version: 66.11
glider: 171
mission: 4
dive: 217
start: 3 28 113 4 32 23
data:
$ID,171
$MISSION,4
$DIVE,217
$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,-20791.869
$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,59
$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
$GPS1,280313,042636,2210.220,12257.089,37,0.9,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.0
$GPS2,280313,043200,2210.218,12257.032,10,1.5,15,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2212.093,12245.546
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.25,-219.0,132,2495,833,667,0.0,0.0,0,86,0.00,0.00,-65.22,0.000,16386,0.000,0.000,131,2496,2617,2684,2551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.25,-219.0,131,2496,2686,2552,3.8,-6.2,9,120,8.88,1.90,-11.35,0.000,18692,0.222,0.070,2402,3662,3277,3345,3209,0,0,0,0,0,0,25.80,26.22,26.63
$GC,353,-1.25,-219.0,2402,3664,3348,3209,100.0,-35.9,30,359,0.00,1.67,0.00,0.000,1030,0.000,0.025,2402,2496,3278,3348,3209,0,0,0,0,0,0,28.83,26.48,28.83
$GC,667,-1.25,-219.0,2402,2494,3350,3209,205.5,-31.0,46,673,0.00,1.85,0.00,0.000,260,0.000,0.050,2392,3674,3279,3350,3209,0,0,0,0,0,0,28.83,26.42,28.83
$GC,903,-1.25,-219.0,2393,3674,3352,3209,273.9,-29.1,57,909,0.00,1.67,0.00,0.000,1030,0.000,0.023,2393,2494,3281,3352,3210,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1217,-1.25,-219.0,2392,2492,3353,3209,366.2,-28.2,73,1223,0.00,1.83,0.00,0.000,260,0.000,0.050,2384,3668,3281,3353,3209,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1303,-1.25,-219.0,2384,3668,3353,3209,389.9,-27.3,77,1310,0.12,1.67,0.00,0.000,3078,0.158,0.024,2417,2496,3281,3353,3209,0,0,0,0,0,0,26.37,26.66,28.83
$GC,1631,-1.25,-219.0,2416,2495,3354,3209,472.2,-24.7,93,1637,0.00,1.83,0.00,0.000,260,0.000,0.051,2409,3673,3281,3354,3209,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1711,-1.25,-219.0,2408,3672,3354,3209,487.4,-22.6,96,1719,0.00,1.70,0.00,0.000,1030,0.000,0.024,2409,2496,3281,3354,3209,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2017,-1.25,-219.0,2408,2495,3354,3209,553.9,-19.8,112,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2495,3281,3354,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2327,-1.25,-219.0,2408,2495,3354,3209,620.2,-22.1,126,2333,0.00,2.03,0.00,0.000,516,0.000,0.029,2409,1111,3283,3357,3209,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2350,-1.25,-219.0,2408,1111,3354,3209,620.2,-22.1,126,2356,0.00,2.10,0.00,0.000,1030,0.000,0.036,2398,2501,3281,3353,3209,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2665,-1.25,-219.0,2397,2501,3353,3208,693.2,-20.7,137,2671,0.00,1.80,0.00,0.000,260,0.000,0.054,2389,3669,3280,3353,3208,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2732,-1.25,-219.0,2389,3670,3353,3207,706.9,-20.8,139,2739,0.12,1.65,0.00,0.000,3078,0.151,0.025,2423,2497,3280,3353,3207,0,0,0,0,0,0,26.41,26.71,28.83
$GC,3062,-1.25,-219.0,2422,2496,3353,3203,766.9,-17.4,150,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2496,3278,3354,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3362,-1.25,-219.0,2422,2495,3353,3198,819.8,-17.9,160,3368,0.00,1.85,0.00,0.000,260,0.000,0.054,2414,3677,3275,3353,3198,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3471,-1.25,-219.0,2414,3677,3353,3197,837.3,-18.2,163,3477,0.00,1.67,0.00,0.000,1030,0.000,0.026,2414,2500,3274,3353,3196,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3791,-1.25,-219.0,2414,2499,3353,3192,896.7,-17.6,174,3797,0.00,2.05,0.00,0.000,516,0.000,0.031,2414,1111,3272,3352,3192,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3839,-1.25,-219.0,2414,1111,3352,3191,902.9,-17.6,175,3845,0.00,2.10,0.00,0.000,1030,0.000,0.038,2404,2498,3271,3352,3191,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4158,-1.25,-219.0,2403,2499,3350,3188,966.0,-19.4,186,4163,0.00,1.83,0.00,0.000,260,0.000,0.055,2394,3671,3268,3350,3187,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,4190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4190,begin apogee
$GC,4198,-0.20,0.0,2394,2012,3350,3187,972.9,-19.6,187,4544,1.08,0.00,336.10,0.749,10246,0.120,0.000,2750,2010,2380,2540,2221,0,0,0,0,0,0,26.25,28.83,24.43
$STATE,4545,end apogee,CONTROL_FINISHED_OK
$STATE,4545,begin climb
$GC,4547,1.25,219.0,2750,2010,2531,2209,1001.7,0.0,198,4794,1.27,2.42,237.60,0.894,11012,0.047,0.049,3226,3407,1476,1580,1372,0,0,0,0,0,0,25.21,24.80,24.09
$GC,4836,1.25,219.0,3226,3407,1561,1356,974.3,17.4,208,4842,0.00,2.17,0.00,0.000,1030,0.000,0.026,3238,2011,1458,1560,1356,0,0,0,0,0,0,28.83,25.31,28.83
$GC,5160,1.25,219.0,3237,2011,1552,1347,898.7,23.9,219,5166,0.00,2.17,0.00,0.000,516,0.000,0.036,3249,597,1449,1552,1347,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5273,1.25,219.0,3249,597,1551,1347,876.6,23.5,222,5279,0.00,2.12,0.00,0.000,1030,0.000,0.031,3249,2011,1449,1551,1347,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5589,1.25,219.0,3249,2011,1549,1345,796.7,24.1,233,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2011,1447,1549,1345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5888,1.25,219.0,3249,2011,1547,1345,725.4,23.5,243,5894,0.00,2.17,0.00,0.000,260,0.000,0.047,3249,3400,1446,1547,1345,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5963,1.25,219.0,3249,3400,1547,1345,709.6,23.4,245,5969,0.15,2.10,0.00,0.000,5126,0.176,0.028,3222,1985,1446,1547,1345,0,0,0,0,0,0,26.20,26.51,28.83
$GC,6287,1.25,219.0,3222,1985,1547,1341,638.4,20.9,256,6293,0.00,2.10,0.00,0.000,516,0.000,0.038,3232,609,1444,1547,1342,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6341,1.25,219.0,3232,609,1546,1342,630.9,21.0,257,6347,0.00,2.08,0.00,0.000,1030,0.000,0.031,3233,1999,1444,1547,1342,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6655,1.25,219.0,3232,1999,1545,1342,558.7,21.9,271,6661,0.00,2.12,0.00,0.000,516,0.000,0.038,3244,606,1443,1545,1342,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6721,1.25,219.0,3244,606,1545,1342,544.1,22.1,274,6727,0.00,2.10,0.00,0.000,1030,0.000,0.031,3244,2009,1443,1545,1342,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7046,1.25,219.0,3244,2009,1544,1340,473.0,20.9,290,7052,0.00,2.15,0.00,0.000,260,0.000,0.047,3244,3400,1442,1545,1340,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7101,1.25,219.0,3243,3400,1544,1340,463.2,21.3,292,7108,0.12,2.08,0.00,0.000,5126,0.174,0.029,3224,1995,1442,1544,1340,0,0,0,0,0,0,26.31,26.60,28.83
$GC,7418,1.25,219.0,3223,1994,1542,1338,404.2,17.3,308,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1994,1440,1542,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7716,1.25,219.0,3223,1994,1543,1337,347.6,19.1,323,7722,0.00,2.10,0.00,0.000,516,0.000,0.039,3235,609,1439,1542,1337,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7796,1.25,219.0,3234,609,1542,1337,335.1,19.1,326,7804,0.00,2.08,0.00,0.000,1030,0.000,0.031,3235,2009,1439,1542,1337,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8102,1.25,219.0,3234,2011,1542,1337,277.9,17.1,342,8108,0.00,2.15,0.00,0.000,260,0.000,0.047,3235,3405,1439,1542,1337,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8129,1.25,219.0,3234,3405,1542,1337,273.6,17.3,343,8135,0.00,2.08,0.00,0.000,1030,0.000,0.029,3246,1995,1439,1542,1337,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8449,1.25,219.0,3246,1995,1542,1337,215.9,18.3,359,8455,0.00,2.20,0.00,0.000,260,0.000,0.045,3246,3412,1439,1542,1337,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8498,1.25,219.0,3245,3412,1542,1337,207.4,18.7,361,8505,0.12,2.08,0.00,0.000,5126,0.166,0.028,3225,1997,1439,1542,1337,0,0,0,0,0,0,26.34,26.63,28.83
$GC,8820,1.25,219.0,3225,1997,1542,1337,157.3,15.8,377,8826,0.00,2.10,0.00,0.000,516,0.000,0.039,3236,608,1439,1542,1337,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8940,1.25,219.0,3235,609,1542,1337,140.7,15.4,382,8948,0.00,2.05,0.00,0.000,1030,0.000,0.030,3235,2002,1439,1542,1337,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9247,1.25,219.0,3235,2002,1542,1337,95.5,14.4,398,9248,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2002,1439,1542,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9547,1.25,219.0,3235,2002,1543,1337,56.0,12.4,413,9553,0.00,2.10,0.00,0.000,516,0.000,0.037,3247,610,1440,1543,1337,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9586,1.25,219.0,3246,610,1543,1337,52.8,12.4,414,9594,0.00,2.05,0.00,0.000,1030,0.000,0.029,3247,2006,1440,1543,1337,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9894,1.25,219.0,2208,2004,1511,1334,11.0,13.4,453,9902,0.00,2.12,0.00,0.000,260,0.000,0.044,3247,3402,1441,1545,1337,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9947,1.25,219.0,3246,3402,1546,1337,4.1,13.7,462,9956,0.12,2.05,0.00,0.000,5126,0.162,0.027,3225,1989,1441,1546,1337,0,0,0,0,0,0,26.36,26.64,28.83
$STATE,9962,end climb,SURFACE_DEPTH_REACHED
$STATE,9962,begin surface coast
$FINISH,0.4,1.023178
$STATE,9985,end surface coast,CONTROL_FINISHED_OK
$STATE,9985,begin surface
$SM_CCo,10003,83.30,0.059,0,0,748,400.08
$SM_GC,1.24,7.90,0.77,83.30,0.035,0.042,0.059,129,2483,748,-8.30,-1.30,400.08,0,0,0,0,0,0,26.62,26.56,26.39
$IRIDIUM_FIX,2159.71,12257.53,280313,010141
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.99
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3951136
$24V_AH,24.1,31.743
$10V_AH,10.2,22.012
$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,19.900,85.425,573.700,83.300,0.000,0.000,0.000,173.075,0.000,0.000,16.214,1921.744,6014.721,728.817,1452.914,285.481,0.000,1635.256,0.000,1205.072,0.000,0.537,0.000
$DEVICE_MAMPS,221.850,69.615,894.285,58.905,0.000,0.000,0.000,126.225,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9976.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.957,0.000,0.000,0.000
$MEM,329760
$DATA_FILE_SIZE,16730,468
$CAP_FILE_SIZE,254497,0
$CFSIZE,260034560,231493632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280313,072135,2211.116,12255.680,8,1.3,25,-2.9