version: 66.11
glider: 171
mission: 4
dive: 213
start: 3 27 113 17 4 27
data:
$ID,171
$MISSION,4
$DIVE,213
$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,-20786.844
$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,31
$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
$GPS1,270313,165807,2207.874,12303.495,10,2.0,11,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-68.6
$GPS2,270313,170403,2207.849,12303.471,15,2.7,34,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2209.724,12251.987
$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,3923
$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,-219.0,113,2492,833,663,0.0,0.0,0,85,0.00,0.00,-64.82,0.000,16386,0.000,0.000,113,2493,2576,2643,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.25,-219.0,113,2493,2646,2510,3.5,-4.5,9,120,8.90,1.90,-12.20,0.000,18692,0.219,0.070,2403,3665,3277,3345,3209,0,0,0,0,0,0,25.84,26.23,26.63
$GC,242,-1.25,-219.0,2404,3666,3348,3209,62.1,-31.9,25,248,0.00,1.70,0.00,0.000,1030,0.000,0.026,2404,2496,3278,3349,3208,0,0,0,0,0,0,28.83,26.44,28.83
$GC,567,-1.25,-219.0,2404,2495,3350,3208,170.1,-31.3,41,573,0.00,1.83,0.00,0.000,260,0.000,0.050,2395,3673,3279,3350,3209,0,0,0,0,0,0,28.83,26.42,28.83
$GC,673,-1.25,-219.0,2395,3673,3351,3209,201.4,-29.2,46,679,0.00,1.73,0.00,0.000,1030,0.000,0.024,2394,2495,3280,3351,3209,0,0,0,0,0,0,28.83,26.58,28.83
$GC,998,-1.25,-219.0,2395,2494,3354,3209,296.2,-29.4,62,1004,0.00,1.83,0.00,0.000,260,0.000,0.051,2386,3673,3281,3354,3209,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1094,-1.25,-219.0,2386,3673,3354,3209,321.9,-29.4,66,1101,0.08,1.73,0.00,0.000,3078,0.142,0.024,2412,2489,3281,3354,3209,0,0,0,0,0,0,26.36,26.65,28.83
$GC,1411,-1.25,-219.0,2412,2487,3355,3209,410.1,-24.8,82,1417,0.00,1.83,0.00,0.000,260,0.000,0.052,2404,3673,3282,3355,3209,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1450,-1.25,-219.0,2404,3673,3355,3209,416.5,-24.5,83,1458,0.00,1.67,0.00,0.000,1030,0.000,0.024,2404,2492,3282,3355,3209,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1756,-1.25,-219.0,2404,2489,3355,3209,492.4,-22.6,99,1761,0.00,2.00,0.00,0.000,516,0.000,0.028,2404,1109,3280,3352,3209,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1783,-1.25,-219.0,2404,1109,3355,3209,497.8,-22.3,100,1788,0.00,2.10,0.00,0.000,1030,0.000,0.037,2393,2501,3282,3355,3209,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2103,-1.25,-219.0,2393,2501,3355,3209,569.7,-22.6,116,2109,0.00,2.05,0.00,0.000,516,0.000,0.029,2393,1111,3282,3355,3209,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2157,-1.25,-219.0,2393,1110,3355,3209,579.7,-22.2,118,2164,0.12,2.10,0.00,0.000,3078,0.166,0.038,2415,2502,3282,3355,3209,0,0,0,0,0,0,26.36,26.57,28.83
$GC,2493,-1.25,-219.0,2414,2501,3355,3209,651.0,-20.7,131,2498,0.00,1.80,0.00,0.000,260,0.000,0.053,2406,3671,3282,3355,3209,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2557,-1.25,-219.0,2407,3671,3355,3209,664.0,-20.6,133,2563,0.00,1.67,0.00,0.000,1030,0.000,0.026,2407,2496,3281,3355,3208,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2891,-1.25,-219.0,2406,2495,3355,3205,733.1,-22.0,144,2897,0.00,2.03,0.00,0.000,516,0.000,0.029,2408,1109,3280,3355,3205,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2908,-1.25,-219.0,2406,1109,3355,3205,733.1,-22.0,144,2915,0.00,2.12,0.00,0.000,1030,0.000,0.038,2396,2502,3280,3355,3205,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3228,-1.25,-219.0,2396,2501,3355,3205,811.5,-22.6,155,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2501,3278,3355,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3528,-1.25,-219.0,2396,2502,3355,3196,872.6,-19.7,165,3534,0.00,1.83,0.00,0.000,260,0.000,0.054,2387,3671,3275,3355,3196,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3572,-1.25,-219.0,2387,3671,3354,3196,879.8,-20.1,166,3579,0.12,1.67,0.00,0.000,3078,0.153,0.027,2420,2499,3275,3355,3195,0,0,0,0,0,0,26.41,26.72,28.83
$GC,3897,-1.25,-219.0,2420,2498,3354,3191,943.1,-18.7,177,3903,0.00,2.05,0.00,0.000,516,0.000,0.031,2420,1112,3271,3354,3188,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3925,-1.25,-219.0,2420,1112,3354,3190,943.1,-18.7,177,3933,0.00,2.12,0.00,0.000,1030,0.000,0.040,2410,2503,3272,3354,3190,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,4050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4050,begin apogee
$GC,4056,-0.20,0.0,2410,1994,3353,3189,972.9,-19.4,182,4400,1.02,0.00,335.02,0.744,10246,0.119,0.000,2751,1991,2380,2540,2220,0,0,0,0,0,0,26.28,28.83,24.45
$STATE,4402,end apogee,CONTROL_FINISHED_OK
$STATE,4402,begin climb
$GC,4404,1.25,219.0,2751,1991,2531,2208,993.2,0.0,193,4651,1.27,2.20,233.93,0.889,10756,0.047,0.036,3240,632,1473,1577,1369,0,0,0,0,0,0,25.22,24.85,24.13
$GC,4698,1.25,219.0,3240,630,1559,1353,956.3,21.1,202,4704,0.00,2.15,0.00,0.000,1030,0.000,0.031,3240,2009,1455,1558,1353,0,0,0,0,0,0,28.83,25.34,28.83
$GC,5017,1.25,219.0,3239,2009,1550,1346,877.2,22.8,213,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2009,1448,1550,1346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5317,1.25,219.0,3240,2009,1547,1345,805.3,24.3,223,5323,0.00,2.17,0.00,0.000,260,0.000,0.046,3240,3408,1446,1547,1345,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5330,1.25,219.0,3243,3407,1547,1345,805.3,24.3,223,5337,0.12,2.08,0.00,0.000,5126,0.177,0.028,3220,2012,1446,1547,1345,0,0,0,0,0,0,26.13,26.38,28.83
$GC,5655,1.25,219.0,3220,2012,1546,1342,726.3,23.2,234,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2012,1444,1547,1342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5955,1.25,219.0,3220,2012,1545,1341,656.4,23.8,244,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2012,1443,1546,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6256,1.25,219.0,3220,2010,1545,1340,586.2,22.3,255,6262,0.00,2.17,0.00,0.000,260,0.000,0.047,3221,3406,1442,1545,1340,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6345,1.25,219.0,3220,3406,1545,1339,565.4,24.0,259,6351,0.00,2.08,0.00,0.000,1030,0.000,0.029,3231,2003,1442,1544,1340,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6666,1.25,219.0,3231,2002,1543,1338,496.9,19.6,275,6672,0.00,2.12,0.00,0.000,516,0.000,0.040,3243,609,1440,1543,1337,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6793,1.25,219.0,3243,609,1542,1338,469.2,21.7,281,6799,0.00,2.08,0.00,0.000,1030,0.000,0.030,3243,2009,1440,1542,1338,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7118,1.25,219.0,3243,2009,1541,1337,406.5,19.7,297,7125,0.00,2.15,0.00,0.000,516,0.000,0.040,3254,606,1438,1540,1337,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7184,1.25,219.0,3254,606,1541,1337,393.0,20.0,300,7191,0.12,2.08,0.00,0.000,5126,0.170,0.031,3221,2001,1438,1540,1337,0,0,0,0,0,0,26.32,26.59,28.83
$GC,7511,1.25,219.0,3222,2000,1541,1336,336.0,16.8,316,7517,0.00,2.17,0.00,0.000,260,0.000,0.047,3222,3404,1438,1541,1336,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7565,1.25,219.0,3222,3403,1540,1336,327.7,17.5,318,7572,0.00,2.08,0.00,0.000,1030,0.000,0.029,3233,1995,1438,1540,1336,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7880,1.25,219.0,3233,1995,1540,1334,268.6,17.4,334,7886,0.00,2.17,0.00,0.000,260,0.000,0.046,3233,3400,1437,1540,1334,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7930,1.25,219.0,3233,3401,1540,1334,260.9,17.1,336,7936,0.00,2.05,0.00,0.000,1030,0.000,0.028,3244,2000,1437,1540,1334,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8250,1.25,219.0,3244,2000,1541,1334,206.2,16.0,352,8256,0.00,2.10,0.00,0.000,516,0.000,0.040,3258,606,1437,1541,1334,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8417,1.25,219.0,3255,606,1540,1334,176.7,17.1,360,8424,0.12,2.05,0.00,0.000,5126,0.164,0.030,3223,2002,1437,1540,1334,0,0,0,0,0,0,26.35,26.62,28.83
$GC,8744,1.25,219.0,3222,2002,1540,1335,126.5,15.2,376,8750,0.00,2.15,0.00,0.000,260,0.000,0.045,3222,3401,1437,1541,1334,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8803,1.25,219.0,3222,3400,1540,1335,119.1,15.8,378,8811,0.00,2.05,0.00,0.000,1030,0.000,0.028,3234,1997,1437,1541,1334,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9111,1.25,219.0,3234,1996,1541,1334,74.1,13.3,394,9116,0.00,2.08,0.00,0.000,516,0.000,0.038,3244,612,1437,1541,1334,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9150,1.25,219.0,3244,612,1540,1334,70.6,13.4,395,9158,0.00,2.05,0.00,0.000,1030,0.000,0.030,3244,2007,1437,1541,1334,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9458,1.25,219.0,3245,2007,1541,1334,28.0,14.1,419,9464,0.00,2.12,0.00,0.000,260,0.000,0.045,3245,3400,1437,1541,1334,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,9632,end climb,SURFACE_DEPTH_REACHED
$STATE,9632,begin surface coast
$FINISH,0.4,1.008775
$STATE,9656,end surface coast,CONTROL_FINISHED_OK
$STATE,9656,begin surface
$SM_CCo,9674,83.53,0.059,0,0,748,400.08
$SM_GC,1.28,7.95,1.35,83.53,0.035,0.027,0.059,131,2489,748,-8.30,1.70,400.08,0,0,0,0,0,0,26.64,26.70,26.41
$IRIDIUM_FIX,2159.71,12305.92,270313,141424
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.58
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3952416
$24V_AH,24.1,31.194
$10V_AH,10.2,21.691
$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,19.850,84.150,568.950,83.525,0.000,0.000,0.000,186.675,0.000,0.000,36.771,1809.530,5902.159,681.100,1435.817,280.415,0.000,1604.103,0.000,1157.035,0.000,0.538,0.000
$DEVICE_MAMPS,218.790,69.615,888.930,58.905,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9649.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.975,0.000,0.000,0.000
$MEM,329760
$DATA_FILE_SIZE,16796,454
$CAP_FILE_SIZE,248547,0
$CFSIZE,260034560,231854080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270313,194815,2208.208,12301.922,9,2.7,29,-2.9