version: 66.11
glider: 171
mission: 4
dive: 198
start: 3 25 113 21 44 57
data:
$ID,171
$MISSION,4
$DIVE,198
$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,-20766.025
$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,58
$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
$GPS1,250313,213816,2204.026,12320.870,12,2.2,32,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-66.2
$GPS2,250313,214433,2204.068,12320.934,15,2.2,34,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2205.943,12309.455
$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,5254
$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,-219.0,125,2490,842,659,0.0,0.0,0,86,0.00,0.00,-65.05,0.000,16386,0.000,0.000,125,2491,2612,2683,2542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.25,-219.0,125,2491,2684,2540,3.8,-6.3,9,120,8.82,1.90,-11.60,0.000,18692,0.218,0.069,2403,3669,3278,3346,3210,0,0,0,0,0,0,25.83,26.25,26.63
$GC,354,-1.25,-219.0,2402,3670,3350,3210,100.8,-34.8,30,360,0.00,1.70,0.00,0.000,1030,0.000,0.024,2403,2490,3280,3350,3210,0,0,0,0,0,0,28.83,26.48,28.83
$GC,668,-1.25,-219.0,2402,2488,3353,3210,206.0,-31.1,46,674,0.00,1.85,0.00,0.000,260,0.000,0.053,2393,3677,3281,3353,3210,0,0,0,0,0,0,28.83,26.46,28.83
$GC,727,-1.25,-219.0,2394,3677,3354,3210,220.2,-31.7,48,735,0.00,1.70,0.00,0.000,1030,0.000,0.024,2394,2485,3282,3354,3210,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1034,-1.25,-219.0,2393,2484,3355,3210,320.3,-30.8,64,1040,0.00,2.03,0.00,0.000,516,0.000,0.030,2394,1096,3281,3352,3210,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1066,-1.25,-219.0,2393,1096,3355,3210,327.9,-30.9,65,1073,0.12,2.12,0.00,0.000,3078,0.169,0.040,2415,2498,3282,3355,3210,0,0,0,0,0,0,26.34,26.53,28.83
$GC,1383,-1.25,-219.0,2414,2498,3355,3210,413.8,-26.4,81,1389,0.00,1.85,0.00,0.000,260,0.000,0.054,2407,3668,3282,3355,3210,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1492,-1.25,-219.0,1504,3667,3339,3206,438.6,-22.8,86,1498,0.00,1.67,0.00,0.000,1030,0.000,0.025,2406,2491,3282,3355,3210,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1813,-1.25,-219.0,2406,2489,3359,3210,513.5,-23.4,102,1819,0.00,2.03,0.00,0.000,516,0.000,0.029,2407,1105,3282,3355,3210,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1872,-1.25,-219.0,2406,1105,3356,3210,524.6,-24.0,104,1880,0.00,2.12,0.00,0.000,1030,0.000,0.040,2396,2501,3282,3355,3210,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2179,-1.25,-219.0,2395,2501,3355,3209,598.8,-23.0,120,2185,0.00,2.05,0.00,0.000,516,0.000,0.030,2396,1105,3282,3355,3210,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2206,-1.25,-219.0,2395,1105,3355,3210,604.5,-22.8,121,2215,0.12,2.12,0.00,0.000,3078,0.166,0.041,2417,2504,3282,3355,3210,0,0,0,0,0,0,26.40,26.58,28.83
$GC,2514,-1.25,-219.0,2417,2504,3355,3210,668.0,-19.9,132,2520,0.00,1.80,0.00,0.000,260,0.000,0.054,2409,3671,3282,3355,3210,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2553,-1.25,-219.0,2409,3671,3355,3210,675.2,-20.0,133,2559,0.00,1.73,0.00,0.000,1030,0.000,0.025,2409,2489,3282,3355,3210,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2882,-1.25,-219.0,2409,2489,3354,3206,742.4,-19.8,144,2888,0.00,1.85,0.00,0.000,260,0.000,0.055,2400,3673,3280,3355,3206,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2946,-1.25,-219.0,2400,3673,3354,3205,755.8,-20.4,146,2952,0.00,1.70,0.00,0.000,1030,0.000,0.025,2400,2487,3280,3355,3205,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3280,-1.25,-219.0,2400,2486,3355,3201,825.1,-20.9,157,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2486,3278,3355,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3580,-1.25,-219.0,2400,2486,3355,3196,887.5,-21.1,167,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2486,3275,3355,3196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3880,-1.25,-219.0,2400,2486,3354,3192,949.8,-20.2,177,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2486,3273,3355,3192,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3998,begin apogee
$GC,4004,-0.20,0.0,2400,1990,3355,3190,973.2,-19.5,181,4345,1.05,0.00,330.60,0.754,10246,0.118,0.000,2751,1988,2379,2540,2218,0,0,0,0,0,0,26.35,28.83,24.49
$STATE,4346,end apogee,CONTROL_FINISHED_OK
$STATE,4346,begin climb
$GC,4348,1.25,219.0,2751,1988,2532,2208,993.3,0.0,192,4587,1.27,0.00,232.65,0.899,10758,0.046,0.000,3229,1987,1486,1589,1384,0,0,0,0,0,0,25.22,28.83,24.15
$GC,4870,1.25,219.0,3227,1987,1551,1348,901.8,22.5,210,4876,0.00,2.28,0.00,0.000,260,0.000,0.047,3229,3417,1450,1551,1349,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4892,1.25,219.0,3229,3416,1551,1349,901.8,22.5,210,4898,0.00,2.10,0.00,0.000,1030,0.000,0.026,3241,2016,1449,1551,1348,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5207,1.25,219.0,3241,2016,1548,1346,823.8,23.2,221,5213,0.00,2.15,0.00,0.000,516,0.000,0.037,3252,610,1449,1548,1350,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5253,1.25,219.0,3252,610,1548,1346,815.8,23.3,222,5260,0.12,2.10,0.00,0.000,5126,0.174,0.031,3221,2014,1447,1548,1346,0,0,0,0,0,0,26.14,26.35,28.83
$GC,5578,1.25,219.0,3221,2014,1548,1344,739.1,23.2,233,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2014,1446,1547,1345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5878,1.25,219.0,3220,2014,1546,1343,668.5,22.6,243,5883,0.00,2.15,0.00,0.000,260,0.000,0.048,3221,3400,1445,1547,1343,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5912,1.25,219.0,3221,3400,1546,1343,660.9,22.4,244,5918,0.00,2.08,0.00,0.000,1030,0.000,0.030,3232,2006,1444,1546,1343,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6236,1.25,219.0,3231,2006,1545,1341,590.7,21.5,255,6242,0.00,2.17,0.00,0.000,260,0.000,0.047,3232,3400,1443,1545,1341,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6261,1.25,219.0,3231,3400,1545,1341,585.3,21.7,256,6266,0.00,2.10,0.00,0.000,1030,0.000,0.030,3243,1992,1443,1545,1341,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6586,1.25,219.0,3243,1992,1544,1340,514.8,20.8,272,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1992,1442,1543,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6884,1.25,219.0,3243,1992,1542,1338,454.2,20.1,287,6890,0.00,2.10,0.00,0.000,516,0.000,0.040,3255,609,1440,1542,1338,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7014,1.25,219.0,3254,609,1541,1338,427.4,21.7,293,7021,0.12,2.08,0.00,0.000,5126,0.170,0.031,3222,2002,1439,1541,1338,0,0,0,0,0,0,26.35,26.60,28.83
$GC,7335,1.25,219.0,3222,2002,1540,1338,367.9,18.3,309,7341,0.00,2.17,0.00,0.000,260,0.000,0.046,3222,3402,1439,1540,1338,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7401,1.25,219.0,3223,3402,1540,1338,354.1,20.2,312,7407,0.00,2.10,0.00,0.000,1030,0.000,0.029,3233,1991,1439,1540,1338,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7727,1.25,219.0,3232,1990,1540,1337,297.7,15.9,328,7733,0.00,2.20,0.00,0.000,260,0.000,0.045,3233,3412,1438,1540,1337,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7766,1.25,219.0,3233,3412,1540,1341,293.5,15.8,329,7774,0.00,2.10,0.00,0.000,1030,0.000,0.029,3245,1994,1438,1540,1337,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8072,1.25,219.0,3245,1994,1540,1337,238.0,16.6,345,8078,0.00,2.10,0.00,0.000,516,0.000,0.039,3256,606,1438,1540,1337,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8310,1.25,219.0,3256,605,1540,1337,196.7,18.0,356,8316,0.12,2.05,0.00,0.000,5126,0.164,0.030,3223,2003,1438,1540,1337,0,0,0,0,0,0,26.39,26.64,28.83
$GC,8625,1.25,219.0,3223,2002,1540,1337,145.9,15.7,372,8631,0.00,2.15,0.00,0.000,260,0.000,0.045,3223,3405,1438,1540,1337,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8735,1.25,219.0,2272,3403,1512,1334,127.9,16.9,377,8741,0.00,2.05,0.00,0.000,1030,0.000,0.028,3234,1995,1438,1540,1337,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9055,1.25,219.0,3234,1995,1540,1337,82.0,13.8,393,9061,0.00,2.08,0.00,0.000,516,0.000,0.038,3245,613,1438,1540,1337,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9130,1.25,219.0,3245,613,1540,1335,72.7,13.8,396,9136,0.00,2.05,0.00,0.000,1030,0.000,0.030,3245,2008,1438,1540,1337,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9445,1.25,219.0,3245,2008,1542,1337,27.4,13.1,420,9451,0.00,2.12,0.00,0.000,516,0.000,0.038,3257,608,1440,1543,1337,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9587,1.25,219.0,2240,608,1510,1333,7.3,14.0,445,9596,0.12,2.05,0.00,0.000,5126,0.158,0.028,3222,2008,1440,1544,1337,0,0,0,0,0,0,26.41,26.65,28.83
$STATE,9623,end climb,SURFACE_DEPTH_REACHED
$STATE,9623,begin surface coast
$FINISH,0.5,1.010770
$STATE,9647,end surface coast,CONTROL_FINISHED_OK
$STATE,9647,begin surface
$SM_CCo,9664,82.82,0.059,0,0,747,400.08
$SM_GC,1.33,7.93,0.75,82.82,0.039,0.053,0.059,136,2497,747,-8.29,-1.22,400.08,0,0,0,0,0,0,26.65,26.59,26.44
$IRIDIUM_FIX,2155.06,12324.63,250313,181823
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.88
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3957216
$24V_AH,24.2,29.085
$10V_AH,10.3,20.481
$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,19.825,78.175,563.250,82.825,0.000,0.000,0.000,209.175,0.000,0.000,35.951,1823.152,5883.710,683.676,1456.780,272.333,0.000,1612.964,0.000,1156.300,0.000,0.538,0.000
$DEVICE_MAMPS,218.025,68.850,898.875,58.905,0.000,0.000,0.000,122.400,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9634.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.960,0.000,0.000,0.000
$MEM,329792
$DATA_FILE_SIZE,16759,455
$CAP_FILE_SIZE,248283,0
$CFSIZE,260034560,233181184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260313,002836,2204.506,12319.913,31,1.8,32,-2.9