version: 66.11
glider: 171
mission: 4
dive: 223
start: 3 28 113 21 44 19
data:
$ID,171
$MISSION,4
$DIVE,223
$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,-20799.412
$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,63
$R_STBD_OVSHOOT,45
$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
$GPS1,280313,213733,2216.020,12246.642,14,2.5,34,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-70.1
$GPS2,280313,214355,2216.046,12246.641,14,1.5,14,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2217.921,12235.146
$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,4828
$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,-219.0,126,2493,833,668,0.0,0.0,0,85,0.00,0.00,-64.88,0.000,16386,0.000,0.000,125,2493,2602,2670,2534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.25,-219.0,126,2493,2671,2535,4.1,-6.6,9,120,8.85,2.12,-11.65,0.000,18948,0.218,0.046,2408,1102,3276,3344,3209,0,0,0,0,0,0,25.76,26.27,26.58
$GC,216,-1.25,-219.0,2407,1102,3347,3209,51.2,-33.6,23,224,0.00,2.15,0.00,0.000,1030,0.000,0.041,2398,2488,3280,3347,3213,0,0,0,0,0,0,28.83,26.25,28.83
$GC,522,-1.25,-219.0,2397,2488,3349,3209,156.1,-34.1,39,528,0.00,1.85,0.00,0.000,260,0.000,0.051,2388,3682,3279,3349,3209,0,0,0,0,0,0,28.83,26.37,28.83
$GC,612,-1.25,-219.0,2388,3682,3350,3209,185.5,-34.4,43,618,0.12,1.70,0.00,0.000,3078,0.162,0.026,2420,2495,3279,3350,3209,0,0,0,0,0,0,26.22,26.54,28.83
$GC,933,-1.25,-219.0,2420,2493,3352,3209,275.9,-25.6,59,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2493,3280,3352,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1231,-1.25,-219.0,2420,2493,3354,3209,356.6,-25.4,74,1237,0.00,1.85,0.00,0.000,260,0.000,0.054,2412,3680,3283,3354,3212,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1347,-1.25,-219.0,2412,3680,3354,3209,383.1,-25.1,79,1353,0.00,1.67,0.00,0.000,1030,0.000,0.025,2412,2499,3281,3354,3209,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1661,-1.25,-219.0,2411,2497,3354,3209,458.1,-22.1,95,1667,0.00,2.03,0.00,0.000,516,0.000,0.030,2411,1108,3281,3353,3209,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1727,-1.25,-219.0,2412,1107,3354,3209,471.5,-20.3,98,1733,0.00,2.12,0.00,0.000,1030,0.000,0.039,2401,2509,3281,3354,3209,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2052,-1.25,-219.0,2401,2509,3354,3209,547.6,-24.3,114,2058,0.00,1.83,0.00,0.000,260,0.000,0.053,2392,3667,3281,3354,3209,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2162,-1.25,-219.0,1448,3666,3336,3204,573.1,-23.7,119,2168,0.00,1.67,0.00,0.000,1030,0.000,0.027,2392,2495,3282,3355,3209,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2492,-1.25,-219.0,2392,2494,3353,3209,651.6,-22.7,132,2497,0.00,2.03,0.00,0.000,516,0.000,0.029,2392,1106,3281,3354,3209,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2519,-1.25,-219.0,2392,1106,3354,3209,651.6,-22.7,132,2528,0.15,2.12,0.00,0.000,3078,0.157,0.039,2422,2505,3281,3354,3209,0,0,0,0,0,0,26.33,26.55,28.83
$GC,2827,-1.25,-219.0,2422,2505,3352,3207,718.1,-20.2,143,2832,0.00,1.80,0.00,0.000,260,0.000,0.054,2414,3672,3280,3354,3206,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2861,-1.25,-219.0,2413,3673,3353,3206,725.6,-20.6,144,2867,0.00,1.70,0.00,0.000,1030,0.000,0.025,2414,2486,3279,3354,3204,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3195,-1.25,-219.0,2413,2486,3353,3202,793.3,-19.3,155,3201,0.00,2.03,0.00,0.000,516,0.000,0.028,2414,1103,3277,3353,3201,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3224,-1.25,-219.0,2413,1103,3353,3201,793.3,-19.3,155,3232,0.00,2.12,0.00,0.000,1030,0.000,0.040,2401,2502,3279,3358,3201,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3531,-1.25,-219.0,2403,2502,3353,3196,863.9,-21.7,166,3537,0.00,1.83,0.00,0.000,260,0.000,0.055,2394,3676,3275,3353,3197,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3645,-1.25,-219.0,2394,3676,3353,3195,885.9,-22.8,169,3651,0.00,1.67,0.00,0.000,1030,0.000,0.026,2392,2497,3274,3353,3195,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3961,-1.25,-219.0,2394,2496,3352,3190,953.2,-19.8,180,3967,0.00,1.85,0.00,0.000,260,0.000,0.054,2385,3676,3270,3352,3189,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3979,-1.25,-219.0,2385,3675,3351,3190,953.2,-19.8,180,3985,0.12,1.67,0.00,0.000,3078,0.151,0.028,2419,2510,3270,3351,3189,0,0,0,0,0,0,26.39,26.70,28.83
$STATE,4058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4058,begin apogee
$GC,4064,-0.20,0.0,2419,1984,3350,3188,970.5,-17.9,183,4680,0.98,0.00,599.58,0.586,10246,0.115,0.000,2747,1979,2374,2534,2215,0,0,0,0,0,0,26.27,28.83,24.60
$STATE,4683,end apogee,CONTROL_FINISHED_OK
$STATE,4683,begin climb
$GC,4685,1.25,219.0,2746,1980,2532,2212,1008.2,0.0,203,4932,1.30,2.20,233.20,0.915,10756,0.048,0.039,3242,634,1472,1574,1370,0,0,0,0,0,0,25.31,24.80,24.06
$GC,5112,1.25,219.0,3241,634,1553,1352,943.7,23.1,217,5120,0.00,2.12,0.00,0.000,1030,0.000,0.032,3242,2012,1452,1553,1352,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5421,1.25,219.0,3241,2012,1550,1349,864.8,24.0,228,5427,0.00,2.12,0.00,0.000,516,0.000,0.038,3253,632,1449,1550,1349,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5438,1.25,219.0,3252,632,1550,1349,864.8,24.0,228,5445,0.12,2.08,0.00,0.000,5126,0.173,0.031,3222,2008,1449,1550,1348,0,0,0,0,0,0,26.03,26.25,28.83
$GC,5759,1.25,219.0,3221,2008,1547,1346,788.3,22.7,239,5764,0.00,2.17,0.00,0.000,260,0.000,0.047,3222,3400,1447,1548,1346,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5918,1.25,219.0,3221,3400,1547,1346,750.2,25.0,244,5924,0.00,2.05,0.00,0.000,1030,0.000,0.028,3232,2015,1446,1547,1346,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6247,1.25,219.0,3232,2015,1546,1344,663.0,25.9,255,6253,0.00,2.17,0.00,0.000,260,0.000,0.047,3232,3407,1445,1546,1344,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6282,1.25,219.0,3232,3406,1546,1344,653.8,26.0,256,6288,0.00,2.10,0.00,0.000,1030,0.000,0.029,3243,1998,1444,1545,1344,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6606,1.25,219.0,3243,1998,1545,1342,581.7,20.8,268,6612,0.00,2.12,0.00,0.000,516,0.000,0.041,3255,608,1443,1545,1342,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6665,1.25,219.0,3255,608,1544,1342,572.2,21.3,270,6674,0.12,2.08,0.00,0.000,5126,0.171,0.031,3223,1999,1443,1544,1342,0,0,0,0,0,0,26.29,26.54,28.83
$GC,6972,1.25,219.0,3223,1999,1543,1341,505.0,20.2,286,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1999,1442,1544,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7272,1.25,219.0,3223,1999,1542,1339,440.8,21.8,301,7278,0.00,2.17,0.00,0.000,260,0.000,0.047,3223,3403,1440,1542,1339,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7392,1.25,219.0,2272,3402,1512,1335,417.1,22.3,306,7400,0.00,2.08,0.00,0.000,1030,0.000,0.029,3234,2000,1440,1541,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7699,1.25,219.0,3234,2000,1540,1338,353.4,19.8,322,7705,0.00,2.17,0.00,0.000,260,0.000,0.047,3234,3405,1438,1539,1338,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7732,1.25,219.0,3234,3405,1540,1338,348.5,19.9,323,7738,0.00,2.08,0.00,0.000,1030,0.000,0.030,3245,1998,1439,1540,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8046,1.25,219.0,3245,1998,1540,1337,281.5,21.4,339,8052,0.00,2.12,0.00,0.000,516,0.000,0.041,3257,609,1439,1540,1338,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8071,1.25,219.0,3257,609,1540,1338,276.3,21.8,340,8078,0.12,2.08,0.00,0.000,5126,0.167,0.031,3224,1999,1439,1540,1338,0,0,0,0,0,0,26.32,26.58,28.83
$GC,8397,1.25,219.0,3223,1999,1539,1338,213.7,18.5,356,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1999,1438,1540,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8696,1.25,219.0,3223,1999,1540,1338,161.0,14.7,371,8702,0.00,2.17,0.00,0.000,260,0.000,0.045,3224,3413,1439,1540,1338,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8798,1.25,219.0,3223,3413,1540,1338,149.4,13.5,375,8806,0.00,2.08,0.00,0.000,1030,0.000,0.029,3234,1997,1439,1541,1337,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9102,1.25,219.0,3235,1997,1540,1338,101.0,14.4,391,9103,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1997,1438,1540,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9403,1.25,219.0,3235,1995,1540,1338,55.1,16.6,406,9408,0.00,2.17,0.00,0.000,260,0.000,0.045,3235,3403,1439,1540,1338,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9541,1.25,219.0,3234,3403,1540,1338,32.4,15.3,417,9547,0.00,2.05,0.00,0.000,1030,0.000,0.028,3246,1996,1438,1540,1337,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,9789,end climb,SURFACE_DEPTH_REACHED
$STATE,9789,begin surface coast
$FINISH,0.4,1.010080
$STATE,9817,end surface coast,CONTROL_FINISHED_OK
$STATE,9817,begin surface
$SM_CCo,9835,83.62,0.060,0,0,747,400.08
$SM_GC,1.26,7.93,0.77,83.62,0.033,0.047,0.060,118,2499,747,-8.30,-1.27,400.08,0,0,0,0,0,0,26.65,26.59,26.39
$IRIDIUM_FIX,2206.70,12251.67,280313,181827
$TT8_MAMPS,0.047936,0.047936
$HUMID,46.33
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3949216
$24V_AH,24.1,32.592
$10V_AH,10.2,22.489
$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,19.825,81.725,832.775,83.625,0.000,0.000,0.000,233.600,0.000,0.000,15.394,1857.889,5689.333,860.390,1586.851,301.134,0.000,1942.485,0.000,1291.901,0.000,0.538,0.000
$DEVICE_MAMPS,218.025,55.080,914.940,59.670,0.000,0.000,0.000,121.635,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9804.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.893,0.000,0.000,0.000
$MEM,324156
$DATA_FILE_SIZE,16792,464
$CAP_FILE_SIZE,259726,0
$CFSIZE,260034560,230961152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290313,003100,2216.947,12244.345,41,0.8,42,-2.9