version: 66.11
glider: 171
mission: 4
dive: 219
start: 3 28 113 10 20 24
data:
$ID,171
$MISSION,4
$DIVE,219
$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,-20794.387
$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,61
$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
$GPS1,280313,101424,2211.996,12253.605,39,1.6,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.1
$GPS2,280313,102001,2212.074,12253.614,12,1.5,12,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2213.949,12242.125
$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,2713
$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,-219.0,129,2499,834,663,0.0,0.0,0,79,0.00,0.00,-58.58,0.000,16386,0.000,0.000,128,2499,2407,2461,2354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.25,-219.0,128,2499,2466,2356,3.4,-6.4,8,114,8.82,1.90,-16.15,0.000,18692,0.220,0.068,2396,3667,3277,3349,3206,0,0,0,0,0,0,25.80,26.21,26.62
$GC,345,-1.25,-219.0,2399,3666,3352,3205,96.0,-34.1,31,351,0.00,1.67,0.00,0.000,1030,0.000,0.025,2399,2497,3279,3352,3206,0,0,0,0,0,0,28.83,26.46,28.83
$GC,664,-1.25,-219.0,2398,2495,3354,3206,207.7,-33.4,47,670,0.00,1.83,0.00,0.000,260,0.000,0.050,2390,3670,3280,3354,3206,0,0,0,0,0,0,28.83,26.43,28.83
$GC,896,-1.25,-219.0,2390,3669,3355,3206,278.7,-29.8,58,902,0.00,1.67,0.00,0.000,1030,0.000,0.024,2390,2496,3282,3359,3206,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1216,-1.25,-219.0,2389,2494,3356,3207,367.5,-27.9,74,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2494,3281,3356,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1516,-1.25,-219.0,2391,2494,3356,3206,448.9,-27.2,89,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2494,3281,3356,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1815,-1.25,-219.0,2393,2494,3357,3207,521.7,-23.3,104,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2494,3282,3357,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2116,-1.25,-219.0,2392,2494,3357,3207,590.0,-22.7,119,2121,0.00,1.80,0.00,0.000,260,0.000,0.051,2382,3658,3281,3356,3207,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2161,-1.25,-219.0,2381,3658,3356,3206,600.4,-22.9,121,2168,0.10,1.70,0.00,0.000,3078,0.129,0.026,2416,2498,3282,3357,3207,0,0,0,0,0,0,26.39,26.70,28.83
$GC,2486,-1.25,-219.0,2415,2498,3356,3207,668.8,-21.6,132,2492,0.00,2.05,0.00,0.000,516,0.000,0.031,2416,1104,3281,3356,3207,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2532,-1.25,-219.0,2416,1104,3356,3210,676.3,-21.6,133,2538,0.00,2.10,0.00,0.000,1030,0.000,0.037,2406,2489,3281,3356,3206,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2856,-1.25,-219.0,2406,2489,3356,3204,749.4,-21.4,144,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2489,3280,3356,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3156,-1.25,-219.0,2406,2489,3357,3199,810.6,-20.0,154,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2489,3278,3356,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3456,-1.25,-219.0,2406,2489,3356,3195,868.0,-18.6,164,3462,0.00,2.05,0.00,0.000,516,0.000,0.031,2406,1105,3274,3355,3194,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3495,-1.25,-219.0,2406,1105,3356,3195,874.5,-18.7,165,3501,0.00,2.12,0.00,0.000,1030,0.000,0.039,2396,2501,3274,3356,3193,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3824,-1.25,-219.0,2395,2502,3354,3190,940.4,-20.5,176,3830,0.00,1.83,0.00,0.000,260,0.000,0.054,2387,3676,3272,3355,3190,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3932,-1.25,-219.0,2386,3676,3354,3194,960.1,-20.7,179,3939,0.08,1.73,0.00,0.000,3078,0.131,0.026,2428,2503,3271,3354,3189,0,0,0,0,0,0,26.36,26.72,28.83
$STATE,3980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3980,begin apogee
$GC,3988,-0.20,0.0,2427,1993,3354,3188,972.0,-20.2,181,4328,0.95,0.00,329.48,0.756,10246,0.112,0.000,2749,1991,2375,2535,2216,0,0,0,0,0,0,26.29,28.83,24.43
$STATE,4330,end apogee,CONTROL_FINISHED_OK
$STATE,4330,begin climb
$GC,4332,1.25,219.0,2748,1991,2530,2207,996.4,0.0,192,4575,1.30,2.28,230.32,0.908,10756,0.048,0.037,3244,631,1472,1575,1370,0,0,0,0,0,0,25.22,24.82,24.08
$GC,4623,1.25,219.0,3244,631,1559,1355,964.1,19.2,201,4629,0.00,2.17,0.00,0.000,1030,0.000,0.031,3244,2011,1456,1558,1355,0,0,0,0,0,0,28.83,25.34,28.83
$GC,4947,1.25,219.0,3244,2011,1550,1349,889.9,22.3,212,4953,0.00,2.22,0.00,0.000,260,0.000,0.047,3245,3409,1449,1550,1349,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5052,1.25,219.0,3244,3409,1548,1349,866.9,23.7,215,5059,0.12,2.10,0.00,0.000,5126,0.179,0.028,3226,2011,1448,1548,1349,0,0,0,0,0,0,26.01,26.26,28.83
$GC,5377,1.25,219.0,3225,2011,1547,1345,791.4,22.4,226,5383,0.00,2.15,0.00,0.000,516,0.000,0.037,3236,606,1446,1547,1345,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5425,1.25,219.0,3236,605,1547,1345,783.6,22.4,227,5431,0.00,2.10,0.00,0.000,1030,0.000,0.031,3236,2007,1446,1547,1345,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5744,1.25,219.0,3235,2007,1545,1344,705.9,23.9,238,5750,0.00,2.15,0.00,0.000,516,0.000,0.038,3247,602,1445,1546,1344,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5782,1.25,219.0,3247,601,1546,1344,697.9,23.9,239,5788,0.00,2.10,0.00,0.000,1030,0.000,0.031,3247,2003,1444,1544,1344,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6112,1.25,219.0,3247,2002,1544,1342,619.3,23.0,250,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2003,1443,1544,1342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6422,1.25,219.0,3247,2003,1542,1341,546.9,23.2,264,6428,0.00,2.12,0.00,0.000,516,0.000,0.039,3259,606,1442,1543,1341,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6450,1.25,219.0,3258,606,1542,1341,541.5,22.9,265,6456,0.15,2.08,0.00,0.000,5126,0.161,0.032,3218,2001,1442,1543,1341,0,0,0,0,0,0,26.27,26.55,28.83
$GC,6771,1.25,219.0,3218,2001,1543,1338,480.6,18.0,281,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2001,1440,1542,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7069,1.25,219.0,3222,2001,1541,1341,425.1,17.6,296,7075,0.00,2.12,0.00,0.000,516,0.000,0.039,3230,606,1439,1541,1337,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7129,1.25,219.0,3230,606,1541,1338,416.8,18.0,298,7137,0.00,2.08,0.00,0.000,1030,0.000,0.031,3229,2005,1439,1541,1337,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7435,1.25,219.0,3230,2005,1540,1337,356.6,18.2,314,7441,0.00,2.15,0.00,0.000,260,0.000,0.046,3230,3402,1438,1540,1337,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7469,1.25,219.0,3230,3402,1540,1337,351.7,18.7,315,7475,0.00,2.08,0.00,0.000,1030,0.000,0.029,3241,1995,1438,1540,1337,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7783,1.25,219.0,3240,1995,1539,1337,288.3,19.9,331,7789,0.00,2.20,0.00,0.000,260,0.000,0.046,3241,3402,1438,1540,1337,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7904,1.25,219.0,3241,3402,1540,1337,265.9,21.0,336,7914,0.12,2.08,0.00,0.000,5126,0.168,0.028,3221,1995,1438,1540,1336,0,0,0,0,0,0,26.33,26.63,28.83
$GC,8210,1.25,219.0,3220,1994,1540,1337,210.4,17.1,352,8216,0.00,2.17,0.00,0.000,260,0.000,0.045,3218,3402,1438,1540,1337,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8285,1.25,219.0,3220,3402,1544,1337,197.3,19.2,355,8291,0.00,2.05,0.00,0.000,1030,0.000,0.028,3232,2003,1439,1540,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8599,1.25,219.0,3231,2003,1540,1337,142.7,15.1,371,8601,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2003,1438,1540,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8899,1.25,219.0,3231,2003,1540,1337,96.9,14.4,386,8905,0.00,2.10,0.00,0.000,516,0.000,0.039,3243,609,1438,1540,1337,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8945,1.25,219.0,3242,609,1540,1337,90.2,14.8,388,8951,0.00,2.05,0.00,0.000,1030,0.000,0.030,3242,2004,1438,1540,1337,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9260,1.25,219.0,3242,2004,1540,1337,45.7,12.9,405,9266,0.00,2.10,0.00,0.000,516,0.000,0.038,3254,609,1438,1540,1336,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9347,1.25,219.0,3254,609,1540,1336,34.8,12.2,413,9353,0.12,2.05,0.00,0.000,5126,0.155,0.029,3220,2008,1438,1540,1337,0,0,0,0,0,0,26.36,26.61,28.83
$STATE,9605,end climb,SURFACE_DEPTH_REACHED
$STATE,9605,begin surface coast
$FINISH,0.5,0.999739
$STATE,9634,end surface coast,CONTROL_FINISHED_OK
$STATE,9634,begin surface
$SM_CCo,9653,83.12,0.060,0,0,748,400.08
$SM_GC,1.42,7.85,0.73,83.12,0.032,0.043,0.060,124,2487,748,-8.31,-1.44,400.08,0,0,0,0,0,0,26.65,26.60,26.39
$IRIDIUM_FIX,2204.37,12256.84,280313,070704
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.62
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3950496
$24V_AH,24.1,32.016
$10V_AH,10.3,22.166
$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,19.625,70.575,559.800,83.125,0.000,0.000,0.000,190.350,0.000,0.000,13.392,1838.479,5868.293,649.243,1430.380,281.716,0.000,1567.726,0.000,1171.797,0.000,0.538,0.000
$DEVICE_MAMPS,219.555,68.085,908.055,59.670,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9623.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.940,0.000,0.000,0.000
$MEM,329760
$DATA_FILE_SIZE,16785,460
$CAP_FILE_SIZE,247600,0
$CFSIZE,260034560,231329792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280313,130351,2213.215,12251.780,10,3.1,30,-2.9