version: 66.11
glider: 171
mission: 4
dive: 221
start: 3 28 113 16 0 13
data:
$ID,171
$MISSION,4
$DIVE,221
$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,-20796.898
$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,58
$R_STBD_OVSHOOT,39
$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
$GPS1,280313,155435,2214.393,12250.409,38,1.0,44,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-68.6
$GPS2,280313,155949,2214.443,12250.425,10,1.7,10,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2216.318,12238.933
$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,4736
$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,-219.0,123,2504,831,665,0.0,0.0,0,85,0.00,0.00,-64.82,0.000,16386,0.000,0.000,123,2504,2607,2670,2544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.25,-219.0,123,2504,2673,2544,3.8,-5.9,9,120,8.80,2.12,-11.65,0.000,18948,0.216,0.044,2410,1100,3278,3347,3209,0,0,0,0,0,0,25.81,26.34,26.63
$GC,302,-1.25,-219.0,2410,1099,3350,3209,77.1,-31.3,29,308,0.00,2.12,0.00,0.000,1030,0.000,0.039,2400,2493,3279,3350,3209,0,0,0,0,0,0,28.83,26.34,28.83
$GC,627,-1.25,-219.0,2400,2492,3353,3209,188.0,-33.8,45,633,0.00,1.85,0.00,0.000,260,0.000,0.052,2391,3680,3281,3353,3209,0,0,0,0,0,0,28.83,26.42,28.83
$GC,724,-1.25,-219.0,2391,3680,3354,3209,214.5,-30.2,49,729,0.00,1.70,0.00,0.000,1030,0.000,0.025,2391,2486,3281,3354,3209,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1038,-1.25,-219.0,2391,2484,3355,3208,306.7,-28.9,65,1044,0.00,1.85,0.00,0.000,260,0.000,0.052,2382,3676,3282,3355,3209,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1167,-1.25,-219.0,2381,3676,3355,3209,344.3,-29.2,71,1174,0.10,1.70,0.00,0.000,3078,0.135,0.024,2415,2498,3282,3355,3209,0,0,0,0,0,0,26.32,26.65,28.83
$GC,1489,-1.25,-219.0,2415,2496,3356,3209,427.4,-24.5,87,1495,0.00,2.03,0.00,0.000,516,0.000,0.031,2415,1112,3282,3356,3209,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1564,-1.25,-219.0,2415,1112,3356,3209,443.1,-23.5,90,1570,0.00,2.10,0.00,0.000,1030,0.000,0.039,2405,2499,3282,3355,3209,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1878,-1.25,-219.0,2405,2501,3355,3209,512.1,-20.8,106,1884,0.00,1.80,0.00,0.000,260,0.000,0.053,2396,3673,3282,3356,3209,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1987,-1.25,-219.0,1472,3672,3339,3204,535.3,-22.7,111,1993,0.00,1.65,0.00,0.000,1030,0.000,0.024,2396,2505,3282,3356,3208,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2318,-1.25,-219.0,2396,2503,3356,3209,609.1,-20.9,127,2323,0.00,2.05,0.00,0.000,516,0.000,0.031,2396,1104,3282,3356,3209,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2351,-1.25,-219.0,2396,1104,3356,3209,616.5,-20.7,128,2358,0.12,2.12,0.00,0.000,3078,0.164,0.039,2418,2503,3282,3356,3209,0,0,0,0,0,0,26.36,26.55,28.83
$GC,2687,-1.25,-219.0,2418,2503,3355,3209,680.2,-18.9,139,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2503,3282,3356,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2987,-1.25,-219.0,2418,2503,3355,3205,740.4,-20.0,149,2993,0.00,1.80,0.00,0.000,260,0.000,0.054,2410,3670,3280,3355,3205,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3040,-1.25,-219.0,2410,3670,3355,3204,747.4,-19.8,150,3046,0.00,1.70,0.00,0.000,1030,0.000,0.026,2410,2508,3279,3355,3204,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3355,-1.25,-219.0,2409,2507,3355,3199,813.3,-20.1,161,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2507,3277,3355,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3654,-1.25,-219.0,2410,2506,3355,3195,873.8,-20.5,171,3660,0.00,2.05,0.00,0.000,516,0.000,0.030,2410,1111,3275,3355,3195,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3677,-1.25,-219.0,2409,1111,3355,3195,873.8,-20.5,171,3683,0.00,2.12,0.00,0.000,1030,0.000,0.040,2399,2502,3276,3358,3194,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3993,-1.25,-219.0,2399,2502,3355,3191,943.7,-20.7,182,3999,0.00,1.83,0.00,0.000,260,0.000,0.056,2390,3674,3272,3354,3191,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4102,-1.25,-219.0,2390,3674,3353,3190,962.3,-19.6,185,4108,0.00,1.67,0.00,0.000,1030,0.000,0.028,2390,2502,3271,3353,3190,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,4149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4149,begin apogee
$GC,4156,-0.20,0.0,2390,1993,3353,3189,974.6,-19.4,187,4500,1.08,0.00,330.95,0.756,10246,0.119,0.000,2747,1992,2372,2532,2212,0,0,0,0,0,0,26.25,28.83,24.41
$STATE,4502,end apogee,CONTROL_FINISHED_OK
$STATE,4502,begin climb
$GC,4504,1.25,219.0,2747,1991,2529,2207,992.9,0.0,198,4744,1.30,2.30,230.60,0.901,10756,0.048,0.037,3242,627,1481,1583,1379,0,0,0,0,0,0,25.25,24.82,24.13
$GC,4777,1.25,219.0,3241,627,1563,1360,960.7,19.3,206,4786,0.00,2.20,0.00,0.000,1030,0.000,0.031,3242,2013,1460,1562,1359,0,0,0,0,0,0,28.83,25.22,28.83
$GC,5084,1.25,219.0,3242,2013,1553,1352,876.3,25.7,217,5090,0.00,2.22,0.00,0.000,260,0.000,0.047,3242,3415,1452,1553,1352,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5132,1.25,219.0,2304,3414,1523,1349,866.7,25.7,218,5138,0.12,2.10,0.00,0.000,5126,0.181,0.029,3223,2017,1452,1552,1352,0,0,0,0,0,0,25.92,26.17,28.83
$GC,5452,1.25,219.0,3223,2016,1550,1349,786.9,22.0,229,5458,0.00,2.15,0.00,0.000,516,0.000,0.037,3234,609,1448,1550,1346,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5491,1.25,219.0,3235,609,1550,1348,778.9,22.2,230,5497,0.00,2.10,0.00,0.000,1030,0.000,0.032,3234,2007,1449,1551,1348,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5820,1.25,219.0,3234,2007,1550,1347,704.1,21.7,241,5827,0.00,2.17,0.00,0.000,260,0.000,0.047,3234,3405,1448,1550,1346,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5905,1.25,219.0,3234,3405,1549,1346,688.9,21.8,243,5911,0.00,2.08,0.00,0.000,1030,0.000,0.029,3245,2002,1447,1548,1346,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6220,1.25,219.0,3245,2002,1546,1345,608.7,24.0,254,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2002,1446,1548,1345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6519,1.25,219.0,3245,2001,1547,1344,535.8,23.3,268,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2002,1445,1547,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6819,1.25,219.0,3245,2002,1545,1343,475.8,18.1,283,6825,0.00,2.20,0.00,0.000,260,0.000,0.047,3246,3412,1444,1546,1342,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6899,1.25,219.0,3245,3412,1546,1342,462.7,19.3,286,6908,0.12,2.10,0.00,0.000,5126,0.174,0.031,3226,1998,1444,1546,1342,0,0,0,0,0,0,26.30,26.59,28.83
$GC,7206,1.25,219.0,3225,1997,1544,1341,395.1,22.9,302,7211,0.00,2.12,0.00,0.000,516,0.000,0.041,3236,604,1442,1544,1341,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7280,1.25,219.0,3236,604,1544,1341,379.2,23.6,305,7286,0.00,2.08,0.00,0.000,1030,0.000,0.031,3236,2002,1442,1544,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7595,1.25,219.0,3235,2002,1543,1341,315.3,17.6,321,7601,0.00,2.17,0.00,0.000,260,0.000,0.046,3236,3411,1442,1544,1341,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7640,1.25,219.0,3235,3411,1543,1341,307.5,17.0,323,7646,0.00,2.10,0.00,0.000,1030,0.000,0.029,3247,1994,1442,1543,1341,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7966,1.25,219.0,3247,1994,1543,1340,246.8,18.8,339,7972,0.00,2.20,0.00,0.000,260,0.000,0.045,3247,3409,1441,1543,1340,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8005,1.25,219.0,3247,3409,1543,1340,241.6,19.1,340,8014,0.15,2.08,0.00,0.000,5126,0.166,0.029,3219,1997,1441,1543,1340,0,0,0,0,0,0,26.28,26.62,28.83
$GC,8311,1.25,219.0,3219,1997,1543,1343,193.1,13.9,356,8312,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1997,1444,1548,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8610,1.25,219.0,3219,1997,1543,1340,151.7,14.2,371,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1997,1441,1543,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8911,1.25,219.0,3219,1997,1543,1340,105.7,13.8,386,8917,0.00,2.20,0.00,0.000,260,0.000,0.046,3220,3406,1441,1543,1340,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9017,1.25,219.0,2208,3405,1513,1336,91.3,13.5,391,9023,0.00,2.08,0.00,0.000,1030,0.000,0.028,3230,2002,1442,1544,1340,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9333,1.25,219.0,3230,2001,1544,1340,46.4,14.3,407,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2001,1442,1544,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9636,1.25,219.0,2224,1999,1514,1337,8.6,11.7,449,9644,0.00,2.17,0.00,0.000,260,0.000,0.045,3230,3410,1443,1547,1340,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,9676,end climb,SURFACE_DEPTH_REACHED
$STATE,9677,begin surface coast
$FINISH,0.4,1.023242
$STATE,9702,end surface coast,CONTROL_FINISHED_OK
$STATE,9702,begin surface
$SM_CCo,9720,83.25,0.059,0,0,748,400.08
$SM_GC,1.24,7.90,1.38,83.25,0.034,0.029,0.059,124,2491,748,-8.28,1.64,400.08,0,0,0,0,0,0,26.65,26.65,26.39
$IRIDIUM_FIX,2206.70,12250.41,280313,131316
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.47
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3949856
$24V_AH,24.1,32.288
$10V_AH,10.3,22.325
$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,19.700,77.175,561.550,83.250,0.000,0.000,0.000,167.350,0.000,0.000,11.317,1833.307,5925.207,667.299,1402.578,283.070,0.000,1568.497,0.000,1165.139,0.000,0.538,0.000
$DEVICE_MAMPS,215.730,55.845,901.170,58.905,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9696.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.998,0.000,0.000,0.000
$MEM,324012
$DATA_FILE_SIZE,16788,460
$CAP_FILE_SIZE,249107,0
$CFSIZE,260034560,231149568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280313,184459,2215.294,12248.664,37,1.3,43,-2.9