version: 66.11
glider: 171
mission: 4
dive: 210
start: 3 27 113 8 20 7
data:
$ID,171
$MISSION,4
$DIVE,210
$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,-20782.98
$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,34
$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
$GPS1,270313,080629,2206.741,12307.755,38,1.9,43,-2.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-66.6
$GPS2,270313,081943,2206.745,12307.836,12,1.8,12,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2208.621,12256.354
$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,4847
$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,-219.0,112,2491,856,664,0.0,0.0,0,86,0.00,0.00,-64.88,0.000,16386,0.000,0.000,113,2491,2636,2702,2570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.25,-219.0,112,2491,2706,2570,4.2,-7.4,9,120,8.93,1.90,-10.75,0.000,18692,0.218,0.069,2402,3660,3277,3345,3209,0,0,0,0,0,0,25.77,26.17,26.56
$GC,306,-1.25,-219.0,2401,3659,3347,3209,82.5,-32.1,28,312,0.00,1.73,0.00,0.000,1030,0.000,0.025,2402,2493,3278,3347,3209,0,0,0,0,0,0,28.83,26.44,28.83
$GC,626,-1.25,-219.0,2402,2491,3349,3209,181.3,-28.6,44,632,0.00,1.85,0.00,0.000,260,0.000,0.054,2393,3673,3279,3350,3209,0,0,0,0,0,0,28.83,26.41,28.83
$GC,716,-1.25,-219.0,2393,3673,3350,3209,206.7,-29.2,48,722,0.00,1.67,0.00,0.000,1030,0.000,0.024,2393,2496,3279,3350,3209,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1036,-1.25,-219.0,2395,2495,3350,3209,300.2,-29.0,64,1042,0.00,1.85,0.00,0.000,260,0.000,0.054,2384,3676,3279,3350,3208,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1054,-1.25,-219.0,2384,3675,3350,3209,300.2,-29.0,64,1062,0.12,1.67,0.00,0.000,3078,0.161,0.024,2416,2491,3279,3350,3209,0,0,0,0,0,0,26.34,26.63,28.83
$GC,1361,-1.25,-219.0,2416,2489,3350,3209,386.4,-25.0,80,1367,0.00,1.83,0.00,0.000,260,0.000,0.054,2408,3669,3279,3350,3209,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1406,-1.25,-219.0,2408,3670,3350,3209,397.3,-24.4,82,1412,0.00,1.67,0.00,0.000,1030,0.000,0.024,2408,2498,3279,3350,3209,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1732,-1.25,-219.0,2408,2496,3350,3209,476.3,-24.0,98,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2496,3279,3350,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2030,-1.25,-219.0,2408,2497,3350,3209,545.6,-22.3,113,2036,0.00,2.03,0.00,0.000,516,0.000,0.031,2408,1109,3279,3350,3209,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2076,-1.25,-219.0,2408,1109,3350,3209,555.5,-22.3,115,2082,0.00,2.12,0.00,0.000,1030,0.000,0.039,2397,2503,3279,3350,3208,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2390,-1.25,-219.0,2397,2503,3350,3209,622.0,-20.6,129,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2503,3279,3350,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2690,-1.25,-219.0,2397,2503,3350,3206,687.7,-21.9,139,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2503,3278,3350,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2990,-1.25,-219.0,2397,2503,3350,3199,753.7,-21.9,149,2996,0.00,1.83,0.00,0.000,260,0.000,0.055,2388,3673,3275,3350,3201,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3055,-1.25,-219.0,2388,3672,3350,3200,768.0,-21.7,151,3062,0.12,1.70,0.00,0.000,3078,0.155,0.025,2422,2480,3275,3350,3201,0,0,0,0,0,0,26.43,26.72,28.83
$GC,3390,-1.25,-219.0,2421,2479,3350,3195,832.7,-18.6,162,3396,0.00,1.88,0.00,0.000,260,0.000,0.055,2415,3672,3272,3350,3195,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3443,-1.25,-219.0,2413,3673,3350,3194,839.0,-18.6,163,3449,0.00,1.70,0.00,0.000,1030,0.000,0.027,2413,2514,3272,3350,3194,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3759,-1.25,-219.0,2416,2515,3350,3188,901.4,-18.8,174,3765,0.00,1.83,0.00,0.000,260,0.000,0.055,2404,3674,3269,3350,3188,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3812,-1.25,-219.0,2404,3674,3350,3188,908.2,-18.9,175,3819,0.00,1.73,0.00,0.000,1030,0.000,0.026,2404,2496,3268,3349,3187,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,4127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4127,begin apogee
$GC,4132,-0.20,0.0,2404,2007,3347,3183,972.0,-19.4,186,4490,1.02,0.00,345.42,0.734,10246,0.118,0.000,2746,2006,2372,2533,2211,0,0,0,0,0,0,26.31,28.83,24.49
$STATE,4492,end apogee,CONTROL_FINISHED_OK
$STATE,4492,begin climb
$GC,4494,1.25,219.0,2746,2006,2531,2207,995.8,0.0,197,4736,1.30,2.25,231.60,0.898,10756,0.049,0.034,3241,616,1477,1582,1373,0,0,0,0,0,0,25.25,24.87,24.15
$GC,4860,1.25,219.0,3240,616,1553,1350,940.6,24.8,209,4866,0.00,2.15,0.00,0.000,1030,0.000,0.031,3241,2009,1451,1553,1350,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5184,1.25,219.0,3240,2009,1550,1347,855.3,25.5,220,5190,0.00,2.20,0.00,0.000,260,0.000,0.046,3240,3405,1449,1551,1347,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5283,1.25,219.0,3240,3405,1550,1347,829.9,26.4,223,5290,0.12,2.08,0.00,0.000,5126,0.181,0.028,3222,2011,1448,1550,1347,0,0,0,0,0,0,26.08,26.33,28.83
$GC,5613,1.25,219.0,3222,2011,1548,1344,752.0,22.2,234,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2011,1446,1548,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5913,1.25,219.0,3221,2011,1547,1343,693.6,18.9,244,5919,0.00,2.17,0.00,0.000,260,0.000,0.047,3222,3403,1445,1548,1343,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5978,1.25,219.0,3221,3404,1547,1343,680.0,19.9,246,5984,0.00,2.10,0.00,0.000,1030,0.000,0.028,3233,1994,1445,1547,1343,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6312,1.25,219.0,3233,1994,1546,1341,612.3,20.6,257,6318,0.00,2.20,0.00,0.000,260,0.000,0.047,3233,3404,1443,1546,1341,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6347,1.25,219.0,3232,3404,1546,1341,604.6,21.4,258,6353,0.00,2.10,0.00,0.000,1030,0.000,0.029,3244,1994,1443,1546,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6662,1.25,219.0,3244,1993,1545,1340,539.7,18.9,273,6668,0.00,2.20,0.00,0.000,260,0.000,0.047,3244,3406,1442,1545,1340,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6687,1.25,219.0,3244,3406,1545,1340,534.6,19.1,274,6693,0.12,2.10,0.00,0.000,5126,0.174,0.029,3224,1994,1442,1545,1340,0,0,0,0,0,0,26.32,26.60,28.83
$GC,7013,1.25,219.0,3224,1994,1544,1337,476.7,17.6,290,7019,0.00,2.12,0.00,0.000,516,0.000,0.041,3235,604,1440,1544,1337,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7031,1.25,219.0,3234,604,1544,1337,476.7,17.6,290,7039,0.00,2.08,0.00,0.000,1030,0.000,0.031,3235,2001,1440,1544,1337,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7337,1.25,219.0,3234,2001,1542,1337,420.5,18.5,306,7343,0.00,2.17,0.00,0.000,260,0.000,0.046,3235,3409,1439,1542,1337,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7377,1.25,219.0,3234,3409,1542,1336,416.3,17.9,307,7385,0.00,2.10,0.00,0.000,1030,0.000,0.029,3247,1995,1439,1542,1337,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7682,1.25,219.0,3246,1994,1541,1336,357.0,17.5,323,7688,0.00,2.20,0.00,0.000,260,0.000,0.046,3246,3413,1438,1541,1336,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7818,1.25,219.0,3246,3413,1542,1336,332.5,19.6,329,7824,0.15,2.08,0.00,0.000,5126,0.168,0.029,3218,1996,1437,1541,1334,0,0,0,0,0,0,26.30,26.63,28.83
$GC,8134,1.25,219.0,3218,1996,1542,1335,278.7,16.3,345,8140,0.00,2.10,0.00,0.000,516,0.000,0.040,3228,612,1438,1541,1335,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8275,1.25,219.0,3229,612,1541,1335,258.0,16.0,351,8283,0.00,2.05,0.00,0.000,1030,0.000,0.031,3228,2003,1438,1541,1335,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8581,1.25,219.0,3228,2003,1542,1335,207.1,16.2,367,8587,0.00,2.15,0.00,0.000,260,0.000,0.045,3229,3403,1438,1541,1335,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8690,1.25,219.0,2256,3402,1512,1331,189.5,16.6,372,8696,0.00,2.05,0.00,0.000,1030,0.000,0.028,3240,2004,1438,1542,1334,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9011,1.25,219.0,3240,2003,1543,1335,143.5,12.6,388,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2003,1438,1541,1335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9309,1.25,219.0,3240,2003,1542,1335,103.6,13.8,403,9315,0.00,2.10,0.00,0.000,516,0.000,0.039,3251,609,1438,1542,1335,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9343,1.25,219.0,3251,609,1542,1333,100.3,13.8,404,9349,0.12,2.05,0.00,0.000,5126,0.159,0.030,3218,2002,1438,1542,1335,0,0,0,0,0,0,26.37,26.63,28.83
$GC,9659,1.25,219.0,3218,2002,1543,1335,57.7,12.5,420,9665,0.00,2.15,0.00,0.000,260,0.000,0.045,3218,3403,1439,1544,1335,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9671,1.25,219.0,3218,3403,1545,1334,57.7,12.5,420,9677,0.00,2.05,0.00,0.000,1030,0.000,0.028,3229,1994,1440,1545,1335,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9980,1.25,219.0,2192,1992,1514,1331,21.1,10.9,452,9989,0.00,2.17,0.00,0.000,260,0.000,0.046,3229,3403,1440,1546,1335,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,10130,end climb,SURFACE_DEPTH_REACHED
$STATE,10130,begin surface coast
$FINISH,0.5,1.023250
$STATE,10154,end surface coast,CONTROL_FINISHED_OK
$STATE,10154,begin surface
$SM_CCo,10172,83.12,0.060,0,0,748,400.08
$SM_GC,1.17,7.97,1.35,83.12,0.040,0.028,0.060,128,2494,748,-8.28,1.84,400.08,0,0,0,0,0,0,26.67,26.70,26.41
$IRIDIUM_FIX,2202.04,12303.97,270313,080812
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.31
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3953376
$24V_AH,24.2,30.776
$10V_AH,10.2,21.451
$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,20.000,84.175,577.025,83.125,0.000,0.000,0.000,464.000,0.000,0.000,14.200,1926.306,6365.674,689.347,1757.257,306.212,0.000,1924.425,0.000,1230.176,0.000,0.539,0.000
$DEVICE_MAMPS,218.025,68.850,898.110,59.670,0.000,0.000,0.000,117.810,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10161.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.012,0.000,0.000,0.000
$MEM,329768
$DATA_FILE_SIZE,16729,484
$CAP_FILE_SIZE,266824,0
$CFSIZE,260034560,232099840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270313,111235,2206.924,12306.455,51,1.0,52,-2.9