version: 66.11
glider: 171
mission: 4
dive: 229
start: 3 29 113 15 2 31
data:
$ID,171
$MISSION,4
$DIVE,229
$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,-20806.951
$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,64
$R_STBD_OVSHOOT,44
$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
$GPS1,290313,145555,2223.152,12236.506,34,2.3,54,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-67.8
$GPS2,290313,150207,2223.163,12236.564,13,1.0,13,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2225.038,12225.060
$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,4856
$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,18,-1.25,-219.0,126,2491,841,656,0.0,0.0,0,78,0.00,0.00,-57.80,0.000,16386,0.000,0.000,126,2492,2391,2442,2341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.25,-219.0,126,2491,2444,2341,3.7,-6.1,8,113,8.90,1.90,-15.32,0.000,18692,0.220,0.067,2405,3658,3277,3348,3206,0,0,0,0,0,0,25.77,26.18,26.59
$GC,271,-1.25,-219.0,2405,3658,3352,3206,65.7,-34.1,26,279,0.00,1.70,0.00,0.000,1030,0.000,0.024,2405,2508,3279,3352,3206,0,0,0,0,0,0,28.83,26.42,28.83
$GC,579,-1.25,-219.0,2405,2507,3356,3206,169.6,-31.8,42,585,0.00,1.80,0.00,0.000,260,0.000,0.053,2396,3658,3281,3355,3207,0,0,0,0,0,0,28.83,26.39,28.83
$GC,654,-1.25,-219.0,2396,3658,3356,3207,190.4,-30.7,45,660,0.00,1.67,0.00,0.000,1030,0.000,0.024,2396,2485,3281,3356,3207,0,0,0,0,0,0,28.83,26.55,28.83
$GC,968,-1.25,-219.0,2396,2483,3358,3207,282.0,-28.3,61,974,0.00,2.03,0.00,0.000,516,0.000,0.031,2396,1106,3282,3357,3208,0,0,0,0,0,0,28.83,26.55,28.83
$GC,986,-1.25,-219.0,2396,1105,3357,3207,282.0,-28.3,61,995,0.12,2.10,0.00,0.000,3078,0.166,0.039,2418,2488,3282,3357,3207,0,0,0,0,0,0,26.27,26.48,28.83
$GC,1292,-1.25,-219.0,2417,2488,3357,3207,366.5,-25.7,77,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2488,3282,3357,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1592,-1.25,-219.0,2418,2487,3357,3207,437.8,-23.2,92,1598,0.00,1.83,0.00,0.000,260,0.000,0.052,2409,3674,3282,3357,3207,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1646,-1.25,-219.0,2409,3674,3357,3207,448.2,-23.1,94,1652,0.00,1.67,0.00,0.000,1030,0.000,0.023,2409,2488,3282,3357,3207,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1961,-1.25,-219.0,2410,2487,3357,3207,523.8,-23.4,110,1967,0.00,1.85,0.00,0.000,260,0.000,0.054,2400,3675,3282,3357,3207,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2000,-1.25,-219.0,2400,3676,3357,3207,529.6,-23.2,111,2008,0.00,1.70,0.00,0.000,1030,0.000,0.024,2400,2496,3282,3357,3207,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2306,-1.25,-219.0,2400,2495,3357,3207,601.3,-22.3,127,2312,0.00,2.00,0.00,0.000,516,0.000,0.029,2400,1119,3282,3357,3207,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2350,-1.25,-219.0,2400,1119,3357,3207,609.0,-22.3,128,2357,0.10,2.12,0.00,0.000,3078,0.173,0.040,2415,2508,3282,3357,3208,0,0,0,0,0,0,26.36,26.54,28.83
$GC,2675,-1.25,-219.0,2414,2508,3357,3204,673.7,-17.9,139,2681,0.00,1.80,0.00,0.000,260,0.000,0.054,2406,3674,3280,3356,3204,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2713,-1.25,-219.0,2406,3674,3356,3204,680.2,-18.1,140,2720,0.00,1.70,0.00,0.000,1030,0.000,0.025,2406,2505,3280,3357,3203,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3043,-1.25,-219.0,2406,2503,3356,3198,743.1,-19.0,151,3048,0.00,1.83,0.00,0.000,260,0.000,0.055,2397,3672,3277,3357,3198,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3138,-1.25,-219.0,2397,3673,3356,3197,760.2,-18.3,154,3144,0.00,1.67,0.00,0.000,1030,0.000,0.025,2397,2496,3276,3356,3196,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3473,-1.25,-219.0,2397,2495,3356,3192,822.0,-19.0,165,3478,0.00,2.03,0.00,0.000,516,0.000,0.029,2397,1114,3273,3356,3191,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3546,-1.25,-219.0,2397,1114,3355,3191,834.5,-19.2,167,3552,0.12,2.12,0.00,0.000,3078,0.159,0.040,2420,2507,3273,3356,3190,0,0,0,0,0,0,26.32,26.53,28.83
$GC,3871,-1.25,-219.0,2419,2507,3354,3186,891.3,-16.8,178,3877,0.00,1.85,0.00,0.000,260,0.000,0.055,2412,3665,3270,3354,3187,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3915,-1.25,-219.0,2411,3665,3353,3187,897.2,-16.7,179,3921,0.00,1.67,0.00,0.000,1030,0.000,0.028,2412,2509,3270,3353,3187,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4239,-1.25,-219.0,2411,2509,3350,3184,951.8,-16.2,190,4245,0.00,2.08,0.00,0.000,516,0.000,0.028,2412,1100,3267,3350,3184,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4268,-1.25,-219.0,2411,1101,3349,3183,951.8,-16.2,190,4276,0.00,2.15,0.00,0.000,1030,0.000,0.041,2401,2502,3266,3350,3183,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,4363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4363,begin apogee
$GC,4369,-0.20,0.0,2400,1984,3350,3182,972.4,-16.6,194,4710,1.05,0.00,330.52,0.760,10246,0.119,0.000,2749,1982,2377,2535,2219,0,0,0,0,0,0,26.21,28.83,24.43
$STATE,4712,end apogee,CONTROL_FINISHED_OK
$STATE,4712,begin climb
$GC,4714,1.25,219.0,2749,1982,2530,2209,989.7,0.0,205,4955,1.27,2.28,230.82,0.905,10756,0.047,0.036,3237,628,1480,1583,1377,0,0,0,0,0,0,25.22,24.82,24.10
$GC,5012,1.25,219.0,3238,628,1560,1356,948.6,22.0,214,5018,0.00,2.17,0.00,0.000,1030,0.000,0.031,3237,2018,1458,1560,1356,0,0,0,0,0,0,28.83,25.37,28.83
$GC,5332,1.25,219.0,3237,2018,1552,1351,867.2,24.1,225,5338,0.00,2.20,0.00,0.000,260,0.000,0.047,3237,3415,1451,1552,1351,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5359,1.25,219.0,3237,3415,1552,1351,867.2,24.1,225,5367,0.00,2.10,0.00,0.000,1030,0.000,0.028,3249,2014,1451,1552,1350,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5667,1.25,219.0,3249,2014,1550,1348,784.9,24.2,236,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2013,1449,1550,1348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5966,1.25,219.0,3249,2014,1549,1347,714.4,23.2,246,5972,0.00,2.15,0.00,0.000,516,0.000,0.038,3261,604,1448,1549,1347,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5994,1.25,219.0,3260,604,1548,1347,714.4,23.2,246,6002,0.15,2.10,0.00,0.000,5126,0.168,0.031,3221,2010,1447,1548,1346,0,0,0,0,0,0,26.17,26.45,28.83
$GC,6302,1.25,219.0,3221,2009,1547,1345,640.0,23.3,257,6308,0.00,2.17,0.00,0.000,260,0.000,0.047,3221,3406,1446,1547,1345,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6385,1.25,219.0,3221,3406,1547,1345,623.6,24.3,259,6391,0.00,2.10,0.00,0.000,1030,0.000,0.030,3233,1991,1446,1547,1345,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6710,1.25,219.0,3232,1991,1547,1343,545.0,22.0,274,6716,0.00,2.10,0.00,0.000,516,0.000,0.039,3244,609,1445,1547,1343,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6765,1.25,219.0,3243,609,1547,1343,535.5,21.7,276,6771,0.00,2.08,0.00,0.000,1030,0.000,0.031,3243,2003,1444,1546,1342,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7079,1.25,219.0,3243,2003,1545,1341,464.6,21.6,292,7085,0.00,2.17,0.00,0.000,260,0.000,0.046,3244,3408,1443,1545,1341,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7128,1.25,219.0,3243,3407,1545,1341,454.8,21.8,294,7135,0.12,2.08,0.00,0.000,5126,0.177,0.030,3223,1998,1443,1545,1342,0,0,0,0,0,0,26.27,26.58,28.83
$GC,7449,1.25,219.0,3223,1997,1545,1339,390.2,19.6,310,7455,0.00,2.12,0.00,0.000,516,0.000,0.041,3234,604,1442,1545,1339,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7585,1.25,219.0,3233,604,1544,1339,365.8,19.4,316,7591,0.00,2.08,0.00,0.000,1030,0.000,0.031,3234,2001,1441,1544,1339,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7899,1.25,219.0,3234,2002,1544,1338,307.5,17.7,332,7905,0.00,2.17,0.00,0.000,260,0.000,0.045,3234,3409,1441,1544,1339,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7929,1.25,219.0,3234,3409,1544,1339,302.9,17.7,333,7935,0.00,2.08,0.00,0.000,1030,0.000,0.029,3246,1999,1441,1544,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8250,1.25,219.0,3246,1998,1544,1338,243.8,17.8,349,8255,0.00,2.10,0.00,0.000,516,0.000,0.040,3257,610,1441,1544,1338,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8425,1.25,219.0,3257,610,1544,1338,212.4,19.3,357,8432,0.12,2.08,0.00,0.000,5126,0.167,0.031,3224,2009,1441,1544,1338,0,0,0,0,0,0,26.30,26.58,28.83
$GC,8742,1.25,219.0,3224,2009,1544,1338,160.5,14.4,373,8748,0.00,2.15,0.00,0.000,260,0.000,0.046,3224,3400,1441,1544,1338,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8811,1.25,219.0,3224,3400,1544,1338,150.3,15.2,376,8817,0.00,2.05,0.00,0.000,1030,0.000,0.028,3235,1995,1441,1544,1338,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9132,1.25,219.0,3235,1992,1544,1338,101.1,15.1,392,9138,0.00,2.10,0.00,0.000,516,0.000,0.038,3246,608,1441,1544,1338,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9233,1.25,219.0,3246,606,1545,1338,87.2,15.9,396,9241,0.00,2.05,0.00,0.000,1030,0.000,0.029,3246,2002,1441,1544,1338,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9540,1.25,219.0,3246,2002,1544,1338,45.0,12.9,413,9546,0.00,2.15,0.00,0.000,260,0.000,0.044,3246,3402,1441,1545,1338,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9783,1.54,304.2,2208,3400,1512,1334,20.0,6.4,443,9836,0.15,2.05,39.70,0.107,11270,0.071,0.026,3346,1986,1136,1246,1026,0,0,0,0,0,0,26.60,26.64,26.19
$STATE,9921,end climb,SURFACE_DEPTH_REACHED
$STATE,9921,begin surface coast
$FINISH,0.3,1.005131
$STATE,9938,end surface coast,CONTROL_FINISHED_OK
$STATE,9938,begin surface
$SM_CCo,9956,48.70,0.061,0,0,748,400.08
$SM_GC,0.95,8.18,0.80,48.70,0.031,0.047,0.061,120,2499,748,-8.29,-1.10,400.08,0,0,0,0,0,0,26.57,26.47,26.36
$IRIDIUM_FIX,2211.35,12236.13,290313,121216
$TT8_MAMPS,0.047936,0.047936
$HUMID,46.45
$INTERNAL_PRESSURE,9.65227
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3947296
$24V_AH,24.1,33.412
$10V_AH,10.2,22.968
$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,20.300,93.675,601.050,48.700,0.000,0.000,0.000,221.325,0.000,0.000,14.462,1904.427,5945.534,687.951,1516.279,317.857,0.000,1692.079,0.000,1229.893,0.000,0.538,0.000
$DEVICE_MAMPS,219.555,67.320,904.995,61.200,0.000,0.000,0.000,122.400,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9925.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.995,0.000,0.000,0.000
$MEM,324156
$DATA_FILE_SIZE,16791,469
$CAP_FILE_SIZE,262981,0
$CFSIZE,260034560,230428672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290313,175013,2224.343,12234.725,15,1.7,16,-2.9