version: 66.11
glider: 171
mission: 4
dive: 206
start: 3 26 113 20 43 56
data:
$ID,171
$MISSION,4
$DIVE,206
$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,-20776.75
$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,61
$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
$GPS1,260313,203806,2205.479,12312.838,29,1.2,30,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.1
$GPS2,260313,204331,2205.487,12312.846,14,1.3,14,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2207.362,12301.365
$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,5535
$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,16,begin dive
$GC,18,-1.25,-219.0,114,2494,837,658,0.0,0.0,0,85,0.00,0.00,-64.88,0.000,16386,0.000,0.000,114,2495,2577,2647,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.25,-219.0,114,2495,2648,2508,4.4,-8.3,9,119,8.85,2.10,-12.32,0.000,18948,0.218,0.047,2410,1099,3278,3348,3208,0,0,0,0,0,0,25.84,26.32,26.63
$GC,305,-1.25,-219.0,2410,1099,3354,3208,72.2,-30.4,29,313,0.00,2.12,0.00,0.000,1030,0.000,0.040,2401,2485,3281,3354,3208,0,0,0,0,0,0,28.83,26.35,28.83
$GC,611,-1.25,-219.0,2400,2485,3355,3208,174.6,-31.1,45,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2485,3281,3355,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,911,-1.25,-219.0,2400,2485,3358,3208,261.3,-27.1,60,917,0.00,1.85,0.00,0.000,260,0.000,0.053,2391,3680,3283,3358,3209,0,0,0,0,0,0,28.83,26.48,28.83
$GC,958,-1.25,-219.0,2391,3680,3358,3209,273.6,-27.4,62,964,0.00,1.70,0.00,0.000,1030,0.000,0.024,2391,2486,3283,3358,3209,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1283,-1.25,-219.0,2391,2484,3359,3209,361.5,-26.5,78,1289,0.00,1.88,0.00,0.000,260,0.000,0.054,2383,3681,3284,3360,3209,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1322,-1.25,-219.0,2382,3681,3359,3209,368.6,-27.2,79,1331,0.12,1.67,0.00,0.000,3078,0.158,0.024,2414,2494,3284,3359,3209,0,0,0,0,0,0,26.38,26.67,28.83
$GC,1628,-1.25,-219.0,2414,2493,3360,3209,447.6,-24.2,95,1634,0.00,2.03,0.00,0.000,516,0.000,0.029,2415,1104,3284,3360,3209,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1682,-1.25,-219.0,2415,1104,3360,3209,458.3,-23.9,97,1688,0.00,2.12,0.00,0.000,1030,0.000,0.038,2405,2505,3284,3360,3209,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1996,-1.25,-219.0,2404,2505,3360,3209,533.8,-22.4,113,2002,0.00,1.85,0.00,0.000,260,0.000,0.053,2396,3699,3284,3360,3209,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2087,-1.25,-219.0,2395,3699,3360,3209,553.4,-22.5,117,2093,0.00,1.75,0.00,0.000,1030,0.000,0.024,2396,2496,3284,3360,3209,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2396,-1.25,-219.0,2395,2495,3360,3209,623.5,-22.4,131,2402,0.00,2.03,0.00,0.000,516,0.000,0.028,2395,1111,3286,3360,3212,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2449,-1.25,-219.0,2395,1111,3360,3209,630.6,-21.8,132,2456,0.12,2.12,0.00,0.000,3078,0.165,0.038,2417,2504,3284,3360,3209,0,0,0,0,0,0,26.39,26.58,28.83
$GC,2764,-1.25,-219.0,2417,2503,3360,3208,696.8,-19.8,143,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2503,3283,3359,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3064,-1.25,-219.0,2418,2503,3360,3205,753.1,-18.9,153,3070,0.00,1.83,0.00,0.000,260,0.000,0.054,2409,3674,3282,3360,3204,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3153,-1.25,-219.0,2409,3674,3360,3203,765.8,-19.4,155,3161,0.00,1.73,0.00,0.000,1030,0.000,0.025,2409,2494,3281,3360,3203,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3460,-1.25,-219.0,2409,2495,3359,3198,829.0,-19.1,166,3466,0.00,1.85,0.00,0.000,260,0.000,0.054,2399,3677,3279,3360,3198,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3479,-1.25,-219.0,2400,3677,3359,3198,829.0,-19.1,166,3485,0.00,1.67,0.00,0.000,1030,0.000,0.027,2400,2503,3278,3359,3198,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3799,-1.25,-219.0,2400,2501,3359,3193,893.9,-19.1,177,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2501,3276,3359,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4098,-1.25,-219.0,2400,2501,3357,3190,952.2,-19.5,187,4104,0.00,1.83,0.00,0.000,260,0.000,0.056,2392,3669,3273,3357,3190,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4136,-1.25,-219.0,2391,3670,3356,3191,959.3,-19.9,188,4142,0.00,1.73,0.00,0.000,1030,0.000,0.028,2391,2511,3273,3356,3190,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,4196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4196,begin apogee
$GC,4201,-0.20,0.0,2391,1981,3356,3190,972.3,-20.6,190,4550,1.08,0.00,337.38,0.748,10246,0.122,0.000,2746,1979,2373,2533,2213,0,0,0,0,0,0,26.30,28.83,24.46
$STATE,4552,end apogee,CONTROL_FINISHED_OK
$STATE,4552,begin climb
$GC,4554,1.25,219.0,2747,1979,2530,2208,997.3,0.0,201,4800,1.30,2.20,233.77,0.890,10756,0.048,0.039,3241,635,1475,1578,1372,0,0,0,0,0,0,25.22,24.82,24.12
$GC,4823,1.25,219.0,3240,635,1564,1358,972.2,17.4,209,4831,0.00,2.17,0.00,0.000,1030,0.000,0.031,3241,2008,1460,1563,1358,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5129,1.25,219.0,3240,2008,1552,1350,890.8,24.0,220,5135,0.00,2.20,0.00,0.000,260,0.000,0.047,3241,3406,1451,1553,1350,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5157,1.25,219.0,3240,3406,1553,1350,890.8,24.0,220,5166,0.12,2.08,0.00,0.000,5126,0.181,0.028,3222,2017,1450,1552,1349,0,0,0,0,0,0,25.90,26.15,28.83
$GC,5465,1.25,219.0,3221,2017,1551,1346,811.0,24.1,231,5470,0.00,2.15,0.00,0.000,516,0.000,0.038,3233,613,1449,1551,1347,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5492,1.25,219.0,3233,613,1550,1346,811.0,24.1,231,5500,0.00,2.10,0.00,0.000,1030,0.000,0.031,3233,2008,1448,1551,1346,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5800,1.25,219.0,3233,2008,1549,1345,734.2,22.4,242,5806,0.00,2.17,0.00,0.000,260,0.000,0.047,3233,3406,1447,1549,1345,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5852,1.25,219.0,3233,3406,1553,1345,725.7,22.6,243,5858,0.00,2.08,0.00,0.000,1030,0.000,0.029,3244,2005,1447,1549,1345,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6168,1.25,219.0,3244,2007,1547,1344,649.6,22.4,254,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2007,1445,1547,1343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6468,1.25,219.0,3244,2006,1546,1342,582.6,21.4,265,6474,0.00,2.12,0.00,0.000,516,0.000,0.039,3255,609,1444,1546,1342,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6517,1.25,219.0,3256,609,1546,1342,572.6,21.7,267,6523,0.12,2.08,0.00,0.000,5126,0.174,0.031,3224,2004,1444,1546,1342,0,0,0,0,0,0,26.30,26.56,28.83
$GC,6838,1.25,219.0,3224,2004,1547,1341,504.4,20.6,283,6844,0.00,2.17,0.00,0.000,260,0.000,0.047,3224,3400,1443,1546,1341,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6947,1.25,219.0,2272,3399,1517,1337,482.3,20.7,288,6953,0.00,2.08,0.00,0.000,1030,0.000,0.029,3235,1995,1443,1545,1341,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7268,1.25,219.0,3235,1997,1544,1339,422.3,18.8,304,7274,0.00,2.12,0.00,0.000,516,0.000,0.040,3246,603,1441,1544,1338,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7369,1.25,219.0,3246,603,1544,1339,403.9,21.1,308,7377,0.00,2.08,0.00,0.000,1030,0.000,0.031,3246,2001,1441,1544,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7674,1.25,219.0,3246,2002,1544,1338,339.9,20.1,324,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2002,1441,1544,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7974,1.25,219.0,3245,2001,1544,1339,282.3,19.6,339,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2002,1441,1544,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8274,1.25,219.0,3246,2002,1543,1338,224.9,19.0,354,8280,0.00,2.12,0.00,0.000,516,0.000,0.038,3258,603,1441,1544,1338,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8329,1.25,219.0,3258,603,1544,1338,216.8,18.4,356,8336,0.15,2.08,0.00,0.000,5126,0.155,0.030,3217,2012,1441,1544,1338,0,0,0,0,0,0,26.34,26.62,28.83
$GC,8645,1.25,219.0,3217,2011,1544,1339,161.8,16.3,372,8651,0.00,2.12,0.00,0.000,260,0.000,0.046,3217,3399,1441,1544,1338,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8700,1.25,219.0,3221,3399,1544,1339,154.2,16.6,374,8706,0.00,2.05,0.00,0.000,1030,0.000,0.028,3229,1995,1441,1545,1338,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9014,1.25,219.0,3228,1995,1544,1338,107.8,13.0,390,9020,0.00,2.10,0.00,0.000,516,0.000,0.039,3239,608,1441,1544,1338,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9169,1.25,219.0,2304,607,1515,1335,87.2,14.5,397,9175,0.00,2.05,0.00,0.000,1030,0.000,0.030,3240,2001,1441,1544,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9484,1.25,219.0,3239,2002,1545,1338,41.5,14.2,415,9491,0.00,2.15,0.00,0.000,260,0.000,0.045,3240,3406,1441,1545,1338,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9533,1.25,219.0,3239,3406,1545,1338,34.7,14.4,419,9543,0.12,2.05,0.00,0.000,5126,0.162,0.027,3218,1996,1442,1545,1339,0,0,0,0,0,0,26.39,26.66,28.83
$STATE,9806,end climb,SURFACE_DEPTH_REACHED
$STATE,9806,begin surface coast
$FINISH,0.5,1.009952
$STATE,9834,end surface coast,CONTROL_FINISHED_OK
$STATE,9834,begin surface
$SM_CCo,9852,83.65,0.059,0,0,747,400.08
$SM_GC,1.40,7.88,0.77,83.65,0.034,0.046,0.059,129,2498,747,-8.30,-1.24,400.08,0,0,0,0,0,0,26.66,26.60,26.43
$IRIDIUM_FIX,2157.39,12235.59,260313,171704
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.64
$INTERNAL_PRESSURE,9.61321
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3954656
$24V_AH,24.1,30.211
$10V_AH,10.3,21.128
$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,19.875,81.875,571.150,83.650,0.000,0.000,0.000,174.250,0.000,0.000,15.518,1822.401,6055.668,690.910,1404.064,284.388,0.000,1603.726,0.000,1158.464,0.000,0.537,0.000
$DEVICE_MAMPS,218.025,55.845,890.460,58.905,0.000,0.000,0.000,126.225,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9833.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.998,0.000,0.000,0.000
$MEM,329760
$DATA_FILE_SIZE,16815,469
$CAP_FILE_SIZE,252244,0
$CFSIZE,260034560,232468480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260313,233045,2205.669,12311.449,12,3.7,32,-2.9