version: 66.11
glider: 171
mission: 4
dive: 232
start: 3 29 113 23 47 37
data:
$ID,171
$MISSION,4
$DIVE,232
$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,-20810.723
$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,32
$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
$GPS1,290313,234105,2226.818,12230.578,33,1.1,38,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.1
$GPS2,290313,234713,2226.871,12230.525,15,1.1,15,-3.0
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2228.746,12219.016
$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,283.0,20000,-12.0,-8.739,-16.47,3810
$D_GRID,4959
$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,-219.0,125,2493,837,668,0.0,0.0,0,78,0.00,0.00,-58.03,0.000,16386,0.000,0.000,125,2491,2410,2471,2350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.25,-219.0,125,2491,2482,2351,3.9,-6.4,8,113,9.00,1.92,-14.62,0.000,18692,0.223,0.067,2402,3671,3280,3352,3209,0,0,0,0,0,0,25.75,26.16,26.58
$GC,346,-1.25,-219.0,2403,3671,3353,3209,100.7,-34.0,29,352,0.00,1.70,0.00,0.000,1030,0.000,0.024,2403,2489,3281,3353,3209,0,0,0,0,0,0,28.83,26.44,28.83
$GC,666,-1.25,-219.0,2402,2487,3357,3209,195.1,-27.4,45,672,0.00,1.88,0.00,0.000,260,0.000,0.053,2393,3677,3283,3357,3209,0,0,0,0,0,0,28.83,26.40,28.83
$GC,904,-1.25,-219.0,2393,3677,3357,3210,258.3,-28.2,56,910,0.00,1.67,0.00,0.000,1030,0.000,0.024,2394,2496,3283,3357,3210,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1218,-1.25,-219.0,2393,2493,3357,3213,347.2,-26.6,72,1224,0.00,2.03,0.00,0.000,516,0.000,0.029,2394,1108,3283,3357,3209,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1264,-1.25,-219.0,2393,1108,3357,3210,359.4,-27.0,74,1271,0.12,2.12,0.00,0.000,3078,0.167,0.038,2414,2504,3283,3357,3210,0,0,0,0,0,0,26.28,26.50,28.83
$GC,1591,-1.25,-219.0,2414,2506,3357,3210,440.9,-24.4,90,1597,0.00,1.83,0.00,0.000,260,0.000,0.053,2406,3675,3284,3358,3210,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1645,-1.25,-219.0,2406,3676,3357,3209,452.0,-24.5,92,1651,0.00,1.67,0.00,0.000,1030,0.000,0.024,2406,2492,3284,3359,3210,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1959,-1.25,-219.0,2406,2490,3357,3210,523.4,-21.3,108,1965,0.00,1.83,0.00,0.000,260,0.000,0.052,2397,3671,3283,3357,3210,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2099,-1.25,-219.0,1488,3670,3341,3205,550.9,-21.3,114,2107,0.00,1.67,0.00,0.000,1030,0.000,0.024,2398,2491,3283,3357,3209,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2417,-1.25,-219.0,2397,2490,3357,3210,622.4,-21.1,129,2423,0.00,2.00,0.00,0.000,516,0.000,0.028,2397,1111,3283,3357,3209,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2481,-1.25,-219.0,2397,1111,3357,3209,635.8,-20.8,131,2488,0.12,2.12,0.00,0.000,3078,0.163,0.037,2420,2504,3283,3357,3209,0,0,0,0,0,0,26.34,26.53,28.83
$GC,2816,-1.25,-219.0,2419,2504,3357,3204,699.4,-18.6,142,2822,0.00,1.80,0.00,0.000,260,0.000,0.054,2411,3671,3280,3357,3204,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2875,-1.25,-219.0,2411,3671,3357,3203,705.8,-18.6,143,2882,0.00,1.67,0.00,0.000,1030,0.000,0.025,2411,2493,3280,3357,3203,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3182,-1.25,-219.0,2411,2493,3357,3198,769.9,-19.7,154,3188,0.00,1.85,0.00,0.000,260,0.000,0.054,2402,3674,3277,3356,3198,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3205,-1.25,-219.0,2402,3674,3356,3198,769.9,-19.7,154,3211,0.00,1.67,0.00,0.000,1030,0.000,0.026,2403,2496,3279,3357,3201,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3521,-1.25,-219.0,2402,2496,3355,3193,838.6,-20.6,165,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2495,3274,3356,3193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3819,-1.25,-219.0,2402,2495,3354,3190,896.5,-18.9,175,3825,0.00,2.03,0.00,0.000,516,0.000,0.029,2402,1115,3271,3354,3189,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3858,-1.25,-219.0,2402,1116,3354,3189,902.9,-18.9,176,3864,0.00,2.12,0.00,0.000,1030,0.000,0.040,2391,2501,3271,3354,3189,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4187,-1.25,-219.0,2391,2503,3350,3186,965.0,-18.7,187,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2501,3268,3350,3186,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4215,begin apogee
$GC,4221,-0.20,0.0,2391,1998,3350,3185,970.7,-18.9,188,4581,1.10,0.00,351.40,0.740,10246,0.122,0.000,2754,1996,2379,2538,2220,0,0,0,0,0,0,26.19,28.83,24.41
$STATE,4582,end apogee,CONTROL_FINISHED_OK
$STATE,4582,begin climb
$GC,4585,1.25,219.0,2753,1996,2530,2209,991.8,0.0,199,4929,1.27,2.25,329.05,0.735,10756,0.047,0.039,3239,619,1479,1582,1376,0,0,0,0,0,0,25.17,24.93,24.27
$GC,4986,1.25,219.0,3239,619,1567,1361,941.0,21.6,212,4992,0.00,2.17,0.00,0.000,1030,0.000,0.031,3239,2008,1463,1566,1360,0,0,0,0,0,0,28.83,25.45,28.83
$GC,5306,1.25,219.0,3239,2008,1557,1355,861.0,24.3,223,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2008,1456,1558,1355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5605,1.25,219.0,3239,2008,1556,1354,788.9,24.4,233,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2008,1454,1555,1354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5906,1.25,219.0,3239,2008,1554,1351,718.5,23.7,243,5911,0.00,2.17,0.00,0.000,260,0.000,0.047,3239,3406,1452,1553,1351,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6031,1.25,219.0,3239,3406,1553,1351,685.7,26.1,247,6037,0.00,2.08,0.00,0.000,1030,0.000,0.028,3251,2014,1452,1553,1351,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6366,1.25,219.0,3251,2014,1552,1349,609.9,22.3,258,6372,0.00,2.17,0.00,0.000,260,0.000,0.046,3251,3407,1450,1552,1349,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6394,1.25,219.0,3250,3408,1552,1349,609.9,22.3,258,6402,0.15,2.10,0.00,0.000,5126,0.177,0.029,3224,1990,1450,1552,1348,0,0,0,0,0,0,26.20,26.53,28.83
$GC,6710,1.25,219.0,3224,1990,1552,1346,536.9,20.7,274,6716,0.00,2.10,0.00,0.000,516,0.000,0.040,3234,609,1449,1552,1346,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6800,1.25,219.0,3234,609,1552,1346,519.8,19.9,278,6806,0.00,2.08,0.00,0.000,1030,0.000,0.031,3234,2005,1448,1551,1346,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7120,1.25,219.0,3234,2005,1550,1345,457.0,18.9,294,7126,0.00,2.17,0.00,0.000,260,0.000,0.046,3234,3408,1448,1551,1345,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7169,1.25,219.0,3234,3408,1550,1345,446.5,21.2,296,7175,0.00,2.08,0.00,0.000,1030,0.000,0.029,3246,2000,1447,1550,1345,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7490,1.25,219.0,3246,1999,1549,1344,381.1,21.3,312,7496,0.00,2.20,0.00,0.000,260,0.000,0.047,3243,3400,1446,1549,1344,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7514,1.25,219.0,3246,3400,1549,1344,375.7,20.9,313,7521,0.12,2.08,0.00,0.000,5126,0.174,0.030,3226,2003,1446,1549,1343,0,0,0,0,0,0,26.27,26.58,28.83
$GC,7841,1.25,219.0,3225,2002,1548,1342,314.8,17.8,329,7847,0.00,2.12,0.00,0.000,516,0.000,0.041,3236,609,1445,1548,1342,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7945,1.25,219.0,3236,609,1549,1342,298.4,18.6,333,7953,0.00,2.08,0.00,0.000,1030,0.000,0.031,3236,2009,1445,1548,1342,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8248,1.25,219.0,3236,2009,1549,1342,238.5,19.2,349,8254,0.00,2.15,0.00,0.000,516,0.000,0.039,3248,601,1445,1548,1342,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8282,1.25,219.0,3248,601,1548,1342,234.2,18.9,350,8287,0.00,2.08,0.00,0.000,1030,0.000,0.031,3248,2002,1445,1549,1342,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8596,1.25,219.0,3247,2002,1549,1342,179.0,17.4,366,8602,0.00,2.15,0.00,0.000,260,0.000,0.045,3248,3401,1445,1549,1342,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8749,1.25,219.0,3247,3401,1549,1342,154.9,16.5,373,8755,0.15,2.05,0.00,0.000,5126,0.164,0.028,3220,1993,1445,1549,1342,0,0,0,0,0,0,26.26,26.61,28.83
$GC,9070,1.25,219.0,3219,1992,1549,1342,106.8,14.6,389,9076,0.00,2.08,0.00,0.000,516,0.000,0.039,3230,612,1445,1549,1342,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9293,1.25,219.0,3230,612,1549,1342,78.1,13.8,399,9301,0.00,2.05,0.00,0.000,1030,0.000,0.030,3230,2001,1445,1549,1342,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9599,1.25,219.0,3230,2001,1549,1342,39.1,12.0,419,9605,0.00,2.15,0.00,0.000,260,0.000,0.044,3230,3401,1446,1550,1342,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9826,1.66,338.3,2176,3399,1517,1338,17.2,5.5,451,9893,0.30,2.03,56.20,0.096,11270,0.047,0.026,3392,1992,996,1098,894,0,0,0,0,0,0,26.64,26.64,26.23
$STATE,9931,end climb,SURFACE_DEPTH_REACHED
$STATE,9932,begin surface coast
$FINISH,0.4,1.022127
$STATE,9944,end surface coast,CONTROL_FINISHED_OK
$STATE,9944,begin surface
$SM_CCo,9963,33.20,0.060,0,0,748,400.08
$SM_GC,1.35,8.25,0.77,33.20,0.028,0.048,0.060,126,2486,748,-8.30,-1.47,400.08,0,0,0,0,0,0,26.48,26.43,26.33
$IRIDIUM_FIX,2216.01,12232.21,290313,202034
$TT8_MAMPS,0.047936,0.047936
$HUMID,46.49
$INTERNAL_PRESSURE,9.6425
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3946336
$24V_AH,24.3,33.855
$10V_AH,10.2,23.216
$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,20.600,81.650,736.650,33.200,0.000,0.000,0.000,214.250,0.000,0.000,16.680,1948.160,5745.753,745.992,1595.767,322.172,0.000,1795.167,0.000,1309.510,0.000,0.537,0.000
$DEVICE_MAMPS,222.615,67.320,739.755,60.435,0.000,0.000,0.000,126.225,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9950.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.979,0.000,0.000,0.000
$MEM,324116
$DATA_FILE_SIZE,16780,469
$CAP_FILE_SIZE,267698,0
$CFSIZE,260034560,230154240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300313,023553,2228.632,12229.020,42,1.5,60,-3.0