version: 66.11
glider: 171
mission: 4
dive: 220
start: 3 28 113 13 10 18
data:
$ID,171
$MISSION,4
$DIVE,220
$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,-20795.645
$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,55
$R_STBD_OVSHOOT,34
$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
$GPS1,280313,130351,2213.215,12251.780,10,3.1,30,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-67.9
$GPS2,280313,130935,2213.273,12251.791,11,1.7,27,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2215.148,12240.300
$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,4204
$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,-219.0,124,2490,829,668,0.0,0.0,0,86,0.00,0.00,-65.45,0.000,16386,0.000,0.000,124,2491,2629,2693,2566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.25,-219.0,124,2491,2695,2566,4.2,-7.5,9,120,8.82,1.90,-10.93,0.000,18692,0.217,0.066,2402,3674,3278,3345,3211,0,0,0,0,0,0,25.81,26.25,26.63
$GC,354,-1.25,-219.0,2402,3674,3348,3210,101.0,-33.9,30,360,0.00,1.70,0.00,0.000,1030,0.000,0.024,2402,2484,3279,3348,3210,0,0,0,0,0,0,28.83,26.48,28.83
$GC,669,-1.25,-219.0,2402,2483,3350,3210,205.7,-30.3,46,675,0.00,1.85,0.00,0.000,260,0.000,0.051,2393,3670,3280,3351,3210,0,0,0,0,0,0,28.83,26.43,28.83
$GC,870,-1.25,-219.0,2393,3669,3353,3211,264.4,-31.4,55,878,0.00,1.67,0.00,0.000,1030,0.000,0.024,2393,2495,3282,3353,3211,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1176,-1.25,-219.0,2393,2494,3354,3211,362.9,-30.6,71,1182,0.00,1.83,0.00,0.000,260,0.000,0.050,2384,3676,3282,3354,3210,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1230,-1.25,-219.0,2384,3676,3354,3211,375.7,-29.7,73,1237,0.12,1.67,0.00,0.000,3078,0.159,0.024,2416,2489,3282,3354,3211,0,0,0,0,0,0,26.35,26.65,28.83
$GC,1546,-1.25,-219.0,2416,2488,3354,3211,453.2,-24.0,89,1552,0.00,1.85,0.00,0.000,260,0.000,0.051,2408,3677,3282,3354,3210,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1586,-1.25,-219.0,2407,3678,3354,3210,459.4,-24.3,90,1593,0.00,1.67,0.00,0.000,1030,0.000,0.024,2408,2492,3281,3352,3210,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1891,-1.25,-219.0,2408,2490,3354,3211,532.7,-23.6,106,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2490,3282,3354,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2191,-1.25,-219.0,2408,2490,3354,3211,598.2,-20.3,121,2197,0.00,1.83,0.00,0.000,260,0.000,0.052,2399,3670,3282,3354,3210,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2215,-1.25,-219.0,2399,3670,3354,3210,603.0,-20.1,122,2221,0.00,1.67,0.00,0.000,1030,0.000,0.024,2399,2491,3282,3354,3210,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2530,-1.25,-219.0,2396,2490,3354,3211,669.5,-21.9,133,2536,0.00,2.00,0.00,0.000,516,0.000,0.028,2398,1113,3282,3354,3210,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2618,-1.25,-219.0,2398,1113,3354,3210,684.1,-21.8,135,2627,0.12,2.10,0.00,0.000,3078,0.161,0.038,2421,2500,3282,3354,3210,0,0,0,0,0,0,26.36,26.55,28.83
$GC,2926,-1.25,-219.0,2421,2501,3354,3206,749.6,-18.6,146,2931,0.00,1.80,0.00,0.000,260,0.000,0.054,2413,3671,3280,3354,3206,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2990,-1.25,-219.0,2413,3671,3351,3206,762.1,-19.0,148,2996,0.00,1.67,0.00,0.000,1030,0.000,0.027,2413,2499,3281,3354,3208,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3324,-1.25,-219.0,2412,2498,3354,3201,825.7,-19.2,159,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2498,3277,3354,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3624,-1.25,-219.0,2413,2498,3354,3197,880.9,-18.1,169,3630,0.00,2.05,0.00,0.000,516,0.000,0.031,2413,1109,3274,3353,3196,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3692,-1.25,-219.0,2412,1109,3353,3196,892.7,-17.9,171,3698,0.00,2.12,0.00,0.000,1030,0.000,0.038,2402,2506,3274,3353,3195,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4021,-1.25,-219.0,2402,2506,3353,3191,954.3,-18.7,182,4027,0.00,1.85,0.00,0.000,260,0.000,0.055,2393,3684,3271,3353,3190,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,4116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4117,begin apogee
$GC,4124,-0.20,0.0,2393,2009,3350,3190,972.5,-19.1,185,4464,1.08,0.00,330.00,0.754,10246,0.120,0.000,2749,2006,2377,2537,2217,0,0,0,0,0,0,26.25,28.83,24.46
$STATE,4465,end apogee,CONTROL_FINISHED_OK
$STATE,4466,begin climb
$GC,4468,1.25,219.0,2749,2006,2531,2208,988.4,0.0,196,4711,1.30,2.30,230.38,0.896,10756,0.048,0.036,3244,621,1473,1576,1371,0,0,0,0,0,0,25.22,24.83,24.08
$GC,4750,1.25,219.0,3243,621,1561,1356,946.3,22.9,205,4756,0.00,2.20,0.00,0.000,1030,0.000,0.031,3244,2015,1458,1560,1356,0,0,0,0,0,0,28.83,25.29,28.83
$GC,5084,1.25,219.0,3244,2015,1552,1350,858.1,27.0,216,5090,0.00,2.20,0.00,0.000,260,0.000,0.047,3248,3406,1451,1552,1350,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5190,1.25,219.0,3244,3406,1551,1350,831.1,28.1,219,5197,0.12,2.10,0.00,0.000,5126,0.176,0.028,3225,1998,1450,1550,1350,0,0,0,0,0,0,26.01,26.26,28.83
$GC,5515,1.25,219.0,3225,1999,1549,1346,751.3,23.2,230,5521,0.00,2.12,0.00,0.000,516,0.000,0.039,3235,610,1447,1549,1346,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5560,1.25,219.0,3235,610,1549,1346,743.5,23.3,231,5566,0.00,2.10,0.00,0.000,1030,0.000,0.031,3235,2011,1449,1549,1350,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5884,1.25,219.0,3235,2011,1547,1344,676.5,18.6,242,5890,0.00,2.17,0.00,0.000,260,0.000,0.046,3235,3407,1446,1547,1345,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5902,1.25,219.0,3235,3406,1547,1345,676.5,18.6,242,5908,0.00,2.08,0.00,0.000,1030,0.000,0.029,3247,2007,1444,1547,1342,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6221,1.25,219.0,3246,2006,1546,1347,600.6,24.5,253,6227,0.00,2.12,0.00,0.000,516,0.000,0.039,3258,608,1444,1546,1343,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6296,1.25,219.0,3257,608,1546,1343,583.8,25.4,256,6303,0.12,2.08,0.00,0.000,5126,0.170,0.031,3226,2004,1444,1546,1343,0,0,0,0,0,0,26.28,26.53,28.83
$GC,6612,1.25,219.0,3226,2003,1546,1341,513.2,20.3,272,6618,0.00,2.17,0.00,0.000,260,0.000,0.047,3226,3405,1443,1546,1341,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6763,1.25,219.0,3226,3405,1544,1341,480.9,22.7,279,6769,0.00,2.08,0.00,0.000,1030,0.000,0.030,3237,1996,1442,1544,1341,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7084,1.25,219.0,3237,1994,1544,1340,415.4,19.3,295,7090,0.00,2.10,0.00,0.000,516,0.000,0.039,3248,610,1442,1544,1340,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7132,1.25,219.0,3247,609,1544,1339,405.8,19.9,297,7138,0.00,2.05,0.00,0.000,1030,0.000,0.031,3248,1998,1441,1544,1338,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7453,1.25,219.0,3246,1999,1544,1338,341.4,18.5,313,7459,0.00,2.12,0.00,0.000,516,0.000,0.039,3259,609,1441,1544,1338,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7514,1.25,219.0,3259,609,1543,1339,333.0,18.5,315,7523,0.15,2.08,0.00,0.000,5126,0.158,0.031,3218,2011,1440,1543,1338,0,0,0,0,0,0,26.29,26.58,28.83
$GC,7819,1.25,219.0,3218,2011,1543,1338,277.4,17.8,331,7825,0.00,2.15,0.00,0.000,260,0.000,0.047,3219,3402,1440,1542,1338,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7971,1.25,219.0,3218,3402,1543,1338,248.7,19.6,338,7977,0.00,2.05,0.00,0.000,1030,0.000,0.028,3231,1997,1440,1543,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8292,1.25,219.0,3230,1997,1543,1338,197.6,14.9,354,8298,0.00,2.17,0.00,0.000,260,0.000,0.045,3230,3400,1440,1543,1338,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8304,1.25,219.0,3230,3400,1543,1338,197.6,14.9,354,8310,0.00,2.05,0.00,0.000,1030,0.000,0.028,3241,2003,1440,1543,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8618,1.25,219.0,3241,2003,1543,1338,142.2,17.9,370,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2003,1441,1544,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8919,1.25,219.0,3241,2003,1543,1342,93.5,14.9,385,8925,0.00,2.17,0.00,0.000,260,0.000,0.045,3241,3408,1441,1544,1338,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8952,1.25,219.0,3241,3408,1543,1339,89.8,14.7,386,8958,0.12,2.08,0.00,0.000,5126,0.164,0.028,3220,1990,1440,1543,1338,0,0,0,0,0,0,26.35,26.63,28.83
$GC,9268,1.25,219.0,3220,1989,1543,1338,48.8,11.4,402,9274,0.00,2.08,0.00,0.000,516,0.000,0.038,3229,610,1440,1543,1338,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9427,1.25,219.0,3230,610,1543,1338,28.9,12.6,417,9433,0.00,2.05,0.00,0.000,1030,0.000,0.029,3230,2001,1440,1543,1338,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,9641,end climb,SURFACE_DEPTH_REACHED
$STATE,9642,begin surface coast
$FINISH,0.5,1.005058
$STATE,9671,end surface coast,CONTROL_FINISHED_OK
$STATE,9672,begin surface
$SM_CCo,9689,83.10,0.060,0,0,748,400.08
$SM_GC,1.21,7.90,0.75,83.10,0.034,0.043,0.060,124,2501,748,-8.30,-1.22,400.08,0,0,0,0,0,0,26.65,26.60,26.39
$IRIDIUM_FIX,2202.04,12255.58,280313,101054
$TT8_MAMPS,0.048685,0.048685
$HUMID,45.55
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3950176
$24V_AH,24.1,32.152
$10V_AH,10.3,22.247
$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,19.875,85.400,560.375,83.100,0.000,0.000,0.000,182.675,0.000,0.000,28.512,1932.839,5703.956,676.509,1516.090,301.456,0.000,1631.256,0.000,1248.353,0.000,0.538,0.000
$DEVICE_MAMPS,217.260,65.790,895.815,59.670,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9658.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.003,0.000,0.000,0.000
$MEM,324188
$DATA_FILE_SIZE,16817,460
$CAP_FILE_SIZE,258875,0
$CFSIZE,260034560,231227392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280313,155435,2214.393,12250.409,38,1.0,44,-2.9