version: 66.11
glider: 171
mission: 4
dive: 215
start: 3 27 113 22 47 43
data:
$ID,171
$MISSION,4
$DIVE,215
$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,-9
$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,-20789.357
$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,58
$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
$GPS1,270313,224200,2208.654,12259.764,42,1.3,43,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.3
$GPS2,270313,224719,2208.682,12259.761,11,1.3,11,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2210.557,12248.276
$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,282.9,20000,-12.0,-8.739,-16.47,3810
$D_GRID,2283
$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,16,begin dive
$GC,18,-1.25,-219.0,126,2489,833,662,0.0,0.0,0,85,0.00,0.00,-64.68,0.000,16386,0.000,0.000,126,2489,2626,2691,2562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.25,-219.0,126,2490,2695,2562,4.1,-7.3,9,119,8.85,1.90,-11.05,0.000,18692,0.220,0.069,2403,3668,3277,3345,3209,0,0,0,0,0,0,25.81,26.24,26.63
$GC,353,-1.25,-219.0,2402,3671,3350,3209,100.1,-35.0,30,359,0.00,1.70,0.00,0.000,1030,0.000,0.025,2403,2487,3280,3351,3209,0,0,0,0,0,0,28.83,26.48,28.83
$GC,667,-1.25,-219.0,2403,2486,3354,3209,202.7,-29.9,46,673,0.00,1.85,0.00,0.000,260,0.000,0.051,2394,3675,3281,3354,3209,0,0,0,0,0,0,28.83,26.44,28.83
$GC,824,-1.25,-219.0,2394,3675,3354,3209,246.6,-29.3,53,830,0.00,1.67,0.00,0.000,1030,0.000,0.024,2394,2496,3282,3355,3209,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1138,-1.25,-219.0,2393,2494,3353,3209,342.9,-29.3,69,1144,0.00,1.83,0.00,0.000,260,0.000,0.052,2385,3673,3282,3356,3209,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1234,-1.25,-219.0,2384,3672,3356,3209,368.7,-29.9,73,1241,0.08,1.70,0.00,0.000,3078,0.142,0.024,2411,2500,3282,3356,3209,0,0,0,0,0,0,26.37,26.66,28.83
$GC,1550,-1.25,-219.0,2408,2498,3357,3209,450.4,-23.1,89,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2498,3282,3356,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1850,-1.25,-219.0,2410,2498,3356,3209,515.0,-22.4,104,1855,0.00,2.03,0.00,0.000,516,0.000,0.031,2411,1112,3282,3356,3209,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1889,-1.25,-219.0,2410,1112,3355,3212,520.9,-22.8,105,1897,0.00,2.10,0.00,0.000,1030,0.000,0.039,2401,2503,3282,3356,3209,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2194,-1.25,-219.0,2401,2503,3356,3209,592.5,-20.3,121,2200,0.00,2.05,0.00,0.000,516,0.000,0.028,2401,1102,3282,3356,3209,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2218,-1.25,-219.0,2401,1102,3356,3209,597.9,-20.7,122,2224,0.00,2.10,0.00,0.000,1030,0.000,0.038,2390,2500,3282,3356,3209,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2542,-1.25,-219.0,2390,2501,3356,3209,672.9,-23.2,133,2548,0.00,1.83,0.00,0.000,260,0.000,0.054,2381,3677,3282,3356,3209,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2656,-1.25,-219.0,2381,3676,3356,3209,695.0,-23.1,136,2663,0.12,1.67,0.00,0.000,3078,0.155,0.024,2414,2490,3282,3356,3209,0,0,0,0,0,0,26.41,26.71,28.83
$GC,2971,-1.25,-219.0,2414,2489,3356,3206,763.3,-19.9,147,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2489,3282,3356,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3271,-1.25,-219.0,2413,2489,3356,3202,826.0,-21.4,157,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2489,3279,3356,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3571,-1.25,-219.0,2414,2489,3359,3197,889.1,-20.9,167,3577,0.00,1.85,0.00,0.000,260,0.000,0.054,2405,3671,3276,3356,3197,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3639,-1.25,-219.0,2405,3671,3355,3196,902.7,-21.1,169,3645,0.00,1.67,0.00,0.000,1030,0.000,0.026,2406,2496,3275,3355,3196,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3968,-1.25,-219.0,2406,2495,3355,3192,968.0,-18.9,180,3974,0.00,2.03,0.00,0.000,516,0.000,0.029,2406,1112,3273,3355,3191,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,4000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4000,begin apogee
$GC,4007,-0.20,0.0,2399,2014,3355,3191,974.5,-18.9,181,4351,1.05,0.00,332.50,0.754,10246,0.116,0.000,2750,2014,2374,2535,2213,0,0,0,0,0,0,26.29,28.83,24.46
$STATE,4353,end apogee,CONTROL_FINISHED_OK
$STATE,4353,begin climb
$GC,4355,1.25,219.0,2750,2014,2530,2206,993.8,0.0,192,4601,1.27,2.33,234.12,0.890,10756,0.047,0.038,3239,627,1473,1577,1370,0,0,1,0,0,0,25.23,24.79,24.12
$GC,4608,1.25,219.0,3238,627,1568,1361,966.4,17.7,200,4614,0.00,2.17,0.00,0.000,1030,0.000,0.031,3239,1996,1463,1568,1359,0,0,0,0,0,0,28.83,25.04,28.83
$GC,4937,1.25,219.0,3238,1996,1552,1348,891.5,20.9,211,4943,0.00,2.12,0.00,0.000,516,0.000,0.037,3250,628,1450,1552,1349,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4982,1.25,219.0,3250,628,1552,1348,884.1,20.9,212,4988,0.00,2.08,0.00,0.000,1030,0.000,0.030,3250,2005,1450,1552,1348,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5306,1.25,219.0,3250,2006,1549,1346,807.5,24.0,223,5312,0.00,2.17,0.00,0.000,260,0.000,0.046,3250,3402,1447,1549,1346,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5344,1.25,219.0,3249,3402,1549,1346,798.6,24.6,224,5351,0.15,2.05,0.00,0.000,5126,0.177,0.028,3223,2013,1447,1549,1346,0,0,0,0,0,0,26.12,26.41,28.83
$GC,5675,1.25,219.0,3223,2014,1547,1344,720.7,22.7,235,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2014,1445,1547,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5975,1.25,219.0,3222,2013,1547,1342,654.7,21.6,245,5981,0.00,2.12,0.00,0.000,516,0.000,0.038,3234,610,1444,1547,1342,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5992,1.25,219.0,3236,610,1546,1342,654.7,21.6,245,5998,0.00,2.08,0.00,0.000,1030,0.000,0.032,3234,2003,1444,1547,1342,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6311,1.25,219.0,3233,2003,1545,1341,586.8,19.9,257,6317,0.00,2.17,0.00,0.000,260,0.000,0.046,3234,3402,1443,1546,1341,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6329,1.25,219.0,3234,3402,1546,1341,586.8,19.9,257,6337,0.00,2.08,0.00,0.000,1030,0.000,0.029,3245,1998,1443,1546,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6635,1.25,219.0,3245,1998,1545,1340,517.3,21.8,273,6641,0.00,2.10,0.00,0.000,516,0.000,0.041,3256,610,1443,1545,1341,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6837,1.25,219.0,3256,610,1544,1339,475.2,21.9,282,6846,0.12,2.08,0.00,0.000,5126,0.173,0.031,3224,2008,1441,1544,1339,0,0,0,0,0,0,26.32,26.58,28.83
$GC,7143,1.25,219.0,3224,2008,1544,1337,414.7,19.5,298,7149,0.00,2.15,0.00,0.000,260,0.000,0.047,3224,3400,1440,1544,1337,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7293,1.25,219.0,3224,3400,1543,1337,384.0,20.7,305,7299,0.00,2.08,0.00,0.000,1030,0.000,0.029,3235,1994,1439,1541,1337,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7614,1.25,219.0,3235,1993,1543,1336,324.1,18.1,321,7620,0.00,2.20,0.00,0.000,260,0.000,0.045,3235,3406,1439,1543,1336,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7632,1.25,219.0,3235,3406,1543,1336,324.1,18.1,321,7640,0.00,2.08,0.00,0.000,1030,0.000,0.029,3247,1997,1439,1543,1336,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7938,1.25,219.0,3246,2000,1543,1336,262.0,19.6,337,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1997,1439,1543,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8238,1.25,219.0,3246,1997,1543,1336,206.2,17.9,352,8244,0.00,2.10,0.00,0.000,516,0.000,0.040,3258,609,1439,1543,1336,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8277,1.25,219.0,3258,609,1540,1336,202.1,17.8,353,8286,0.12,2.08,0.00,0.000,5126,0.163,0.031,3225,2005,1438,1541,1336,0,0,0,0,0,0,26.35,26.60,28.83
$GC,8583,1.25,219.0,3225,2005,1543,1337,155.3,14.5,369,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2005,1439,1543,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8882,1.25,219.0,3225,2005,1543,1336,109.9,15.3,384,8883,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2005,1439,1543,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9183,1.25,219.0,3225,2005,1543,1336,66.4,13.2,399,9189,0.00,2.15,0.00,0.000,260,0.000,0.045,3225,3400,1440,1544,1336,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9257,1.25,219.0,3225,3400,1545,1336,57.2,13.7,402,9263,0.00,2.05,0.00,0.000,1030,0.000,0.028,3236,1992,1440,1545,1336,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9569,1.25,219.0,3236,1991,1545,1336,15.9,12.2,437,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1991,1440,1545,1336,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9675,end climb,SURFACE_DEPTH_REACHED
$STATE,9675,begin surface coast
$FINISH,0.9,1.023230
$STATE,9699,end surface coast,CONTROL_FINISHED_OK
$STATE,9700,begin surface
$SM_CCo,9718,83.38,0.059,0,0,747,400.08
$SM_GC,1.41,7.93,0.77,83.38,0.034,0.047,0.059,124,2493,747,-8.31,-1.39,400.08,0,0,0,0,0,0,26.65,26.59,26.41
$IRIDIUM_FIX,2157.39,12237.55,270313,191941
$TT8_MAMPS,0.048685,0.048685
$HUMID,45.11
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3951776
$24V_AH,24.1,31.467
$10V_AH,10.3,21.850
$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,19.700,72.575,566.625,83.375,0.000,0.000,0.000,172.400,0.000,0.000,12.661,1822.920,5938.383,672.515,1407.197,272.938,0.000,1576.032,0.000,1165.944,0.000,0.538,0.000
$DEVICE_MAMPS,219.555,68.850,890.460,58.905,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9692.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.015,0.000,0.000,0.000
$MEM,329760
$DATA_FILE_SIZE,16827,461
$CAP_FILE_SIZE,248098,0
$CFSIZE,260034560,231677952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,280313,013215,2209.491,12258.157,10,2.1,30,-2.9