version: 66.11
glider: 171
mission: 4
dive: 199
start: 3 26 113 0 35 17
data:
$ID,171
$MISSION,4
$DIVE,199
$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,-20767.379
$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,60
$R_STBD_OVSHOOT,35
$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
$GPS1,260313,002836,2204.506,12319.913,31,1.8,32,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.9
$GPS2,260313,003453,2204.570,12320.073,41,1.3,41,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2206.445,12308.595
$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,5260
$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,-219.0,126,2499,842,662,0.0,0.0,0,86,0.00,0.00,-65.20,0.000,16386,0.000,0.000,126,2499,2622,2687,2557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.25,-219.0,126,2499,2689,2557,3.9,-6.3,9,120,8.85,1.88,-11.25,0.000,18692,0.220,0.069,2401,3661,3276,3345,3208,0,0,0,0,0,0,25.85,26.25,26.63
$GC,354,-1.25,-219.0,2401,3661,3347,3208,100.2,-34.3,30,360,0.00,1.67,0.00,0.000,1030,0.000,0.025,2401,2493,3277,3347,3208,0,0,0,0,0,0,28.83,26.49,28.83
$GC,669,-1.25,-219.0,2401,2491,3350,3209,206.9,-30.7,46,675,0.00,1.88,0.00,0.000,260,0.000,0.053,2392,3693,3279,3350,3208,0,0,0,0,0,0,28.83,26.46,28.83
$GC,714,-1.25,-219.0,2392,3693,3350,3208,220.5,-30.1,48,720,0.00,1.70,0.00,0.000,1030,0.000,0.024,2392,2498,3279,3350,3208,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1040,-1.25,-219.0,2392,2496,3351,3209,321.5,-31.1,64,1046,0.00,2.05,0.00,0.000,516,0.000,0.032,2392,1099,3279,3351,3208,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1099,-1.25,-219.0,2392,1099,3351,3208,335.8,-31.0,66,1108,0.15,2.12,0.00,0.000,3078,0.165,0.039,2421,2504,3279,3351,3208,0,0,0,0,0,0,26.32,26.54,28.83
$GC,1405,-1.25,-219.0,2420,2504,3353,3208,421.2,-25.6,82,1411,0.00,1.80,0.00,0.000,260,0.000,0.053,2413,3674,3280,3353,3208,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1502,-1.25,-219.0,2412,3674,3350,3208,443.0,-25.2,86,1508,0.00,1.70,0.00,0.000,1030,0.000,0.024,2413,2504,3280,3353,3208,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1817,-1.25,-219.0,2413,2502,3354,3208,519.3,-23.9,102,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2502,3281,3354,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2116,-1.25,-219.0,2412,2502,3354,3208,586.1,-21.7,117,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2502,3281,3354,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2437,-1.25,-219.0,2412,2502,3353,3208,656.4,-21.7,129,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2502,3280,3353,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2736,-1.25,-219.0,2412,2501,3353,3207,717.5,-20.1,139,2742,0.00,2.05,0.00,0.000,516,0.000,0.031,2413,1106,3279,3353,3206,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2783,-1.25,-219.0,2412,1106,3353,3206,724.2,-19.9,140,2789,0.00,2.12,0.00,0.000,1030,0.000,0.040,2402,2504,3279,3353,3206,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3102,-1.25,-219.0,2402,2504,3353,3202,790.6,-20.1,151,3108,0.00,1.83,0.00,0.000,260,0.000,0.056,2393,3680,3277,3353,3202,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3150,-1.25,-219.0,1488,3678,3336,3197,797.4,-20.1,152,3155,0.00,1.67,0.00,0.000,1030,0.000,0.026,2393,2497,3277,3353,3201,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3469,-1.25,-219.0,2393,2496,3353,3196,865.3,-20.3,163,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2496,3275,3353,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3769,-1.25,-219.0,2393,2496,3352,3191,925.2,-19.7,173,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2496,3272,3353,3191,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4007,begin apogee
$GC,4013,-0.20,0.0,2393,1994,3351,3187,972.1,-19.7,181,4358,1.08,0.00,334.23,0.747,10246,0.122,0.000,2749,1993,2377,2538,2217,0,0,0,0,0,0,26.34,28.83,24.49
$STATE,4359,end apogee,CONTROL_FINISHED_OK
$STATE,4359,begin climb
$GC,4361,1.25,219.0,2749,1993,2531,2208,993.6,0.0,192,4605,1.30,2.42,234.80,0.889,11012,0.047,0.048,3233,3412,1478,1582,1375,0,0,1,0,0,0,25.24,24.80,24.15
$GC,4637,1.25,219.0,3232,3412,1562,1358,963.1,19.2,201,4645,0.00,2.20,0.00,0.000,1030,0.000,0.028,3244,2014,1459,1561,1357,0,0,0,0,0,0,28.83,25.27,28.83
$GC,4947,1.25,219.0,3244,2013,1552,1348,879.0,25.3,212,4952,0.00,2.17,0.00,0.000,516,0.000,0.037,3256,601,1450,1552,1348,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5001,1.25,219.0,3255,601,1551,1348,869.3,25.6,213,5007,0.12,2.12,0.00,0.000,5126,0.174,0.031,3224,2015,1449,1551,1348,0,0,0,0,0,0,25.96,26.17,28.83
$GC,5315,1.25,219.0,3224,2015,1549,1346,787.6,23.1,224,5321,0.00,2.17,0.00,0.000,260,0.000,0.048,3225,3407,1448,1550,1346,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5453,1.25,219.0,3224,3406,1547,1346,757.9,24.0,228,5460,0.00,2.12,0.00,0.000,1030,0.000,0.028,3236,1988,1446,1547,1346,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5773,1.25,219.0,3235,1987,1547,1343,684.4,21.9,239,5779,0.00,2.10,0.00,0.000,516,0.000,0.038,3247,604,1445,1547,1344,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5800,1.25,219.0,2304,604,1518,1338,684.4,21.9,239,5808,0.00,2.08,0.00,0.000,1030,0.000,0.031,3247,1999,1445,1547,1343,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6108,1.25,219.0,3250,1999,1546,1342,611.2,22.1,250,6114,0.00,2.12,0.00,0.000,516,0.000,0.038,3258,606,1444,1546,1342,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6222,1.25,219.0,3258,606,1546,1341,588.3,21.6,254,6229,0.15,2.08,0.00,0.000,5126,0.162,0.031,3221,2005,1443,1546,1341,0,0,0,0,0,0,26.31,26.55,28.83
$GC,6539,1.25,219.0,3218,2002,1545,1340,528.1,17.8,270,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2002,1442,1545,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6837,1.25,219.0,3218,2001,1544,1339,473.1,18.9,285,6843,0.00,2.15,0.00,0.000,260,0.000,0.047,3218,3400,1440,1543,1338,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6991,1.25,219.0,2256,3398,1514,1337,441.7,21.4,292,6998,0.00,2.08,0.00,0.000,1030,0.000,0.029,3229,1995,1440,1542,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7306,1.25,219.0,3229,1994,1542,1337,381.3,18.1,308,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1995,1439,1542,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7606,1.25,219.0,3229,1995,1542,1337,327.9,17.9,323,7612,0.00,2.10,0.00,0.000,516,0.000,0.039,3240,609,1439,1542,1336,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7654,1.25,219.0,3240,609,1542,1336,319.9,17.9,325,7660,0.00,2.05,0.00,0.000,1030,0.000,0.030,3240,1997,1439,1542,1336,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7975,1.25,219.0,3240,1998,1542,1336,260.2,18.3,341,7981,0.00,2.10,0.00,0.000,516,0.000,0.039,3251,610,1439,1542,1336,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8065,1.25,219.0,3251,611,1542,1336,243.6,19.0,345,8072,0.12,2.05,0.00,0.000,5126,0.163,0.030,3219,2003,1439,1542,1336,0,0,0,0,0,0,26.39,26.63,28.83
$GC,8386,1.25,219.0,3218,2003,1542,1336,187.6,16.4,361,8392,0.00,2.15,0.00,0.000,260,0.000,0.046,3218,3402,1439,1542,1336,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8624,1.25,219.0,3218,3402,1542,1336,150.3,15.8,372,8630,0.00,2.05,0.00,0.000,1030,0.000,0.028,3229,1997,1439,1542,1337,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8938,1.25,219.0,3229,1997,1542,1337,101.9,14.0,388,8944,0.00,2.10,0.00,0.000,516,0.000,0.039,3241,607,1439,1542,1336,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9151,1.25,219.0,3241,608,1542,1337,73.7,13.0,398,9156,0.00,2.05,0.00,0.000,1030,0.000,0.029,3241,2005,1439,1542,1336,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9459,1.25,219.0,3240,2005,1543,1336,27.7,15.4,420,9465,0.00,2.10,0.00,0.000,516,0.000,0.038,3252,612,1439,1543,1336,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9582,1.25,219.0,2208,612,1513,1333,11.2,13.6,441,9591,0.12,2.05,0.00,0.000,5126,0.155,0.029,3218,2012,1439,1543,1336,0,0,0,0,0,0,26.41,26.65,28.83
$STATE,9648,end climb,SURFACE_DEPTH_REACHED
$STATE,9648,begin surface coast
$FINISH,0.5,1.023325
$STATE,9673,end surface coast,CONTROL_FINISHED_OK
$STATE,9673,begin surface
$SM_CCo,9690,83.28,0.059,0,0,748,400.08
$SM_GC,1.09,7.90,0.73,83.28,0.037,0.045,0.059,127,2499,748,-8.29,-1.39,400.08,0,0,0,0,0,0,26.65,26.63,26.44
$IRIDIUM_FIX,2157.39,12319.47,250313,212142
$TT8_MAMPS,0.048685,0.048685
$HUMID,45.03
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3956896
$24V_AH,24.1,29.222
$10V_AH,10.2,20.561
$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,19.800,70.525,569.025,83.275,0.000,0.000,0.000,203.575,0.000,0.000,42.309,1877.045,5816.599,685.936,1492.325,275.485,0.000,1610.452,0.000,1185.046,0.000,0.538,0.000
$DEVICE_MAMPS,220.320,68.850,888.930,58.905,0.000,0.000,0.000,122.400,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9665.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.912,0.000,0.000,0.000
$MEM,329760
$DATA_FILE_SIZE,16780,457
$CAP_FILE_SIZE,249419,0
$CFSIZE,260034560,233099264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,260313,031921,2204.937,12319.181,10,6.0,30,-2.9