version: 66.11
glider: 171
mission: 4
dive: 209
start: 3 27 113 5 21 45
data:
$ID,171
$MISSION,4
$DIVE,209
$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,-20780.717
$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,59
$R_STBD_OVSHOOT,37
$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
$GPS1,270313,051506,2206.156,12308.907,31,1.2,32,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.8
$GPS2,270313,052121,2206.181,12308.999,11,2.4,30,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2208.056,12257.518
$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,4847
$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,-219.0,117,2501,838,664,0.0,0.0,0,86,0.00,0.00,-65.00,0.000,16386,0.000,0.000,117,2501,2606,2676,2536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.25,-219.0,118,2501,2676,2537,4.0,-7.5,9,120,8.85,2.15,-11.52,0.000,18948,0.218,0.045,2408,1099,3277,3348,3207,0,0,0,0,0,0,25.82,26.32,26.63
$GC,298,-1.25,-219.0,2408,1098,3350,3210,70.9,-29.0,27,306,0.00,2.15,0.00,0.000,1030,0.000,0.040,2398,2501,3280,3350,3210,0,0,0,0,0,0,28.83,26.34,28.83
$GC,604,-1.25,-219.0,2399,2501,3351,3210,175.5,-32.3,43,609,0.00,1.83,0.00,0.000,260,0.000,0.054,2389,3678,3280,3350,3210,0,0,0,0,0,0,28.83,26.44,28.83
$GC,718,-1.25,-219.0,2389,3677,3352,3210,208.8,-32.0,48,725,0.12,1.70,0.00,0.000,3078,0.161,0.024,2422,2483,3281,3352,3210,0,0,0,0,0,0,26.29,26.58,28.83
$GC,1034,-1.25,-219.0,2421,2482,3355,3210,297.1,-26.9,64,1040,0.00,1.85,0.00,0.000,260,0.000,0.053,2413,3673,3281,3354,3209,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1109,-1.25,-219.0,2412,3673,3354,3210,314.5,-26.0,67,1115,0.00,1.67,0.00,0.000,1030,0.000,0.024,2413,2497,3282,3355,3210,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1423,-1.25,-219.0,2412,2496,3354,3211,394.5,-23.8,83,1429,0.00,1.85,0.00,0.000,260,0.000,0.054,2404,3684,3282,3354,3210,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1463,-1.25,-219.0,2401,3685,3354,3210,400.5,-23.9,84,1471,0.00,1.70,0.00,0.000,1030,0.000,0.026,2404,2493,3282,3354,3210,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1768,-1.25,-219.0,2403,2491,3354,3211,480.2,-23.9,100,1774,0.00,1.83,0.00,0.000,260,0.000,0.053,2395,3672,3282,3354,3210,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1792,-1.25,-219.0,2394,3672,3355,3211,486.1,-24.0,101,1798,0.00,1.67,0.00,0.000,1030,0.000,0.024,2395,2495,3282,3355,3210,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2118,-1.25,-219.0,2394,2494,3354,3210,564.2,-24.0,117,2123,0.00,2.03,0.00,0.000,516,0.000,0.028,2394,1102,3282,3354,3210,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2142,-1.25,-219.0,2394,1102,3354,3210,570.1,-23.9,118,2149,0.12,2.12,0.00,0.000,3078,0.164,0.040,2416,2501,3282,3354,3210,0,0,0,0,0,0,26.38,26.57,28.83
$GC,2467,-1.25,-219.0,2416,2500,3354,3210,638.3,-20.9,131,2473,0.00,2.05,0.00,0.000,516,0.000,0.029,2417,1105,3282,3354,3210,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2512,-1.25,-219.0,2416,1105,3354,3210,645.1,-20.4,132,2518,0.00,2.12,0.00,0.000,1030,0.000,0.039,2407,2501,3282,3354,3210,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2836,-1.25,-219.0,2406,2501,3354,3209,712.5,-20.3,143,2841,0.00,1.80,0.00,0.000,260,0.000,0.055,2397,3671,3280,3352,3208,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2973,-1.25,-219.0,2397,3671,3354,3207,738.8,-21.2,147,2980,0.00,1.70,0.00,0.000,1030,0.000,0.026,2397,2508,3280,3354,3206,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3293,-1.25,-219.0,2397,2506,3354,3203,808.0,-20.5,158,3299,0.00,2.05,0.00,0.000,516,0.000,0.029,2397,1107,3278,3354,3202,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3327,-1.25,-219.0,2397,1107,3354,3202,815.4,-20.8,159,3334,0.12,2.12,0.00,0.000,3078,0.164,0.041,2420,2501,3278,3354,3202,0,0,0,0,0,0,26.38,26.57,28.83
$GC,3662,-1.25,-219.0,2419,2501,3354,3197,881.5,-19.5,170,3668,0.00,1.83,0.00,0.000,260,0.000,0.055,2411,3676,3275,3354,3197,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3727,-1.25,-219.0,2411,3675,3354,3196,894.1,-19.4,172,3732,0.00,1.70,0.00,0.000,1030,0.000,0.026,2411,2495,3275,3354,3196,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4061,-1.25,-219.0,2411,2495,3351,3191,957.0,-18.1,183,4066,0.00,1.85,0.00,0.000,260,0.000,0.056,2402,3674,3272,3354,3191,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4119,-1.25,-219.0,2402,3674,3351,3190,963.3,-18.3,184,4127,0.00,1.67,0.00,0.000,1030,0.000,0.027,2401,2498,3271,3352,3191,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,4153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4154,begin apogee
$GC,4159,-0.20,0.0,2402,1988,3353,3190,974.0,-18.2,186,4500,1.05,0.00,329.60,0.754,10246,0.118,0.000,2752,1987,2375,2535,2216,0,0,0,0,0,0,26.31,28.83,24.46
$STATE,4501,end apogee,CONTROL_FINISHED_OK
$STATE,4502,begin climb
$GC,4504,1.25,219.0,2752,1987,2531,2208,992.4,0.0,197,4748,1.27,2.20,232.32,0.890,10756,0.046,0.037,3243,629,1474,1578,1371,0,0,0,0,0,0,25.25,24.87,24.17
$GC,4827,1.25,219.0,3243,630,1558,1354,946.2,23.2,207,4833,0.00,2.15,0.00,0.000,1030,0.000,0.031,3243,2010,1456,1558,1354,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5151,1.25,219.0,3243,2010,1551,1348,861.5,25.9,218,5157,0.00,2.20,0.00,0.000,260,0.000,0.047,3243,3405,1449,1551,1348,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5200,1.25,219.0,2304,3403,1522,1344,851.9,26.0,219,5207,0.12,2.08,0.00,0.000,5126,0.179,0.028,3224,2014,1449,1551,1348,0,0,0,0,0,0,26.01,26.25,28.83
$GC,5520,1.25,219.0,3224,2014,1549,1345,767.6,25.5,230,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2014,1447,1549,1346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5820,1.25,219.0,3223,2013,1547,1344,691.6,25.1,240,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2014,1445,1547,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6121,1.25,219.0,3224,2014,1547,1342,623.9,21.7,250,6126,0.00,2.17,0.00,0.000,260,0.000,0.047,3224,3406,1444,1547,1342,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6188,1.25,219.0,3224,3407,1546,1342,607.8,23.0,252,6194,0.00,2.08,0.00,0.000,1030,0.000,0.029,3235,2004,1444,1546,1343,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6510,1.25,219.0,3234,2004,1546,1341,537.5,20.1,267,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2004,1443,1545,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6808,1.25,219.0,3235,2004,1545,1339,475.8,21.3,282,6814,0.00,2.20,0.00,0.000,260,0.000,0.047,3235,3413,1442,1545,1339,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6847,1.25,219.0,3235,3413,1545,1339,470.4,21.8,283,6855,0.00,2.10,0.00,0.000,1030,0.000,0.030,3247,1995,1441,1544,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7152,1.25,219.0,3246,1994,1543,1337,402.1,21.0,299,7158,0.00,2.20,0.00,0.000,260,0.000,0.046,3247,3409,1440,1543,1338,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7191,1.25,219.0,3247,3409,1543,1338,396.9,20.9,300,7200,0.12,2.10,0.00,0.000,5126,0.173,0.030,3226,1994,1439,1541,1337,0,0,0,0,0,0,26.34,26.62,28.83
$GC,7496,1.25,219.0,3226,1994,1546,1336,335.1,17.5,316,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1994,1439,1543,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7796,1.25,219.0,3226,1994,1542,1336,284.3,16.7,331,7802,0.00,2.10,0.00,0.000,516,0.000,0.040,3236,610,1439,1543,1336,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7845,1.25,219.0,3236,611,1542,1336,276.5,17.1,333,7851,0.00,2.08,0.00,0.000,1030,0.000,0.031,3236,2011,1439,1543,1336,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8165,1.25,219.0,3236,2011,1542,1336,218.3,18.1,349,8171,0.00,2.15,0.00,0.000,260,0.000,0.047,3236,3410,1438,1541,1336,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8220,1.25,219.0,3235,3408,1542,1336,209.6,18.6,351,8226,0.00,2.08,0.00,0.000,1030,0.000,0.029,3248,1996,1439,1542,1336,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8534,1.25,219.0,3247,1995,1542,1336,154.0,16.1,367,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1996,1439,1543,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8834,1.25,219.0,3247,1996,1543,1336,108.2,15.3,382,8840,0.00,2.17,0.00,0.000,260,0.000,0.046,3248,3402,1439,1542,1336,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8923,1.25,219.0,3247,3402,1543,1336,94.7,15.6,386,8930,0.15,2.05,0.00,0.000,5126,0.157,0.028,3218,1995,1439,1543,1336,0,0,0,0,0,0,26.35,26.65,28.83
$GC,9245,1.25,219.0,3218,1994,1543,1336,47.3,15.0,402,9251,0.00,2.08,0.00,0.000,516,0.000,0.038,3229,612,1439,1543,1336,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9440,1.25,219.0,3229,612,1543,1335,26.8,11.7,420,9448,0.00,2.05,0.00,0.000,1030,0.000,0.030,3229,2007,1439,1543,1336,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,9655,end climb,SURFACE_DEPTH_REACHED
$STATE,9655,begin surface coast
$FINISH,0.5,1.012118
$STATE,9699,end surface coast,CONTROL_FINISHED_OK
$STATE,9699,begin surface
$SM_CCo,9717,84.25,0.060,0,0,747,400.08
$SM_GC,1.25,7.93,0.73,84.25,0.036,0.043,0.060,115,2488,747,-8.31,-1.50,400.08,0,0,0,0,0,0,26.66,26.60,26.43
$IRIDIUM_FIX,2157.39,12307.87,270313,020201
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.51
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3953696
$24V_AH,24.2,30.631
$10V_AH,10.3,21.364
$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,19.875,81.100,561.925,84.250,0.000,0.000,0.000,209.875,0.000,0.000,32.496,1874.293,5838.010,679.442,1496.507,284.617,0.000,1638.920,0.000,1197.792,0.000,0.538,0.000
$DEVICE_MAMPS,218.025,55.845,890.460,59.670,0.000,0.000,0.000,121.635,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9686.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.099,0.000,0.000,0.000
$MEM,329792
$DATA_FILE_SIZE,16799,469
$CAP_FILE_SIZE,256011,0
$CFSIZE,260034560,232202240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270313,080629,2206.741,12307.755,38,1.9,43,-2.9