version: 66.11
glider: 171
mission: 4
dive: 214
start: 3 27 113 19 54 29
data:
$ID,171
$MISSION,4
$DIVE,214
$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,-20788.1
$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,66
$R_STBD_OVSHOOT,46
$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
$GPS1,270313,194815,2208.208,12301.922,9,2.7,29,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.2
$GPS2,270313,195405,2208.206,12301.889,11,1.6,27,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2210.082,12250.405
$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,3434
$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,15,begin dive
$GC,18,-1.25,-219.0,124,2487,836,662,0.0,0.0,0,85,0.00,0.00,-65.07,0.000,16386,0.000,0.000,127,2487,2590,2658,2523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.25,-219.0,127,2487,2661,2523,3.6,-5.9,9,119,8.85,1.88,-11.85,0.000,18692,0.220,0.068,2402,3657,3276,3346,3207,0,0,1,0,0,0,25.82,25.82,26.63
$GC,351,-1.25,-219.0,2402,3657,3350,3207,93.0,-33.1,30,359,0.00,1.65,0.00,0.000,1030,0.000,0.024,2402,2498,3279,3351,3208,0,0,0,0,0,0,28.83,26.48,28.83
$GC,658,-1.25,-219.0,2402,2496,3354,3207,193.6,-28.7,46,664,0.00,1.83,0.00,0.000,260,0.000,0.052,2393,3666,3280,3353,3207,0,0,0,0,0,0,28.83,26.44,28.83
$GC,764,-1.25,-219.0,2393,3666,3355,3208,225.7,-30.7,51,770,0.00,1.67,0.00,0.000,1030,0.000,0.025,2393,2496,3282,3356,3208,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1089,-1.25,-219.0,2393,2495,3356,3208,324.9,-28.4,67,1094,0.00,1.80,0.00,0.000,260,0.000,0.051,2385,3658,3282,3356,3208,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1175,-1.25,-219.0,2384,3658,3356,3208,349.3,-28.0,71,1181,0.12,1.67,0.00,0.000,3078,0.160,0.025,2417,2487,3282,3356,3208,0,0,0,0,0,0,26.34,26.65,28.83
$GC,1501,-1.25,-219.0,2416,2487,3356,3208,430.1,-25.0,87,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2487,3282,3357,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1800,-1.25,-219.0,2416,2487,3357,3208,502.3,-24.9,102,1805,0.00,2.00,0.00,0.000,516,0.000,0.028,2417,1108,3282,3357,3208,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1827,-1.25,-219.0,2417,1108,3357,3208,508.1,-24.8,103,1833,0.00,2.08,0.00,0.000,1030,0.000,0.037,2407,2484,3282,3357,3208,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2148,-1.25,-219.0,2407,2484,3357,3208,579.7,-20.9,119,2154,0.00,2.03,0.00,0.000,516,0.000,0.029,2407,1109,3282,3357,3208,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2222,-1.25,-219.0,2407,1109,3357,3208,593.8,-20.9,122,2228,0.00,2.12,0.00,0.000,1030,0.000,0.038,2396,2510,3281,3357,3206,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2556,-1.25,-219.0,2396,2510,3356,3208,672.3,-23.4,134,2562,0.00,1.85,0.00,0.000,260,0.000,0.054,2387,3674,3282,3357,3208,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2616,-1.25,-219.0,2387,3674,3356,3207,680.5,-23.6,135,2625,0.12,1.67,0.00,0.000,3078,0.155,0.025,2421,2489,3282,3356,3208,0,0,0,0,0,0,26.41,26.72,28.83
$GC,2923,-1.25,-219.0,2420,2488,3356,3205,749.3,-19.1,146,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2488,3280,3356,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3221,-1.25,-219.0,2423,2488,3354,3201,807.1,-19.1,156,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2488,3278,3356,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3521,-1.25,-219.0,2420,2488,3356,3196,865.7,-18.8,166,3527,0.00,1.85,0.00,0.000,260,0.000,0.055,2412,3672,3275,3354,3196,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3623,-1.25,-219.0,1536,3671,3339,3190,883.0,-18.5,169,3629,0.00,1.70,0.00,0.000,1030,0.000,0.026,2412,2509,3275,3356,3195,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3947,-1.25,-219.0,2412,2509,3355,3191,939.5,-17.1,180,3953,0.00,2.05,0.00,0.000,516,0.000,0.028,2412,1109,3272,3355,3190,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4000,-1.25,-219.0,2412,1109,3355,3190,945.2,-17.2,181,4006,0.00,2.12,0.00,0.000,1030,0.000,0.039,2402,2503,3272,3355,3190,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,4132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4132,begin apogee
$GC,4139,-0.20,0.0,2402,1995,3354,3188,970.8,-16.8,186,4483,1.05,0.00,334.02,0.746,10246,0.119,0.000,2750,1993,2378,2539,2218,0,0,0,0,0,0,26.27,28.83,24.45
$STATE,4485,end apogee,CONTROL_FINISHED_OK
$STATE,4485,begin climb
$GC,4487,1.25,219.0,2750,1993,2531,2208,988.2,0.0,197,4733,1.30,2.30,236.18,0.885,10756,0.047,0.037,3245,627,1478,1581,1375,0,0,0,0,0,0,25.22,24.82,24.11
$GC,4801,1.25,219.0,3245,626,1557,1353,945.5,22.3,207,4807,0.00,2.17,0.00,0.000,1030,0.000,0.030,3245,2019,1455,1557,1353,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5130,1.25,219.0,3245,2019,1549,1346,863.3,25.3,218,5136,0.00,2.15,0.00,0.000,516,0.000,0.037,3257,628,1448,1550,1346,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5165,1.25,219.0,3257,628,1549,1346,854.6,25.1,219,5171,0.12,2.08,0.00,0.000,5126,0.174,0.030,3226,2005,1447,1549,1346,0,0,0,0,0,0,25.98,26.20,28.83
$GC,5500,1.25,219.0,3226,2005,1547,1344,777.4,22.2,230,5506,0.00,2.17,0.00,0.000,260,0.000,0.046,3226,3402,1447,1547,1348,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5573,1.25,219.0,3226,3402,1547,1345,763.0,22.0,232,5579,0.00,2.05,0.00,0.000,1030,0.000,0.028,3237,2016,1445,1546,1345,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5897,1.25,219.0,3237,2016,1546,1342,689.8,21.8,243,5903,0.00,2.15,0.00,0.000,516,0.000,0.038,3248,607,1444,1546,1342,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5951,1.25,219.0,3248,608,1545,1342,682.2,21.9,244,5957,0.00,2.08,0.00,0.000,1030,0.000,0.031,3248,1998,1442,1543,1342,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6267,1.25,219.0,3248,1998,1545,1341,606.8,21.6,255,6273,0.00,2.17,0.00,0.000,260,0.000,0.046,3248,3402,1442,1544,1341,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6394,1.25,219.0,3248,3402,1544,1341,576.0,24.5,261,6400,0.15,2.08,0.00,0.000,5126,0.177,0.029,3221,1995,1442,1543,1341,0,0,0,0,0,0,26.24,26.57,28.83
$GC,6720,1.25,219.0,3221,1995,1543,1338,506.4,20.9,277,6726,0.00,2.10,0.00,0.000,516,0.000,0.040,3232,611,1440,1543,1338,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6759,1.25,219.0,3232,611,1543,1338,500.7,21.4,278,6767,0.00,2.08,0.00,0.000,1030,0.000,0.031,3232,2008,1440,1542,1338,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7065,1.25,219.0,3232,2008,1541,1337,436.3,20.0,294,7071,0.00,2.12,0.00,0.000,516,0.000,0.039,3244,610,1438,1540,1337,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7261,1.25,219.0,3243,610,1540,1337,399.9,19.1,303,7267,0.00,2.08,0.00,0.000,1030,0.000,0.031,3243,2010,1438,1539,1337,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7575,1.25,219.0,3243,2010,1540,1336,340.3,18.7,319,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2010,1437,1538,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7876,1.25,219.0,3243,2010,1540,1336,286.2,18.4,334,7882,0.00,2.12,0.00,0.000,516,0.000,0.039,3255,610,1438,1540,1336,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7903,1.25,219.0,3255,610,1540,1336,281.6,18.5,335,7910,0.12,2.05,0.00,0.000,5126,0.165,0.031,3222,2001,1439,1539,1339,0,0,0,0,0,0,26.33,26.60,28.83
$GC,8225,1.25,219.0,3222,2001,1540,1336,228.7,15.7,351,8226,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2001,1438,1540,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8523,1.25,219.0,3222,2001,1540,1336,184.5,14.7,366,8529,0.00,2.10,0.00,0.000,516,0.000,0.038,3233,608,1438,1540,1336,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8547,1.25,219.0,3233,609,1540,1336,180.7,15.1,367,8553,0.00,2.05,0.00,0.000,1030,0.000,0.030,3233,2003,1438,1540,1336,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8873,1.25,219.0,3233,2003,1540,1336,133.5,15.1,383,8879,0.00,2.15,0.00,0.000,260,0.000,0.045,3233,3402,1438,1540,1336,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8959,1.25,219.0,3233,3402,1539,1336,119.2,16.3,387,8965,0.00,2.05,0.00,0.000,1030,0.000,0.028,3244,2000,1438,1540,1336,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9285,1.25,219.0,3244,2000,1540,1336,72.8,13.9,403,9291,0.00,2.17,0.00,0.000,260,0.000,0.045,3245,3408,1438,1540,1336,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9309,1.25,219.0,3244,3406,1541,1336,68.9,14.1,404,9316,0.12,2.08,0.00,0.000,5126,0.163,0.028,3223,1996,1439,1542,1336,0,0,0,0,0,0,26.36,26.64,28.83
$GC,9624,1.25,219.0,3223,1995,1543,1336,29.4,12.4,428,9630,0.00,2.17,0.00,0.000,260,0.000,0.045,3223,3404,1440,1544,1336,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9669,1.25,219.0,2208,3402,1514,1333,23.4,13.9,433,9677,0.00,2.05,0.00,0.000,1030,0.000,0.028,3234,1999,1440,1545,1336,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,9843,end climb,SURFACE_DEPTH_REACHED
$STATE,9843,begin surface coast
$FINISH,0.4,1.023276
$STATE,9867,end surface coast,CONTROL_FINISHED_OK
$STATE,9867,begin surface
$SM_CCo,9885,83.47,0.059,0,0,747,400.08
$SM_GC,1.35,7.80,0.77,83.47,0.026,0.053,0.059,131,2487,747,-8.30,-1.30,400.08,0,0,0,0,0,0,26.63,26.54,26.41
$IRIDIUM_FIX,2157.39,12304.65,270313,171732
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.23
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3952096
$24V_AH,24.1,31.331
$10V_AH,10.4,21.772
$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,19.775,82.225,570.200,83.475,0.000,0.000,0.000,189.900,0.000,0.000,28.479,1912.464,5933.596,679.428,1502.755,284.922,0.000,1632.048,0.000,1228.796,0.000,0.537,0.000
$DEVICE_MAMPS,219.555,68.085,885.105,58.905,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9859.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.984,0.000,0.000,0.000
$MEM,329792
$DATA_FILE_SIZE,16788,470
$CAP_FILE_SIZE,258395,0
$CFSIZE,260034560,231755776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,270313,224200,2208.654,12259.764,42,1.3,43,-2.9