version: 66.11
glider: 171
mission: 4
dive: 228
start: 3 29 113 12 7 9
data:
$ID,171
$MISSION,4
$DIVE,228
$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,-20805.695
$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,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
$GPS1,290313,115829,2221.846,12237.972,33,1.3,38,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-67.9
$GPS2,290313,120645,2221.773,12238.073,13,3.3,32,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2223.648,12226.570
$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,4724
$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,-219.0,121,2486,822,677,0.0,0.0,0,78,0.00,0.00,-57.67,0.000,16386,0.000,0.000,119,2487,2383,2430,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.25,-219.0,119,2487,2434,2336,3.5,-5.3,8,113,8.93,1.92,-15.55,0.000,18692,0.218,0.067,2404,3669,3278,3349,3207,0,0,0,0,0,0,25.76,26.19,26.58
$GC,324,-1.25,-219.0,2404,3669,3352,3207,84.4,-33.1,28,332,0.00,1.73,0.00,0.000,1030,0.000,0.024,2404,2503,3279,3352,3206,0,0,0,0,0,0,28.83,26.44,28.83
$GC,631,-1.25,-219.0,2403,2502,3355,3206,184.5,-29.3,44,637,0.00,1.83,0.00,0.000,260,0.000,0.056,2395,3665,3281,3356,3206,0,0,0,0,0,0,28.83,26.39,28.83
$GC,685,-1.25,-219.0,2395,3665,3356,3207,198.5,-30.0,46,691,0.00,1.67,0.00,0.000,1030,0.000,0.025,2395,2496,3281,3356,3207,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1000,-1.25,-219.0,2395,2495,3357,3207,290.3,-28.2,62,1006,0.00,2.05,0.00,0.000,516,0.000,0.031,2395,1098,3282,3357,3207,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1027,-1.25,-219.0,2393,1098,3356,3207,296.7,-27.2,63,1034,0.12,2.12,0.00,0.000,3078,0.168,0.039,2416,2495,3282,3357,3207,0,0,0,0,0,0,26.27,26.48,28.83
$GC,1349,-1.25,-219.0,2416,2495,3357,3207,374.6,-22.9,79,1355,0.00,1.83,0.00,0.000,260,0.000,0.054,2408,3674,3282,3357,3207,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1397,-1.25,-219.0,2407,3674,3357,3207,385.7,-23.2,81,1403,0.00,1.67,0.00,0.000,1030,0.000,0.024,2407,2491,3283,3359,3207,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1718,-1.25,-219.0,2407,2489,3357,3207,459.2,-22.8,97,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2489,3281,3356,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2016,-1.25,-219.0,2407,2489,3357,3207,526.8,-23.1,112,2022,0.00,1.85,0.00,0.000,260,0.000,0.054,2398,3677,3282,3357,3207,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2041,-1.25,-219.0,2399,3677,3356,3207,532.5,-23.6,113,2047,0.00,1.67,0.00,0.000,1030,0.000,0.024,2398,2496,3281,3356,3207,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2376,-1.25,-219.0,2398,2495,3356,3207,607.0,-21.9,129,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2495,3281,3356,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2675,-1.25,-219.0,2398,2495,3356,3207,672.9,-22.0,139,2681,0.00,1.85,0.00,0.000,260,0.000,0.054,2390,3678,3280,3356,3204,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2764,-1.25,-219.0,2389,3679,3356,3203,687.9,-22.4,141,2772,0.00,1.73,0.00,0.000,1030,0.000,0.025,2390,2494,3279,3357,3202,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3072,-1.25,-219.0,2390,2494,3356,3197,762.2,-21.7,152,3078,0.00,1.85,0.00,0.000,260,0.000,0.054,2381,3676,3276,3355,3197,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3095,-1.25,-219.0,2380,3675,3356,3197,762.2,-21.7,152,3102,0.08,1.73,0.00,0.000,3078,0.135,0.026,2422,2500,3276,3356,3197,0,0,0,0,0,0,26.35,26.71,28.83
$GC,3410,-1.25,-219.0,2422,2499,3360,3192,826.8,-18.8,163,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2499,3274,3356,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3710,-1.25,-219.0,2421,2499,3354,3188,880.8,-17.8,173,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2499,3272,3354,3191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4011,-1.25,-219.0,2421,2501,3351,3185,932.8,-17.3,183,4017,0.00,1.85,0.00,0.000,260,0.000,0.056,2413,3676,3268,3351,3185,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4034,-1.25,-219.0,2413,3676,3350,3185,932.8,-17.3,183,4039,0.00,1.70,0.00,0.000,1030,0.000,0.027,2413,2494,3267,3350,3185,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,4226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4226,begin apogee
$GC,4232,-0.20,0.0,2413,1988,3350,3183,972.5,-18.4,190,4573,1.00,0.00,331.17,0.754,10246,0.116,0.000,2748,1987,2377,2536,2219,0,0,0,0,0,0,26.25,28.83,24.42
$STATE,4574,end apogee,CONTROL_FINISHED_OK
$STATE,4575,begin climb
$GC,4577,1.25,219.0,2747,1987,2531,2209,995.2,0.0,201,4813,1.30,0.00,228.10,0.904,10758,0.049,0.000,3230,1986,1483,1584,1382,0,0,0,0,0,0,25.21,28.83,24.09
$GC,5099,1.25,219.0,3230,1986,1550,1354,898.5,24.1,219,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1986,1453,1553,1354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5398,1.25,219.0,3229,1986,1551,1353,826.6,23.6,229,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1984,1451,1552,1351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5698,1.25,219.0,3230,1986,1550,1349,754.8,24.7,239,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1986,1449,1550,1348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5998,1.25,219.0,3230,1986,1549,1346,684.2,23.0,249,6003,0.00,2.22,0.00,0.000,260,0.000,0.047,3230,3413,1448,1549,1348,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6066,1.25,219.0,3230,3413,1549,1346,668.5,23.8,251,6072,0.00,2.08,0.00,0.000,1030,0.000,0.028,3241,2012,1447,1548,1346,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6385,1.25,219.0,3241,2011,1547,1345,591.3,22.2,262,6391,0.00,2.12,0.00,0.000,516,0.000,0.038,3253,610,1446,1547,1345,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6403,1.25,219.0,3252,610,1547,1344,591.3,22.2,262,6412,0.12,2.10,0.00,0.000,5126,0.172,0.031,3220,2014,1446,1547,1345,0,0,0,0,0,0,26.25,26.53,28.83
$GC,6711,1.25,219.0,3221,2014,1547,1344,521.6,20.9,278,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2014,1445,1547,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7010,1.25,219.0,3221,2015,1546,1342,463.0,19.8,293,7015,0.00,2.15,0.00,0.000,260,0.000,0.047,3220,3400,1444,1547,1342,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7028,1.25,219.0,3220,3400,1546,1342,463.0,19.8,293,7036,0.00,2.08,0.00,0.000,1030,0.000,0.030,3232,2001,1444,1546,1342,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7334,1.25,219.0,3232,2001,1544,1341,400.5,20.2,309,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2001,1443,1545,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7634,1.25,219.0,3231,2000,1545,1340,340.9,19.1,324,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2001,1441,1544,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7935,1.25,219.0,3232,2001,1544,1339,283.1,18.4,339,7940,0.00,2.12,0.00,0.000,516,0.000,0.041,3242,606,1442,1545,1340,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8049,1.25,219.0,3243,606,1545,1339,264.2,17.3,344,8055,0.00,2.08,0.00,0.000,1030,0.000,0.031,3243,2008,1442,1545,1340,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8364,1.25,219.0,3243,2008,1544,1340,205.6,18.6,360,8370,0.00,2.12,0.00,0.000,516,0.000,0.038,3254,611,1442,1544,1340,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8423,1.25,219.0,3254,610,1545,1340,197.4,18.1,362,8432,0.12,2.08,0.00,0.000,5126,0.161,0.031,3221,2000,1442,1544,1340,0,0,0,0,0,0,26.32,26.58,28.83
$GC,8731,1.25,219.0,3221,2000,1545,1339,147.2,14.1,378,8736,0.00,2.15,0.00,0.000,260,0.000,0.045,3221,3403,1442,1545,1339,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8758,1.25,219.0,3221,3403,1545,1340,143.9,13.9,379,8764,0.00,2.08,0.00,0.000,1030,0.000,0.028,3232,1989,1442,1545,1340,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9079,1.25,219.0,3232,1989,1545,1339,97.9,14.0,395,9085,0.00,2.08,0.00,0.000,516,0.000,0.038,3247,611,1442,1545,1339,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9200,1.25,219.0,3243,610,1545,1339,82.0,14.8,400,9207,0.00,2.05,0.00,0.000,1030,0.000,0.030,3244,2000,1442,1545,1339,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9505,1.25,219.0,3243,2000,1545,1340,39.1,13.7,420,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2000,1442,1546,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9814,1.25,219.0,2208,1999,1511,1336,10.2,9.3,470,9821,0.00,2.12,0.00,0.000,260,0.000,0.044,3244,3403,1442,1545,1340,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,9894,end climb,SURFACE_DEPTH_REACHED
$STATE,9894,begin surface coast
$FINISH,0.4,1.022281
$STATE,9929,end surface coast,CONTROL_FINISHED_OK
$STATE,9929,begin surface
$SM_CCo,9947,84.03,0.061,0,0,748,400.08
$SM_GC,1.15,7.95,1.35,84.03,0.035,0.026,0.061,133,2493,748,-8.29,1.78,400.08,0,0,0,0,0,0,26.60,26.67,26.37
$IRIDIUM_FIX,2213.68,12239.35,290313,121255
$TT8_MAMPS,0.048685,0.048685
$HUMID,44.64
$INTERNAL_PRESSURE,9.66204
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3947616
$24V_AH,24.1,33.273
$10V_AH,10.3,22.885
$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,19.625,62.725,559.275,84.025,0.000,0.000,0.000,264.900,0.000,0.000,34.119,1788.930,6346.125,653.973,1437.286,294.604,0.000,1610.624,0.000,1100.412,0.000,0.538,0.000
$DEVICE_MAMPS,218.025,66.555,904.230,61.200,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9917.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.104,0.000,0.000,0.000
$MEM,324116
$DATA_FILE_SIZE,16794,491
$CAP_FILE_SIZE,245399,0
$CFSIZE,260034560,230535168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290313,145555,2223.152,12236.506,34,2.3,54,-2.9