version: 66.11
glider: 171
mission: 4
dive: 203
start: 3 26 113 12 6 37
data:
$ID,171
$MISSION,4
$DIVE,203
$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,-20772.691
$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,43
$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
$GPS1,260313,115729,2205.294,12316.241,36,1.0,42,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-67.9
$GPS2,260313,120613,2205.299,12316.453,14,1.2,14,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2207.174,12304.974
$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,5310
$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,-219.0,126,2511,847,663,0.0,0.0,0,85,0.00,0.00,-65.03,0.000,16386,0.000,0.000,126,2511,2611,2676,2546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.25,-219.0,126,2511,2678,2546,3.9,-6.8,9,119,8.88,1.88,-11.48,0.000,18692,0.220,0.070,2403,3661,3277,3346,3208,0,0,0,0,0,0,25.79,26.20,26.58
$GC,352,-1.25,-219.0,2402,3661,3347,3208,97.5,-32.7,30,358,0.00,1.70,0.00,0.000,1030,0.000,0.025,2403,2481,3278,3348,3208,0,0,0,0,0,0,28.83,26.46,28.83
$GC,666,-1.25,-219.0,2403,2479,3349,3209,197.0,-30.1,46,672,0.00,1.88,0.00,0.000,260,0.000,0.054,2394,3675,3278,3349,3208,0,0,0,0,0,0,28.83,26.44,28.83
$GC,781,-1.25,-219.0,2394,3675,3350,3209,230.1,-31.0,51,787,0.00,1.73,0.00,0.000,1030,0.000,0.024,2394,2499,3279,3350,3208,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1096,-1.25,-219.0,2393,2498,3350,3209,323.0,-27.6,67,1101,0.00,1.80,0.00,0.000,260,0.000,0.054,2385,3656,3279,3350,3209,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1141,-1.25,-219.0,2385,3656,3350,3209,335.5,-27.7,69,1148,0.08,1.70,0.00,0.000,3078,0.143,0.024,2411,2489,3279,3350,3208,0,0,0,0,0,0,26.37,26.65,28.83
$GC,1467,-1.25,-219.0,2410,2487,3351,3208,417.3,-24.1,85,1473,0.00,2.03,0.00,0.000,516,0.000,0.031,2411,1102,3279,3351,3208,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1507,-1.25,-219.0,2411,1102,3351,3209,423.3,-23.8,86,1515,0.00,2.10,0.00,0.000,1030,0.000,0.040,2401,2484,3281,3353,3209,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1812,-1.25,-219.0,2401,2484,3351,3209,502.2,-23.5,102,1817,0.00,1.85,0.00,0.000,260,0.000,0.054,2392,3681,3279,3351,3208,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1851,-1.25,-219.0,2391,3681,3351,3208,507.9,-23.0,103,1859,0.00,1.67,0.00,0.000,1030,0.000,0.024,2392,2498,3279,3350,3209,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2156,-1.25,-219.0,2391,2496,3351,3209,582.3,-24.1,119,2162,0.00,2.03,0.00,0.000,516,0.000,0.030,2392,1109,3279,3350,3208,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2184,-1.25,-219.0,2391,1109,3351,3208,588.0,-24.2,120,2190,0.15,2.12,0.00,0.000,3078,0.160,0.040,2421,2508,3280,3351,3209,0,0,0,0,0,0,26.37,26.58,28.83
$GC,2513,-1.25,-219.0,2421,2508,3350,3208,656.7,-20.6,132,2519,0.00,1.80,0.00,0.000,260,0.000,0.054,2413,3673,3279,3350,3208,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2651,-1.25,-219.0,2413,3673,3350,3207,682.0,-20.3,136,2657,0.00,1.67,0.00,0.000,1030,0.000,0.024,2413,2491,3278,3350,3207,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2970,-1.25,-219.0,2414,2490,3350,3203,747.9,-20.0,147,2976,0.00,1.85,0.00,0.000,260,0.000,0.054,2404,3676,3276,3350,3202,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3015,-1.25,-219.0,2404,3676,3350,3202,754.8,-20.0,148,3021,0.00,1.67,0.00,0.000,1030,0.000,0.025,2404,2493,3276,3350,3202,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3339,-1.25,-219.0,2404,2493,3350,3198,821.5,-19.9,159,3345,0.00,2.03,0.00,0.000,516,0.000,0.028,2404,1109,3273,3350,3197,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3404,-1.25,-219.0,2404,1109,3350,3197,833.7,-19.3,161,3410,0.00,2.12,0.00,0.000,1030,0.000,0.040,2394,2502,3273,3350,3196,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3738,-1.25,-219.0,2393,2502,3350,3191,898.2,-19.5,172,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2502,3271,3351,3191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4038,-1.25,-219.0,2393,2502,3350,3186,958.9,-20.3,182,4044,0.00,1.85,0.00,0.000,260,0.000,0.056,2384,3686,3268,3350,3186,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,4101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4101,begin apogee
$GC,4109,-0.20,0.0,2384,2010,3349,3185,972.5,-20.3,184,4458,1.10,0.00,337.62,0.745,10246,0.123,0.000,2748,2008,2372,2533,2212,0,0,0,0,0,0,26.31,28.83,24.47
$STATE,4459,end apogee,CONTROL_FINISHED_OK
$STATE,4460,begin climb
$GC,4462,1.25,219.0,2748,2008,2530,2207,995.8,0.0,195,4704,1.30,0.00,235.12,0.891,10246,0.048,0.000,3232,2007,1480,1583,1377,0,0,0,0,0,0,25.25,28.83,24.15
$GC,5003,1.25,219.0,3232,2007,1553,1349,896.0,24.3,214,5009,0.00,2.25,0.00,0.000,260,0.000,0.047,3232,3421,1451,1553,1349,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5086,1.25,219.0,3232,3421,1552,1351,879.2,25.3,216,5092,0.00,2.12,0.00,0.000,1030,0.000,0.026,3244,2003,1451,1553,1349,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5402,1.25,219.0,3244,2003,1551,1346,798.9,23.1,227,5407,0.00,2.22,0.00,0.000,260,0.000,0.046,3243,3420,1448,1551,1346,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5436,1.25,219.0,3244,3419,1551,1346,790.5,23.0,228,5443,0.12,2.12,0.00,0.000,5126,0.178,0.028,3225,1997,1448,1551,1346,0,0,0,0,0,0,26.16,26.41,28.83
$GC,5771,1.25,219.0,3224,1997,1549,1344,717.6,21.7,239,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1997,1445,1546,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6071,1.25,219.0,3224,1997,1546,1342,653.2,20.4,249,6077,0.00,2.22,0.00,0.000,260,0.000,0.047,3225,3416,1444,1547,1342,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6160,1.25,219.0,3224,3417,1547,1342,639.5,20.6,251,6169,0.00,2.10,0.00,0.000,1030,0.000,0.030,3236,2007,1444,1547,1342,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6467,1.25,219.0,3235,2007,1547,1341,573.9,20.1,264,6472,0.00,2.20,0.00,0.000,260,0.000,0.047,3236,3417,1444,1547,1341,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6567,1.25,219.0,3235,3416,1546,1341,555.5,21.7,268,6575,0.00,2.10,0.00,0.000,1030,0.000,0.029,3247,1995,1443,1546,1341,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6873,1.25,219.0,3247,1997,1545,1338,486.6,21.7,284,6879,0.00,2.10,0.00,0.000,516,0.000,0.041,3259,611,1442,1545,1339,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6975,1.25,219.0,3258,611,1545,1339,468.6,20.8,288,6984,0.15,2.10,0.00,0.000,5126,0.165,0.031,3218,2024,1442,1545,1339,0,0,0,0,0,0,26.32,26.59,28.83
$GC,7279,1.25,219.0,3218,2023,1545,1338,408.3,18.1,304,7285,0.00,2.15,0.00,0.000,516,0.000,0.039,3229,610,1441,1545,1338,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7365,1.25,219.0,3229,610,1545,1338,393.5,17.2,308,7371,0.00,2.08,0.00,0.000,1030,0.000,0.031,3229,2002,1441,1545,1337,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7690,1.25,219.0,3229,2002,1544,1342,333.7,18.2,324,7697,0.00,2.17,0.00,0.000,260,0.000,0.046,3229,3403,1440,1544,1337,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7787,1.25,219.0,3229,3403,1544,1338,315.5,20.8,328,7793,0.00,2.08,0.00,0.000,1030,0.000,0.029,3241,1995,1440,1544,1337,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8101,1.25,219.0,3240,1994,1544,1337,256.0,18.0,344,8107,0.00,2.17,0.00,0.000,260,0.000,0.044,3242,3402,1440,1544,1337,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8134,1.25,219.0,3240,3402,1544,1338,251.5,18.3,345,8141,0.12,2.08,0.00,0.000,5126,0.171,0.028,3220,1989,1440,1544,1337,0,0,0,0,0,0,26.36,26.65,28.83
$GC,8450,1.25,219.0,3220,1989,1543,1341,198.3,15.6,361,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1989,1440,1544,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8749,1.25,219.0,3220,1989,1544,1338,149.3,16.1,376,8754,0.00,2.08,0.00,0.000,516,0.000,0.039,3230,611,1440,1544,1337,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8788,1.25,219.0,3230,611,1544,1337,145.3,16.4,377,8796,0.00,2.05,0.00,0.000,1030,0.000,0.030,3230,2001,1440,1544,1337,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9094,1.25,219.0,3230,2000,1544,1337,99.0,15.9,393,9100,0.00,2.15,0.00,0.000,260,0.000,0.045,3230,3412,1441,1545,1337,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9316,1.25,219.0,3230,3412,1545,1338,65.3,16.1,403,9324,0.00,2.08,0.00,0.000,1030,0.000,0.028,3242,1993,1441,1545,1337,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9623,1.25,219.0,2208,1991,1512,1334,20.6,13.7,432,9631,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1992,1441,1546,1337,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9750,end climb,SURFACE_DEPTH_REACHED
$STATE,9750,begin surface coast
$FINISH,0.4,1.023320
$STATE,9774,end surface coast,CONTROL_FINISHED_OK
$STATE,9774,begin surface
$SM_CCo,9791,83.22,0.060,0,0,747,400.08
$SM_GC,1.40,7.93,0.77,83.22,0.034,0.045,0.060,117,2495,747,-8.31,-1.30,400.08,0,0,0,0,0,0,26.67,26.60,26.43
$IRIDIUM_FIX,2157.39,12321.41,260313,111157
$TT8_MAMPS,0.048685,0.048685
$HUMID,45.47
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3955616
$24V_AH,24.1,29.798
$10V_AH,10.3,20.888
$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,19.825,81.400,572.750,83.225,0.000,0.000,0.000,313.800,0.000,0.000,15.587,1899.709,5899.560,746.659,1563.319,284.860,0.000,1775.106,0.000,1189.627,0.000,0.538,0.000
$DEVICE_MAMPS,219.555,70.380,891.225,59.670,0.000,0.000,0.000,115.515,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9773.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.929,0.000,0.000,0.000
$MEM,329768
$DATA_FILE_SIZE,16822,460
$CAP_FILE_SIZE,254787,0
$CFSIZE,260034560,232734720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260313,145230,2205.267,12315.224,37,1.8,38,-2.9