version: 66.11
glider: 171
mission: 4
dive: 236
start: 3 30 113 11 26 6
data:
$ID,171
$MISSION,4
$DIVE,236
$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,-20815.75
$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,63
$R_STBD_OVSHOOT,34
$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
$GPS1,300313,111905,2233.510,12224.445,36,1.1,42,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.9
$GPS2,300313,112542,2233.699,12224.533,9,1.1,14,-3.0
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2235.575,12213.015
$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,4861
$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,-219.0,126,2493,836,665,0.0,0.0,0,78,0.00,0.00,-57.95,0.000,16386,0.000,0.000,125,2494,2413,2474,2353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.25,-219.0,126,2494,2480,2353,3.8,-6.4,8,113,8.93,2.15,-14.57,0.000,18948,0.220,0.044,2410,1104,3276,3346,3207,0,0,0,0,0,0,25.72,26.21,26.53
$GC,233,-1.25,-219.0,2409,1104,3349,3207,53.9,-32.3,24,241,0.00,2.15,0.00,0.000,1030,0.000,0.037,2399,2505,3278,3349,3207,0,0,0,0,0,0,28.83,26.25,28.83
$GC,540,-1.25,-219.0,2399,2505,3354,3207,156.7,-33.2,40,546,0.00,1.80,0.00,0.000,260,0.000,0.052,2390,3670,3280,3354,3207,0,0,0,0,0,0,28.83,26.34,28.83
$GC,666,-1.25,-219.0,2390,3669,3354,3207,197.9,-31.4,46,672,0.00,1.70,0.00,0.000,1030,0.000,0.025,2390,2490,3280,3354,3207,0,0,0,0,0,0,28.83,26.52,28.83
$GC,992,-1.25,-219.0,2390,2488,3355,3207,287.9,-28.1,62,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2488,3281,3355,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1291,-1.25,-219.0,2390,2488,3356,3207,364.0,-24.3,77,1297,0.00,1.85,0.00,0.000,260,0.000,0.054,2381,3674,3281,3356,3207,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1393,-1.25,-219.0,2381,3674,3356,3207,385.9,-25.2,81,1401,0.12,1.67,0.00,0.000,3078,0.153,0.023,2414,2485,3281,3355,3207,0,0,0,0,0,0,26.34,26.65,28.83
$GC,1697,-1.25,-219.0,2414,2484,3356,3207,456.6,-22.4,97,1703,0.00,1.85,0.00,0.000,260,0.000,0.054,2406,3673,3281,3355,3207,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1752,-1.25,-219.0,2406,3673,3355,3207,466.1,-21.8,99,1758,0.00,1.65,0.00,0.000,1030,0.000,0.024,2406,2497,3281,3356,3207,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2066,-1.25,-219.0,2406,2496,3355,3207,537.1,-22.4,115,2072,0.00,1.83,0.00,0.000,260,0.000,0.053,2397,3671,3281,3355,3207,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2115,-1.25,-219.0,2397,3674,3355,3207,546.9,-21.9,117,2121,0.00,1.65,0.00,0.000,1030,0.000,0.025,2397,2507,3281,3355,3207,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2434,-1.25,-219.0,2397,2508,3356,3205,614.1,-21.4,132,2440,0.00,1.80,0.00,0.000,260,0.000,0.054,2388,3671,3280,3355,3205,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2462,-1.25,-219.0,2388,3671,3355,3205,614.1,-21.4,132,2471,0.12,1.67,0.00,0.000,3078,0.150,0.024,2421,2489,3280,3355,3205,0,0,0,0,0,0,26.39,26.69,28.83
$GC,2770,-1.25,-219.0,2421,2489,3355,3200,680.1,-18.9,143,2775,0.00,2.00,0.00,0.000,516,0.000,0.028,2422,1116,3277,3355,3199,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2843,-1.25,-219.0,2422,1116,3355,3198,692.0,-18.4,145,2849,0.00,2.10,0.00,0.000,1030,0.000,0.038,2412,2501,3278,3355,3201,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3167,-1.25,-219.0,2412,2501,3355,3193,747.8,-16.5,156,3173,0.00,1.83,0.00,0.000,260,0.000,0.055,2403,3673,3274,3355,3193,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3234,-1.25,-219.0,2402,3672,3354,3192,759.8,-17.8,158,3240,0.00,1.67,0.00,0.000,1030,0.000,0.026,2403,2497,3273,3354,3192,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3565,-1.25,-219.0,2402,2496,3351,3188,824.3,-20.0,169,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2496,3270,3352,3188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3864,-1.25,-219.0,2403,2496,3350,3185,886.2,-20.5,179,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2496,3267,3350,3185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4163,-1.25,-219.0,2403,2496,3347,3182,945.2,-19.5,189,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2496,3265,3348,3182,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4315,begin apogee
$GC,4321,-0.20,0.0,2403,1999,3346,3180,974.1,-19.1,194,4661,1.05,0.00,329.60,0.763,10246,0.118,0.000,2752,1997,2378,2536,2221,0,0,0,0,0,0,26.20,28.83,24.39
$STATE,4663,end apogee,CONTROL_FINISHED_OK
$STATE,4663,begin climb
$GC,4665,1.25,219.0,2751,1997,2531,2211,996.7,0.0,205,4906,1.27,0.00,235.40,0.907,10758,0.047,0.000,3226,1997,1486,1589,1384,0,0,0,0,0,0,25.20,28.83,24.03
$GC,5186,1.25,219.0,3226,1997,1551,1348,907.0,23.4,223,5192,0.00,2.28,0.00,0.000,260,0.000,0.047,3226,3419,1449,1551,1348,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5225,1.25,219.0,3226,3420,1551,1348,898.2,23.8,224,5231,0.00,2.15,0.00,0.000,1030,0.000,0.028,3238,2003,1449,1551,1348,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5554,1.25,219.0,3237,2003,1548,1345,817.8,23.9,235,5560,0.00,2.22,0.00,0.000,260,0.000,0.047,3238,3415,1447,1549,1345,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5582,1.25,219.0,3238,3415,1548,1345,817.8,23.9,235,5590,0.00,2.12,0.00,0.000,1030,0.000,0.029,3249,1995,1446,1548,1345,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5890,1.25,219.0,3250,1996,1547,1344,739.0,22.8,246,5896,0.00,2.22,0.00,0.000,260,0.000,0.047,3250,3413,1445,1547,1343,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5948,1.25,219.0,3250,3414,1547,1344,729.8,23.5,247,5957,0.15,2.10,0.00,0.000,5126,0.177,0.029,3223,1996,1445,1547,1344,0,0,0,0,0,0,26.14,26.46,28.83
$GC,6257,1.25,219.0,3223,1995,1546,1342,647.7,24.0,258,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1996,1443,1546,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6557,1.25,219.0,3222,1996,1545,1341,582.3,21.4,269,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1996,1441,1545,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6855,1.25,219.0,3223,1996,1544,1341,518.1,22.1,284,6861,0.00,2.22,0.00,0.000,260,0.000,0.047,3223,3420,1442,1544,1341,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6924,1.25,219.0,3222,3420,1544,1341,502.7,22.8,287,6930,0.00,2.10,0.00,0.000,1030,0.000,0.030,3234,2004,1442,1544,1341,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7245,1.25,219.0,3234,2003,1542,1338,433.7,20.4,303,7251,0.00,2.15,0.00,0.000,516,0.000,0.041,3245,608,1440,1542,1338,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7272,1.25,219.0,3245,607,1542,1338,428.3,20.6,304,7278,0.00,2.10,0.00,0.000,1030,0.000,0.031,3245,2018,1440,1542,1338,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7593,1.25,219.0,3246,2018,1541,1336,365.1,19.8,320,7599,0.00,2.15,0.00,0.000,516,0.000,0.040,3257,609,1438,1541,1335,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7696,1.25,219.0,3257,609,1541,1336,347.9,19.4,324,7705,0.12,2.08,0.00,0.000,5126,0.170,0.031,3225,2009,1438,1541,1336,0,0,0,0,0,0,26.27,26.55,28.83
$GC,7999,1.25,219.0,3226,2009,1540,1336,292.4,16.7,340,8005,0.00,2.15,0.00,0.000,260,0.000,0.047,3225,3399,1438,1540,1336,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8096,1.25,219.0,3225,3397,1541,1336,277.4,17.5,344,8101,0.00,2.08,0.00,0.000,1030,0.000,0.029,3236,1994,1438,1540,1336,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8410,1.25,219.0,3236,1992,1541,1335,219.4,18.5,360,8416,0.00,2.12,0.00,0.000,516,0.000,0.040,3247,601,1438,1541,1335,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8477,1.25,219.0,3247,602,1540,1335,207.8,17.6,363,8483,0.00,2.08,0.00,0.000,1030,0.000,0.031,3247,2002,1437,1540,1335,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8802,1.25,219.0,3249,2002,1541,1335,152.9,17.5,379,8808,0.00,2.17,0.00,0.000,260,0.000,0.044,3247,3409,1438,1541,1335,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9041,1.25,219.0,3246,3409,1541,1335,114.9,16.3,390,9047,0.15,2.08,0.00,0.000,5126,0.164,0.028,3218,1991,1438,1541,1335,0,0,0,0,0,0,26.25,26.60,28.83
$GC,9357,1.25,219.0,3217,1991,1541,1335,63.7,15.5,406,9363,0.00,2.08,0.00,0.000,516,0.000,0.038,3229,614,1438,1541,1335,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9403,1.25,219.0,3228,613,1541,1335,57.4,13.8,408,9409,0.00,2.05,0.00,0.000,1030,0.000,0.030,3229,2000,1438,1541,1335,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9713,1.25,219.0,2208,1998,1510,1331,20.8,12.8,439,9721,0.00,2.15,0.00,0.000,260,0.000,0.046,3229,3401,1438,1541,1335,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9755,1.25,219.0,3228,3403,1542,1335,16.3,10.4,446,9764,0.00,2.05,0.00,0.000,1030,0.000,0.026,3240,1994,1438,1542,1335,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,9989,end climb,SURFACE_DEPTH_REACHED
$STATE,9989,begin surface coast
$FINISH,0.4,1.022203
$STATE,10049,end surface coast,CONTROL_FINISHED_OK
$STATE,10049,begin surface
$SM_CCo,10067,83.40,0.060,0,0,748,400.08
$SM_GC,1.13,7.78,0.77,83.40,0.024,0.042,0.060,123,2497,748,-8.29,-1.27,400.08,0,0,0,0,0,0,26.60,26.55,26.35
$IRIDIUM_FIX,2223.01,12225.05,300313,080836
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.07
$INTERNAL_PRESSURE,9.66204
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3945056
$24V_AH,24.0,34.426
$10V_AH,10.3,23.549
$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,19.700,77.750,565.000,83.400,0.000,0.000,0.000,242.925,0.000,0.000,15.831,1948.973,6064.474,694.817,1512.011,319.686,0.000,1675.382,0.000,1211.291,0.000,0.538,0.000
$DEVICE_MAMPS,220.320,55.080,906.525,60.435,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10038.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.078,0.000,0.000,0.000
$MEM,324116
$DATA_FILE_SIZE,16826,501
$CAP_FILE_SIZE,261359,0
$CFSIZE,260034560,229797888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300313,141636,2235.730,12222.964,39,1.1,40,-3.0