version: 66.11
glider: 171
mission: 4
dive: 200
start: 3 26 113 3 26 25
data:
$ID,171
$MISSION,4
$DIVE,200
$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,-20768.73
$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,43
$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
$GPS1,260313,031921,2204.937,12319.181,10,6.0,30,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-67.8
$GPS2,260313,032600,2204.926,12319.374,46,0.9,46,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2206.801,12307.895
$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,5262
$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,18,-1.25,-219.0,126,2502,837,660,0.0,0.0,0,85,0.00,0.00,-64.85,0.000,16386,0.000,0.000,126,2502,2588,2657,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.25,-219.0,126,2502,2658,2519,3.7,-5.8,9,119,8.85,2.10,-12.07,0.000,18948,0.220,0.045,2410,1091,3277,3346,3208,0,0,0,0,0,0,25.84,26.32,26.63
$GC,263,-1.25,-219.0,2410,1090,3350,3208,65.3,-31.9,27,269,0.00,2.12,0.00,0.000,1030,0.000,0.039,2401,2485,3279,3350,3208,0,0,0,0,0,0,28.83,26.34,28.83
$GC,588,-1.25,-219.0,2400,2485,3354,3208,169.3,-31.9,43,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2485,3281,3354,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,887,-1.25,-219.0,2403,2485,3355,3208,256.9,-28.9,58,893,0.00,1.85,0.00,0.000,260,0.000,0.056,2391,3673,3281,3355,3208,0,0,0,0,0,0,28.83,26.49,28.83
$GC,961,-1.25,-219.0,2391,3673,3355,3208,276.2,-29.2,61,967,0.00,1.67,0.00,0.000,1030,0.000,0.024,2391,2493,3281,3355,3208,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1276,-1.25,-219.0,2391,2491,3355,3208,367.3,-28.4,77,1282,0.00,2.05,0.00,0.000,516,0.000,0.031,2391,1096,3282,3356,3208,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1345,-1.25,-219.0,2390,1096,3356,3208,385.9,-28.2,80,1352,0.15,2.12,0.00,0.000,3078,0.165,0.040,2420,2502,3281,3355,3208,0,0,0,0,0,0,26.34,26.55,28.83
$GC,1666,-1.25,-219.0,2419,2502,3356,3208,468.3,-24.2,96,1672,0.00,1.83,0.00,0.000,260,0.000,0.054,2411,3680,3282,3356,3208,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1732,-1.25,-219.0,2411,3680,3356,3208,484.1,-23.6,99,1738,0.00,1.70,0.00,0.000,1030,0.000,0.024,2411,2485,3282,3356,3208,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2057,-1.25,-219.0,2411,2484,3356,3208,560.4,-23.1,115,2063,0.00,1.85,0.00,0.000,260,0.000,0.054,2402,3673,3283,3356,3210,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2103,-1.25,-219.0,2402,3673,3353,3208,571.2,-23.6,117,2108,0.00,1.67,0.00,0.000,1030,0.000,0.024,2402,2496,3282,3356,3208,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2426,-1.25,-219.0,2402,2495,3355,3208,640.4,-20.8,130,2432,0.00,2.03,0.00,0.000,516,0.000,0.029,2402,1106,3282,3356,3208,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2454,-1.25,-219.0,2402,1106,3356,3208,640.4,-20.8,130,2462,0.00,2.10,0.00,0.000,1030,0.000,0.039,2392,2501,3281,3355,3208,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2762,-1.25,-219.0,2391,2501,3355,3208,712.4,-21.9,141,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2501,3281,3355,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3061,-1.25,-219.0,2391,2501,3355,3205,777.2,-21.7,151,3067,0.00,2.05,0.00,0.000,516,0.000,0.028,2392,1106,3280,3355,3205,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3079,-1.25,-219.0,2391,1106,3355,3205,777.2,-21.7,151,3086,0.15,2.15,0.00,0.000,3078,0.158,0.041,2422,2510,3280,3355,3205,0,0,0,0,0,0,26.39,26.59,28.83
$GC,3399,-1.25,-219.0,2422,2509,3355,3200,842.7,-18.9,162,3405,0.00,1.80,0.00,0.000,260,0.000,0.055,2414,3673,3277,3355,3200,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3477,-1.25,-219.0,2413,3672,3355,3199,855.5,-19.3,164,3483,0.00,1.73,0.00,0.000,1030,0.000,0.026,2414,2495,3276,3354,3199,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3796,-1.25,-219.0,2413,2494,3355,3194,918.8,-18.5,175,3802,0.00,2.03,0.00,0.000,516,0.000,0.030,2414,1111,3274,3355,3194,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3869,-1.25,-219.0,2413,1111,3356,3193,930.5,-18.1,177,3875,0.00,2.12,0.00,0.000,1030,0.000,0.041,2402,2501,3273,3355,3192,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,4102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4102,begin apogee
$GC,4107,-0.20,0.0,2403,1997,3355,3189,974.4,-18.1,185,4509,1.05,0.00,390.00,0.704,10246,0.119,0.000,2753,1996,2376,2536,2216,0,0,0,0,0,0,26.34,28.83,24.46
$STATE,4511,end apogee,CONTROL_FINISHED_OK
$STATE,4511,begin climb
$GC,4513,1.25,219.0,2753,1996,2530,2208,996.8,0.0,198,4757,1.27,2.22,233.45,0.896,10756,0.045,0.038,3242,632,1478,1581,1375,0,0,0,0,0,0,25.23,24.84,24.14
$GC,4819,1.25,219.0,3242,632,1559,1356,959.1,20.7,207,4828,0.00,2.17,0.00,0.000,1030,0.000,0.031,3242,2011,1456,1558,1355,0,0,0,0,0,0,28.83,25.43,28.83
$GC,5127,1.25,219.0,3242,2011,1552,1349,881.1,23.1,218,5133,0.00,2.15,0.00,0.000,516,0.000,0.038,3253,628,1451,1552,1350,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5195,1.25,219.0,3253,628,1551,1349,865.7,23.2,220,5202,0.12,2.08,0.00,0.000,5126,0.175,0.031,3226,2003,1450,1551,1349,0,0,0,0,0,0,26.00,26.22,28.83
$GC,5525,1.25,219.0,3222,2005,1549,1346,790.7,22.1,231,5531,0.00,2.20,0.00,0.000,260,0.000,0.047,3222,3412,1447,1549,1346,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5665,1.25,219.0,3222,3412,1548,1346,761.5,23.1,235,5671,0.00,2.08,0.00,0.000,1030,0.000,0.030,3233,2017,1447,1548,1346,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5984,1.25,219.0,3233,2017,1547,1344,687.4,21.7,246,5990,0.00,2.15,0.00,0.000,516,0.000,0.039,3244,606,1445,1547,1344,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6072,1.25,219.0,3244,605,1547,1341,674.1,20.9,248,6081,0.00,2.10,0.00,0.000,1030,0.000,0.031,3245,2009,1445,1547,1344,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6380,1.25,219.0,3244,2009,1546,1342,599.3,23.5,259,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2009,1444,1546,1342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6678,1.25,219.0,3244,2009,1545,1340,534.4,20.8,274,6684,0.00,2.15,0.00,0.000,516,0.000,0.040,3257,606,1443,1545,1341,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6784,1.25,219.0,2304,606,1514,1337,511.5,21.3,279,6791,0.12,2.10,0.00,0.000,5126,0.167,0.031,3224,2005,1442,1544,1341,0,0,0,0,0,0,26.34,26.59,28.83
$GC,7110,1.25,219.0,3224,2005,1544,1339,448.6,20.3,295,7116,0.00,2.15,0.00,0.000,260,0.000,0.046,3224,3402,1441,1544,1338,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7347,1.25,219.0,3224,3402,1542,1339,400.8,19.8,306,7353,0.00,2.08,0.00,0.000,1030,0.000,0.030,3235,1995,1440,1542,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7662,1.25,219.0,3235,1996,1542,1337,339.7,19.0,322,7668,0.00,2.20,0.00,0.000,260,0.000,0.046,3235,3408,1439,1542,1337,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7721,1.25,219.0,3235,3408,1542,1337,330.4,19.5,324,7730,0.00,2.08,0.00,0.000,1030,0.000,0.030,3247,2003,1439,1542,1337,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8028,1.25,219.0,3246,2003,1542,1337,269.7,18.5,340,8033,0.00,2.12,0.00,0.000,516,0.000,0.040,3258,603,1439,1542,1337,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8139,1.25,219.0,3258,603,1542,1337,249.3,19.0,345,8146,0.15,2.08,0.00,0.000,5126,0.160,0.031,3217,2004,1439,1542,1337,0,0,0,0,0,0,26.35,26.63,28.83
$GC,8460,1.25,219.0,3217,2004,1542,1337,192.2,17.3,361,8466,0.00,2.15,0.00,0.000,260,0.000,0.046,3217,3401,1439,1542,1337,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8621,1.25,219.0,3217,3401,1542,1337,165.6,18.0,368,8629,0.00,2.08,0.00,0.000,1030,0.000,0.028,3228,1995,1439,1542,1337,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8928,1.25,219.0,3228,1994,1542,1337,116.4,15.5,384,8934,0.00,2.10,0.00,0.000,516,0.000,0.039,3240,606,1439,1542,1337,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9014,1.25,219.0,3239,606,1542,1337,103.5,14.7,388,9020,0.00,2.08,0.00,0.000,1030,0.000,0.030,3239,2002,1442,1546,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9340,1.25,219.0,3239,2002,1543,1337,53.3,15.0,404,9346,0.00,2.12,0.00,0.000,516,0.000,0.038,3251,604,1440,1543,1337,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9384,1.25,219.0,2272,604,1512,1334,46.3,14.7,407,9390,0.12,2.05,0.00,0.000,5126,0.155,0.030,3217,2001,1440,1543,1337,0,0,0,0,0,0,26.40,26.64,28.83
$GC,9699,1.25,219.0,2144,1999,1511,1334,9.8,13.2,450,9707,0.00,2.15,0.00,0.000,260,0.000,0.046,3217,3402,1441,1545,1337,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,9749,end climb,SURFACE_DEPTH_REACHED
$STATE,9749,begin surface coast
$FINISH,0.4,1.010629
$STATE,9772,end surface coast,CONTROL_FINISHED_OK
$STATE,9772,begin surface
$SM_CCo,9790,83.25,0.059,0,0,748,400.08
$SM_GC,1.30,7.88,1.35,83.25,0.034,0.026,0.059,145,2495,748,-8.29,1.75,400.08,0,0,0,0,0,0,26.60,26.70,26.45
$IRIDIUM_FIX,2155.06,12321.41,260313,000049
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.88
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3956576
$24V_AH,24.1,29.367
$10V_AH,10.3,20.644
$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,19.875,85.850,623.450,83.250,0.000,0.000,0.000,219.625,0.000,0.000,47.584,1935.436,5728.188,721.797,1601.196,283.728,0.000,1739.188,0.000,1271.926,0.000,0.537,0.000
$DEVICE_MAMPS,220.320,55.845,895.815,58.905,0.000,0.000,0.000,121.635,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9759.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.976,0.000,0.000,0.000
$MEM,329792
$DATA_FILE_SIZE,16806,463
$CAP_FILE_SIZE,262967,0
$CFSIZE,260034560,232992768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260313,061206,2205.003,12318.319,26,1.6,27,-2.9