version: 66.11
glider: 171
mission: 4
dive: 197
start: 3 25 113 18 51 55
data:
$ID,171
$MISSION,4
$DIVE,197
$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,-9
$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,-20764.674
$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,60
$R_STBD_OVSHOOT,30
$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
$GPS1,250313,184554,2203.405,12321.971,55,1.2,56,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.5
$GPS2,250313,185131,2203.469,12322.014,10,1.4,10,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2205.345,12310.536
$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,5162
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.25,-219.0,126,2489,844,663,0.0,0.0,0,86,0.00,0.00,-65.03,0.000,16386,0.000,0.000,126,2489,2611,2677,2545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.25,-219.0,126,2490,2680,2545,4.0,-7.5,9,120,8.82,1.90,-11.20,0.000,18692,0.220,0.069,2404,3666,3278,3346,3210,0,0,0,0,0,0,25.85,26.25,26.63
$GC,350,-1.25,-219.0,2404,3665,3350,3210,97.9,-33.1,29,356,0.00,1.67,0.00,0.000,1030,0.000,0.026,2404,2499,3279,3349,3210,0,0,0,0,0,0,28.83,26.48,28.83
$GC,664,-1.25,-219.0,2404,2497,3351,3210,194.7,-29.8,45,670,0.00,1.88,0.00,0.000,260,0.000,0.054,2395,3691,3280,3351,3210,0,0,0,0,0,0,28.83,26.46,28.83
$GC,718,-1.25,-219.0,2395,3691,3352,3210,207.7,-29.4,47,724,0.00,1.75,0.00,0.000,1030,0.000,0.025,2395,2510,3281,3352,3210,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1033,-1.25,-219.0,2395,2509,3354,3210,304.2,-29.8,63,1039,0.00,2.08,0.00,0.000,516,0.000,0.030,2395,1090,3282,3354,3210,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1051,-1.25,-219.0,2395,1088,3354,3210,304.2,-29.8,63,1060,0.12,2.15,0.00,0.000,3078,0.171,0.040,2416,2499,3282,3354,3210,0,0,0,0,0,0,26.34,26.53,28.83
$GC,1358,-1.25,-219.0,2415,2500,3354,3210,393.7,-26.3,79,1364,0.00,1.80,0.00,0.000,260,0.000,0.054,2407,3673,3282,3354,3210,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1408,-1.25,-219.0,2407,3673,3354,3210,405.9,-26.6,81,1414,0.00,1.70,0.00,0.000,1030,0.000,0.024,2408,2477,3282,3354,3210,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1729,-1.25,-219.0,2407,2475,3354,3210,484.0,-22.6,97,1734,0.00,2.00,0.00,0.000,516,0.000,0.031,2407,1107,3282,3354,3210,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1777,-1.25,-219.0,2407,1106,3354,3210,494.7,-22.8,99,1783,0.00,2.12,0.00,0.000,1030,0.000,0.041,2397,2506,3282,3354,3210,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2098,-1.25,-219.0,2396,2506,3354,3210,568.1,-22.2,115,2104,0.00,1.85,0.00,0.000,260,0.000,0.054,2386,3673,3282,3355,3210,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2167,-1.25,-219.0,2387,3673,3354,3210,583.8,-23.2,118,2174,0.12,1.67,0.00,0.000,3078,0.157,0.024,2421,2486,3282,3354,3210,0,0,0,0,0,0,26.44,26.72,28.83
$GC,2487,-1.25,-219.0,2421,2486,3355,3209,648.3,-19.3,130,2493,0.00,1.88,0.00,0.000,260,0.000,0.055,2412,3683,3282,3354,3210,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2526,-1.25,-219.0,2412,3683,3354,3209,655.2,-19.6,131,2532,0.00,1.67,0.00,0.000,1030,0.000,0.025,2412,2498,3282,3354,3210,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2855,-1.25,-219.0,2412,2496,3354,3207,720.0,-18.8,142,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2496,3281,3354,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3155,-1.25,-219.0,2411,2496,3354,3204,778.0,-19.2,152,3161,0.00,2.03,0.00,0.000,516,0.000,0.031,2412,1117,3278,3354,3203,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3203,-1.25,-219.0,1512,1116,3337,3198,784.7,-19.2,153,3209,0.00,2.12,0.00,0.000,1030,0.000,0.041,2402,2512,3278,3354,3203,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3522,-1.25,-219.0,2401,2509,3354,3198,849.7,-19.1,164,3528,0.00,2.05,0.00,0.000,516,0.000,0.030,2401,1117,3276,3354,3198,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3567,-1.25,-219.0,2401,1117,3354,3197,856.2,-19.1,165,3573,0.00,2.10,0.00,0.000,1030,0.000,0.041,2391,2500,3275,3354,3197,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3891,-1.25,-219.0,2391,2500,3354,3192,925.1,-20.9,176,3897,0.00,1.83,0.00,0.000,260,0.000,0.057,2382,3671,3273,3354,3192,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3993,-1.25,-219.0,1488,3670,3336,3186,945.8,-21.9,179,4000,0.10,1.70,0.00,0.000,3078,0.133,0.028,2416,2518,3272,3353,3191,0,0,0,0,0,0,26.42,26.74,28.83
$STATE,4106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4106,begin apogee
$GC,4112,-0.20,0.0,2416,1992,3353,3188,970.0,-19.6,183,4457,0.98,0.00,334.48,0.746,10246,0.113,0.000,2747,1990,2376,2537,2216,0,0,0,0,0,0,26.36,28.83,24.46
$STATE,4459,end apogee,CONTROL_FINISHED_OK
$STATE,4459,begin climb
$GC,4461,1.25,219.0,2746,1990,2531,2209,991.3,0.0,194,4706,1.30,2.40,232.12,0.894,11012,0.047,0.049,3231,3413,1474,1577,1372,0,0,0,0,0,0,25.25,24.86,24.18
$GC,4733,1.25,219.0,3230,3413,1563,1361,961.2,19.0,203,4739,0.00,2.17,0.00,0.000,1030,0.000,0.028,3242,2019,1460,1562,1359,0,0,0,0,0,0,28.83,25.26,28.83
$GC,5048,1.25,219.0,3242,2019,1553,1350,881.8,23.0,214,5054,0.00,2.22,0.00,0.000,260,0.000,0.047,3242,3420,1451,1553,1350,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5094,1.25,219.0,3242,3420,1553,1350,873.5,23.2,215,5100,0.12,2.15,0.00,0.000,5126,0.179,0.028,3225,1990,1451,1553,1350,0,0,0,0,0,0,25.96,26.20,28.83
$GC,5419,1.25,219.0,3223,1990,1551,1347,796.4,22.4,226,5425,0.00,2.10,0.00,0.000,516,0.000,0.037,3234,609,1449,1551,1347,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5498,1.25,219.0,3234,609,1550,1347,781.5,22.8,228,5504,0.00,2.10,0.00,0.000,1030,0.000,0.031,3234,2013,1451,1556,1347,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5817,1.25,219.0,3234,2013,1549,1345,706.7,22.7,239,5823,0.00,2.15,0.00,0.000,516,0.000,0.039,3248,609,1447,1549,1345,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5840,1.25,219.0,3245,609,1548,1345,706.7,22.7,239,5846,0.00,2.08,0.00,0.000,1030,0.000,0.032,3246,1998,1446,1548,1345,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6155,1.25,219.0,3246,1998,1548,1344,631.6,22.2,250,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1998,1446,1548,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6464,1.25,219.0,3246,1998,1547,1343,565.4,20.5,263,6470,0.00,2.17,0.00,0.000,260,0.000,0.047,3246,3403,1443,1544,1343,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6481,1.25,219.0,3246,3403,1547,1343,565.4,20.5,263,6490,0.12,2.08,0.00,0.000,5126,0.180,0.030,3226,2000,1445,1547,1343,0,0,0,0,0,0,26.32,26.60,28.83
$GC,6789,1.25,219.0,3226,1998,1545,1341,500.5,19.5,279,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1999,1443,1546,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7088,1.25,219.0,3226,1999,1545,1340,441.2,20.1,294,7094,0.00,2.12,0.00,0.000,516,0.000,0.041,3237,610,1444,1549,1340,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7284,1.25,219.0,3237,610,1544,1340,404.1,18.9,303,7290,0.00,2.08,0.00,0.000,1030,0.000,0.031,3237,2008,1442,1544,1340,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7598,1.25,219.0,3237,2008,1544,1340,343.0,19.2,319,7605,0.00,2.15,0.00,0.000,260,0.000,0.047,3237,3400,1442,1544,1340,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7751,1.25,219.0,3236,3400,1544,1340,315.8,18.6,326,7757,0.00,2.08,0.00,0.000,1030,0.000,0.029,3248,1993,1442,1544,1340,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8072,1.25,219.0,3248,1993,1544,1338,256.0,18.6,342,8078,0.00,2.17,0.00,0.000,260,0.000,0.045,3248,3401,1440,1543,1338,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8099,1.25,219.0,3247,3401,1544,1338,251.0,18.6,343,8105,0.15,2.08,0.00,0.000,5126,0.169,0.028,3220,1991,1443,1548,1338,0,0,0,0,0,0,26.35,26.65,28.83
$GC,8420,1.25,219.0,3220,1991,1545,1338,196.1,16.7,359,8426,0.00,2.10,0.00,0.000,516,0.000,0.039,3231,604,1441,1544,1338,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8572,1.25,219.0,3231,604,1544,1338,170.6,16.7,366,8577,0.00,2.05,0.00,0.000,1030,0.000,0.030,3231,2001,1441,1544,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8892,1.25,219.0,3231,2001,1544,1338,123.1,13.9,382,8898,0.00,2.17,0.00,0.000,260,0.000,0.045,3231,3412,1441,1544,1338,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8983,1.25,219.0,3231,3412,1544,1338,110.0,15.0,386,8989,0.00,2.08,0.00,0.000,1030,0.000,0.029,3243,1997,1442,1546,1338,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9303,1.25,219.0,3242,1997,1545,1338,63.2,14.3,402,9309,0.00,2.10,0.00,0.000,516,0.000,0.039,3254,606,1441,1545,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9337,1.25,219.0,3253,606,1545,1338,59.5,14.4,403,9344,0.12,2.05,0.00,0.000,5126,0.159,0.029,3220,2004,1441,1544,1338,0,0,0,0,0,0,26.40,26.64,28.83
$GC,9649,1.25,219.0,2176,2002,1512,1335,19.2,11.3,435,9657,0.00,2.12,0.00,0.000,516,0.000,0.038,3231,604,1441,1544,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9712,1.25,219.0,2176,605,1511,1334,11.1,13.6,446,9720,0.00,2.05,0.00,0.000,1030,0.000,0.028,3231,2008,1441,1545,1338,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,9779,end climb,SURFACE_DEPTH_REACHED
$STATE,9779,begin surface coast
$FINISH,0.5,1.023425
$STATE,9807,end surface coast,CONTROL_FINISHED_OK
$STATE,9807,begin surface
$SM_CCo,9825,83.40,0.059,0,0,748,400.08
$SM_GC,1.39,7.85,0.73,83.40,0.031,0.042,0.059,126,2489,748,-8.30,-1.44,400.08,0,0,0,0,0,0,26.70,26.62,26.44
$IRIDIUM_FIX,2155.06,12324.63,250313,151531
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.68
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3957536
$24V_AH,24.2,28.948
$10V_AH,10.3,20.403
$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,19.825,90.425,566.600,83.400,0.000,0.000,0.000,191.125,0.000,0.000,12.592,1902.062,5872.748,696.383,1475.073,293.412,0.000,1648.910,0.000,1215.794,0.000,0.537,0.000
$DEVICE_MAMPS,219.555,68.850,894.285,58.905,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9801.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.008,0.000,0.000,0.000
$MEM,329736
$DATA_FILE_SIZE,16763,463
$CAP_FILE_SIZE,259105,0
$CFSIZE,260034560,233259008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250313,213816,2204.026,12320.870,12,2.2,32,-2.9