version: 66.11
glider: 171
mission: 4
dive: 230
start: 3 29 113 17 57 17
data:
$ID,171
$MISSION,4
$DIVE,230
$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,-20808.207
$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,69
$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
$GPS1,290313,175013,2224.343,12234.725,15,1.7,16,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-67.7
$GPS2,290313,175653,2224.351,12234.770,28,1.0,45,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2226.226,12223.264
$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,4909
$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,-219.0,119,2501,840,666,0.0,0.0,0,78,0.00,0.00,-58.05,0.000,16386,0.000,0.000,120,2502,2399,2445,2353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.25,-219.0,120,2502,2450,2353,3.5,-5.6,8,112,8.90,1.90,-14.93,0.000,18692,0.218,0.067,2404,3671,3278,3350,3206,0,0,0,0,0,0,25.77,26.20,26.60
$GC,335,-1.25,-219.0,2404,3671,3355,3206,89.3,-33.3,29,343,0.00,1.67,0.00,0.000,1030,0.000,0.024,2404,2499,3280,3355,3206,0,0,0,0,0,0,28.83,26.45,28.83
$GC,642,-1.25,-219.0,2404,2497,3358,3206,189.4,-30.4,45,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2497,3281,3357,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,942,-1.25,-219.0,2404,2497,3358,3207,274.4,-28.2,60,948,0.00,1.83,0.00,0.000,260,0.000,0.054,2395,3670,3282,3358,3207,0,0,0,0,0,0,28.83,26.44,28.83
$GC,997,-1.25,-219.0,2393,3669,3358,3207,287.6,-28.5,62,1003,0.00,1.67,0.00,0.000,1030,0.000,0.024,2395,2491,3283,3358,3208,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1311,-1.25,-219.0,2395,2490,3358,3207,376.1,-26.3,78,1317,0.00,2.03,0.00,0.000,516,0.000,0.030,2395,1101,3283,3358,3208,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1386,-1.25,-219.0,2395,1101,3358,3208,393.2,-26.5,81,1393,0.12,2.12,0.00,0.000,3078,0.168,0.038,2416,2498,3283,3358,3208,0,0,0,0,0,0,26.29,26.51,28.83
$GC,1703,-1.25,-219.0,2416,2498,3362,3208,468.4,-22.9,97,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2498,3283,3358,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2002,-1.25,-219.0,2417,2498,3358,3208,534.7,-21.8,112,2008,0.00,1.83,0.00,0.000,260,0.000,0.054,2408,3677,3282,3358,3207,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2041,-1.25,-219.0,2408,3677,3358,3208,540.0,-21.6,113,2049,0.00,1.67,0.00,0.000,1030,0.000,0.024,2408,2490,3283,3358,3208,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2367,-1.25,-219.0,2408,2489,3358,3207,614.4,-20.9,129,2373,0.00,2.00,0.00,0.000,516,0.000,0.028,2408,1110,3282,3358,3207,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2405,-1.25,-219.0,2408,1112,3358,3207,621.9,-21.1,130,2411,0.00,2.12,0.00,0.000,1030,0.000,0.039,2397,2507,3283,3358,3208,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2735,-1.25,-219.0,2397,2507,3358,3204,694.7,-21.6,141,2740,0.00,1.80,0.00,0.000,260,0.000,0.055,2389,3672,3281,3358,3204,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2823,-1.25,-219.0,2388,3672,3358,3203,708.2,-21.2,143,2831,0.12,1.67,0.00,0.000,3078,0.147,0.026,2422,2490,3280,3358,3203,0,0,0,0,0,0,26.40,26.70,28.83
$GC,3131,-1.25,-219.0,2422,2489,3357,3198,765.0,-16.5,154,3136,0.00,2.00,0.00,0.000,516,0.000,0.028,2423,1117,3278,3358,3198,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3195,-1.25,-219.0,2422,1117,3358,3197,775.4,-15.9,156,3200,0.00,2.12,0.00,0.000,1030,0.000,0.039,2413,2510,3277,3358,3197,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3529,-1.25,-219.0,2412,2510,3357,3192,831.0,-16.9,167,3535,0.00,2.05,0.00,0.000,516,0.000,0.029,2413,1118,3274,3357,3192,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3563,-1.25,-219.0,2412,1118,3357,3191,836.8,-16.9,168,3569,0.00,2.12,0.00,0.000,1030,0.000,0.041,2402,2504,3274,3357,3191,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3897,-1.25,-219.0,2402,2505,3355,3188,898.1,-18.5,179,3903,0.00,1.83,0.00,0.000,260,0.000,0.055,2391,3674,3271,3355,3187,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3981,-1.25,-219.0,2392,3674,3354,3187,910.2,-18.6,181,3987,0.00,1.67,0.00,0.000,1030,0.000,0.028,2393,2500,3270,3353,3187,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,4295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4295,begin apogee
$GC,4301,-0.20,0.0,2391,1994,3351,3184,973.8,-19.1,192,4642,1.08,0.00,331.73,0.759,10246,0.119,0.000,2749,1993,2378,2537,2219,0,0,0,0,0,0,26.21,28.83,24.39
$STATE,4644,end apogee,CONTROL_FINISHED_OK
$STATE,4644,begin climb
$GC,4646,1.25,219.0,2749,1993,2530,2208,994.5,0.0,203,4975,1.30,2.38,317.40,0.756,11012,0.049,0.047,3231,3415,1480,1583,1377,0,0,0,0,0,0,25.19,24.92,24.28
$GC,5026,1.25,219.0,3230,3415,1566,1364,937.9,23.9,216,5032,0.00,2.17,0.00,0.000,1030,0.000,0.028,3242,2016,1464,1565,1363,0,0,0,0,0,0,28.83,25.43,28.83
$GC,5356,1.25,219.0,3242,2016,1557,1354,852.5,25.0,227,5362,0.00,2.22,0.00,0.000,260,0.000,0.047,3242,3416,1455,1557,1354,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5395,1.25,219.0,3241,3416,1557,1354,843.5,25.0,228,5401,0.12,2.15,0.00,0.000,5126,0.179,0.028,3223,1990,1454,1554,1354,0,0,0,0,0,0,25.96,26.21,28.83
$GC,5724,1.25,219.0,3223,1988,1554,1350,765.9,22.6,239,5730,0.00,2.12,0.00,0.000,516,0.000,0.038,3234,602,1452,1553,1351,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5790,1.25,219.0,3234,602,1553,1351,751.1,22.7,241,5796,0.00,2.12,0.00,0.000,1030,0.000,0.032,3234,2013,1451,1553,1350,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6124,1.25,219.0,3234,2012,1550,1349,677.1,21.1,252,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2012,1451,1553,1349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6424,1.25,219.0,3234,2012,1552,1347,612.3,22.1,262,6430,0.00,2.17,0.00,0.000,260,0.000,0.047,3233,3405,1449,1551,1347,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6492,1.25,219.0,3234,3405,1552,1347,597.5,22.3,264,6498,0.00,2.10,0.00,0.000,1030,0.000,0.030,3245,1994,1449,1551,1347,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6813,1.25,219.0,3246,1994,1550,1345,525.7,22.4,280,6819,0.00,2.12,0.00,0.000,516,0.000,0.040,3257,604,1447,1550,1345,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6872,1.25,219.0,3256,604,1550,1345,515.2,22.7,282,6881,0.12,2.10,0.00,0.000,5126,0.174,0.031,3225,2004,1447,1550,1345,0,0,0,0,0,0,26.27,26.54,28.83
$GC,7180,1.25,219.0,3225,2004,1550,1344,447.9,21.2,298,7185,0.00,2.17,0.00,0.000,260,0.000,0.046,3225,3408,1447,1550,1344,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7254,1.25,219.0,3224,3408,1549,1344,433.0,22.0,301,7260,0.00,2.10,0.00,0.000,1030,0.000,0.030,3236,1993,1446,1549,1344,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7569,1.25,219.0,3235,1992,1548,1342,368.1,18.3,317,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1992,1445,1548,1342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7869,1.25,219.0,3236,1992,1547,1341,311.3,19.9,332,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1992,1444,1547,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8169,1.25,219.0,3235,1992,1545,1341,254.7,18.5,347,8174,0.00,2.10,0.00,0.000,516,0.000,0.040,3247,607,1444,1547,1341,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8186,1.25,219.0,3247,608,1547,1341,254.7,18.5,347,8194,0.00,2.08,0.00,0.000,1030,0.000,0.031,3247,2006,1444,1548,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8493,1.25,219.0,3247,2006,1547,1341,194.8,17.0,363,8499,0.00,2.15,0.00,0.000,260,0.000,0.045,3247,3403,1444,1547,1341,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8526,1.25,219.0,3246,3403,1548,1341,190.6,16.5,364,8532,0.15,2.08,0.00,0.000,5126,0.165,0.028,3218,1991,1444,1548,1341,0,0,0,0,0,0,26.26,26.60,28.83
$GC,8842,1.25,219.0,3218,1990,1547,1341,144.2,13.0,380,8849,0.00,2.20,0.00,0.000,260,0.000,0.046,3218,3403,1444,1548,1341,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8912,1.25,219.0,3218,3403,1547,1341,133.5,15.4,383,8918,0.00,2.05,0.00,0.000,1030,0.000,0.028,3229,2000,1445,1548,1342,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9232,1.25,219.0,3229,1999,1551,1342,82.8,14.4,399,9238,0.00,2.10,0.00,0.000,516,0.000,0.040,3241,611,1444,1548,1341,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9260,1.25,219.0,3240,610,1547,1341,79.4,14.0,400,9266,0.00,2.05,0.00,0.000,1030,0.000,0.030,3240,2000,1444,1548,1341,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9570,1.32,241.6,3240,2000,1548,1341,43.1,8.1,419,9613,0.00,2.10,35.95,0.360,8708,0.000,0.036,3251,609,1392,1500,1284,0,0,0,0,0,0,28.83,26.36,25.88
$GC,9735,1.38,257.6,3251,609,1483,1275,29.0,8.3,434,9773,0.00,2.08,27.50,0.352,9222,0.000,0.029,3251,2002,1325,1434,1216,0,0,0,0,0,0,28.83,26.42,25.75
$STATE,9982,end climb,SURFACE_DEPTH_REACHED
$STATE,9982,begin surface coast
$FINISH,0.7,1.022229
$STATE,10005,end surface coast,CONTROL_FINISHED_OK
$STATE,10005,begin surface
$SM_CCo,10023,68.30,0.060,0,0,748,400.08
$SM_GC,1.27,7.97,0.75,68.30,0.032,0.050,0.060,138,2485,748,-8.28,-1.44,400.08,0,0,0,0,0,0,26.39,26.33,26.24
$IRIDIUM_FIX,2213.68,12234.17,290313,141421
$TT8_MAMPS,0.048685,0.048685
$HUMID,44.56
$INTERNAL_PRESSURE,9.66204
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3946976
$24V_AH,24.3,33.565
$10V_AH,10.2,23.050
$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,19.900,82.500,712.575,68.300,0.000,0.000,0.000,216.175,0.000,0.000,46.495,1864.407,6014.958,767.922,1525.988,311.678,0.000,1765.073,0.000,1221.397,0.000,0.538,0.000
$DEVICE_MAMPS,218.025,67.320,758.880,59.670,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9994.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.103,0.000,0.000,0.000
$MEM,324116
$DATA_FILE_SIZE,16836,481
$CAP_FILE_SIZE,259815,0
$CFSIZE,260034560,230342656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290313,204700,2225.311,12232.665,50,1.7,51,-2.9