version: 66.11
glider: 171
mission: 4
dive: 224
start: 3 29 113 0 37 12
data:
$ID,171
$MISSION,4
$DIVE,224
$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,-20800.67
$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,60
$R_STBD_OVSHOOT,39
$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
$GPS1,290313,003100,2216.947,12244.345,41,0.8,42,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.0
$GPS2,290313,003648,2216.985,12244.303,10,1.1,15,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2218.860,12232.807
$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,4657
$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,-219.0,117,2502,830,665,0.0,0.0,0,85,0.00,0.00,-64.72,0.000,16386,0.000,0.000,117,2502,2582,2648,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.25,-219.0,116,2502,2651,2516,3.8,-6.2,9,119,8.88,2.15,-12.00,0.000,18948,0.218,0.044,2408,1095,3278,3346,3210,0,0,0,0,0,0,25.78,26.29,26.60
$GC,224,-1.25,-219.0,2408,1094,3350,3210,53.3,-32.8,24,230,0.00,2.15,0.00,0.000,1030,0.000,0.040,2398,2492,3280,3350,3210,0,0,0,0,0,0,28.83,26.27,28.83
$GC,543,-1.25,-219.0,2398,2492,3354,3210,160.0,-30.3,40,549,0.00,1.88,0.00,0.000,260,0.000,0.053,2389,3684,3282,3354,3210,0,0,0,0,0,0,28.83,26.38,28.83
$GC,781,-1.25,-219.0,2389,3684,3355,3211,232.2,-33.5,51,787,0.12,1.70,0.00,0.000,3078,0.161,0.026,2421,2489,3283,3355,3211,0,0,0,0,0,0,26.26,26.58,28.83
$GC,1097,-1.25,-219.0,2421,2489,3356,3211,324.1,-28.8,67,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2488,3283,3356,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1396,-1.25,-219.0,2421,2489,3356,3211,395.9,-22.7,82,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2489,3283,3356,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1696,-1.25,-219.0,2420,2489,3356,3211,465.3,-23.3,97,1701,0.00,1.85,0.00,0.000,260,0.000,0.053,2412,3679,3282,3356,3209,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1796,-1.25,-219.0,2412,3679,3357,3211,487.6,-26.0,101,1804,0.00,1.67,0.00,0.000,1030,0.000,0.025,2412,2493,3284,3357,3211,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2102,-1.25,-219.0,2412,2492,3356,3211,563.9,-22.7,117,2108,0.00,2.00,0.00,0.000,516,0.000,0.028,2412,1113,3283,3356,3211,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2156,-1.25,-219.0,2412,1112,3357,3210,574.0,-23.0,119,2162,0.00,2.10,0.00,0.000,1030,0.000,0.038,2402,2502,3283,3356,3211,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2481,-1.25,-219.0,2401,2502,3356,3210,652.5,-23.5,132,2487,0.00,2.03,0.00,0.000,516,0.000,0.028,2402,1115,3283,3356,3211,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2559,-1.25,-219.0,2401,1115,3358,3211,666.9,-22.6,134,2565,0.00,2.12,0.00,0.000,1030,0.000,0.039,2391,2503,3283,3356,3211,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2879,-1.25,-219.0,2391,2503,3356,3207,731.3,-18.9,145,2884,0.00,1.83,0.00,0.000,260,0.000,0.054,2382,3678,3281,3356,3207,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2931,-1.25,-219.0,2382,3679,3356,3207,738.2,-19.2,146,2938,0.12,1.67,0.00,0.000,3078,0.154,0.026,2415,2501,3281,3356,3206,0,0,0,0,0,0,26.39,26.70,28.83
$GC,3246,-1.25,-219.0,2415,2500,3357,3203,803.3,-19.8,157,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2500,3279,3356,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3546,-1.25,-219.0,2415,2497,3356,3198,865.1,-21.4,167,3552,0.00,1.85,0.00,0.000,260,0.000,0.055,2407,3677,3277,3356,3198,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3604,-1.25,-219.0,2406,3677,3355,3197,872.4,-21.5,168,3612,0.00,1.67,0.00,0.000,1030,0.000,0.027,2405,2504,3276,3356,3197,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3912,-1.25,-219.0,2406,2503,3355,3193,939.7,-18.8,179,3918,0.00,2.05,0.00,0.000,516,0.000,0.029,2407,1108,3274,3355,3193,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3940,-1.25,-219.0,2406,1109,3355,3192,939.7,-18.8,179,3948,0.00,2.12,0.00,0.000,1030,0.000,0.040,2396,2504,3274,3355,3193,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,4094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4094,begin apogee
$GC,4100,-0.20,0.0,2396,1994,3354,3191,974.5,-19.1,185,4441,1.08,0.00,329.45,0.762,10246,0.121,0.000,2751,1992,2375,2535,2216,0,0,0,0,0,0,26.23,28.83,24.42
$STATE,4442,end apogee,CONTROL_FINISHED_OK
$STATE,4442,begin climb
$GC,4445,1.25,219.0,2750,1993,2530,2208,989.7,0.0,196,4684,1.27,2.28,229.07,0.906,10756,0.048,0.037,3236,634,1477,1580,1375,0,0,0,0,0,0,25.21,24.80,24.11
$GC,4753,1.25,219.0,3236,634,1558,1354,947.6,22.4,205,4761,0.00,2.15,0.00,0.000,1030,0.000,0.030,3236,2010,1455,1557,1353,0,0,0,0,0,0,28.83,25.43,28.83
$GC,5059,1.25,219.0,3236,2010,1551,1348,867.2,23.1,216,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2009,1449,1551,1348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5358,1.25,219.0,3236,2010,1550,1346,799.4,22.5,226,5364,0.00,2.20,0.00,0.000,260,0.000,0.046,3236,3414,1448,1550,1346,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5503,1.25,219.0,3236,3415,1548,1346,769.8,23.6,230,5509,0.00,2.08,0.00,0.000,1030,0.000,0.029,3248,2020,1447,1548,1347,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5818,1.25,219.0,3247,2021,1547,1344,699.1,21.6,241,5824,0.00,2.17,0.00,0.000,260,0.000,0.047,3248,3409,1445,1547,1344,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5957,1.25,219.0,3247,3409,1546,1344,668.3,24.3,245,5964,0.15,2.10,0.00,0.000,5126,0.176,0.030,3221,2004,1445,1546,1344,0,0,0,0,0,0,26.20,26.51,28.83
$GC,6268,1.25,219.0,3223,2004,1545,1341,595.2,21.5,256,6273,0.00,2.12,0.00,0.000,516,0.000,0.040,3231,608,1443,1546,1341,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6342,1.25,219.0,3231,608,1546,1341,580.8,21.4,259,6348,0.00,2.08,0.00,0.000,1030,0.000,0.031,3231,2004,1444,1546,1342,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6657,1.25,219.0,3231,2004,1544,1341,514.9,20.3,275,6663,0.00,2.17,0.00,0.000,260,0.000,0.046,3231,3408,1442,1544,1341,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6681,1.25,219.0,3231,3408,1544,1341,509.6,20.5,276,6688,0.00,2.10,0.00,0.000,1030,0.000,0.030,3243,1997,1443,1545,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7007,1.25,219.0,3243,1997,1544,1339,441.1,20.5,292,7008,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1997,1442,1544,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7306,1.25,219.0,3242,1997,1542,1339,383.6,17.0,307,7312,0.00,2.20,0.00,0.000,260,0.000,0.047,3243,3405,1440,1542,1339,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7333,1.25,219.0,3242,3403,1542,1339,379.3,17.2,308,7340,0.12,2.08,0.00,0.000,5126,0.172,0.030,3223,1998,1440,1542,1339,0,0,0,0,0,0,26.31,26.60,28.83
$GC,7655,1.25,219.0,3222,1997,1543,1337,333.3,15.9,324,7661,0.00,2.20,0.00,0.000,260,0.000,0.047,3223,3409,1439,1542,1337,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7721,1.25,219.0,3222,3412,1542,1337,320.5,18.3,327,7727,0.00,2.10,0.00,0.000,1030,0.000,0.030,3234,1995,1439,1542,1337,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8047,1.25,219.0,3234,1994,1542,1336,254.4,20.6,343,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1994,1440,1545,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8345,1.25,219.0,3234,1994,1542,1336,201.7,15.4,358,8351,0.00,2.10,0.00,0.000,516,0.000,0.039,3245,607,1439,1543,1336,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8391,1.25,219.0,3245,607,1542,1336,195.8,14.0,360,8397,0.00,2.08,0.00,0.000,1030,0.000,0.030,3245,2001,1439,1542,1336,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8716,1.25,219.0,3245,2001,1542,1336,145.6,15.6,376,8722,0.00,2.15,0.00,0.000,260,0.000,0.045,3245,3402,1439,1542,1336,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8852,1.25,219.0,3245,3402,1541,1336,122.8,17.8,382,8859,0.12,2.05,0.00,0.000,5126,0.164,0.027,3223,1992,1439,1543,1336,0,0,0,0,0,0,26.34,26.63,28.83
$GC,9168,1.25,219.0,3223,1991,1543,1336,84.4,10.6,398,9174,0.00,2.17,0.00,0.000,260,0.000,0.045,3224,3402,1439,1542,1336,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9239,1.25,219.0,3223,3402,1543,1337,74.6,14.1,401,9244,0.00,2.05,0.00,0.000,1030,0.000,0.028,3235,1998,1439,1543,1336,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9548,1.25,219.0,3235,1998,1542,1336,32.1,12.3,423,9553,0.00,2.08,0.00,0.000,516,0.000,0.038,3246,612,1439,1543,1336,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9587,1.25,219.0,3245,612,1543,1336,28.0,11.9,426,9595,0.00,2.05,0.00,0.000,1030,0.000,0.030,3246,2002,1440,1544,1336,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,9808,end climb,SURFACE_DEPTH_REACHED
$STATE,9809,begin surface coast
$FINISH,0.7,1.022901
$STATE,9827,end surface coast,CONTROL_FINISHED_OK
$STATE,9827,begin surface
$SM_CCo,9845,83.00,0.060,0,0,748,400.08
$SM_GC,1.26,7.95,0.75,83.00,0.034,0.043,0.060,124,2497,748,-8.30,-1.19,400.08,0,0,0,0,0,0,26.64,26.57,26.39
$IRIDIUM_FIX,2209.02,12243.27,280313,212106
$TT8_MAMPS,0.047187,0.047187
$HUMID,45.23
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3948896
$24V_AH,24.1,32.729
$10V_AH,10.3,22.569
$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,19.825,79.050,558.525,83.000,0.000,0.000,0.000,197.500,0.000,0.000,16.424,1900.291,5928.103,666.797,1474.105,300.546,0.000,1617.251,0.000,1213.566,0.000,0.538,0.000
$DEVICE_MAMPS,218.025,55.080,905.760,60.435,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9813.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.007,0.000,0.000,0.000
$MEM,324116
$DATA_FILE_SIZE,16759,470
$CAP_FILE_SIZE,256489,0
$CFSIZE,260034560,230875136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290313,032348,2218.292,12242.740,10,1.6,28,-2.9