version: 66.11
glider: 171
mission: 4
dive: 226
start: 3 29 113 6 23 14
data:
$ID,171
$MISSION,4
$DIVE,226
$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,-20803.186
$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,52
$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
$GPS1,290313,061705,2219.650,12241.204,29,1.7,30,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.1
$GPS2,290313,062250,2219.672,12241.248,14,2.0,15,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2221.548,12229.749
$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,4807
$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,-219.0,130,2492,833,662,0.0,0.0,0,85,0.00,0.00,-64.75,0.000,16386,0.000,0.000,130,2492,2599,2665,2533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.25,-219.0,130,2492,2669,2533,4.0,-7.0,9,119,8.98,1.90,-11.43,0.000,18692,0.224,0.070,2404,3662,3278,3348,3209,0,0,0,0,0,0,25.77,26.21,26.60
$GC,179,-1.25,-219.0,2403,3663,3350,3209,40.8,-36.8,20,185,0.00,1.75,0.00,0.000,1030,0.000,0.026,2404,2487,3281,3350,3212,0,0,0,0,0,0,28.83,26.36,28.83
$GC,494,-1.25,-219.0,2403,2485,3354,3209,148.2,-34.2,37,500,0.00,1.85,0.00,0.000,260,0.000,0.051,2395,3673,3281,3354,3209,0,0,0,0,0,0,28.83,26.37,28.83
$GC,629,-1.25,-219.0,2394,3673,3355,3209,190.3,-33.1,43,635,0.00,1.67,0.00,0.000,1030,0.000,0.024,2395,2491,3282,3355,3209,0,0,0,0,0,0,28.83,26.55,28.83
$GC,944,-1.25,-219.0,2394,2489,3356,3209,287.3,-28.4,59,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2489,3282,3356,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1243,-1.25,-219.0,2394,2489,3357,3209,373.0,-29.3,74,1249,0.00,1.88,0.00,0.000,260,0.000,0.053,2386,3689,3283,3357,3209,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1313,-1.25,-219.0,2385,3689,3356,3209,392.7,-29.9,77,1319,0.12,1.70,0.00,0.000,3078,0.157,0.025,2418,2495,3283,3357,3209,0,0,0,0,0,0,26.34,26.65,28.83
$GC,1634,-1.25,-219.0,2418,2494,3357,3209,470.8,-22.3,93,1640,0.00,2.03,0.00,0.000,516,0.000,0.029,2419,1107,3283,3358,3209,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1673,-1.25,-219.0,2418,1108,3356,3209,476.4,-21.7,94,1681,0.00,2.10,0.00,0.000,1030,0.000,0.037,2408,2502,3283,3357,3209,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1979,-1.25,-219.0,2408,2502,3357,3209,550.1,-25.3,110,1985,0.00,2.05,0.00,0.000,516,0.000,0.028,2408,1103,3283,3357,3209,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2006,-1.25,-219.0,2408,1104,3358,3209,556.2,-25.1,111,2012,0.00,2.10,0.00,0.000,1030,0.000,0.038,2398,2498,3283,3358,3209,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2326,-1.25,-219.0,2397,2498,3358,3209,629.9,-21.6,125,2331,0.00,1.83,0.00,0.000,260,0.000,0.054,2389,3677,3283,3357,3209,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2359,-1.25,-219.0,2388,3677,3357,3209,637.0,-21.6,126,2366,0.12,1.70,0.00,0.000,3078,0.151,0.025,2422,2482,3283,3357,3209,0,0,0,0,0,0,26.38,26.70,28.83
$GC,2695,-1.25,-219.0,2422,2481,3357,3206,701.3,-20.6,137,2700,0.00,1.85,0.00,0.000,260,0.000,0.054,2414,3671,3281,3357,3206,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2793,-1.25,-219.0,2413,3671,3357,3205,722.0,-21.6,140,2799,0.00,1.67,0.00,0.000,1030,0.000,0.026,2413,2496,3281,3357,3205,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3123,-1.25,-219.0,2414,2495,3357,3201,791.5,-20.3,151,3129,0.00,2.03,0.00,0.000,516,0.000,0.030,2414,1113,3278,3357,3200,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3146,-1.25,-219.0,2413,1113,3357,3200,791.5,-20.3,151,3152,0.00,2.10,0.00,0.000,1030,0.000,0.040,2403,2501,3277,3356,3199,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3461,-1.25,-219.0,2402,2501,3356,3195,860.7,-20.2,162,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2501,3274,3354,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3761,-1.25,-219.0,2403,2501,3355,3191,917.1,-18.9,172,3767,0.00,1.83,0.00,0.000,260,0.000,0.056,2394,3671,3273,3355,3191,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3789,-1.25,-219.0,2394,3671,3354,3191,917.1,-18.9,172,3797,0.00,1.67,0.00,0.000,1030,0.000,0.028,2394,2508,3272,3354,3191,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,4063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4064,begin apogee
$GC,4070,-0.20,0.0,2394,1981,3352,3187,972.2,-17.8,182,4332,1.08,0.00,253.23,0.878,10246,0.121,0.000,2749,1979,2373,2533,2214,0,0,0,0,0,0,26.21,28.83,24.27
$STATE,4333,end apogee,CONTROL_FINISHED_OK
$STATE,4333,begin climb
$GC,4335,1.25,219.0,2748,1979,2526,2205,984.2,0.0,190,4574,1.30,2.28,228.50,0.901,10756,0.048,0.037,3241,629,1478,1580,1377,0,0,0,0,0,0,25.15,24.80,24.07
$GC,4628,1.25,219.0,3241,629,1561,1357,944.3,21.8,199,4634,0.00,2.17,0.00,0.000,1030,0.000,0.031,3241,2014,1458,1560,1356,0,0,0,0,0,0,28.83,25.34,28.83
$GC,4943,1.25,219.0,3241,2015,1552,1352,859.0,25.2,210,4949,0.00,2.20,0.00,0.000,260,0.000,0.047,3241,3409,1452,1552,1352,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4989,1.25,219.0,3241,3410,1551,1352,849.5,25.5,211,4996,0.12,2.10,0.00,0.000,5126,0.181,0.028,3223,2012,1451,1551,1352,0,0,0,0,0,0,25.94,26.20,28.83
$GC,5314,1.25,219.0,3223,2011,1550,1348,768.8,22.5,222,5320,0.00,2.15,0.00,0.000,516,0.000,0.037,3236,604,1449,1550,1348,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5353,1.25,219.0,3233,604,1550,1347,761.1,22.6,223,5359,0.00,2.12,0.00,0.000,1030,0.000,0.031,3234,2009,1448,1549,1348,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5682,1.25,219.0,3233,2009,1548,1346,686.8,21.4,234,5688,0.00,2.17,0.00,0.000,260,0.000,0.047,3233,3408,1447,1548,1346,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5728,1.25,219.0,3233,3408,1547,1346,678.6,21.9,235,5734,0.00,2.10,0.00,0.000,1030,0.000,0.028,3245,1991,1446,1547,1345,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6052,1.25,219.0,3245,1991,1547,1344,601.0,22.5,246,6058,0.00,2.20,0.00,0.000,260,0.000,0.047,3245,3403,1445,1546,1344,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6127,1.25,219.0,3245,3403,1546,1344,585.0,23.6,249,6133,0.12,2.08,0.00,0.000,5126,0.177,0.028,3225,1997,1445,1546,1344,0,0,0,0,0,0,26.25,26.55,28.83
$GC,6443,1.25,219.0,3225,1995,1545,1341,521.6,18.9,265,6449,0.00,2.10,0.00,0.000,516,0.000,0.040,3236,613,1443,1545,1341,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6498,1.25,219.0,3235,613,1545,1342,512.4,19.6,267,6504,0.00,2.08,0.00,0.000,1030,0.000,0.032,3236,2003,1443,1545,1342,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6812,1.25,219.0,3236,2003,1544,1341,447.7,21.0,283,6818,0.00,2.12,0.00,0.000,516,0.000,0.039,3247,612,1442,1544,1341,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6867,1.25,219.0,3246,612,1544,1341,437.8,21.8,285,6873,0.00,2.08,0.00,0.000,1030,0.000,0.031,3246,2002,1441,1542,1341,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7181,1.25,219.0,3247,2001,1543,1341,368.6,20.1,301,7187,0.00,2.12,0.00,0.000,516,0.000,0.039,3259,607,1441,1543,1339,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7236,1.25,219.0,3256,607,1542,1340,359.8,19.7,303,7243,0.12,2.08,0.00,0.000,5126,0.167,0.031,3225,2008,1441,1542,1340,0,0,0,0,0,0,26.29,26.57,28.83
$GC,7552,1.25,219.0,3225,2008,1542,1340,297.5,19.7,319,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2008,1441,1542,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7852,1.25,219.0,3225,2008,1542,1340,243.2,17.7,334,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2008,1441,1542,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8151,1.25,219.0,3225,2008,1542,1340,194.7,16.3,349,8157,0.00,2.12,0.00,0.000,516,0.000,0.039,3236,614,1441,1542,1340,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8257,1.25,219.0,2256,610,1513,1337,178.2,15.6,354,8263,0.00,2.05,0.00,0.000,1030,0.000,0.031,3236,1999,1441,1542,1340,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8583,1.25,219.0,3236,1999,1542,1339,132.6,13.0,370,8589,0.00,2.10,0.00,0.000,516,0.000,0.038,3247,612,1441,1543,1340,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8643,1.25,219.0,3246,612,1542,1340,125.5,14.4,372,8651,0.00,2.05,0.00,0.000,1030,0.000,0.031,3247,2002,1441,1543,1340,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8949,1.25,219.0,3246,2002,1542,1340,77.4,16.0,388,8954,0.00,2.15,0.00,0.000,260,0.000,0.045,3247,3405,1441,1543,1340,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9188,1.25,219.0,3247,3405,1543,1340,44.4,11.2,401,9195,0.12,2.05,0.00,0.000,5126,0.161,0.027,3225,1995,1441,1543,1340,0,0,0,0,0,0,26.34,26.63,28.83
$GC,9505,1.56,309.5,2176,1992,1510,1336,13.8,6.3,445,9559,0.22,2.22,40.65,0.088,10500,0.054,0.043,3358,3402,1119,1228,1010,0,0,0,0,0,0,26.71,26.47,26.29
$STATE,9601,end climb,SURFACE_DEPTH_REACHED
$STATE,9601,begin surface coast
$FINISH,0.3,1.006471
$STATE,9624,end surface coast,CONTROL_FINISHED_OK
$STATE,9624,begin surface
$SM_CCo,9643,47.33,0.060,0,0,749,400.08
$SM_GC,1.05,8.23,1.35,47.33,0.032,0.028,0.060,133,2510,749,-8.29,1.92,400.08,0,0,0,0,0,0,26.58,26.58,26.37
$IRIDIUM_FIX,2211.35,12246.49,290313,030324
$TT8_MAMPS,0.048685,0.048685
$HUMID,45.66
$INTERNAL_PRESSURE,9.66204
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3948256
$24V_AH,24.1,32.997
$10V_AH,10.2,22.726
$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,20.550,84.675,522.375,47.325,0.000,0.000,0.000,193.950,0.000,0.000,15.835,1833.521,5871.497,618.765,1406.510,299.888,0.000,1534.983,0.000,1148.911,0.000,0.538,0.000
$DEVICE_MAMPS,224.145,69.615,901.170,59.670,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9626.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.062,0.000,0.000,0.000
$MEM,324116
$DATA_FILE_SIZE,16792,464
$CAP_FILE_SIZE,250334,0
$CFSIZE,260034560,230703104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290313,090606,2220.777,12239.345,40,1.0,41,-2.9