version: 66.11
glider: 171
mission: 4
dive: 205
start: 3 26 113 17 51 31
data:
$ID,171
$MISSION,4
$DIVE,205
$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,-20775.396
$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,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
$GPS1,260313,174536,2205.326,12313.889,30,1.0,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.5
$GPS2,260313,175106,2205.258,12313.915,15,1.2,15,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2207.133,12302.436
$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,5468
$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,-219.0,126,2489,841,660,0.0,0.0,0,85,0.00,0.00,-64.72,0.000,16386,0.000,0.000,124,2491,2588,2654,2522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.25,-219.0,126,2491,2658,2522,4.6,-8.5,9,119,8.80,2.15,-12.02,0.000,19204,0.218,0.047,2410,1093,3276,3345,3207,0,0,0,0,0,0,25.84,26.32,26.63
$GC,128,-1.25,-219.0,2410,1092,3347,3207,20.9,-40.9,14,136,0.00,2.15,0.00,0.000,1030,0.000,0.036,2400,2502,3277,3347,3207,0,0,0,0,0,0,28.83,26.27,28.83
$GC,454,-1.25,-219.0,2400,2503,3350,3207,130.4,-32.0,35,460,0.00,2.10,0.00,0.000,516,0.000,0.029,2400,1089,3278,3350,3207,0,0,0,0,0,0,28.83,26.48,28.83
$GC,686,-1.25,-219.0,2400,1088,3350,3207,195.4,-27.9,46,691,0.00,2.15,0.00,0.000,1030,0.000,0.038,2390,2503,3279,3351,3207,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1005,-1.25,-219.0,2389,2502,3354,3207,289.8,-29.1,62,1012,0.12,1.83,0.00,0.000,2308,0.173,0.052,2419,3674,3280,3354,3207,0,0,0,0,0,0,26.39,26.49,28.83
$GC,1203,-1.25,-219.0,2418,3674,3353,3207,338.7,-25.3,71,1209,0.00,1.67,0.00,0.000,1030,0.000,0.023,2419,2490,3281,3355,3207,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1517,-1.25,-219.0,2418,2488,3355,3206,416.8,-22.8,87,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2488,3281,3355,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1818,-1.25,-219.0,2419,2488,3355,3207,484.6,-22.4,102,1823,0.00,1.83,0.00,0.000,260,0.000,0.054,2410,3671,3281,3355,3207,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1842,-1.25,-219.0,2409,3671,3355,3207,489.9,-22.3,103,1847,0.00,1.67,0.00,0.000,1030,0.000,0.024,2410,2496,3281,3355,3207,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2167,-1.25,-219.0,2409,2493,3355,3207,560.2,-21.7,119,2173,0.00,2.03,0.00,0.000,516,0.000,0.029,2409,1105,3281,3355,3207,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2200,-1.25,-219.0,2409,1105,3354,3207,565.7,-21.5,120,2206,0.00,2.12,0.00,0.000,1030,0.000,0.039,2398,2505,3281,3355,3207,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2534,-1.25,-219.0,2398,2505,3355,3207,643.0,-22.2,134,2540,0.00,1.80,0.00,0.000,260,0.000,0.054,2390,3673,3280,3354,3207,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2693,-1.25,-219.0,2389,3673,3354,3207,676.9,-21.7,139,2699,0.00,1.67,0.00,0.000,1030,0.000,0.024,2390,2490,3282,3359,3206,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3023,-1.25,-219.0,2390,2489,3355,3205,746.7,-20.9,150,3029,0.10,1.85,0.00,0.000,2308,0.167,0.052,2404,3675,3279,3355,3204,0,0,0,0,0,0,26.58,26.56,28.83
$GC,3111,-1.25,-219.0,2406,3675,3354,3203,759.8,-20.5,152,3119,0.00,1.67,0.00,0.000,1030,0.000,0.024,2406,2492,3279,3355,3203,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3419,-1.25,-219.0,2406,2490,3354,3199,822.5,-18.7,163,3425,0.00,2.00,0.00,0.000,516,0.000,0.028,2406,1115,3276,3354,3198,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3472,-1.25,-219.0,2406,1115,3355,3198,829.2,-19.0,164,3478,0.00,2.10,0.00,0.000,1030,0.000,0.040,2396,2501,3276,3354,3198,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3787,-1.25,-219.0,2396,2501,3354,3194,895.1,-19.8,175,3793,0.00,1.83,0.00,0.000,260,0.000,0.056,2386,3674,3273,3354,3193,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3822,-1.25,-219.0,2386,3674,3354,3193,902.5,-20.1,176,3828,0.12,1.67,0.00,0.000,3078,0.152,0.027,2420,2509,3273,3354,3192,0,0,0,0,0,0,26.43,26.73,28.83
$GC,4157,-1.25,-219.0,2421,2509,3354,3188,963.2,-17.3,187,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2509,3271,3354,3188,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4215,begin apogee
$GC,4220,-0.20,0.0,2420,1976,3353,3187,973.2,-16.8,189,4570,0.98,0.00,337.02,0.748,10246,0.114,0.000,2749,1974,2372,2532,2212,0,0,0,0,0,0,26.33,28.83,24.47
$STATE,4571,end apogee,CONTROL_FINISHED_OK
$STATE,4571,begin climb
$GC,4574,1.25,219.0,2749,1973,2530,2207,993.7,0.0,200,4818,1.30,0.00,234.73,0.892,10758,0.047,0.000,3234,1973,1477,1581,1374,0,0,0,0,0,0,25.25,28.83,24.13
$GC,5116,1.25,219.0,3234,1973,1551,1347,897.3,24.3,219,5122,0.00,2.30,0.00,0.000,260,0.000,0.047,3234,3419,1449,1551,1347,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5220,1.25,219.0,3234,3419,1550,1347,872.5,25.7,222,5226,0.00,2.10,0.00,0.000,1030,0.000,0.028,3245,2024,1448,1550,1347,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5544,1.25,219.0,3245,2023,1547,1345,788.3,25.7,233,5550,0.00,2.17,0.00,0.000,516,0.000,0.039,3257,605,1446,1547,1345,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5624,1.25,219.0,3256,606,1547,1345,771.8,26.2,235,5630,0.12,2.12,0.00,0.000,5126,0.176,0.031,3226,2026,1446,1548,1345,0,0,0,0,0,0,26.17,26.41,28.83
$GC,5944,1.25,219.0,3226,2026,1547,1343,692.5,22.7,246,5950,0.00,2.12,0.00,0.000,260,0.000,0.047,3226,3400,1445,1547,1343,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6008,1.25,219.0,3226,3400,1547,1342,678.1,22.3,248,6014,0.00,2.08,0.00,0.000,1030,0.000,0.028,3237,1997,1444,1546,1343,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6343,1.25,219.0,3236,1996,1545,1341,603.3,22.1,259,6348,0.00,2.10,0.00,0.000,516,0.000,0.040,3248,610,1443,1545,1341,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6370,1.25,219.0,3247,610,1545,1341,603.3,22.1,259,6378,0.00,2.08,0.00,0.000,1030,0.000,0.031,3248,2003,1443,1545,1341,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6677,1.25,219.0,3247,2005,1544,1340,529.0,20.6,275,6683,0.00,2.17,0.00,0.000,260,0.000,0.046,3248,3412,1442,1544,1340,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6914,1.25,219.0,3248,3412,1542,1340,476.4,23.1,286,6921,0.15,2.08,0.00,0.000,5126,0.174,0.030,3220,2006,1441,1542,1340,0,0,0,0,0,0,26.29,26.61,28.83
$GC,7231,1.25,219.0,3220,2005,1542,1337,412.8,19.9,302,7237,0.00,2.15,0.00,0.000,516,0.000,0.041,3231,605,1439,1542,1337,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7297,1.25,219.0,3231,604,1542,1337,399.8,19.4,305,7303,0.00,2.08,0.00,0.000,1030,0.000,0.031,3231,2000,1439,1542,1337,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7622,1.25,219.0,3231,1998,1541,1337,338.1,18.8,321,7628,0.00,2.17,0.00,0.000,260,0.000,0.047,3231,3406,1439,1542,1337,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7708,1.25,219.0,3231,3406,1541,1337,321.0,19.6,325,7714,0.00,2.10,0.00,0.000,1030,0.000,0.029,3243,1991,1439,1542,1337,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8034,1.25,219.0,3242,1990,1541,1337,263.4,18.9,341,8040,0.00,2.20,0.00,0.000,260,0.000,0.045,3243,3414,1439,1541,1337,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8088,1.25,219.0,3242,3412,1541,1337,254.6,18.9,343,8095,0.12,2.08,0.00,0.000,5126,0.171,0.029,3222,1995,1439,1541,1337,0,0,0,0,0,0,26.36,26.64,28.83
$GC,8404,1.25,219.0,3222,1995,1541,1337,200.4,15.4,359,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1995,1439,1542,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8703,1.25,219.0,3222,1995,1541,1337,155.0,14.8,374,8709,0.00,2.10,0.00,0.000,516,0.000,0.040,3233,609,1439,1541,1337,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8799,1.25,219.0,3233,609,1541,1337,142.4,14.6,378,8805,0.00,2.05,0.00,0.000,1030,0.000,0.031,3233,2001,1439,1541,1337,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9114,1.25,219.0,3233,2001,1541,1337,95.4,15.3,394,9120,0.00,2.10,0.00,0.000,516,0.000,0.038,3244,611,1439,1541,1337,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9168,1.25,219.0,3244,610,1541,1337,88.2,16.1,396,9174,0.00,2.05,0.00,0.000,1030,0.000,0.030,3244,2006,1437,1540,1334,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9483,1.25,219.0,3244,2005,1541,1337,42.8,13.4,414,9484,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2005,1439,1541,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9787,1.25,219.0,2192,2004,1510,1333,4.0,11.9,460,9795,0.00,2.15,0.00,0.000,260,0.000,0.044,3243,3406,1441,1545,1337,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,9801,end climb,SURFACE_DEPTH_REACHED
$STATE,9801,begin surface coast
$FINISH,0.4,1.000556
$STATE,9823,end surface coast,CONTROL_FINISHED_OK
$STATE,9823,begin surface
$SM_CCo,9842,83.62,0.059,0,0,749,400.08
$SM_GC,1.12,7.93,1.35,83.62,0.032,0.028,0.059,115,2498,749,-8.30,1.89,400.08,0,0,0,0,0,0,26.66,26.70,26.42
$IRIDIUM_FIX,2155.06,12316.25,260313,141457
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.94
$INTERNAL_PRESSURE,9.61321
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3954976
$24V_AH,24.1,30.074
$10V_AH,10.3,21.050
$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,19.750,80.925,571.750,83.625,0.000,0.000,0.000,180.725,0.000,0.000,15.898,1948.951,5813.710,696.501,1508.142,284.380,0.000,1642.233,0.000,1254.308,0.000,0.538,0.000
$DEVICE_MAMPS,218.025,55.845,891.990,58.905,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9820.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.975,0.000,0.000,0.000
$MEM,329792
$DATA_FILE_SIZE,16752,466
$CAP_FILE_SIZE,260847,0
$CFSIZE,260034560,232550400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260313,203806,2205.479,12312.838,29,1.2,30,-2.9