0.000,18692,0.220,0.070,2404,3671,3277,3348,3207,0,0,0,0,0,0,25.72,26.10,26.51
$GC,122,-1.25,-219.0,2404,3671,3350,3207,22.2,-43.8,13,129,0.00,1.70,0.00,0.000,1030,0.000,0.025,2404,2495,3278,3350,3207,0,0,0,0,0,0,28.83,26.25,28.83
$GC,438,-1.25,-219.0,2404,2494,3355,3207,130.6,-31.3,33,444,0.00,2.08,0.00,0.000,516,0.000,0.031,2404,1102,3280,3354,3207,0,0,0,0,0,0,28.83,26.39,28.83
$GC,486,-1.25,-219.0,2404,1102,3355,3208,143.8,-30.5,35,492,0.00,2.15,0.00,0.000,1030,0.000,0.040,2393,2506,3281,3355,3208,0,0,0,0,0,0,28.83,26.33,28.83
$GC,806,-1.25,-219.0,2393,2507,3357,3210,236.5,-28.1,51,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2507,3283,3357,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1105,-1.25,-219.0,2393,2507,3358,3210,317.7,-25.7,66,1111,0.00,1.80,0.00,0.000,260,0.000,0.053,2384,3674,3284,3358,3210,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1207,-1.25,-219.0,2384,3674,3358,3210,341.1,-27.0,70,1216,0.10,1.70,0.00,0.000,3078,0.137,0.024,2418,2500,3283,3357,3210,0,0,0,0,0,0,26.30,26.62,28.83
$GC,1514,-1.25,-219.0,2418,2499,3357,3210,423.5,-24.9,86,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2499,3284,3358,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1812,-1.25,-219.0,2417,2499,3357,3210,491.8,-21.9,101,1818,0.00,1.83,0.00,0.000,260,0.000,0.054,2410,3674,3283,3357,3210,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1879,-1.25,-219.0,2409,3674,3357,3210,507.3,-23.6,104,1884,0.00,1.65,0.00,0.000,1030,0.000,0.024,2410,2497,3283,3357,3209,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2204,-1.25,-219.0,2409,2496,3357,3210,575.8,-20.8,120,2210,0.00,1.83,0.00,0.000,260,0.000,0.053,2401,3674,3283,3357,3210,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2270,-1.25,-219.0,2400,3674,3357,3210,589.5,-20.2,123,2276,0.00,1.67,0.00,0.000,1030,0.000,0.024,2401,2494,3283,3357,3210,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2605,-1.25,-219.0,2400,2493,3357,3207,657.8,-20.8,135,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2494,3281,3357,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2904,-1.25,-219.0,2401,2493,3357,3203,718.6,-20.1,145,2910,0.00,2.03,0.00,0.000,516,0.000,0.028,2401,1112,3279,3357,3202,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2964,-1.25,-219.0,2401,1112,3357,3201,725.4,-19.9,146,2972,0.00,2.12,0.00,0.000,1030,0.000,0.039,2390,2505,3279,3357,3202,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3271,-1.25,-219.0,2390,2505,3357,3197,791.5,-20.2,157,3277,0.00,1.83,0.00,0.000,260,0.000,0.055,2381,3676,3277,3357,3197,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3395,-1.25,-219.0,1448,3675,3338,3191,817.2,-20.5,161,3402,0.12,1.67,0.00,0.000,3078,0.154,0.025,2414,2505,3275,3356,3195,0,0,0,0,0,0,26.37,26.70,28.83
$GC,3731,-1.25,-219.0,2413,2505,3355,3190,877.0,-17.7,172,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2505,3273,3356,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4031,-1.25,-219.0,2413,2505,3354,3187,929.6,-17.5,182,4037,0.00,2.05,0.00,0.000,516,0.000,0.030,2414,1114,3270,3354,3187,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4058,-1.25,-219.0,2414,1114,3354,3187,929.6,-17.5,182,4067,0.00,2.12,0.00,0.000,1030,0.000,0.040,2404,2503,3270,3353,3187,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,4273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4273,begin apogee
$GC,4279,-0.20,0.0,2404,1993,3351,3183,974.2,-18.0,190,4620,1.05,0.00,329.42,0.766,10246,0.119,0.000,2753,1991,2375,2534,2216,0,0,0,0,0,0,26.20,28.83,24.39
$STATE,4621,end apogee,CONTROL_FINISHED_OK
$STATE,4621,begin climb
$GC,4623,1.25,219.0,2752,1991,2530,2208,994.9,0.0,201,4868,1.27,2.22,233.10,0.905,10756,0.047,0.038,3239,636,1474,1577,1372,0,0,0,0,0,0,25.20,24.77,24.03
$GC,4968,1.25,219.0,3239,636,1554,1352,942.9,23.2,212,4974,0.00,2.15,0.00,0.000,1030,0.000,0.031,3239,2009,1452,1554,1351,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5302,1.25,219.0,3239,2009,1549,1346,860.2,25.0,223,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2009,1448,1550,1347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5603,1.25,219.0,3239,2009,1547,1345,786.9,24.9,233,5609,0.00,2.17,0.00,0.000,260,0.000,0.047,3239,3406,1446,1547,1345,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5676,1.25,219.0,3239,3406,1547,1349,770.5,24.9,235,5683,0.00,2.08,0.00,0.000,1030,0.000,0.028,3251,2015,1446,1547,1345,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6001,1.25,219.0,3250,2015,1546,1343,685.5,25.6,246,6007,0.00,2.17,0.00,0.000,260,0.000,0.046,3251,3406,1444,1546,1343,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6066,1.25,219.0,3250,3406,1546,1343,668.1,26.8,248,6073,0.15,2.10,0.00,0.000,5126,0.179,0.028,3224,1995,1444,1546,1343,0,0,0,0,0,0,26.16,26.49,28.83
$GC,6401,1.25,219.0,3223,1995,1545,1341,593.5,22.4,259,6407,0.00,2.10,0.00,0.000,516,0.000,0.041,3234,612,1443,1545,1341,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6456,1.25,219.0,3234,612,1545,1340,583.3,22.6,261,6462,0.00,2.10,0.00,0.000,1030,0.000,0.032,3234,2008,1442,1544,1341,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6770,1.25,219.0,3234,2008,1542,1341,513.6,21.7,277,6776,0.00,2.17,0.00,0.000,260,0.000,0.047,3235,3411,1442,1543,1341,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6900,1.25,219.0,3234,3411,1541,1341,484.6,22.8,283,6906,0.00,2.10,0.00,0.000,1030,0.000,0.030,3246,1995,1440,1540,1341,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7221,1.25,219.0,3246,1996,1541,1338,418.5,20.4,299,7227,0.00,2.20,0.00,0.000,260,0.000,0.046,3246,3406,1439,1541,1337,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7260,1.25,219.0,3246,3406,1541,1338,412.8,20.6,300,7269,0.15,2.08,0.00,0.000,5126,0.173,0.030,3218,1998,1438,1540,1337,0,0,0,0,0,0,26.22,26.58,28.83
$GC,7565,1.25,219.0,3217,1997,1540,1334,350.6,19.1,316,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1997,1437,1540,1335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7866,1.25,219.0,3218,1997,1539,1335,297.9,17.3,331,7872,0.00,2.20,0.00,0.000,260,0.000,0.047,3218,3409,1437,1539,1335,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8001,1.25,219.0,3218,3409,1539,1335,275.8,17.2,337,8007,0.00,2.08,0.00,0.000,1030,0.000,0.029,3230,1997,1437,1540,1335,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8316,1.25,219.0,3229,1997,1539,1335,220.0,16.7,353,8321,0.00,2.10,0.00,0.000,516,0.000,0.041,3240,610,1437,1540,1335,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8402,1.25,219.0,3240,610,1540,1335,205.3,16.9,357,8408,0.00,2.05,0.00,0.000,1030,0.000,0.031,3241,2004,1437,1540,1335,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8727,1.25,219.0,3241,2003,1540,1335,149.2,16.2,373,8733,0.00,2.12,0.00,0.000,516,0.000,0.038,3252,607,1437,1540,1335,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8752,1.25,219.0,3252,608,1540,1335,144.8,16.5,374,8758,0.12,2.08,0.00,0.000,5126,0.161,0.030,3219,2001,1437,1540,1335,0,0,0,0,0,0,26.29,26.57,28.83
$GC,9078,1.25,219.0,3219,2001,1540,1335,100.3,13.6,390,9084,0.00,2.15,0.00,0.000,260,0.000,0.045,3219,3400,1439,1540,1338,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9316,1.25,219.0,3219,3400,1540,1335,70.1,11.4,401,9322,0.00,2.05,0.00,0.000,1030,0.000,0.028,3230,1991,1437,1540,1335,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9630,1.39,260.2,3230,1991,1540,1335,41.7,7.6,422,9686,0.10,2.12,47.97,0.366,11012,0.100,0.037,3323,627,1310,1418,1202,0,0,0,0,0,0,26.70,26.29,25.79
$GC,9921,1.39,260.2,2336,626,1373,1187,9.2,10.3,462,9930,0.20,2.03,0.00,0.000,5126,0.146,0.028,3266,2004,1293,1398,1189,0,0,0,0,0,0,26.09,26.41,28.83
$STATE,9977,end climb,SURFACE_DEPTH_REACHED
$STATE,9978,begin surface coast
$FINISH,0.5,1.022046
$STATE,10005,end surface coast,CONTROL_FINISHED_OK
$STATE,10007,begin surface
$SM_CCo,10025,66.15,0.060,0,0,747,400.08
$SM_GC,1.37,8.05,0.75,66.15,0.034,0.047,0.060,129,2491,747,-8.31,-1.36,400.08,0,0,0,0,0,0,26.44,26.39,26.25
$IRIDIUM_FIX,2223.01,12228.27,300313,050537
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.29
$INTERNAL_PRESSURE,9.66204
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,3945376
$24V_AH,24.0,34.285
$10V_AH,10.2,23.466
$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,20.250,78.225,610.500,66.150,0.000,0.000,0.000,212.125,0.000,0.000,11.941,1926.058,6002.536,685.129,1515.217,317.616,0.000,1674.351,0.000,1241.133,0.000,0.538,0.000
$DEVICE_MAMPS,220.320,69.615,904.995,59.670,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9995.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.131,0.000,0.000,0.000
$MEM,324156
$DATA_FILE_SIZE,16716,477
$CAP_FILE_SIZE,261669,0
$CFSIZE,260034560,229888000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300313,111905,2233.510,12224.445,36,1.1,42,-3.0