version: 66.11
glider: 171
mission: 4
dive: 242
start: 3 31 113 4 52 49
data:
$ID,171
$MISSION,4
$DIVE,242
$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,-20823.291
$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,62
$R_STBD_OVSHOOT,29
$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
$GPS1,310313,044154,2245.180,12213.942,49,1.5,50,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.3
$GPS2,310313,045225,2245.203,12213.884,16,1.7,16,-3.0
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2247.078,12202.349
$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,-219.0,126,2496,844,662,0.0,0.0,0,78,0.00,0.00,-57.80,0.000,16386,0.000,0.000,125,2496,2428,2490,2367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.25,-219.0,126,2496,2493,2367,4.1,-7.8,8,113,9.02,1.92,-14.23,0.000,18692,0.223,0.067,2400,3671,3277,3349,3206,0,0,0,0,0,0,25.69,26.09,26.50
$GC,295,-1.25,-219.0,2400,3671,3351,3206,76.2,-35.2,27,303,0.00,1.73,0.00,0.000,1030,0.000,0.024,2400,2504,3278,3350,3206,0,0,0,0,0,0,28.83,26.37,28.83
$GC,602,-1.25,-219.0,2400,2502,3355,3205,186.2,-33.2,43,608,0.00,1.83,0.00,0.000,260,0.000,0.053,2391,3674,3280,3355,3206,0,0,0,0,0,0,28.83,26.34,28.83
$GC,742,-1.25,-219.0,2391,3674,3358,3207,225.9,-31.6,49,750,0.00,1.73,0.00,0.000,1030,0.000,0.024,2392,2496,3281,3355,3207,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1050,-1.25,-219.0,2391,2494,3356,3207,320.9,-29.5,65,1055,0.00,2.03,0.00,0.000,516,0.000,0.030,2391,1107,3281,3356,3207,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1115,-1.25,-219.0,2391,1106,3356,3207,339.0,-27.4,68,1122,0.15,2.12,0.00,0.000,3078,0.159,0.039,2421,2502,3281,3356,3207,0,0,0,0,0,0,26.22,26.45,28.83
$GC,1442,-1.25,-219.0,2421,2502,3355,3207,411.7,-21.0,84,1448,0.00,1.80,0.00,0.000,260,0.000,0.053,2412,3671,3281,3356,3207,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1466,-1.25,-219.0,2412,3671,3356,3207,416.6,-20.0,85,1472,0.00,1.67,0.00,0.000,1030,0.000,0.024,2412,2493,3281,3356,3207,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1792,-1.25,-219.0,2412,2490,3355,3207,485.6,-23.9,101,1798,0.00,1.85,0.00,0.000,260,0.000,0.053,2403,3679,3281,3355,3207,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1852,-1.25,-219.0,2403,3679,3355,3207,496.4,-23.7,103,1860,0.00,1.67,0.00,0.000,1030,0.000,0.024,2403,2494,3281,3356,3207,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2158,-1.25,-219.0,2403,2493,3356,3207,565.5,-19.6,119,2164,0.00,2.03,0.00,0.000,516,0.000,0.028,2403,1108,3281,3355,3207,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2255,-1.25,-219.0,2403,1108,3355,3207,582.5,-19.8,123,2261,0.00,2.12,0.00,0.000,1030,0.000,0.038,2393,2505,3281,3355,3207,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2590,-1.25,-219.0,2392,2506,3355,3203,656.8,-22.3,136,2595,0.00,1.83,0.00,0.000,260,0.000,0.054,2384,3681,3278,3355,3202,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2688,-1.25,-219.0,2383,3679,3355,3202,677.2,-21.7,139,2695,0.12,1.67,0.00,0.000,3078,0.149,0.025,2417,2499,3278,3355,3201,0,0,0,0,0,0,26.37,26.69,28.83
$GC,3018,-1.25,-219.0,2417,2497,3355,3196,736.8,-17.2,150,3024,0.00,2.03,0.00,0.000,516,0.000,0.030,2417,1118,3275,3355,3196,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3092,-1.25,-219.0,2417,1118,3355,3194,747.9,-17.3,152,3097,0.00,2.12,0.00,0.000,1030,0.000,0.040,2407,2508,3274,3355,3194,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3416,-1.25,-219.0,2407,2508,3354,3189,807.2,-17.8,163,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2508,3271,3354,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3716,-1.25,-219.0,2407,2507,3350,3186,861.4,-18.9,173,3722,0.00,1.83,0.00,0.000,260,0.000,0.054,2398,3677,3267,3350,3185,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3789,-1.25,-219.0,2397,3677,3350,3185,874.8,-19.9,175,3795,0.00,1.73,0.00,0.000,1030,0.000,0.027,2402,2510,3267,3350,3185,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4114,-1.25,-219.0,2398,2510,3348,3181,940.5,-19.6,186,4120,0.00,2.08,0.00,0.000,516,0.000,0.028,2398,1101,3264,3348,3181,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4158,-1.25,-219.0,2398,1100,3347,3180,947.1,-19.6,187,4164,0.12,2.15,0.00,0.000,3078,0.158,0.041,2421,2503,3264,3348,3180,0,0,0,0,0,0,26.29,26.48,28.83
$STATE,4271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4271,begin apogee
$GC,4277,-0.20,0.0,2421,1984,3346,3180,970.0,-18.3,191,4627,0.98,0.00,338.35,0.759,10246,0.115,0.000,2748,1983,2373,2533,2214,0,0,0,0,0,0,26.17,28.83,24.34
$STATE,4628,end apogee,CONTROL_FINISHED_OK
$STATE,4628,begin climb
$GC,4631,1.25,219.0,2748,1983,2530,2208,993.1,0.0,202,4877,1.30,2.28,236.75,0.903,10756,0.048,0.037,3241,631,1479,1582,1377,0,0,0,0,0,0,25.18,24.73,23.99
$GC,4919,1.25,219.0,3240,631,1561,1356,958.3,20.2,212,4925,0.00,2.17,0.00,0.000,1030,0.000,0.030,3241,2010,1458,1561,1356,0,0,0,0,0,0,28.83,25.20,28.83
$GC,5243,1.25,219.0,3240,2011,1552,1349,878.8,24.1,223,5249,0.00,2.15,0.00,0.000,516,0.000,0.037,3252,628,1450,1552,1349,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5278,1.25,219.0,3251,628,1551,1349,870.7,24.2,224,5284,0.12,2.10,0.00,0.000,5126,0.174,0.031,3221,2008,1450,1551,1349,0,0,0,0,0,0,25.89,26.13,28.83
$GC,5613,1.25,219.0,3222,2008,1549,1346,791.5,24.4,235,5619,0.00,2.20,0.00,0.000,260,0.000,0.047,3221,3405,1447,1549,1346,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5784,1.25,219.0,3221,3405,1547,1346,750.7,26.5,240,5790,0.00,2.08,0.00,0.000,1030,0.000,0.028,3232,2011,1447,1548,1346,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6103,1.25,219.0,3231,2011,1547,1343,671.1,22.2,251,6109,0.00,2.12,0.00,0.000,516,0.000,0.037,3243,607,1445,1547,1344,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6183,1.25,219.0,3243,608,1547,1344,657.4,21.5,253,6188,0.00,2.08,0.00,0.000,1030,0.000,0.031,3243,2001,1445,1547,1344,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6502,1.25,219.0,3243,1999,1546,1342,586.5,20.6,265,6507,0.00,2.17,0.00,0.000,260,0.000,0.047,3243,3401,1443,1544,1342,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6669,1.25,219.0,3243,3401,1545,1340,546.6,23.9,273,6675,0.12,2.10,0.00,0.000,5126,0.176,0.029,3224,1991,1443,1545,1342,0,0,0,0,0,0,26.23,26.55,28.83
$GC,6995,1.25,219.0,3223,1990,1547,1340,475.4,22.8,289,7001,0.00,2.20,0.00,0.000,260,0.000,0.047,3224,3400,1442,1544,1340,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7050,1.25,219.0,3223,3400,1544,1340,466.0,21.0,291,7056,0.00,2.08,0.00,0.000,1030,0.000,0.029,3235,1999,1442,1544,1340,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7364,1.25,219.0,3235,1999,1541,1339,401.1,19.8,307,7370,0.00,2.12,0.00,0.000,516,0.000,0.041,3246,609,1440,1542,1338,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7471,1.25,219.0,3246,609,1542,1338,380.2,19.1,312,7477,0.00,2.08,0.00,0.000,1030,0.000,0.031,3246,1999,1440,1542,1338,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7797,1.25,219.0,3246,1999,1542,1336,320.6,17.3,328,7802,0.00,2.17,0.00,0.000,260,0.000,0.046,3246,3406,1439,1542,1336,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7857,1.25,219.0,3246,3406,1542,1337,312.1,18.3,330,7866,0.12,2.08,0.00,0.000,5126,0.174,0.029,3226,1997,1439,1542,1337,0,0,0,0,0,0,26.26,26.58,28.83
$GC,8163,1.25,219.0,3226,1997,1542,1336,252.5,17.5,346,8169,0.00,2.10,0.00,0.000,516,0.000,0.041,3236,612,1439,1542,1336,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8259,1.25,219.0,3236,612,1542,1336,236.7,18.4,350,8265,0.00,2.08,0.00,0.000,1030,0.000,0.031,3236,2008,1438,1542,1335,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8574,1.25,219.0,3236,2008,1542,1335,179.1,17.2,366,8580,0.00,2.15,0.00,0.000,260,0.000,0.045,3236,3403,1438,1542,1335,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8630,1.25,219.0,3236,3403,1542,1336,170.3,18.1,368,8635,0.00,2.08,0.00,0.000,1030,0.000,0.028,3248,1991,1438,1542,1335,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8944,1.25,219.0,3248,1991,1542,1336,119.7,15.2,384,8950,0.00,2.08,0.00,0.000,516,0.000,0.038,3259,610,1438,1542,1335,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8990,1.25,219.0,3259,610,1542,1335,112.8,15.4,386,8997,0.15,2.08,0.00,0.000,5126,0.155,0.029,3218,2012,1439,1542,1336,0,0,0,0,0,0,26.25,26.56,28.83
$GC,9316,1.25,219.0,3216,2013,1542,1336,66.9,14.1,402,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2013,1439,1542,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9615,1.25,219.0,3218,2013,1542,1334,35.3,9.6,425,9621,0.00,2.15,0.00,0.000,260,0.000,0.046,3218,3406,1439,1543,1335,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9859,1.41,267.3,3218,3406,1545,1335,19.1,7.4,458,9891,0.12,2.08,20.65,0.100,11270,0.080,0.028,3313,1985,1287,1398,1176,0,0,0,0,0,0,26.55,26.62,26.16
$STATE,10006,end climb,SURFACE_DEPTH_REACHED
$STATE,10006,begin surface coast
$FINISH,0.5,1.022451
$STATE,10029,end surface coast,CONTROL_FINISHED_OK
$STATE,10029,begin surface
$SM_CCo,10048,66.85,0.060,0,0,747,400.08
$SM_GC,1.29,8.10,0.77,66.85,0.032,0.043,0.060,134,2490,747,-8.29,-1.44,400.08,0,0,0,0,0,0,26.58,26.51,26.32
$IRIDIUM_FIX,2237.01,12215.19,310313,040427
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.78
$INTERNAL_PRESSURE,9.65227
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3943136
$24V_AH,24.0,35.295
$10V_AH,10.2,24.043
$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,20.450,90.375,595.750,66.850,0.000,0.000,0.000,413.825,0.000,0.000,17.795,2047.969,5853.292,712.176,1776.987,348.827,0.000,1921.151,0.000,1311.933,0.000,0.538,0.000
$DEVICE_MAMPS,223.380,67.320,902.700,59.670,0.000,0.000,0.000,116.280,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10027.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.132,0.000,0.000,0.000
$MEM,324156
$DATA_FILE_SIZE,16760,488
$CAP_FILE_SIZE,275858,0
$CFSIZE,260034560,229249024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310313,074233,2247.136,12212.533,8,2.2,28,-3.0