version: 66.11
glider: 171
mission: 4
dive: 201
start: 3 26 113 6 18 25
data:
$ID,171
$MISSION,4
$DIVE,201
$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,-20770.082
$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,45
$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
$GPS1,260313,061206,2205.003,12318.319,26,1.6,27,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.1
$GPS2,260313,061800,2205.012,12318.423,10,1.5,16,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2206.887,12306.943
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.25,-219.0,127,2492,840,660,0.0,0.0,0,85,0.00,0.00,-65.22,0.000,16386,0.000,0.000,127,2490,2598,2665,2531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.25,-219.0,127,2492,2669,2531,3.8,-7.0,9,119,8.88,2.12,-11.88,0.000,18948,0.222,0.047,2410,1101,3276,3347,3206,0,0,0,0,0,0,25.84,26.32,26.62
$GC,206,-1.25,-219.0,2410,1101,3349,3207,46.0,-33.7,23,213,0.00,2.15,0.00,0.000,1030,0.000,0.042,2400,2483,3278,3349,3207,0,0,0,0,0,0,28.83,26.29,28.83
$GC,521,-1.25,-219.0,2400,2482,3351,3207,151.9,-33.1,39,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2485,3278,3351,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,821,-1.25,-219.0,2400,2482,3354,3207,240.1,-28.9,54,827,0.00,1.85,0.00,0.000,260,0.000,0.054,2391,3674,3280,3354,3206,0,0,0,0,0,0,28.83,26.48,28.83
$GC,922,-1.25,-219.0,2391,3674,3354,3207,265.1,-29.1,58,930,0.00,1.67,0.00,0.000,1030,0.000,0.024,2391,2491,3280,3355,3206,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1227,-1.25,-219.0,2390,2489,3355,3207,356.4,-27.6,74,1233,0.00,2.03,0.00,0.000,516,0.000,0.029,2391,1098,3280,3355,3206,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1254,-1.25,-219.0,2391,1098,3355,3206,363.0,-27.4,75,1261,0.15,2.15,0.00,0.000,3078,0.164,0.040,2420,2510,3281,3355,3207,0,0,0,0,0,0,26.33,26.54,28.83
$GC,1575,-1.25,-219.0,2419,2510,3355,3210,440.7,-22.4,91,1581,0.00,1.80,0.00,0.000,260,0.000,0.054,2411,3674,3281,3355,3207,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1680,-1.25,-219.0,1476,3674,3337,3202,465.6,-22.8,96,1686,0.00,1.67,0.00,0.000,1030,0.000,0.024,2411,2496,3281,3355,3207,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2006,-1.25,-219.0,2411,2495,3357,3207,538.7,-22.0,112,2012,0.00,1.83,0.00,0.000,260,0.000,0.054,2402,3674,3281,3355,3207,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2052,-1.25,-219.0,2402,3674,3355,3206,548.9,-22.2,114,2058,0.00,1.73,0.00,0.000,1030,0.000,0.024,2402,2492,3281,3355,3207,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2386,-1.25,-219.0,2402,2490,3355,3206,623.6,-21.5,129,2392,0.00,2.00,0.00,0.000,516,0.000,0.028,2403,1113,3280,3354,3206,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2425,-1.25,-219.0,2402,1112,3355,3207,631.1,-21.5,130,2431,0.00,2.12,0.00,0.000,1030,0.000,0.040,2392,2510,3279,3352,3206,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2754,-1.25,-219.0,2391,2510,3354,3207,704.6,-21.6,141,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2510,3281,3355,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3054,-1.25,-219.0,2391,2510,3354,3204,770.5,-21.7,151,3060,0.00,2.05,0.00,0.000,516,0.000,0.029,2392,1114,3279,3355,3203,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3089,-1.25,-219.0,2391,1114,3355,3203,777.7,-21.5,152,3095,0.15,2.12,0.00,0.000,3078,0.159,0.040,2422,2502,3279,3355,3203,0,0,0,0,0,0,26.38,26.58,28.83
$GC,3424,-1.25,-219.0,2422,2502,3354,3198,840.2,-17.9,163,3430,0.00,1.83,0.00,0.000,260,0.000,0.055,2414,3671,3276,3355,3198,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3538,-1.25,-219.0,2414,3671,3355,3197,858.1,-18.5,166,3544,0.00,1.70,0.00,0.000,1030,0.000,0.026,2414,2509,3276,3355,3197,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3853,-1.25,-219.0,2413,2508,3354,3191,919.8,-18.3,177,3859,0.00,2.08,0.00,0.000,516,0.000,0.030,2414,1104,3272,3354,3191,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3888,-1.25,-219.0,2414,1105,3354,3191,926.2,-18.3,178,3893,0.00,2.15,0.00,0.000,1030,0.000,0.041,2403,2505,3272,3354,3191,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,4131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4131,begin apogee
$GC,4137,-0.20,0.0,2403,1990,3354,3187,971.8,-18.8,186,4485,1.05,0.00,336.62,0.750,10246,0.119,0.000,2753,1988,2375,2535,2215,0,0,0,0,0,0,26.33,28.83,24.46
$STATE,4487,end apogee,CONTROL_FINISHED_OK
$STATE,4487,begin climb
$GC,4489,1.25,219.0,2753,1988,2529,2206,992.6,0.0,197,4827,1.27,2.22,322.83,0.736,10756,0.047,0.037,3239,638,1476,1579,1373,0,0,0,0,0,0,25.25,24.98,24.34
$GC,4916,1.25,219.0,3239,639,1561,1358,925.4,24.9,211,4922,0.00,2.12,0.00,0.000,1030,0.000,0.031,3240,2011,1459,1561,1357,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5250,1.25,219.0,3239,2011,1554,1354,837.5,26.5,222,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2011,1455,1556,1354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5550,1.25,219.0,3239,2011,1553,1351,763.2,23.5,232,5556,0.00,2.20,0.00,0.000,260,0.000,0.047,3240,3413,1452,1553,1351,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5610,1.25,219.0,3239,3415,1554,1351,754.9,23.6,233,5619,0.12,2.08,0.00,0.000,5126,0.179,0.029,3220,2020,1452,1553,1351,0,0,0,0,0,0,26.17,26.43,28.83
$GC,5917,1.25,219.0,3220,2020,1552,1348,685.0,20.1,244,5923,0.00,2.15,0.00,0.000,516,0.000,0.040,3231,610,1450,1552,1348,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6055,1.25,219.0,3231,611,1552,1345,658.5,20.9,248,6061,0.00,2.08,0.00,0.000,1030,0.000,0.031,3231,2003,1449,1551,1348,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6365,1.25,219.0,3231,2003,1550,1346,589.5,21.9,259,6371,0.00,2.17,0.00,0.000,260,0.000,0.047,3231,3402,1448,1551,1346,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6431,1.25,219.0,3231,3402,1551,1346,574.2,23.0,262,6437,0.00,2.08,0.00,0.000,1030,0.000,0.029,3242,2002,1448,1550,1346,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6756,1.25,219.0,3242,2001,1549,1345,502.2,22.4,278,6762,0.00,2.12,0.00,0.000,516,0.000,0.041,3254,608,1447,1549,1345,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6862,1.25,219.0,3253,608,1548,1345,479.4,21.0,283,6868,0.12,2.08,0.00,0.000,5126,0.173,0.031,3222,2000,1446,1548,1345,0,0,0,0,0,0,26.34,26.59,28.83
$GC,7189,1.25,219.0,3221,2001,1548,1343,417.7,20.3,299,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2001,1445,1548,1343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7487,1.25,219.0,3222,2001,1547,1343,363.7,17.1,314,7493,0.00,2.17,0.00,0.000,260,0.000,0.046,3222,3411,1445,1547,1343,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7542,1.25,219.0,3221,3411,1547,1343,355.5,17.7,316,7548,0.00,2.08,0.00,0.000,1030,0.000,0.029,3233,1996,1445,1547,1343,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7856,1.25,219.0,3232,1996,1547,1342,293.1,19.1,332,7862,0.00,2.10,0.00,0.000,516,0.000,0.039,3244,609,1444,1547,1342,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7946,1.25,219.0,3244,609,1547,1342,277.1,18.3,336,7952,0.00,2.05,0.00,0.000,1030,0.000,0.031,3244,2001,1444,1548,1341,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8267,1.25,219.0,3243,2001,1547,1341,217.4,18.9,352,8273,0.00,2.17,0.00,0.000,260,0.000,0.045,3244,3412,1444,1548,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8382,1.25,219.0,3243,3412,1548,1341,195.4,20.5,357,8389,0.12,2.10,0.00,0.000,5126,0.172,0.029,3224,1991,1444,1547,1342,0,0,0,0,0,0,26.36,26.65,28.83
$GC,8699,1.25,219.0,3223,1991,1547,1342,142.8,16.1,373,8704,0.00,2.17,0.00,0.000,260,0.000,0.044,3223,3402,1444,1547,1342,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8745,1.25,219.0,3221,3402,1547,1342,136.2,15.0,375,8751,0.00,2.05,0.00,0.000,1030,0.000,0.028,3235,1998,1445,1548,1342,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9071,1.25,219.0,3234,1997,1547,1342,88.8,13.4,391,9077,0.00,2.10,0.00,0.000,516,0.000,0.039,3245,612,1444,1547,1342,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9192,1.25,219.0,3245,611,1547,1341,72.8,15.0,396,9200,0.00,2.05,0.00,0.000,1030,0.000,0.030,3246,2006,1444,1547,1342,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9498,1.25,219.0,3245,2006,1548,1342,28.4,12.0,420,9504,0.00,2.15,0.00,0.000,260,0.000,0.046,3246,3402,1443,1545,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9544,1.25,219.0,2256,3400,1517,1338,22.0,13.7,425,9553,0.12,2.05,0.00,0.000,5126,0.162,0.028,3223,1998,1444,1548,1341,0,0,0,0,0,0,26.40,26.66,28.83
$STATE,9698,end climb,SURFACE_DEPTH_REACHED
$STATE,9698,begin surface coast
$FINISH,0.3,1.023285
$STATE,9726,end surface coast,CONTROL_FINISHED_OK
$STATE,9726,begin surface
$SM_CCo,9744,83.68,0.058,0,0,748,400.08
$SM_GC,1.31,7.78,0.77,83.68,0.028,0.046,0.058,135,2502,748,-8.29,-1.16,400.08,0,0,0,0,0,0,26.64,26.61,26.44
$IRIDIUM_FIX,2155.06,12313.03,260313,030346
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.99
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3956256
$24V_AH,24.3,29.513
$10V_AH,10.2,20.725
$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,19.775,83.075,659.450,83.675,0.000,0.000,0.000,201.725,0.000,0.000,17.025,1869.162,5767.392,743.869,1511.664,285.584,0.000,1732.269,0.000,1229.353,0.000,0.537,0.000
$DEVICE_MAMPS,221.850,55.080,750.465,58.140,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9725.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.952,0.000,0.000,0.000
$MEM,329760
$DATA_FILE_SIZE,16758,459
$CAP_FILE_SIZE,257805,0
$CFSIZE,260034560,232910848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260313,090327,2205.343,12317.409,14,2.3,34,-2.9