version: 66.11
glider: 171
mission: 4
dive: 211
start: 3 27 113 11 18 32
data:
$ID,171
$MISSION,4
$DIVE,211
$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,-20784.332
$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,67
$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
$GPS1,270313,111235,2206.924,12306.455,51,1.0,52,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-64.2
$GPS2,270313,111807,2206.917,12306.516,12,1.3,12,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2208.792,12255.034
$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,4394
$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,-219.0,126,2492,843,659,0.0,0.0,0,85,0.00,0.00,-64.75,0.000,16386,0.000,0.000,126,2492,2561,2626,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.25,-219.0,125,2492,2629,2496,3.6,-5.0,9,119,8.88,1.85,-12.48,0.000,18692,0.220,0.069,2400,3662,3276,3346,3207,0,0,0,0,0,0,25.83,26.24,26.63
$GC,353,-1.25,-219.0,2400,3662,3346,3206,96.0,-31.5,31,358,0.00,1.67,0.00,0.000,1030,0.000,0.025,2401,2498,3277,3348,3207,0,0,0,0,0,0,28.83,26.48,28.83
$GC,667,-1.25,-219.0,2400,2496,3349,3207,197.5,-28.5,47,673,0.00,1.83,0.00,0.000,260,0.000,0.052,2392,3665,3277,3347,3207,0,0,0,0,0,0,28.83,26.45,28.83
$GC,715,-1.25,-219.0,2391,3665,3350,3207,210.3,-28.7,49,721,0.00,1.67,0.00,0.000,1030,0.000,0.025,2392,2496,3280,3353,3207,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1034,-1.25,-219.0,2391,2495,3351,3206,304.5,-29.0,65,1040,0.00,1.85,0.00,0.000,260,0.000,0.050,2383,3681,3279,3351,3207,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1109,-1.25,-219.0,2385,3681,3351,3207,324.2,-29.9,68,1116,0.12,1.70,0.00,0.000,3078,0.159,0.024,2415,2486,3279,3351,3207,0,0,0,0,0,0,26.35,26.64,28.83
$GC,1425,-1.25,-219.0,2414,2486,3352,3207,407.3,-22.7,84,1431,0.00,1.85,0.00,0.000,260,0.000,0.051,2406,3655,3279,3352,3207,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1471,-1.25,-219.0,2408,3655,3352,3207,418.4,-23.9,86,1477,0.00,1.65,0.00,0.000,1030,0.000,0.024,2407,2493,3279,3352,3207,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1796,-1.25,-219.0,2406,2492,3352,3207,496.3,-24.0,102,1802,0.00,1.80,0.00,0.000,260,0.000,0.052,2397,3658,3279,3352,3207,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1866,-1.25,-219.0,2397,3658,3352,3207,513.0,-24.7,105,1871,0.00,1.65,0.00,0.000,1030,0.000,0.024,2397,2494,3280,3353,3207,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2186,-1.25,-219.0,2397,2492,3352,3207,586.8,-23.6,121,2192,0.00,2.03,0.00,0.000,516,0.000,0.029,2398,1109,3279,3352,3207,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2284,-1.25,-219.0,2397,1109,3351,3207,608.9,-22.5,125,2291,0.12,2.10,0.00,0.000,3078,0.164,0.037,2420,2493,3279,3352,3207,0,0,0,0,0,0,26.39,26.58,28.83
$GC,2619,-1.25,-219.0,2419,2492,3352,3207,678.8,-20.9,136,2625,0.00,1.83,0.00,0.000,260,0.000,0.054,2411,3673,3279,3352,3207,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2647,-1.25,-219.0,2411,3673,3352,3206,678.8,-20.9,136,2655,0.00,1.67,0.00,0.000,1030,0.000,0.026,2411,2495,3278,3349,3207,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2955,-1.25,-219.0,2411,2495,3352,3203,745.1,-19.4,147,2961,0.00,2.03,0.00,0.000,516,0.000,0.029,2411,1111,3277,3352,3203,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3000,-1.25,-219.0,2411,1110,3352,3202,751.6,-18.9,148,3006,0.00,2.10,0.00,0.000,1030,0.000,0.038,2400,2500,3276,3351,3202,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3324,-1.25,-219.0,2400,2500,3351,3198,818.8,-20.5,159,3330,0.00,1.83,0.00,0.000,260,0.000,0.055,2391,3676,3274,3352,3197,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3420,-1.25,-219.0,2391,3676,3351,3196,839.1,-21.2,162,3426,0.00,1.67,0.00,0.000,1030,0.000,0.025,2392,2496,3273,3351,3196,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3754,-1.25,-219.0,2391,2495,3351,3191,909.6,-20.4,173,3760,0.00,1.83,0.00,0.000,260,0.000,0.054,2383,3671,3270,3351,3190,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3856,-1.25,-219.0,1488,3669,3334,3185,929.0,-20.5,176,3863,0.12,1.67,0.00,0.000,3078,0.151,0.027,2416,2503,3269,3350,3189,0,0,0,0,0,0,26.43,26.72,28.83
$STATE,4089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4089,begin apogee
$GC,4096,-0.20,0.0,2416,2001,3350,3185,973.1,-18.1,184,4441,0.98,0.00,332.27,0.754,10246,0.113,0.000,2747,1998,2372,2533,2212,0,0,0,0,0,0,26.32,28.83,24.46
$STATE,4442,end apogee,CONTROL_FINISHED_OK
$STATE,4442,begin climb
$GC,4444,1.25,219.0,2746,1998,2530,2206,991.4,0.0,195,4788,1.30,2.28,329.12,0.731,10756,0.047,0.039,3242,628,1479,1583,1375,0,0,0,0,0,0,25.26,24.98,24.37
$GC,4810,1.25,219.0,3241,628,1571,1364,945.8,21.0,206,4819,0.00,2.17,0.00,0.000,1030,0.000,0.030,3241,2016,1466,1570,1363,0,0,0,0,0,0,28.83,25.30,28.83
$GC,5118,1.25,219.0,3241,2016,1558,1354,861.8,24.3,217,5124,0.00,2.20,0.00,0.000,260,0.000,0.047,3241,3412,1456,1558,1354,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5146,1.25,219.0,3241,3412,1558,1354,861.8,24.3,217,5154,0.12,2.10,0.00,0.000,5126,0.179,0.029,3223,2012,1454,1555,1354,0,0,0,0,0,0,25.94,26.18,28.83
$GC,5453,1.25,219.0,3222,2011,1556,1351,783.4,22.8,228,5459,0.00,2.20,0.00,0.000,260,0.000,0.047,3223,3413,1453,1556,1351,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5488,1.25,219.0,3222,3413,1556,1351,774.7,23.1,229,5494,0.00,2.12,0.00,0.000,1030,0.000,0.028,3234,1993,1453,1556,1351,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5822,1.25,219.0,3234,1993,1553,1348,697.6,22.0,240,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1993,1450,1553,1348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6123,1.25,219.0,3233,1993,1552,1347,636.5,21.0,250,6129,0.00,2.12,0.00,0.000,516,0.000,0.039,3245,604,1449,1552,1346,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6168,1.25,219.0,3245,604,1552,1346,628.8,21.4,251,6174,0.00,2.08,0.00,0.000,1030,0.000,0.031,3245,2002,1449,1552,1346,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6492,1.25,219.0,3245,2002,1551,1345,557.2,21.6,265,6498,0.00,2.12,0.00,0.000,516,0.000,0.039,3257,610,1448,1551,1345,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6541,1.25,219.0,3257,611,1551,1345,547.2,22.1,267,6548,0.12,2.08,0.00,0.000,5126,0.170,0.031,3225,2006,1448,1551,1345,0,0,0,0,0,0,26.31,26.56,28.83
$GC,6862,1.25,219.0,3224,2006,1550,1344,483.4,19.3,283,6868,0.00,2.17,0.00,0.000,260,0.000,0.047,3225,3408,1447,1550,1344,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6931,1.25,219.0,3225,3408,1550,1344,470.3,19.4,286,6937,0.00,2.08,0.00,0.000,1030,0.000,0.030,3236,1998,1447,1550,1344,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7252,1.25,219.0,3236,1997,1549,1342,409.6,18.5,302,7258,0.00,2.12,0.00,0.000,516,0.000,0.041,3247,607,1445,1549,1342,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7358,1.25,219.0,3246,608,1548,1342,389.5,18.6,307,7363,0.00,2.08,0.00,0.000,1030,0.000,0.031,3247,2002,1445,1548,1342,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7683,1.25,219.0,3247,2002,1548,1342,328.2,19.1,323,7689,0.00,2.15,0.00,0.000,260,0.000,0.045,3247,3402,1445,1548,1342,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7738,1.25,219.0,3247,3402,1548,1342,319.1,19.0,325,7744,0.15,2.08,0.00,0.000,5126,0.165,0.028,3218,1991,1445,1548,1342,0,0,0,0,0,0,26.31,26.63,28.83
$GC,8054,1.25,219.0,3218,1991,1548,1341,266.2,16.2,341,8060,0.00,2.20,0.00,0.000,260,0.000,0.046,3218,3402,1444,1548,1341,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8078,1.25,219.0,3218,3402,1548,1341,261.9,16.6,342,8084,0.00,2.08,0.00,0.000,1030,0.000,0.029,3229,1996,1444,1548,1341,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8404,1.25,219.0,3229,1994,1550,1341,202.6,17.4,358,8410,0.00,2.17,0.00,0.000,260,0.000,0.045,3229,3408,1444,1548,1341,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8428,1.25,219.0,3229,3408,1548,1341,197.8,17.5,359,8434,0.00,2.08,0.00,0.000,1030,0.000,0.028,3241,1996,1444,1548,1341,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8754,1.25,219.0,3240,1996,1548,1341,147.1,14.1,375,8760,0.00,2.17,0.00,0.000,260,0.000,0.045,3241,3402,1444,1548,1340,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8808,1.25,219.0,3240,3402,1548,1341,140.5,14.0,377,8815,0.12,2.05,0.00,0.000,5126,0.163,0.028,3220,1994,1444,1548,1341,0,0,0,0,0,0,26.37,26.65,28.83
$GC,9125,1.25,219.0,3219,1994,1548,1341,98.8,12.7,393,9130,0.00,2.17,0.00,0.000,260,0.000,0.045,3219,3401,1445,1549,1341,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9272,1.25,219.0,3217,3401,1550,1341,77.3,14.8,400,9278,0.00,2.05,0.00,0.000,1030,0.000,0.028,3230,1995,1443,1549,1338,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9586,1.25,219.0,3230,1994,1550,1340,37.9,12.1,420,9592,0.00,2.08,0.00,0.000,516,0.000,0.038,3241,611,1445,1551,1340,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9655,1.25,219.0,3241,611,1551,1341,29.6,12.5,426,9663,0.00,2.05,0.00,0.000,1030,0.000,0.029,3241,2013,1445,1550,1341,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,9882,end climb,SURFACE_DEPTH_REACHED
$STATE,9882,begin surface coast
$FINISH,0.5,1.023216
$STATE,9916,end surface coast,CONTROL_FINISHED_OK
$STATE,9916,begin surface
$SM_CCo,9933,84.07,0.058,0,0,749,400.08
$SM_GC,1.27,7.82,0.73,84.07,0.028,0.043,0.058,129,2495,749,-8.29,-1.33,400.08,0,0,0,0,0,0,26.65,26.62,26.42
$IRIDIUM_FIX,2159.71,12305.92,270313,080856
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.05
$INTERNAL_PRESSURE,9.6425
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3953056
$24V_AH,24.4,30.922
$10V_AH,10.3,21.535
$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,19.875,92.950,661.400,84.075,0.000,0.000,0.000,181.375,0.000,0.000,13.268,1931.651,5822.863,759.566,1527.757,303.358,0.000,1751.985,0.000,1266.910,0.000,0.539,0.000
$DEVICE_MAMPS,219.555,68.850,753.525,58.140,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9910.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.013,0.000,0.000,0.000
$MEM,329760
$DATA_FILE_SIZE,16740,473
$CAP_FILE_SIZE,267162,0
$CFSIZE,260034560,232009728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270313,140653,2207.356,12304.960,25,1.0,43,-2.9