version: 66.11
glider: 171
mission: 4
dive: 216
start: 3 28 113 1 38 29
data:
$ID,171
$MISSION,4
$DIVE,216
$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,-20790.613
$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,61
$R_STBD_OVSHOOT,37
$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
$GPS1,280313,013215,2209.491,12258.157,10,2.1,30,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.0
$GPS2,280313,013805,2209.530,12258.201,17,1.0,27,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2211.405,12246.715
$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,1992
$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,-219.0,123,2495,835,663,0.0,0.0,0,85,0.00,0.00,-64.82,0.000,16386,0.000,0.000,123,2498,2644,2709,2579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.25,-219.0,123,2495,2712,2580,4.3,-7.8,9,119,8.88,1.92,-10.65,0.000,18692,0.219,0.070,2404,3672,3277,3345,3209,0,0,0,0,0,0,25.82,26.23,26.63
$GC,153,-1.25,-219.0,2404,3673,3348,3209,31.1,-39.8,17,161,0.00,1.70,0.00,0.000,1030,0.000,0.024,2404,2492,3279,3348,3210,0,0,0,0,0,0,28.83,26.39,28.83
$GC,469,-1.25,-219.0,2403,2490,3348,3209,140.1,-33.6,36,475,0.00,2.03,0.00,0.000,516,0.000,0.028,2404,1105,3279,3349,3209,0,0,0,0,0,0,28.83,26.48,28.83
$GC,645,-1.25,-219.0,2403,1104,3349,3210,193.7,-32.0,44,651,0.00,2.12,0.00,0.000,1030,0.000,0.039,2393,2502,3280,3350,3210,0,0,0,0,0,0,28.83,26.45,28.83
$GC,959,-1.25,-219.0,2393,2502,3353,3209,295.7,-31.0,60,965,0.00,1.80,0.00,0.000,260,0.000,0.051,2384,3674,3280,3351,3210,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1008,-1.25,-219.0,2384,3674,3352,3210,309.4,-31.1,62,1015,0.12,1.67,0.00,0.000,3078,0.161,0.023,2416,2492,3280,3352,3209,0,0,0,0,0,0,26.32,26.63,28.83
$GC,1329,-1.25,-219.0,2416,2490,3354,3210,391.8,-23.6,78,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2489,3282,3354,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1628,-1.25,-219.0,2417,2490,3354,3209,464.7,-25.6,93,1634,0.00,1.83,0.00,0.000,260,0.000,0.052,2408,3672,3282,3354,3210,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1708,-1.25,-219.0,2407,3673,3354,3210,481.0,-24.7,96,1716,0.00,1.67,0.00,0.000,1030,0.000,0.024,2407,2489,3281,3354,3209,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2014,-1.25,-219.0,2407,2487,3354,3210,557.4,-22.4,112,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2487,3281,3354,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2334,-1.25,-219.0,2407,2487,3354,3210,625.5,-21.1,126,2340,0.00,2.03,0.00,0.000,516,0.000,0.028,2408,1107,3281,3354,3209,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2387,-1.25,-219.0,2407,1106,3354,3209,632.9,-21.0,127,2393,0.00,2.12,0.00,0.000,1030,0.000,0.038,2397,2508,3282,3354,3210,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2703,-1.25,-219.0,2396,2508,3354,3208,707.2,-22.8,138,2709,0.00,1.80,0.00,0.000,260,0.000,0.054,2388,3673,3280,3354,3207,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2776,-1.25,-219.0,2386,3672,3354,3207,722.6,-23.1,140,2783,0.08,1.73,0.00,0.000,3078,0.132,0.024,2414,2490,3281,3355,3207,0,0,0,0,0,0,26.44,26.72,28.83
$GC,3101,-1.25,-219.0,2414,2489,3354,3203,793.7,-20.3,151,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2489,3278,3354,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3401,-1.25,-219.0,2414,2489,3354,3198,849.6,-18.4,161,3407,0.00,1.85,0.00,0.000,260,0.000,0.054,2406,3674,3276,3354,3198,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3455,-1.25,-219.0,2405,3674,3354,3197,855.9,-18.2,162,3461,0.00,1.67,0.00,0.000,1030,0.000,0.025,2406,2493,3275,3354,3197,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3771,-1.25,-219.0,2406,2492,3353,3193,915.8,-17.9,173,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2491,3273,3353,3193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4069,-1.25,-219.0,2406,2492,3351,3189,969.9,-18.9,183,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2491,3270,3351,3190,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4097,begin apogee
$GC,4103,-0.20,0.0,2406,1999,3351,3188,975.7,-19.2,184,4448,1.02,0.00,335.42,0.750,10246,0.116,0.000,2749,1998,2377,2538,2217,0,0,0,0,0,0,26.29,28.83,24.44
$STATE,4450,end apogee,CONTROL_FINISHED_OK
$STATE,4450,begin climb
$GC,4452,1.25,219.0,2749,1997,2531,2207,1000.8,0.0,195,4696,1.27,2.28,232.32,0.898,10756,0.047,0.039,3239,639,1473,1577,1370,0,0,0,0,0,0,25.22,24.83,24.10
$GC,4784,1.25,219.0,3238,639,1557,1352,956.9,22.9,206,4790,0.00,2.15,0.00,0.000,1030,0.000,0.031,3239,2011,1454,1557,1352,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5100,1.25,219.0,3239,2011,1550,1347,877.3,23.3,217,5106,0.00,2.15,0.00,0.000,516,0.000,0.038,3250,628,1448,1550,1346,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5174,1.25,219.0,3250,628,1550,1346,861.2,23.8,219,5180,0.12,2.08,0.00,0.000,5126,0.173,0.031,3219,2005,1448,1550,1346,0,0,0,0,0,0,26.02,26.25,28.83
$GC,5498,1.25,219.0,3219,2007,1548,1345,784.6,22.8,230,5504,0.00,2.17,0.00,0.000,260,0.000,0.047,3219,3400,1446,1548,1345,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5628,1.25,219.0,3218,3400,1547,1345,755.6,23.0,234,5634,0.00,2.05,0.00,0.000,1030,0.000,0.028,3230,2014,1446,1547,1345,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5958,1.25,219.0,3229,2014,1546,1342,683.2,21.0,245,5964,0.00,2.15,0.00,0.000,516,0.000,0.038,3241,606,1444,1546,1342,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6047,1.25,219.0,3241,605,1546,1342,669.1,21.2,247,6055,0.00,2.08,0.00,0.000,1030,0.000,0.031,3241,2001,1443,1546,1341,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6356,1.25,219.0,3241,2001,1545,1341,598.2,21.6,258,6361,0.00,2.17,0.00,0.000,260,0.000,0.047,3240,3406,1442,1545,1340,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6406,1.25,219.0,3241,3406,1545,1341,588.3,21.0,260,6413,0.12,2.08,0.00,0.000,5126,0.175,0.028,3221,2001,1443,1545,1341,0,0,0,0,0,0,26.29,26.58,28.83
$GC,6727,1.25,219.0,3221,2001,1545,1339,520.1,20.3,276,6733,0.00,2.12,0.00,0.000,516,0.000,0.040,3232,606,1441,1544,1339,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6935,1.25,219.0,3232,606,1543,1339,477.7,19.7,286,6941,0.00,2.08,0.00,0.000,1030,0.000,0.031,3232,2000,1441,1543,1339,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7261,1.25,219.0,3232,2000,1543,1337,417.3,18.4,302,7266,0.00,2.17,0.00,0.000,260,0.000,0.047,3232,3407,1439,1542,1337,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7335,1.25,219.0,3232,3408,1543,1337,403.3,20.3,305,7341,0.00,2.08,0.00,0.000,1030,0.000,0.029,3243,2000,1439,1542,1337,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7650,1.25,219.0,3243,2000,1542,1336,337.8,19.8,321,7655,0.00,2.10,0.00,0.000,516,0.000,0.040,3254,608,1438,1541,1336,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7700,1.25,219.0,3254,608,1541,1336,329.4,19.2,323,7706,0.12,2.08,0.00,0.000,5126,0.168,0.031,3221,2009,1438,1541,1336,0,0,0,0,0,0,26.33,26.60,28.83
$GC,8021,1.25,219.0,3222,2009,1541,1336,271.8,16.9,339,8026,0.00,2.12,0.00,0.000,516,0.000,0.039,3233,610,1438,1541,1336,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8075,1.25,219.0,3232,610,1541,1337,264.7,16.1,341,8081,0.00,2.05,0.00,0.000,1030,0.000,0.030,3233,1999,1439,1541,1337,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8390,1.25,219.0,3233,1999,1541,1336,213.0,15.6,357,8396,0.00,2.17,0.00,0.000,260,0.000,0.046,3233,3410,1439,1541,1337,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8496,1.25,219.0,3233,3410,1541,1336,194.7,17.6,362,8502,0.00,2.08,0.00,0.000,1030,0.000,0.028,3244,1994,1438,1541,1336,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8821,1.25,219.0,3244,1994,1541,1336,143.2,15.2,378,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1994,1439,1542,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9121,1.25,219.0,3244,1994,1541,1336,97.5,14.8,393,9126,0.00,2.17,0.00,0.000,260,0.000,0.045,3244,3402,1438,1541,1336,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9190,1.25,219.0,3244,3401,1542,1336,87.6,14.8,396,9196,0.12,2.05,0.00,0.000,5126,0.163,0.027,3223,1994,1439,1542,1336,0,0,0,0,0,0,26.36,26.66,28.83
$GC,9511,1.25,219.0,3222,1993,1542,1336,48.3,11.6,412,9517,0.00,2.17,0.00,0.000,260,0.000,0.045,3223,3402,1439,1542,1336,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9674,1.25,219.0,3222,3402,1545,1336,27.7,14.0,427,9682,0.00,2.05,0.00,0.000,1030,0.000,0.027,3234,1996,1440,1544,1336,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,9880,end climb,SURFACE_DEPTH_REACHED
$STATE,9880,begin surface coast
$FINISH,0.3,1.014536
$STATE,9909,end surface coast,CONTROL_FINISHED_OK
$STATE,9909,begin surface
$SM_CCo,9926,83.40,0.060,0,0,748,400.08
$SM_GC,1.32,7.90,0.77,83.40,0.034,0.047,0.060,136,2494,748,-8.30,-1.33,400.08,0,0,0,0,0,0,26.63,26.57,26.40
$IRIDIUM_FIX,2159.71,12300.75,270313,222232
$TT8_MAMPS,0.048685,0.048685
$HUMID,45.66
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3951456
$24V_AH,24.1,31.605
$10V_AH,10.3,21.931
$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,19.775,78.250,567.750,83.400,0.000,0.000,0.000,190.200,0.000,0.000,28.767,1936.426,5932.908,666.075,1529.774,289.851,0.000,1631.546,0.000,1246.858,0.000,0.538,0.000
$DEVICE_MAMPS,218.790,69.615,898.110,59.670,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9900.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.993,0.000,0.000,0.000
$MEM,329792
$DATA_FILE_SIZE,16803,471
$CAP_FILE_SIZE,257413,0
$CFSIZE,260034560,231583744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280313,042636,2210.220,12257.089,37,0.9,38,-2.9