version: 66.11
glider: 171
mission: 4
dive: 204
start: 3 26 113 14 58 52
data:
$ID,171
$MISSION,4
$DIVE,204
$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,-20774.045
$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,57
$R_STBD_OVSHOOT,37
$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
$GPS1,260313,145230,2205.267,12315.224,37,1.8,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.2
$GPS2,260313,145827,2205.212,12315.366,12,3.8,31,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2207.087,12303.887
$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,5391
$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,16,begin dive
$GC,18,-1.25,-219.0,114,2496,833,663,0.0,0.0,0,85,0.00,0.00,-64.75,0.000,16386,0.000,0.000,114,2497,2593,2658,2528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.25,-219.0,114,2497,2661,2528,3.9,-6.8,9,119,8.85,2.15,-11.75,0.000,18948,0.218,0.045,2411,1093,3276,3345,3208,0,0,0,0,0,0,25.84,26.33,26.63
$GC,262,-1.25,-219.0,2408,1093,3348,3208,65.7,-30.8,26,268,0.00,2.15,0.00,0.000,1030,0.000,0.039,2401,2497,3278,3348,3208,0,0,0,0,0,0,28.83,26.34,28.83
$GC,588,-1.25,-219.0,2401,2498,3350,3208,167.4,-30.0,42,593,0.00,1.83,0.00,0.000,260,0.000,0.054,2392,3674,3279,3351,3207,0,0,0,0,0,0,28.83,26.43,28.83
$GC,662,-1.25,-219.0,2392,3674,3351,3208,188.1,-31.0,45,668,0.00,1.70,0.00,0.000,1030,0.000,0.024,2392,2486,3279,3351,3208,0,0,0,0,0,0,28.83,26.58,28.83
$GC,976,-1.25,-219.0,2392,2485,3354,3208,282.7,-28.7,61,982,0.00,1.88,0.00,0.000,260,0.000,0.055,2383,3678,3281,3354,3208,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1056,-1.25,-219.0,2383,3678,3354,3208,302.0,-29.3,64,1064,0.12,1.67,0.00,0.000,3078,0.160,0.024,2415,2491,3281,3354,3208,0,0,0,0,0,0,26.36,26.65,28.83
$GC,1363,-1.25,-219.0,2415,2489,3354,3208,383.9,-24.1,80,1369,0.00,1.85,0.00,0.000,260,0.000,0.054,2407,3679,3281,3354,3208,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1417,-1.25,-219.0,2406,3678,3355,3208,395.0,-24.3,82,1423,0.00,1.67,0.00,0.000,1030,0.000,0.024,2407,2496,3281,3355,3208,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1731,-1.25,-219.0,2407,2495,3355,3208,471.4,-22.8,98,1737,0.00,2.03,0.00,0.000,516,0.000,0.028,2406,1109,3281,3355,3208,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1758,-1.25,-219.0,2406,1110,3354,3208,477.4,-23.3,99,1764,0.00,2.12,0.00,0.000,1030,0.000,0.038,2396,2504,3281,3355,3208,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2079,-1.25,-219.0,2395,2504,3355,3208,552.8,-22.0,115,2085,0.00,2.05,0.00,0.000,516,0.000,0.028,2396,1104,3281,3355,3208,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2134,-1.25,-219.0,2396,1103,3354,3208,562.6,-21.4,117,2141,0.12,2.12,0.00,0.000,3078,0.165,0.039,2418,2504,3281,3355,3208,0,0,0,0,0,0,26.39,26.58,28.83
$GC,2459,-1.25,-219.0,2417,2504,3354,3208,632.1,-21.0,131,2465,0.00,1.80,0.00,0.000,260,0.000,0.054,2409,3674,3281,3354,3208,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2659,-1.25,-219.0,2409,3674,3354,3208,671.7,-21.2,137,2665,0.00,1.67,0.00,0.000,1030,0.000,0.024,2409,2489,3281,3355,3208,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2978,-1.25,-219.0,2409,2488,3353,3206,737.3,-19.4,148,2984,0.00,1.85,0.00,0.000,260,0.000,0.054,2400,3677,3278,3351,3206,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3031,-1.25,-219.0,2400,3677,3354,3205,744.3,-19.6,149,3037,0.00,1.67,0.00,0.000,1030,0.000,0.025,2400,2494,3279,3354,3205,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3346,-1.25,-219.0,2400,2493,3354,3201,809.4,-19.4,160,3352,0.00,2.03,0.00,0.000,516,0.000,0.029,2401,1109,3277,3354,3200,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3414,-1.25,-219.0,2400,1109,3354,3200,822.4,-19.9,162,3419,0.00,2.12,0.00,0.000,1030,0.000,0.040,2390,2503,3276,3354,3199,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3743,-1.25,-219.0,2389,2503,3354,3195,890.3,-20.8,173,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2503,3274,3354,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4043,-1.25,-219.0,2389,2505,3354,3191,953.3,-21.1,183,4049,0.00,1.83,0.00,0.000,260,0.000,0.055,2381,3671,3272,3354,3190,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4090,-1.25,-219.0,1488,3670,3337,3185,960.6,-21.0,184,4097,0.12,1.67,0.00,0.000,3078,0.153,0.027,2414,2501,3272,3354,3190,0,0,0,0,0,0,26.44,26.73,28.83
$STATE,4138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4138,begin apogee
$GC,4146,-0.20,0.0,2414,1991,3353,3189,972.6,-20.1,186,4495,1.00,0.00,338.83,0.747,10246,0.115,0.000,2753,1988,2373,2534,2213,0,0,0,0,0,0,26.34,28.83,24.47
$STATE,4497,end apogee,CONTROL_FINISHED_OK
$STATE,4497,begin climb
$GC,4499,1.25,219.0,2751,1988,2531,2208,995.4,0.0,197,4743,1.27,0.00,235.40,0.894,10758,0.047,0.000,3228,1988,1480,1584,1377,0,0,0,0,0,0,25.22,28.83,24.12
$GC,5040,1.25,219.0,3227,1988,1552,1345,895.8,24.3,216,5046,0.00,2.28,0.00,0.000,260,0.000,0.047,3228,3421,1451,1556,1347,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5088,1.25,219.0,2272,3419,1523,1344,886.9,24.8,217,5094,0.00,2.10,0.00,0.000,1030,0.000,0.027,3239,2016,1449,1552,1347,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5407,1.25,219.0,3239,2016,1549,1345,808.3,22.4,228,5413,0.00,2.15,0.00,0.000,516,0.000,0.037,3250,608,1446,1547,1345,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5442,1.25,219.0,3250,609,1549,1345,800.3,22.4,229,5448,0.12,2.12,0.00,0.000,5126,0.177,0.031,3220,2020,1447,1549,1345,0,0,0,0,0,0,26.13,26.38,28.83
$GC,5777,1.25,219.0,3219,2020,1547,1343,729.0,20.8,240,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2020,1445,1547,1343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6076,1.25,219.0,3219,2021,1546,1342,664.6,21.0,250,6083,0.00,2.15,0.00,0.000,260,0.000,0.047,3219,3405,1444,1547,1341,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6130,1.25,219.0,3219,3405,1547,1342,656.8,21.5,251,6136,0.00,2.10,0.00,0.000,1030,0.000,0.030,3231,1991,1444,1546,1342,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6444,1.25,219.0,3230,1991,1545,1340,586.9,20.4,263,6450,0.00,2.20,0.00,0.000,260,0.000,0.047,3231,3403,1442,1545,1340,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6510,1.25,219.0,3230,3403,1545,1341,572.4,21.5,266,6516,0.00,2.10,0.00,0.000,1030,0.000,0.029,3242,1994,1442,1545,1340,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6836,1.25,219.0,3242,1994,1544,1338,503.3,21.1,282,6842,0.00,2.10,0.00,0.000,516,0.000,0.040,3253,608,1441,1544,1339,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6996,1.25,219.0,3253,609,1542,1338,472.5,21.5,289,7005,0.12,2.08,0.00,0.000,5126,0.170,0.031,3224,2006,1440,1543,1338,0,0,0,0,0,0,26.34,26.59,28.83
$GC,7303,1.25,219.0,3221,2005,1542,1337,407.7,20.0,305,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2006,1440,1543,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7602,1.25,219.0,3221,2004,1542,1337,350.5,18.7,320,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2006,1439,1542,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7903,1.25,219.0,3221,2006,1542,1337,296.6,18.1,335,7909,0.00,2.15,0.00,0.000,260,0.000,0.046,3221,3405,1439,1542,1337,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8030,1.25,219.0,3221,3405,1541,1340,272.9,18.6,341,8036,0.00,2.08,0.00,0.000,1030,0.000,0.029,3232,1997,1439,1542,1337,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8355,1.25,219.0,3232,1997,1542,1337,217.6,17.2,357,8361,0.00,2.10,0.00,0.000,516,0.000,0.040,3243,609,1439,1542,1337,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8394,1.25,219.0,3243,608,1542,1337,213.4,17.1,358,8402,0.00,2.05,0.00,0.000,1030,0.000,0.030,3243,1999,1439,1542,1337,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8699,1.25,219.0,3243,1999,1542,1337,159.2,17.2,374,8705,0.00,2.15,0.00,0.000,260,0.000,0.045,3243,3401,1439,1542,1336,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8774,1.25,219.0,3246,3401,1542,1337,147.2,17.8,377,8781,0.12,2.05,0.00,0.000,5126,0.166,0.028,3222,1995,1439,1542,1337,0,0,0,0,0,0,26.38,26.65,28.83
$GC,9091,1.25,219.0,3222,1995,1542,1337,102.1,13.7,393,9092,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1995,1439,1542,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9389,1.25,219.0,3222,1995,1543,1337,59.1,13.9,408,9395,0.00,2.17,0.00,0.000,260,0.000,0.045,3222,3405,1441,1546,1337,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9593,1.25,219.0,3222,3405,1545,1337,28.9,15.2,424,9601,0.00,2.05,0.00,0.000,1030,0.000,0.028,3234,2001,1441,1545,1337,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,9804,end climb,SURFACE_DEPTH_REACHED
$STATE,9804,begin surface coast
$FINISH,0.5,1.023359
$STATE,9832,end surface coast,CONTROL_FINISHED_OK
$STATE,9833,begin surface
$SM_CCo,9850,83.43,0.059,0,0,748,400.08
$SM_GC,1.26,7.93,0.75,83.43,0.035,0.045,0.059,127,2489,748,-8.30,-1.50,400.08,0,0,0,0,0,0,26.65,26.63,26.43
$IRIDIUM_FIX,2159.71,12302.70,260313,121258
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.88
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3955296
$24V_AH,24.1,29.936
$10V_AH,10.3,20.969
$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,19.800,77.500,574.225,83.425,0.000,0.000,0.000,190.950,0.000,0.000,33.373,1902.094,5919.409,708.769,1478.444,279.280,0.000,1630.642,0.000,1192.785,0.000,0.538,0.000
$DEVICE_MAMPS,218.025,55.080,893.520,58.905,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9829.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.928,0.000,0.000,0.000
$MEM,329760
$DATA_FILE_SIZE,16776,468
$CAP_FILE_SIZE,254746,0
$CFSIZE,260034560,232644608
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260313,174536,2205.326,12313.889,30,1.0,31,-2.9