version: 66.11
glider: 171
mission: 4
dive: 207
start: 3 26 113 23 37 52
data:
$ID,171
$MISSION,4
$DIVE,207
$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,-20778.01
$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,62
$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
$GPS1,260313,233045,2205.669,12311.449,12,3.7,32,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.7
$GPS2,260313,233729,2205.720,12311.548,52,1.3,62,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2207.595,12300.067
$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,5491
$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,-219.0,126,2500,836,663,0.0,0.0,0,86,0.00,0.00,-65.07,0.000,16386,0.000,0.000,126,2498,2620,2685,2556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.25,-219.0,126,2500,2688,2557,3.7,-6.4,9,120,8.82,2.12,-11.30,0.000,18948,0.219,0.044,2412,1105,3277,3345,3210,0,0,0,0,0,0,25.84,26.33,26.64
$GC,287,-1.25,-219.0,2411,1105,3349,3210,72.4,-32.0,27,293,0.00,2.12,0.00,0.000,1030,0.000,0.040,2402,2493,3279,3349,3210,0,0,0,0,0,0,28.83,26.34,28.83
$GC,606,-1.25,-219.0,2402,2493,3351,3210,172.1,-29.5,43,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2493,3280,3351,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,907,-1.25,-219.0,2402,2493,3354,3210,263.0,-29.1,58,912,0.00,1.83,0.00,0.000,260,0.000,0.055,2393,3673,3282,3354,3210,0,0,0,0,0,0,28.83,26.48,28.83
$GC,939,-1.25,-219.0,2392,3673,3354,3210,270.5,-29.3,59,945,0.00,1.67,0.00,0.000,1030,0.000,0.024,2393,2496,3281,3354,3209,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1254,-1.25,-219.0,2392,2494,3355,3210,363.2,-28.0,75,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2495,3282,3355,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1553,-1.25,-219.0,2392,2495,3355,3210,443.4,-26.1,90,1559,0.00,1.83,0.00,0.000,260,0.000,0.054,2384,3672,3284,3358,3210,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1613,-1.25,-219.0,2384,3673,3355,3208,455.4,-26.7,92,1621,0.12,1.67,0.00,0.000,3078,0.159,0.024,2417,2484,3282,3354,3210,0,0,0,0,0,0,26.39,26.69,28.83
$GC,1919,-1.25,-219.0,2416,2484,3354,3209,532.2,-23.0,108,1924,0.00,2.00,0.00,0.000,516,0.000,0.028,2417,1109,3282,3355,3210,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1968,-1.25,-219.0,2417,1108,3355,3210,541.9,-22.4,110,1973,0.00,2.10,0.00,0.000,1030,0.000,0.039,2407,2501,3282,3355,3209,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2276,-1.25,-219.0,2406,2501,3355,3210,609.1,-21.7,125,2282,0.00,1.83,0.00,0.000,260,0.000,0.055,2397,3679,3282,3355,3210,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2334,-1.25,-219.0,2397,3680,3354,3209,616.9,-22.2,126,2342,0.00,1.67,0.00,0.000,1030,0.000,0.024,2398,2492,3282,3355,3209,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2642,-1.25,-219.0,2397,2491,3354,3210,689.7,-21.0,137,2648,0.00,1.85,0.00,0.000,260,0.000,0.054,2389,3678,3282,3354,3210,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2690,-1.25,-219.0,2388,3679,3354,3210,697.0,-20.8,138,2696,0.12,1.67,0.00,0.000,3078,0.154,0.025,2422,2496,3282,3354,3210,0,0,0,0,0,0,26.43,26.72,28.83
$GC,3010,-1.25,-219.0,2422,2494,3354,3207,758.9,-18.2,149,3015,0.00,2.03,0.00,0.000,516,0.000,0.029,2422,1109,3280,3354,3206,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3062,-1.25,-219.0,2422,1109,3354,3207,764.8,-18.1,150,3068,0.00,2.12,0.00,0.000,1030,0.000,0.039,2412,2505,3280,3354,3206,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3378,-1.25,-219.0,2411,2505,3354,3202,824.9,-17.9,161,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2508,3278,3354,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3677,-1.25,-219.0,2411,2505,3354,3197,878.8,-17.9,171,3683,0.00,1.83,0.00,0.000,260,0.000,0.056,2403,3676,3275,3354,3197,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3724,-1.25,-219.0,1512,3674,3338,3192,885.1,-18.0,172,3730,0.00,1.73,0.00,0.000,1030,0.000,0.027,2403,2502,3275,3354,3196,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4043,-1.25,-219.0,2402,2500,3354,3191,947.3,-18.9,183,4049,0.00,2.05,0.00,0.000,516,0.000,0.030,2403,1108,3272,3354,3191,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4087,-1.25,-219.0,2402,1109,3354,3191,953.9,-19.1,184,4094,0.00,2.12,0.00,0.000,1030,0.000,0.041,2392,2501,3271,3352,3190,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,4171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4171,begin apogee
$GC,4177,-0.20,0.0,2392,1995,3354,3189,972.8,-19.7,187,4523,1.08,0.00,334.08,0.749,10246,0.122,0.000,2748,1994,2375,2536,2215,0,0,0,0,0,0,26.29,28.83,24.46
$STATE,4524,end apogee,CONTROL_FINISHED_OK
$STATE,4524,begin climb
$GC,4526,1.25,219.0,2748,1994,2530,2207,998.0,0.0,198,4773,1.30,0.00,235.85,0.889,10758,0.049,0.000,3230,1993,1473,1577,1370,0,0,0,0,0,0,25.23,28.83,24.11
$GC,5072,1.25,219.0,3230,1993,1551,1347,903.5,24.2,217,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1993,1449,1551,1347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5372,1.25,219.0,3230,1993,1549,1345,828.1,25.2,227,5378,0.00,2.25,0.00,0.000,260,0.000,0.047,3231,3421,1447,1549,1345,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5400,1.25,219.0,3231,3420,1548,1345,828.1,25.2,227,5408,0.00,2.10,0.00,0.000,1030,0.000,0.028,3242,2014,1446,1548,1345,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5708,1.25,219.0,3241,2014,1547,1344,742.7,25.2,238,5713,0.00,2.20,0.00,0.000,260,0.000,0.046,3241,3419,1445,1547,1344,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5736,1.25,219.0,3242,3419,1547,1347,742.7,25.2,238,5744,0.12,2.12,0.00,0.000,5126,0.177,0.028,3223,1990,1445,1547,1343,0,0,0,0,0,0,26.21,26.48,28.83
$GC,6043,1.25,219.0,3222,1989,1546,1341,667.3,22.3,249,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1989,1443,1546,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6342,1.25,219.0,3222,1989,1544,1341,598.9,22.6,259,6348,0.00,2.10,0.00,0.000,516,0.000,0.039,3233,607,1442,1545,1340,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6408,1.25,219.0,3232,607,1544,1340,584.5,21.6,262,6414,0.00,2.10,0.00,0.000,1030,0.000,0.031,3233,2012,1442,1544,1341,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6734,1.25,219.0,3232,2012,1543,1338,520.6,19.5,278,6740,0.00,2.15,0.00,0.000,260,0.000,0.047,3233,3402,1440,1543,1338,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6840,1.25,219.0,2256,3400,1512,1335,495.2,24.1,283,6846,0.00,2.10,0.00,0.000,1030,0.000,0.029,3244,1992,1439,1541,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7166,1.25,219.0,3244,1992,1540,1336,423.2,23.0,299,7171,0.00,2.10,0.00,0.000,516,0.000,0.039,3256,607,1438,1540,1336,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7232,1.25,219.0,3255,607,1540,1336,408.1,22.5,302,7238,0.12,2.10,0.00,0.000,5126,0.173,0.031,3224,2013,1438,1540,1336,0,0,0,0,0,0,26.33,26.60,28.83
$GC,7558,1.25,219.0,3223,2013,1540,1336,347.6,16.9,318,7563,0.00,2.15,0.00,0.000,516,0.000,0.040,3235,606,1438,1540,1336,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7591,1.25,219.0,3234,606,1540,1336,343.4,16.7,319,7597,0.00,2.08,0.00,0.000,1030,0.000,0.031,3235,2006,1437,1539,1336,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7905,1.25,219.0,3234,2006,1540,1336,283.4,18.9,335,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2006,1438,1540,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8205,1.25,219.0,3232,2006,1540,1336,225.0,19.4,350,8211,0.00,2.15,0.00,0.000,260,0.000,0.045,3235,3405,1438,1540,1336,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8238,1.25,219.0,3234,3405,1540,1336,220.4,19.2,351,8244,0.00,2.08,0.00,0.000,1030,0.000,0.028,3246,1992,1437,1540,1335,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8552,1.25,219.0,3246,1992,1540,1336,163.9,17.5,367,8553,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1992,1438,1540,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8852,1.25,219.0,3246,1992,1540,1336,116.7,15.3,382,8858,0.00,2.17,0.00,0.000,260,0.000,0.045,3246,3402,1438,1540,1336,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9090,1.25,219.0,3246,3402,1540,1336,80.0,16.8,393,9096,0.12,2.05,0.00,0.000,5126,0.164,0.028,3225,1994,1439,1544,1335,0,0,0,0,0,0,26.38,26.65,28.83
$GC,9404,1.25,219.0,3225,1994,1541,1336,36.0,12.6,414,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1994,1438,1541,1336,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9672,end climb,SURFACE_DEPTH_REACHED
$STATE,9672,begin surface coast
$FINISH,0.5,1.010868
$STATE,9701,end surface coast,CONTROL_FINISHED_OK
$STATE,9701,begin surface
$SM_CCo,9719,83.45,0.059,0,0,748,400.08
$SM_GC,1.28,7.78,0.77,83.45,0.027,0.046,0.059,131,2495,748,-8.30,-1.30,400.08,0,0,0,0,0,0,26.66,26.60,26.44
$IRIDIUM_FIX,2155.06,12313.03,260313,202029
$TT8_MAMPS,0.047187,0.047187
$HUMID,45.51
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3954336
$24V_AH,24.1,30.348
$10V_AH,10.3,21.205
$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,19.600,69.725,569.925,83.450,0.000,0.000,0.000,205.925,0.000,0.000,63.515,1768.534,6049.800,683.055,1425.458,272.802,0.000,1582.924,0.000,1103.508,0.000,0.538,0.000
$DEVICE_MAMPS,218.790,55.845,888.930,58.905,0.000,0.000,0.000,121.635,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9694.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.000,0.000,0.000,0.000
$MEM,329792
$DATA_FILE_SIZE,16725,462
$CAP_FILE_SIZE,242512,0
$CFSIZE,260034560,232386560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,270313,022235,2205.765,12310.108,40,0.9,41,-2.9