version: 66.11
glider: 171
mission: 4
dive: 243
start: 3 31 113 7 49 1
data:
$ID,171
$MISSION,4
$DIVE,243
$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,-20824.549
$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,36
$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
$GPS1,310313,074233,2247.136,12212.533,8,2.2,28,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-67.5
$GPS2,310313,074837,2247.175,12212.418,12,1.3,12,-3.0
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2249.050,12200.880
$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,4890
$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,-219.0,126,2493,837,663,0.0,0.0,0,78,0.00,0.00,-58.03,0.000,16386,0.000,0.000,126,2493,2373,2419,2328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.25,-219.0,126,2492,2425,2328,3.3,-5.1,8,113,8.95,1.92,-16.10,0.000,18692,0.221,0.070,2402,3667,3278,3349,3207,0,0,0,0,0,0,25.72,26.14,26.56
$GC,344,-1.25,-219.0,2401,3667,3354,3207,90.8,-30.3,31,350,0.00,1.67,0.00,0.000,1030,0.000,0.024,2402,2505,3279,3352,3207,0,0,0,0,0,0,28.83,26.42,28.83
$GC,663,-1.25,-219.0,2402,2502,3357,3207,201.9,-32.6,47,669,0.00,1.83,0.00,0.000,260,0.000,0.052,2393,3668,3282,3357,3207,0,0,0,0,0,0,28.83,26.36,28.83
$GC,895,-1.25,-219.0,2393,3668,3357,3210,269.1,-28.6,58,901,0.00,1.67,0.00,0.000,1030,0.000,0.024,2393,2496,3283,3357,3209,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1216,-1.25,-219.0,2393,2494,3356,3210,359.3,-27.2,74,1222,0.00,2.05,0.00,0.000,516,0.000,0.028,2393,1091,3283,3357,3210,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1240,-1.25,-219.0,2393,1091,3357,3210,365.8,-26.4,75,1247,0.12,2.12,0.00,0.000,3078,0.164,0.037,2415,2498,3283,3356,3210,0,0,0,0,0,0,26.26,26.47,28.83
$GC,1567,-1.25,-219.0,2414,2498,3357,3209,444.4,-23.7,91,1573,0.00,1.83,0.00,0.000,260,0.000,0.054,2406,3677,3283,3357,3210,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1633,-1.25,-219.0,2405,3677,3357,3210,460.1,-23.3,94,1639,0.00,1.70,0.00,0.000,1030,0.000,0.024,2406,2479,3283,3357,3210,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1959,-1.25,-219.0,2406,2478,3357,3209,529.7,-22.7,110,1965,0.00,1.88,0.00,0.000,260,0.000,0.054,2397,3677,3283,3357,3210,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2120,-1.25,-219.0,2397,3677,3357,3210,564.4,-23.4,117,2128,0.00,1.67,0.00,0.000,1030,0.000,0.024,2397,2490,3283,3357,3210,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2436,-1.25,-219.0,2397,2490,3356,3208,635.9,-21.4,131,2442,0.00,1.85,0.00,0.000,260,0.000,0.054,2388,3674,3282,3357,3208,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2535,-1.25,-219.0,2387,3674,3356,3207,655.9,-21.1,134,2542,0.12,1.65,0.00,0.000,3078,0.149,0.025,2421,2499,3281,3356,3206,0,0,0,0,0,0,26.36,26.68,28.83
$GC,2865,-1.25,-219.0,2421,2498,3356,3202,716.0,-17.6,145,2871,0.00,2.03,0.00,0.000,516,0.000,0.030,2422,1120,3279,3356,3202,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2961,-1.25,-219.0,2421,1120,3356,3201,733.2,-17.9,148,2967,0.00,2.10,0.00,0.000,1030,0.000,0.039,2412,2501,3278,3356,3201,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3296,-1.25,-219.0,2411,2499,3356,3196,794.8,-17.9,159,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2501,3276,3356,3196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3596,-1.25,-219.0,2411,2501,3355,3191,846.9,-17.5,169,3602,0.00,1.88,0.00,0.000,260,0.000,0.056,2402,3691,3273,3355,3191,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3699,-1.25,-219.0,1504,3690,3337,3186,865.1,-18.8,172,3705,0.00,1.70,0.00,0.000,1030,0.000,0.028,2402,2513,3272,3354,3190,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4023,-1.25,-219.0,2402,2512,3352,3186,926.5,-18.6,183,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2512,3269,3352,3186,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4262,begin apogee
$GC,4268,-0.20,0.0,2402,1986,3350,3184,972.4,-19.3,191,4618,1.05,0.00,340.12,0.759,10246,0.116,0.000,2752,1985,2374,2534,2215,0,0,0,0,0,0,26.17,28.83,24.39
$STATE,4620,end apogee,CONTROL_FINISHED_OK
$STATE,4620,begin climb
$GC,4622,1.25,219.0,2751,1985,2530,2208,995.3,0.0,202,4876,1.30,2.28,241.18,0.896,10756,0.047,0.035,3245,628,1472,1574,1370,0,0,0,0,0,0,25.15,24.72,23.97
$GC,4888,1.25,219.0,3245,628,1564,1360,968.9,18.1,211,4894,0.00,2.20,0.00,0.000,1030,0.000,0.031,3245,2006,1460,1563,1358,0,0,0,0,0,0,28.83,24.98,28.83
$GC,5204,1.25,219.0,3245,2006,1551,1349,885.5,24.8,222,5210,0.00,2.22,0.00,0.000,260,0.000,0.046,3245,3413,1450,1551,1349,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5257,1.25,219.0,3245,3413,1550,1348,876.0,25.1,223,5263,0.12,2.10,0.00,0.000,5126,0.181,0.028,3226,2012,1449,1550,1348,0,0,0,0,0,0,25.86,26.13,28.83
$GC,5571,1.25,219.0,3226,2012,1549,1346,796.3,23.7,234,5577,0.00,2.20,0.00,0.000,260,0.000,0.047,3226,3406,1447,1549,1346,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5629,1.25,219.0,3226,3406,1548,1346,787.3,24.4,235,5638,0.00,2.10,0.00,0.000,1030,0.000,0.028,3237,1997,1447,1548,1346,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5937,1.25,219.0,3237,1996,1547,1344,702.9,24.7,246,5943,0.00,2.12,0.00,0.000,516,0.000,0.040,3249,608,1445,1547,1344,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6011,1.25,219.0,3248,608,1547,1344,686.0,25.6,248,6017,0.00,2.10,0.00,0.000,1030,0.000,0.031,3249,2008,1445,1547,1344,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6336,1.25,219.0,3248,2008,1545,1342,599.6,24.3,259,6341,0.00,2.15,0.00,0.000,260,0.000,0.047,3249,3400,1444,1546,1342,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6422,1.25,219.0,3248,3400,1545,1342,578.3,24.5,263,6429,0.15,2.10,0.00,0.000,5126,0.175,0.029,3222,1991,1443,1545,1342,0,0,0,0,0,0,26.17,26.52,28.83
$GC,6749,1.25,219.0,3221,1990,1544,1341,514.0,17.6,279,6755,0.00,2.10,0.00,0.000,516,0.000,0.039,3233,610,1442,1544,1340,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6824,1.25,219.0,3232,610,1544,1340,500.5,19.5,282,6830,0.00,2.08,0.00,0.000,1030,0.000,0.031,3233,1998,1442,1544,1340,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7138,1.25,219.0,3232,1998,1542,1340,436.9,21.0,298,7144,0.00,2.17,0.00,0.000,260,0.000,0.046,3233,3402,1441,1543,1340,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7198,1.25,219.0,3232,3402,1543,1340,427.0,21.7,300,7206,0.00,2.08,0.00,0.000,1030,0.000,0.029,3244,1996,1442,1545,1340,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7505,1.25,219.0,3244,1997,1541,1338,362.7,19.3,316,7511,0.00,2.20,0.00,0.000,260,0.000,0.047,3244,3405,1439,1541,1338,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7544,1.25,219.0,3244,3404,1541,1338,357.6,19.5,317,7553,0.12,2.08,0.00,0.000,5126,0.174,0.030,3224,2006,1439,1541,1338,0,0,0,0,0,0,26.25,26.57,28.83
$GC,7850,1.25,219.0,3224,2005,1541,1336,297.2,18.6,333,7856,0.00,2.12,0.00,0.000,516,0.000,0.040,3235,608,1438,1541,1336,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7901,1.25,219.0,3235,609,1541,1336,288.2,19.9,335,7907,0.00,2.08,0.00,0.000,1030,0.000,0.031,3235,2005,1438,1541,1336,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8221,1.25,219.0,3235,2005,1541,1336,231.3,15.8,351,8222,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2005,1438,1541,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8520,1.25,219.0,3236,2005,1541,1336,180.0,17.6,366,8526,0.00,2.12,0.00,0.000,516,0.000,0.039,3246,607,1437,1538,1336,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8635,1.25,219.0,3246,608,1541,1336,159.5,19.1,371,8641,0.00,2.08,0.00,0.000,1030,0.000,0.030,3246,2011,1438,1541,1336,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8950,1.25,219.0,3246,2011,1541,1336,106.8,15.0,387,8956,0.00,2.15,0.00,0.000,260,0.000,0.046,3246,3402,1438,1541,1336,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8989,1.25,219.0,3246,3402,1541,1336,103.2,14.7,388,8998,0.12,2.05,0.00,0.000,5126,0.167,0.027,3226,1991,1439,1542,1336,0,0,0,0,0,0,26.28,26.59,28.83
$GC,9295,1.25,219.0,3225,1990,1542,1336,58.1,12.8,404,9301,0.00,2.08,0.00,0.000,516,0.000,0.038,3236,615,1439,1542,1336,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9386,1.25,219.0,3236,615,1541,1336,45.1,14.7,409,9394,0.00,2.05,0.00,0.000,1030,0.000,0.030,3236,2002,1438,1541,1336,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9696,1.39,259.3,3236,2002,1542,1336,16.1,7.7,451,9719,0.00,0.00,16.55,0.088,8454,0.000,0.000,3236,2001,1320,1431,1210,0,0,0,0,0,0,28.83,28.83,26.20
$STATE,9840,end climb,SURFACE_DEPTH_REACHED
$STATE,9840,begin surface coast
$FINISH,0.4,0.999288
$STATE,9873,end surface coast,CONTROL_FINISHED_OK
$STATE,9873,begin surface
$SM_CCo,9891,69.90,0.061,0,0,748,400.08
$SM_GC,1.59,7.93,0.75,69.90,0.034,0.043,0.061,136,2497,748,-8.29,-1.27,400.08,0,0,0,0,0,0,26.56,26.52,26.34
$IRIDIUM_FIX,2237.01,12211.96,310313,040454
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.47
$INTERNAL_PRESSURE,9.65227
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3942816
$24V_AH,24.0,35.437
$10V_AH,10.3,24.126
$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,20.000,82.025,597.850,69.900,0.000,0.000,0.000,209.575,0.000,0.000,13.737,1987.034,5753.089,742.301,1511.779,322.758,0.000,1692.174,0.000,1244.150,0.000,0.537,0.000
$DEVICE_MAMPS,221.085,69.615,895.815,61.200,0.000,0.000,0.000,126.990,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9871.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.052,0.000,0.000,0.000
$MEM,324116
$DATA_FILE_SIZE,16763,483
$CAP_FILE_SIZE,262065,0
$CFSIZE,260034560,229171200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310313,103643,2249.460,12211.129,40,4.0,60,-3.0