version: 66.11
glider: 171
mission: 4
dive: 245
start: 3 31 113 13 45 55
data:
$ID,171
$MISSION,4
$DIVE,245
$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,-20827.064
$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,57
$R_STBD_OVSHOOT,45
$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
$GPS1,310313,133905,2252.218,12210.035,13,0.9,30,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-68.3
$GPS2,310313,134531,2252.338,12209.964,14,1.0,14,-3.0
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2254.214,12158.418
$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,5076
$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,-219.0,126,2496,839,665,0.0,0.0,0,78,0.00,0.00,-58.15,0.000,16386,0.000,0.000,126,2496,2377,2425,2330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.25,-219.0,125,2496,2430,2331,3.2,-4.8,8,113,8.95,1.90,-16.12,0.000,18692,0.220,0.069,2405,3656,3277,3349,3206,0,0,0,0,0,0,25.72,26.13,26.56
$GC,347,-1.25,-219.0,2405,3656,3352,3207,95.4,-30.1,30,353,0.00,1.67,0.00,0.000,1030,0.000,0.024,2405,2485,3279,3352,3207,0,0,0,0,0,0,28.83,26.42,28.83
$GC,673,-1.25,-219.0,2405,2484,3356,3207,193.4,-30.1,46,679,0.00,1.85,0.00,0.000,260,0.000,0.052,2396,3667,3280,3355,3206,0,0,0,0,0,0,28.83,26.36,28.83
$GC,861,-1.25,-219.0,2396,3667,3356,3207,251.1,-31.5,55,867,0.00,1.67,0.00,0.000,1030,0.000,0.025,2397,2501,3282,3356,3208,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1186,-1.25,-219.0,2396,2499,3356,3209,336.7,-24.8,71,1192,0.00,2.05,0.00,0.000,516,0.000,0.031,2397,1102,3282,3356,3208,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1256,-1.25,-219.0,2394,1102,3356,3208,353.2,-24.7,74,1262,0.12,2.10,0.00,0.000,3078,0.164,0.040,2419,2485,3282,3356,3208,0,0,0,0,0,0,26.26,26.47,28.83
$GC,1578,-1.25,-219.0,2418,2484,3356,3208,428.8,-22.1,90,1584,0.00,1.85,0.00,0.000,260,0.000,0.053,2410,3680,3282,3356,3208,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1617,-1.25,-219.0,2410,3680,3356,3208,434.5,-22.0,91,1625,0.00,1.73,0.00,0.000,1030,0.000,0.025,2409,2494,3282,3356,3208,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1923,-1.25,-219.0,2410,2493,3357,3208,501.0,-21.4,107,1928,0.00,1.83,0.00,0.000,260,0.000,0.053,2401,3673,3282,3356,3208,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2019,-1.25,-219.0,2401,3672,3356,3208,520.9,-23.0,111,2025,0.00,1.67,0.00,0.000,1030,0.000,0.024,2401,2489,3282,3356,3208,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2334,-1.25,-219.0,2401,2488,3356,3207,590.5,-21.2,127,2340,0.00,2.03,0.00,0.000,516,0.000,0.028,2401,1108,3281,3356,3207,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2400,-1.25,-219.0,2401,1108,3356,3207,604.4,-21.1,130,2406,0.00,2.12,0.00,0.000,1030,0.000,0.038,2390,2503,3281,3356,3206,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2734,-1.25,-219.0,2390,2503,3356,3203,672.5,-19.0,141,2741,0.10,1.83,0.00,0.000,2308,0.176,0.051,2407,3674,3279,3356,3203,0,0,0,0,0,0,26.53,26.48,28.83
$GC,2771,-1.25,-219.0,2407,3674,3356,3207,678.9,-18.5,142,2777,0.00,1.67,0.00,0.000,1030,0.000,0.024,2408,2496,3279,3356,3202,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3105,-1.25,-219.0,2406,2494,3356,3198,740.7,-19.7,153,3111,0.00,2.03,0.00,0.000,516,0.000,0.028,2407,1115,3276,3356,3197,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3145,-1.25,-219.0,2407,1115,3356,3197,747.5,-19.8,154,3151,0.00,2.10,0.00,0.000,1030,0.000,0.039,2396,2500,3276,3356,3197,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3474,-1.25,-219.0,2396,2500,3356,3192,809.8,-18.3,165,3480,0.00,1.83,0.00,0.000,260,0.000,0.056,2388,3671,3273,3355,3192,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3527,-1.25,-219.0,2387,3671,3354,3191,816.6,-18.7,166,3534,0.08,1.70,0.00,0.000,3078,0.129,0.027,2414,2518,3273,3355,3192,0,0,0,0,0,0,26.39,26.68,28.83
$GC,3843,-1.25,-219.0,2414,2517,3352,3188,879.2,-18.8,177,3849,0.00,1.80,0.00,0.000,260,0.000,0.056,2406,3668,3269,3352,3187,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3907,-1.25,-219.0,2406,3668,3350,3187,891.7,-18.7,179,3913,0.00,1.70,0.00,0.000,1030,0.000,0.028,2406,2495,3269,3351,3187,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4242,-1.25,-219.0,2406,2495,3349,3184,951.5,-17.3,190,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2495,3266,3349,3184,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4359,begin apogee
$GC,4365,-0.20,0.0,2405,1991,3349,3182,971.8,-17.0,194,4928,1.02,0.00,550.33,0.616,10246,0.116,0.000,2748,1989,2376,2534,2218,0,0,0,0,0,0,26.15,28.83,24.37
$STATE,4931,end apogee,CONTROL_FINISHED_OK
$STATE,4932,begin climb
$GC,4933,1.25,219.0,2747,1989,2530,2212,1002.4,0.0,212,5185,1.30,2.28,238.85,0.903,10756,0.047,0.037,3241,632,1473,1576,1370,0,0,0,0,0,0,25.20,24.72,23.98
$GC,5278,1.25,219.0,3241,633,1559,1355,950.0,24.1,224,5284,0.00,2.15,0.00,0.000,1030,0.000,0.030,3241,2015,1457,1559,1356,0,0,0,0,0,0,28.83,25.48,28.83
$GC,5602,1.25,219.0,3238,2016,1552,1349,869.5,23.9,235,5608,0.00,2.20,0.00,0.000,260,0.000,0.047,3241,3402,1450,1552,1349,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5662,1.25,219.0,3241,3402,1551,1349,861.3,23.9,236,5671,0.12,2.08,0.00,0.000,5126,0.178,0.028,3222,2011,1450,1551,1349,0,0,0,0,0,0,25.96,26.22,28.83
$GC,5969,1.25,219.0,3222,2011,1550,1346,789.8,21.0,247,5975,0.00,2.20,0.00,0.000,260,0.000,0.047,3222,3409,1448,1551,1346,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6054,1.25,219.0,3222,3409,1549,1346,774.9,21.8,249,6059,0.00,2.10,0.00,0.000,1030,0.000,0.028,3233,1998,1447,1549,1346,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6369,1.25,219.0,3233,1998,1547,1344,694.6,25.2,260,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1998,1445,1547,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6667,1.25,219.0,3233,1998,1547,1342,619.4,23.9,270,6674,0.00,2.12,0.00,0.000,516,0.000,0.041,3244,610,1444,1547,1342,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6736,1.25,219.0,3244,610,1546,1342,603.0,24.6,272,6742,0.00,2.08,0.00,0.000,1030,0.000,0.031,3244,2002,1442,1546,1339,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7048,1.25,219.0,3244,2002,1545,1341,531.2,22.8,287,7054,0.00,2.17,0.00,0.000,260,0.000,0.046,3244,3406,1443,1546,1341,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7081,1.25,219.0,3244,3406,1546,1341,525.0,22.5,288,7088,0.12,2.08,0.00,0.000,5126,0.179,0.029,3225,2002,1443,1546,1341,0,0,0,0,0,0,26.22,26.55,28.83
$GC,7398,1.25,219.0,3225,2001,1545,1340,452.4,23.4,304,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2002,1442,1544,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7696,1.25,219.0,3225,2002,1545,1339,394.2,16.8,319,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2001,1442,1545,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7996,1.25,219.0,3225,2002,1544,1338,338.9,19.0,334,8002,0.00,2.12,0.00,0.000,516,0.000,0.041,3236,609,1440,1544,1337,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8071,1.25,219.0,3235,609,1544,1337,326.5,18.9,337,8077,0.00,2.08,0.00,0.000,1030,0.000,0.031,3236,2000,1440,1544,1337,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8386,1.25,219.0,3235,2001,1544,1337,263.1,20.4,353,8392,0.00,2.15,0.00,0.000,260,0.000,0.046,3238,3402,1440,1544,1337,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8554,1.25,219.0,3235,3402,1544,1337,227.5,20.7,361,8560,0.00,2.10,0.00,0.000,1030,0.000,0.028,3247,1991,1440,1544,1337,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8880,1.25,219.0,3247,1991,1544,1336,171.8,15.5,377,8886,0.00,2.20,0.00,0.000,260,0.000,0.045,3246,3408,1440,1544,1336,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9117,1.25,219.0,3247,3408,1544,1336,133.8,16.3,388,9124,0.15,2.08,0.00,0.000,5126,0.165,0.028,3219,1990,1440,1544,1336,0,0,0,0,0,0,26.22,26.60,28.83
$GC,9435,1.25,219.0,3218,1990,1544,1337,85.3,13.3,404,9441,0.00,2.20,0.00,0.000,260,0.000,0.045,3219,3409,1440,1544,1337,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9537,1.25,219.0,3218,3409,1544,1337,75.7,10.6,408,9545,0.00,2.05,0.00,0.000,1030,0.000,0.028,3230,2003,1440,1544,1337,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9843,1.35,249.1,3229,2003,1544,1336,49.6,7.9,424,9886,0.00,2.17,32.45,0.377,8708,0.000,0.037,3241,609,1354,1462,1246,0,0,0,0,0,0,28.83,26.36,25.84
$GC,10039,1.35,249.1,3240,609,1447,1234,30.6,9.5,442,10045,0.00,2.05,0.00,0.000,1030,0.000,0.028,3241,2002,1340,1447,1234,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,10299,end climb,SURFACE_DEPTH_REACHED
$STATE,10299,begin surface coast
$FINISH,0.5,1.022538
$STATE,10328,end surface coast,CONTROL_FINISHED_OK
$STATE,10328,begin surface
$SM_CCo,10346,71.18,0.060,0,0,748,400.08
$SM_GC,1.20,7.95,0.75,71.18,0.034,0.049,0.060,132,2483,748,-8.29,-1.41,400.08,0,0,0,0,0,0,26.50,26.40,26.29
$IRIDIUM_FIX,2241.69,12209.99,310313,101015
$TT8_MAMPS,0.048685,0.048685
$HUMID,44.84
$INTERNAL_PRESSURE,9.65227
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3942176
$24V_AH,24.0,35.759
$10V_AH,10.3,24.308
$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,19.925,81.225,821.625,71.175,0.000,0.000,0.000,229.325,0.000,0.000,15.191,2047.776,5866.864,825.885,1706.941,346.736,0.000,1953.962,0.000,1403.668,0.000,0.538,0.000
$DEVICE_MAMPS,220.320,68.850,903.465,59.670,0.000,0.000,0.000,126.225,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10326.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.117,0.000,0.000,0.000
$MEM,324156
$DATA_FILE_SIZE,16743,491
$CAP_FILE_SIZE,279126,0
$CFSIZE,260034560,228966400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310313,164054,2254.582,12209.303,41,1.2,42,-3.0