version: 66.11
glider: 171
mission: 4
dive: 208
start: 3 27 113 2 29 9
data:
$ID,171
$MISSION,4
$DIVE,208
$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,-20779.363
$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,61
$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
$GPS1,270313,022235,2205.765,12310.108,40,0.9,41,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.2
$GPS2,270313,022844,2205.770,12310.233,13,1.4,14,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2207.645,12258.753
$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,5314
$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,-219.0,126,2497,840,661,0.0,0.0,0,86,0.00,0.00,-65.57,0.000,16386,0.000,0.000,126,2497,2619,2685,2553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.25,-219.0,126,2497,2687,2554,4.1,-7.0,9,120,8.82,2.15,-11.32,0.000,18948,0.218,0.045,2412,1093,3276,3345,3208,0,0,0,0,0,0,25.82,26.29,26.60
$GC,226,-1.25,-219.0,2412,1093,3347,3207,51.8,-30.9,24,232,0.00,2.15,0.00,0.000,1030,0.000,0.041,2402,2491,3278,3348,3208,0,0,0,0,0,0,28.83,26.29,28.83
$GC,545,-1.25,-219.0,2401,2491,3349,3208,156.9,-32.5,40,551,0.00,1.85,0.00,0.000,260,0.000,0.054,2393,3673,3278,3349,3208,0,0,0,0,0,0,28.83,26.41,28.83
$GC,614,-1.25,-219.0,2393,3673,3350,3208,177.9,-32.4,43,620,0.00,1.70,0.00,0.000,1030,0.000,0.024,2393,2484,3280,3350,3211,0,0,0,0,0,0,28.83,26.55,28.83
$GC,933,-1.25,-219.0,2392,2483,3352,3207,274.9,-28.3,59,939,0.00,1.85,0.00,0.000,260,0.000,0.053,2383,3674,3280,3352,3208,0,0,0,0,0,0,28.83,26.48,28.83
$GC,972,-1.25,-219.0,2384,3674,3352,3208,282.1,-28.8,60,981,0.12,1.67,0.00,0.000,3078,0.162,0.024,2416,2494,3280,3352,3208,0,0,0,0,0,0,26.35,26.63,28.83
$GC,1278,-1.25,-219.0,2416,2493,3354,3208,366.6,-25.6,76,1284,0.00,1.83,0.00,0.000,260,0.000,0.054,2407,3674,3281,3354,3208,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1327,-1.25,-219.0,2407,3674,3354,3208,377.8,-24.7,78,1333,0.00,1.67,0.00,0.000,1030,0.000,0.024,2407,2490,3280,3353,3208,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1647,-1.25,-219.0,2407,2489,3352,3208,462.0,-25.8,94,1653,0.00,1.85,0.00,0.000,260,0.000,0.053,2398,3680,3281,3354,3208,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1708,-1.25,-219.0,2398,3680,3351,3208,473.0,-24.7,96,1716,0.00,1.67,0.00,0.000,1030,0.000,0.024,2399,2495,3281,3354,3208,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2013,-1.25,-219.0,2398,2493,3354,3208,549.5,-24.8,112,2019,0.00,2.03,0.00,0.000,516,0.000,0.028,2398,1102,3281,3354,3208,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2031,-1.25,-219.0,2398,1102,3354,3208,549.5,-24.8,112,2040,0.12,2.12,0.00,0.000,3078,0.164,0.040,2420,2504,3281,3354,3208,0,0,0,0,0,0,26.37,26.57,28.83
$GC,2347,-1.25,-219.0,2420,2504,3354,3208,623.3,-21.6,127,2353,0.00,1.80,0.00,0.000,260,0.000,0.053,2412,3674,3281,3354,3208,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2381,-1.25,-219.0,2411,3674,3354,3208,630.5,-21.4,128,2387,0.00,1.67,0.00,0.000,1030,0.000,0.024,2412,2496,3281,3354,3208,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2716,-1.25,-219.0,2411,2495,3353,3208,699.0,-20.4,139,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2495,3280,3353,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3016,-1.25,-219.0,2411,2495,3353,3205,759.6,-20.3,149,3022,0.00,2.03,0.00,0.000,516,0.000,0.029,2412,1114,3277,3353,3202,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3060,-1.25,-219.0,2411,1114,3354,3205,766.5,-20.1,150,3066,0.00,2.12,0.00,0.000,1030,0.000,0.040,2401,2510,3279,3353,3205,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3385,-1.25,-219.0,2401,2507,3353,3200,836.3,-20.4,161,3391,0.00,1.83,0.00,0.000,260,0.000,0.056,2392,3676,3276,3353,3199,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3423,-1.25,-219.0,2392,3675,3353,3199,843.5,-20.2,162,3429,0.00,1.67,0.00,0.000,1030,0.000,0.027,2392,2499,3276,3354,3199,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3752,-1.25,-219.0,2391,2499,3353,3194,910.9,-19.9,173,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2499,3273,3353,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4052,-1.25,-219.0,2392,2498,3352,3189,969.4,-18.9,183,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2499,3270,3352,3189,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4080,begin apogee
$GC,4087,-0.20,0.0,2392,2005,3352,3188,975.2,-19.1,184,4431,1.08,0.00,333.83,0.750,10246,0.120,0.000,2749,2003,2377,2537,2217,0,0,0,0,0,0,26.32,28.83,24.44
$STATE,4433,end apogee,CONTROL_FINISHED_OK
$STATE,4433,begin climb
$GC,4435,1.25,219.0,2749,2003,2531,2207,997.7,0.0,195,4763,1.30,0.00,320.02,0.741,10758,0.047,0.000,3234,2003,1487,1590,1384,0,0,0,0,0,0,25.23,28.83,24.35
$GC,5042,1.25,219.0,3234,2003,1558,1354,891.5,23.9,216,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2003,1456,1558,1354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5343,1.25,219.0,3234,2003,1555,1351,819.3,23.8,226,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2003,1452,1555,1350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5643,1.25,219.0,3234,2003,1553,1348,751.3,22.1,236,5649,0.00,2.12,0.00,0.000,516,0.000,0.039,3245,612,1450,1553,1348,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5702,1.25,219.0,3245,612,1553,1348,743.3,22.2,237,5710,0.00,2.12,0.00,0.000,1030,0.000,0.032,3245,2023,1450,1553,1348,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6011,1.25,219.0,3245,2023,1551,1347,668.8,22.5,248,6017,0.00,2.15,0.00,0.000,260,0.000,0.047,3245,3408,1449,1552,1347,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6064,1.25,219.0,3245,3408,1551,1347,659.7,23.2,249,6070,0.12,2.10,0.00,0.000,5126,0.179,0.029,3226,1999,1449,1551,1347,0,0,0,0,0,0,26.27,26.54,28.83
$GC,6379,1.25,219.0,3226,1998,1550,1345,585.8,22.6,261,6385,0.00,2.12,0.00,0.000,516,0.000,0.041,3236,603,1447,1550,1345,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6484,1.25,219.0,3236,603,1550,1345,563.3,21.0,266,6491,0.00,2.10,0.00,0.000,1030,0.000,0.032,3236,2002,1447,1550,1345,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6810,1.25,219.0,3236,2002,1549,1343,497.2,21.3,282,6816,0.00,2.17,0.00,0.000,260,0.000,0.046,3237,3408,1446,1549,1343,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6843,1.25,219.0,3236,3408,1549,1344,491.9,21.0,283,6849,0.00,2.08,0.00,0.000,1030,0.000,0.029,3248,2003,1446,1549,1343,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7157,1.25,219.0,3248,2003,1547,1342,427.5,17.6,299,7163,0.00,2.12,0.00,0.000,516,0.000,0.039,3259,604,1445,1548,1342,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7175,1.25,219.0,3259,605,1547,1341,427.5,17.6,299,7184,0.15,2.08,0.00,0.000,5126,0.161,0.031,3219,2005,1445,1548,1342,0,0,0,0,0,0,26.32,26.59,28.83
$GC,7481,1.25,219.0,3219,2005,1547,1341,373.3,17.7,315,7487,0.00,2.12,0.00,0.000,516,0.000,0.039,3230,607,1445,1548,1343,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7514,1.25,219.0,3230,607,1547,1341,369.0,17.9,316,7520,0.00,2.08,0.00,0.000,1030,0.000,0.031,3230,2007,1444,1548,1341,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7828,1.25,219.0,3230,2007,1547,1341,310.0,17.7,332,7829,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2007,1444,1547,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8128,1.25,219.0,3230,2007,1547,1341,256.4,17.7,347,8134,0.00,2.15,0.00,0.000,260,0.000,0.046,3230,3405,1444,1548,1341,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8167,1.25,219.0,3230,3405,1547,1341,252.0,17.8,348,8176,0.00,2.08,0.00,0.000,1030,0.000,0.029,3241,1997,1444,1547,1341,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8473,1.25,219.0,3244,1996,1547,1341,193.5,18.1,364,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1996,1444,1547,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8772,1.25,219.0,3241,1996,1547,1341,146.1,13.3,379,8778,0.00,2.20,0.00,0.000,260,0.000,0.046,3241,3406,1443,1548,1339,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9001,1.25,219.0,3241,3406,1545,1341,106.6,17.5,390,9008,0.12,2.05,0.00,0.000,5126,0.165,0.029,3220,1997,1444,1548,1341,0,0,0,0,0,0,26.39,26.65,28.83
$GC,9328,1.25,219.0,3220,1997,1548,1341,60.1,14.3,406,9334,0.00,2.17,0.00,0.000,260,0.000,0.046,3220,3402,1444,1548,1341,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9460,1.25,219.0,3220,3402,1548,1341,39.8,14.8,415,9468,0.00,2.05,0.00,0.000,1030,0.000,0.028,3231,1997,1444,1548,1341,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,9761,end climb,SURFACE_DEPTH_REACHED
$STATE,9761,begin surface coast
$FINISH,0.5,1.023102
$STATE,9784,end surface coast,CONTROL_FINISHED_OK
$STATE,9784,begin surface
$SM_CCo,9802,83.72,0.060,0,0,747,400.08
$SM_GC,1.42,7.82,0.77,83.72,0.029,0.047,0.060,117,2498,747,-8.29,-1.24,400.08,0,0,0,0,0,0,26.67,26.60,26.42
$IRIDIUM_FIX,2155.06,12311.08,260313,232312
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.99
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3954016
$24V_AH,24.4,30.494
$10V_AH,10.3,21.284
$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,19.675,73.225,653.850,83.725,0.000,0.000,0.000,220.400,0.000,0.000,15.608,1768.022,6044.859,770.612,1396.712,272.254,0.000,1695.505,0.000,1106.511,0.000,0.537,0.000
$DEVICE_MAMPS,218.025,55.845,750.465,59.670,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9777.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.001,0.000,0.000,0.000
$MEM,329760
$DATA_FILE_SIZE,16794,466
$CAP_FILE_SIZE,244027,0
$CFSIZE,260034560,232300544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270313,051506,2206.156,12308.907,31,1.2,32,-2.9