version: 66.11
glider: 171
mission: 4
dive: 202
start: 3 26 113 9 9 45
data:
$ID,171
$MISSION,4
$DIVE,202
$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,-20771.436
$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,57
$R_STBD_OVSHOOT,38
$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
$GPS1,260313,090327,2205.343,12317.409,14,2.3,34,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.7
$GPS2,260313,090921,2205.364,12317.502,11,2.3,30,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2207.239,12306.021
$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,5300
$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,17,begin dive
$GC,19,-1.25,-219.0,126,2505,835,665,0.0,0.0,0,86,0.00,0.00,-64.65,0.000,16386,0.000,0.000,126,2506,2609,2673,2545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.25,-219.0,126,2506,2676,2545,4.1,-8.1,9,120,8.85,2.15,-11.32,0.000,18948,0.220,0.042,2412,1088,3277,3348,3207,0,0,0,0,0,0,25.86,26.34,26.63
$GC,235,-1.25,-219.0,2411,1088,3350,3207,52.2,-33.2,24,244,0.00,2.15,0.00,0.000,1030,0.000,0.040,2402,2490,3278,3350,3207,0,0,0,0,0,0,28.83,26.32,28.83
$GC,542,-1.25,-219.0,2401,2490,3352,3207,154.4,-31.2,40,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2490,3279,3353,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,842,-1.25,-219.0,2401,2489,3354,3207,245.0,-28.9,55,848,0.00,1.85,0.00,0.000,260,0.000,0.055,2393,3680,3281,3355,3207,0,0,0,0,0,0,28.83,26.48,28.83
$GC,957,-1.25,-219.0,2393,3680,3355,3207,276.0,-29.4,60,963,0.00,1.70,0.00,0.000,1030,0.000,0.024,2393,2488,3281,3355,3207,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1271,-1.25,-219.0,2392,2486,3355,3207,362.1,-26.0,76,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2486,3281,3355,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1571,-1.25,-219.0,2393,2486,3356,3207,439.4,-25.5,91,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2486,3281,3356,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1871,-1.25,-219.0,2392,2486,3357,3207,514.8,-24.4,106,1877,0.00,1.88,0.00,0.000,260,0.000,0.055,2384,3680,3281,3357,3205,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1919,-1.25,-219.0,2383,3680,3357,3207,525.8,-25.1,108,1926,0.12,1.67,0.00,0.000,3078,0.155,0.024,2417,2490,3282,3357,3207,0,0,0,0,0,0,26.43,26.71,28.83
$GC,2241,-1.25,-219.0,2416,2489,3357,3207,595.4,-20.7,124,2247,0.00,2.00,0.00,0.000,516,0.000,0.028,2417,1114,3282,3357,3207,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2276,-1.25,-219.0,2416,1114,3356,3207,602.9,-20.8,126,2282,0.00,2.12,0.00,0.000,1030,0.000,0.039,2407,2506,3282,3357,3207,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2610,-1.25,-219.0,2406,2506,3356,3207,670.5,-20.3,137,2616,0.00,1.83,0.00,0.000,260,0.000,0.055,2398,3676,3281,3356,3207,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2709,-1.25,-219.0,2397,3676,3356,3207,690.0,-20.3,140,2715,0.00,1.67,0.00,0.000,1030,0.000,0.025,2398,2493,3281,3356,3206,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3039,-1.25,-219.0,2397,2491,3356,3203,754.1,-19.5,151,3045,0.00,2.03,0.00,0.000,516,0.000,0.029,2398,1114,3279,3356,3202,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3077,-1.25,-219.0,2397,1114,3356,3202,760.9,-19.6,152,3084,0.12,2.12,0.00,0.000,3078,0.165,0.040,2420,2506,3279,3356,3202,0,0,0,0,0,0,26.39,26.58,28.83
$GC,3407,-1.25,-219.0,2420,2506,3356,3198,825.1,-19.2,163,3413,0.00,1.85,0.00,0.000,260,0.000,0.056,2411,3690,3276,3356,3197,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3511,-1.25,-219.0,2411,3690,3356,3197,843.7,-19.5,166,3517,0.00,1.70,0.00,0.000,1030,0.000,0.028,2411,2509,3276,3356,3196,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3835,-1.25,-219.0,2411,2510,3356,3194,905.2,-17.9,177,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2510,3274,3356,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4136,-1.25,-219.0,2411,2509,3355,3188,957.2,-17.3,187,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2509,3271,3354,3188,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4223,begin apogee
$GC,4229,-0.20,0.0,2411,1982,3354,3187,972.3,-16.9,190,4573,1.00,0.00,333.70,0.753,10246,0.116,0.000,2747,1981,2377,2536,2218,0,0,0,0,0,0,26.34,28.83,24.47
$STATE,4575,end apogee,CONTROL_FINISHED_OK
$STATE,4575,begin climb
$GC,4577,1.25,219.0,2747,1981,2530,2208,990.4,0.0,201,4908,1.30,2.22,314.98,0.744,10756,0.049,0.037,3240,637,1476,1579,1374,0,0,0,0,0,0,25.22,24.97,24.34
$GC,4991,1.25,219.0,3240,637,1561,1356,931.7,22.8,214,4997,0.00,2.15,0.00,0.000,1030,0.000,0.031,3240,2019,1458,1561,1356,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5310,1.25,219.0,3240,2020,1557,1355,847.3,25.5,225,5316,0.00,2.15,0.00,0.000,516,0.000,0.037,3252,628,1456,1557,1355,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5358,1.25,219.0,2304,628,1527,1352,838.4,25.6,226,5364,0.12,2.08,0.00,0.000,5126,0.177,0.031,3221,2003,1455,1556,1355,0,0,0,0,0,0,26.01,26.23,28.83
$GC,5677,1.25,219.0,3220,2003,1553,1352,762.3,22.6,237,5683,0.00,2.17,0.00,0.000,260,0.000,0.047,3221,3401,1453,1554,1352,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5716,1.25,219.0,3220,3401,1553,1352,754.3,23.0,238,5722,0.00,2.08,0.00,0.000,1030,0.000,0.028,3231,2011,1452,1553,1351,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6045,1.25,219.0,3231,2010,1552,1350,676.5,23.0,249,6051,0.00,2.12,0.00,0.000,516,0.000,0.037,3242,607,1451,1552,1350,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6118,1.25,219.0,3242,607,1552,1350,661.5,23.2,251,6124,0.00,2.08,0.00,0.000,1030,0.000,0.032,3243,1999,1451,1552,1350,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6442,1.25,219.0,3242,1999,1551,1348,587.1,21.3,263,6448,0.00,2.17,0.00,0.000,260,0.000,0.047,3243,3402,1449,1551,1348,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6572,1.25,219.0,3242,3402,1551,1348,557.7,23.2,269,6579,0.12,2.08,0.00,0.000,5126,0.177,0.029,3224,1998,1449,1551,1348,0,0,0,0,0,0,26.30,26.58,28.83
$GC,6893,1.25,219.0,3223,1996,1551,1346,492.5,20.9,285,6899,0.00,2.10,0.00,0.000,516,0.000,0.040,3234,610,1448,1550,1346,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6989,1.25,219.0,3233,610,1550,1346,474.6,20.7,289,6995,0.00,2.08,0.00,0.000,1030,0.000,0.031,3234,2008,1448,1550,1346,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7303,1.25,219.0,3233,2008,1548,1344,408.2,20.6,305,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2008,1445,1547,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7603,1.25,219.0,3233,2008,1548,1344,351.8,18.5,320,7609,0.00,2.12,0.00,0.000,516,0.000,0.039,3244,609,1445,1548,1343,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7704,1.25,219.0,3245,609,1547,1344,335.9,18.5,324,7712,0.00,2.08,0.00,0.000,1030,0.000,0.031,3245,2009,1444,1547,1341,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8010,1.25,219.0,3245,2009,1547,1344,278.8,17.1,340,8011,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2009,1445,1547,1343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8309,1.25,219.0,3245,2009,1548,1344,228.2,17.3,355,8315,0.00,2.15,0.00,0.000,260,0.000,0.045,3245,3408,1445,1548,1343,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8355,1.25,219.0,3244,3408,1548,1344,220.2,17.8,357,8361,0.12,2.08,0.00,0.000,5126,0.174,0.029,3226,2001,1444,1545,1344,0,0,0,0,0,0,26.36,26.65,28.83
$GC,8681,1.25,219.0,3225,1999,1547,1343,169.7,14.7,373,8682,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2001,1445,1547,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8980,1.25,219.0,3225,2001,1547,1343,125.6,14.5,388,8986,0.00,2.17,0.00,0.000,260,0.000,0.045,3225,3407,1446,1548,1344,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9026,1.25,219.0,3225,3408,1548,1344,118.9,14.8,390,9032,0.00,2.08,0.00,0.000,1030,0.000,0.029,3236,1996,1445,1548,1343,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9352,1.25,219.0,3236,1996,1548,1344,70.6,14.8,406,9357,0.00,2.08,0.00,0.000,516,0.000,0.038,3247,609,1446,1548,1344,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9522,1.25,219.0,3246,609,1548,1344,49.1,12.2,414,9530,0.00,2.05,0.00,0.000,1030,0.000,0.030,3247,2003,1445,1548,1343,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9832,1.25,219.0,2192,2001,1515,1340,7.2,13.4,457,9840,0.00,2.15,0.00,0.000,260,0.000,0.044,3247,3413,1447,1551,1343,0,0,0,0,0,0,28.83,26.59,28.83
$STATE,9862,end climb,SURFACE_DEPTH_REACHED
$STATE,9862,begin surface coast
$FINISH,0.5,1.023314
$STATE,9879,end surface coast,CONTROL_FINISHED_OK
$STATE,9879,begin surface
$SM_CCo,9897,84.55,0.059,0,0,748,400.08
$SM_GC,1.30,7.97,1.38,84.55,0.036,0.030,0.059,128,2514,748,-8.30,1.75,400.08,0,0,0,0,0,0,26.65,26.66,26.43
$IRIDIUM_FIX,2157.39,12319.47,260313,060626
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.95
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3955936
$24V_AH,24.3,29.657
$10V_AH,10.2,20.806
$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,19.750,73.250,648.675,84.550,0.000,0.000,0.000,188.500,0.000,0.000,32.424,1853.347,5986.488,723.822,1490.755,277.255,0.000,1679.396,0.000,1209.914,0.000,0.537,0.000
$DEVICE_MAMPS,220.320,55.845,752.760,58.905,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9871.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.950,0.000,0.000,0.000
$MEM,329792
$DATA_FILE_SIZE,16786,465
$CAP_FILE_SIZE,254502,0
$CFSIZE,260034560,232820736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260313,115729,2205.294,12316.241,36,1.0,42,-2.9