version: 66.11
glider: 171
mission: 4
dive: 239
start: 3 30 113 20 11 39
data:
$ID,171
$MISSION,4
$DIVE,239
$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,-20819.521
$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,60
$R_STBD_OVSHOOT,26
$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
$GPS1,300313,200505,2239.079,12219.466,26,1.1,27,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.2
$GPS2,300313,201115,2239.201,12219.425,13,2.5,32,-3.0
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2241.076,12207.897
$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,4957
$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,-219.0,128,2483,825,673,0.0,0.0,0,78,0.00,0.00,-57.83,0.000,16386,0.000,0.000,128,2483,2357,2403,2311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.25,-219.0,128,2483,2407,2310,3.0,-3.6,8,113,8.93,1.92,-16.62,0.000,18692,0.221,0.064,2403,3677,3278,3349,3208,0,0,0,0,0,0,25.74,26.19,26.59
$GC,335,-1.25,-219.0,1480,3676,3337,3203,90.1,-32.7,29,343,0.00,1.70,0.00,0.000,1030,0.000,0.024,2402,2487,3281,3354,3208,0,0,0,0,0,0,28.83,26.44,28.83
$GC,642,-1.25,-219.0,2402,2486,3359,3208,191.8,-28.2,45,648,0.00,1.88,0.00,0.000,260,0.000,0.052,2393,3682,3282,3357,3208,0,0,0,0,0,0,28.83,26.37,28.83
$GC,701,-1.25,-219.0,2393,3682,3358,3209,204.6,-29.3,47,709,0.00,1.67,0.00,0.000,1030,0.000,0.024,2393,2497,3283,3357,3209,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1008,-1.25,-219.0,2393,2496,3358,3210,295.8,-29.5,63,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2496,3284,3358,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1308,-1.25,-219.0,2393,2495,3358,3210,379.8,-27.3,78,1314,0.00,1.83,0.00,0.000,260,0.000,0.052,2385,3676,3284,3359,3210,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1374,-1.25,-219.0,2384,3676,3358,3210,396.3,-25.7,81,1380,0.12,1.67,0.00,0.000,3078,0.156,0.024,2417,2486,3284,3358,3210,0,0,0,0,0,0,26.33,26.65,28.83
$GC,1700,-1.25,-219.0,2417,2486,3358,3210,462.0,-17.9,97,1706,0.00,2.00,0.00,0.000,516,0.000,0.028,2418,1109,3284,3358,3210,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1787,-1.25,-219.0,2417,1109,3359,3210,477.2,-17.3,101,1793,0.00,2.12,0.00,0.000,1030,0.000,0.037,2407,2508,3284,3359,3210,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2113,-1.25,-219.0,2407,2508,3358,3210,548.4,-24.0,117,2119,0.00,1.83,0.00,0.000,260,0.000,0.054,2399,3681,3284,3359,3210,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2159,-1.25,-219.0,2398,3681,3359,3210,559.6,-23.9,119,2164,0.00,1.67,0.00,0.000,1030,0.000,0.025,2399,2506,3284,3359,3210,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2493,-1.25,-219.0,2398,2505,3359,3209,630.2,-19.6,133,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2505,3284,3359,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2793,-1.25,-219.0,2398,2505,3358,3205,690.6,-20.6,143,2798,0.00,1.83,0.00,0.000,260,0.000,0.054,2390,3674,3281,3359,3204,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2897,-1.25,-219.0,2389,3674,3358,3203,711.9,-22.3,146,2903,0.00,1.73,0.00,0.000,1030,0.000,0.026,2389,2494,3280,3358,3203,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3222,-1.25,-219.0,2389,2492,3358,3198,780.0,-18.5,157,3228,0.10,2.03,0.00,0.000,2564,0.164,0.027,2415,1112,3278,3358,3198,0,0,0,0,0,0,26.55,26.60,28.83
$GC,3264,-1.25,-219.0,1536,1112,3342,3192,786.0,-18.1,158,3271,0.00,2.12,0.00,0.000,1030,0.000,0.039,2404,2504,3277,3358,3197,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3589,-1.25,-219.0,2405,2504,3356,3193,843.6,-17.2,169,3595,0.00,1.83,0.00,0.000,260,0.000,0.054,2396,3676,3274,3356,3193,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3623,-1.25,-219.0,2396,3675,3356,3193,849.7,-17.7,170,3629,0.00,1.70,0.00,0.000,1030,0.000,0.026,2396,2496,3274,3355,3193,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3958,-1.25,-219.0,2396,2495,3354,3189,910.4,-18.2,181,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2495,3271,3354,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4258,-1.25,-219.0,2396,2495,3352,3186,962.0,-16.8,191,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2495,3268,3351,3186,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4315,begin apogee
$GC,4321,-0.20,0.0,2396,1994,3351,3185,971.7,-16.3,193,4675,1.08,0.00,343.08,0.748,10246,0.119,0.000,2751,1993,2373,2532,2215,0,0,0,0,0,0,26.16,28.83,24.41
$STATE,4677,end apogee,CONTROL_FINISHED_OK
$STATE,4677,begin climb
$GC,4680,1.25,219.0,2751,1993,2530,2208,985.7,0.0,204,4928,1.27,2.22,237.38,0.887,10756,0.047,0.037,3238,627,1476,1579,1374,0,0,0,0,0,0,25.19,24.75,24.01
$GC,4961,1.25,219.0,3238,628,1562,1356,949.2,20.4,213,4967,0.00,2.20,0.00,0.000,1030,0.000,0.030,3238,2009,1458,1561,1355,0,0,0,0,0,0,28.83,25.17,28.83
$GC,5286,1.25,219.0,3238,2009,1552,1348,870.6,22.9,224,5292,0.00,2.20,0.00,0.000,260,0.000,0.047,3238,3405,1450,1552,1348,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5324,1.25,219.0,3237,3405,1551,1346,862.2,23.3,225,5330,0.00,2.10,0.00,0.000,1030,0.000,0.028,3249,2011,1449,1551,1348,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5654,1.25,219.0,3249,2010,1550,1346,783.4,22.9,236,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2010,1448,1550,1346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5954,1.25,219.0,3249,2011,1547,1344,710.5,24.9,246,5960,0.00,2.15,0.00,0.000,516,0.000,0.037,3261,601,1445,1547,1344,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5977,1.25,219.0,3261,601,1548,1344,710.5,24.9,246,5984,0.15,2.10,0.00,0.000,5126,0.168,0.031,3222,2005,1446,1548,1344,0,0,0,0,0,0,26.14,26.42,28.83
$GC,6292,1.25,219.0,3221,2005,1547,1342,634.2,22.5,257,6298,0.00,2.17,0.00,0.000,260,0.000,0.047,3221,3403,1444,1547,1342,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6451,1.25,219.0,3221,3403,1546,1342,596.9,24.1,262,6459,0.00,2.10,0.00,0.000,1030,0.000,0.029,3233,1991,1444,1546,1342,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6758,1.25,219.0,3232,1990,1545,1341,528.2,21.9,278,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1991,1443,1546,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7057,1.25,219.0,3232,1990,1545,1339,460.4,22.9,293,7063,0.00,2.20,0.00,0.000,260,0.000,0.047,3233,3402,1442,1545,1339,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7212,1.25,219.0,2304,3401,1516,1336,426.0,23.3,300,7218,0.00,2.10,0.00,0.000,1030,0.000,0.029,3244,1992,1441,1544,1339,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7527,1.25,219.0,3244,1992,1543,1337,362.7,19.3,316,7532,0.00,2.10,0.00,0.000,516,0.000,0.041,3256,609,1438,1540,1337,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7593,1.25,219.0,3255,609,1543,1337,350.6,18.2,319,7600,0.12,2.08,0.00,0.000,5126,0.171,0.031,3223,2002,1440,1543,1337,0,0,0,0,0,0,26.26,26.55,28.83
$GC,7920,1.25,219.0,3223,2002,1543,1336,289.5,19.7,335,7926,0.00,2.17,0.00,0.000,260,0.000,0.046,3223,3410,1439,1543,1336,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8035,1.25,219.0,3223,3411,1543,1336,267.6,20.7,340,8041,0.00,2.10,0.00,0.000,1030,0.000,0.029,3234,1989,1439,1543,1336,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8349,1.25,219.0,3234,1990,1543,1334,211.2,17.4,356,8355,0.00,2.10,0.00,0.000,516,0.000,0.039,3245,606,1438,1543,1334,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8398,1.25,219.0,3245,606,1543,1334,203.3,17.9,358,8404,0.00,2.05,0.00,0.000,1030,0.000,0.030,3245,2002,1438,1543,1334,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8719,1.25,219.0,3245,2002,1543,1334,152.8,12.5,374,8725,0.00,2.15,0.00,0.000,260,0.000,0.044,3245,3400,1438,1543,1334,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8752,1.25,219.0,3245,3400,1543,1334,149.8,12.4,375,8759,0.12,2.05,0.00,0.000,5126,0.169,0.028,3224,1991,1439,1544,1334,0,0,0,0,0,0,26.27,26.60,28.83
$GC,9069,1.25,219.0,3224,1990,1543,1334,99.2,20.2,391,9075,0.00,2.08,0.00,0.000,516,0.000,0.038,3235,614,1438,1543,1334,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9102,1.25,219.0,3235,617,1543,1334,94.4,19.5,392,9108,0.00,2.05,0.00,0.000,1030,0.000,0.029,3236,2004,1438,1543,1334,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9417,1.75,362.7,3235,2004,1543,1334,62.7,4.9,408,9608,0.35,2.28,182.10,0.370,10500,0.041,0.043,3423,3400,894,994,795,0,0,0,0,0,0,26.69,25.63,25.19
$STATE,9657,end climb,SURFACE_DEPTH_REACHED
$STATE,9657,begin surface coast
$FINISH,1.2,1.022451
$STATE,9664,end surface coast,CONTROL_FINISHED_OK
$STATE,9664,begin surface
$SM_CCo,9683,20.10,0.056,0,0,748,400.08
$SM_GC,1.10,8.62,1.40,20.10,0.033,0.031,0.056,147,2495,748,-8.28,1.72,400.08,0,0,0,0,0,0,25.86,25.92,25.83
$IRIDIUM_FIX,2230.01,12217.89,300313,171714
$TT8_MAMPS,0.047936,0.047936
$HUMID,46.92
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3944096
$24V_AH,24.0,34.864
$10V_AH,10.2,23.791
$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,20.875,76.375,762.550,20.100,0.000,0.000,0.000,197.725,0.000,0.000,34.225,1716.064,5871.383,737.231,1440.247,302.757,0.000,1706.570,0.000,1160.309,0.000,0.537,0.000
$DEVICE_MAMPS,221.085,64.260,886.635,55.845,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9666.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.838,0.000,0.000,0.000
$MEM,324156
$DATA_FILE_SIZE,16809,431
$CAP_FILE_SIZE,244022,0
$CFSIZE,260034560,229548032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300313,225433,2240.859,12217.279,9,3.8,29,-3.0