version: 66.11
glider: 171
mission: 4
dive: 58
start: 3 5 113 6 54 54
data:
$ID,171
$MISSION,4
$DIVE,58
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,920
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52107
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-20571.594
$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,2810
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,36
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,415
$VBD_MAX,3400
$C_VBD,2245
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$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
$GPS1,050313,064835,2324.646,12232.953,33,1.2,33,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-68.4
$GPS2,050313,065427,2324.738,12232.896,10,2.6,29,-3.2
$SPEED_LIMITS,0.161,0.271
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$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,119.6,146747,-15.0,-9.293,-18.92,2788
$D_GRID,4200
$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,15,begin dive
$GC,17,-1.09,-170.3,112,2483,692,534,0.0,0.0,0,87,0.00,0.00,-67.78,0.000,16386,0.000,0.000,113,2483,2579,2655,2504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.09,-170.3,113,2483,2657,2506,4.0,-6.6,9,114,8.95,2.08,-6.45,0.000,18948,0.220,0.050,2452,1106,2945,3032,2859,0,0,0,0,0,0,26.08,26.31,26.58
$GC,183,-1.09,-170.3,2451,1106,3037,2859,36.7,-29.1,21,192,0.00,2.15,0.00,0.000,1030,0.000,0.046,2439,2492,2948,3038,2859,0,0,0,0,0,0,28.83,26.35,28.83
$GC,490,-1.09,-170.3,2441,2493,3042,2858,124.7,-26.4,39,497,0.00,1.85,0.00,0.000,260,0.000,0.056,2432,3674,2950,3042,2859,0,0,0,0,0,0,28.83,26.49,28.83
$GC,645,-1.09,-170.3,2431,3674,3046,2859,161.6,-25.5,46,652,0.00,1.70,0.00,0.000,1030,0.000,0.026,2431,2491,2952,3046,2859,0,0,0,0,0,0,28.83,26.60,28.83
$GC,960,-1.09,-170.3,2431,2489,3048,2859,236.2,-22.6,62,965,0.00,1.85,0.00,0.000,260,0.000,0.054,2422,3682,2953,3048,2859,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1076,-1.09,-170.3,2422,3682,3049,2859,262.0,-24.2,67,1082,0.12,1.70,0.00,0.000,3078,0.160,0.026,2455,2490,2954,3049,2859,0,0,0,0,0,0,26.53,26.70,28.83
$GC,1390,-1.09,-170.3,2455,2489,3050,2859,324.8,-19.0,83,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2489,2954,3050,2859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1690,-1.09,-170.3,2455,2489,3049,2859,379.7,-18.8,98,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2489,2954,3050,2859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1990,-1.09,-170.3,2455,2489,3050,2859,431.6,-16.6,113,1996,0.00,1.85,0.00,0.000,260,0.000,0.055,2447,3681,2954,3050,2858,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2048,-1.09,-170.3,2447,3681,3050,2858,438.9,-16.3,115,2056,0.00,1.67,0.00,0.000,1030,0.000,0.026,2447,2499,2954,3050,2859,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2355,-1.09,-170.3,2447,2498,3050,2859,496.3,-18.1,131,2361,0.00,1.83,0.00,0.000,260,0.000,0.055,2437,3678,2954,3050,2858,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2379,-1.09,-170.3,2437,3677,3050,2858,500.4,-17.9,132,2385,0.00,1.67,0.00,0.000,1030,0.000,0.026,2437,2496,2954,3049,2859,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2703,-1.09,-170.3,2437,2495,3050,2857,553.8,-16.6,148,2710,0.00,1.83,0.00,0.000,260,0.000,0.054,2428,3675,2953,3050,2857,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2854,-1.09,-170.3,2428,3675,3050,2856,578.9,-17.0,155,2861,0.12,1.67,0.00,0.000,3078,0.158,0.025,2462,2491,2952,3049,2855,0,0,0,0,0,0,26.67,26.84,28.83
$GC,3174,-1.09,-170.3,2461,2489,3050,2852,626.9,-14.6,168,3180,0.00,2.03,0.00,0.000,516,0.000,0.031,2463,1103,2951,3050,2852,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3232,-1.09,-170.3,2462,1104,3049,2851,632.0,-14.6,169,3240,0.00,2.12,0.00,0.000,1030,0.000,0.042,2453,2503,2950,3049,2851,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3539,-1.09,-170.3,2452,2502,3049,2847,683.1,-15.1,180,3545,0.00,1.80,0.00,0.000,260,0.000,0.056,2443,3673,2948,3049,2847,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3591,-1.09,-170.3,2443,3673,3049,2847,688.5,-15.1,181,3597,0.00,1.67,0.00,0.000,1030,0.000,0.027,2441,2495,2948,3049,2847,0,0,0,0,0,0,28.83,26.86,28.83
$GC,3905,-1.09,-170.3,2443,2494,3049,2846,737.0,-14.1,192,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2494,2946,3050,2843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4205,-1.09,-170.3,2443,2494,3049,2840,779.1,-14.1,202,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2494,2944,3049,2839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4505,-1.09,-170.3,2443,2494,3049,2834,821.3,-14.5,212,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2494,2941,3049,2834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4805,-1.09,-170.3,2443,2494,3048,2830,864.3,-13.8,222,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2494,2940,3051,2830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5105,-1.09,-170.3,2442,2494,3047,2829,905.9,-14.0,232,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2494,2940,3051,2829,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5224,begin apogee
$GC,5229,-0.25,0.0,2443,1991,3046,2828,923.3,-14.5,236,5553,0.82,0.00,314.38,0.680,10246,0.116,0.000,2723,1989,2241,2423,2060,0,0,0,0,0,0,26.71,28.83,24.44
$STATE,5554,end apogee,CONTROL_FINISHED_OK
$STATE,5554,begin climb
$GC,5556,1.09,170.3,2723,1989,2418,2051,937.5,0.0,246,5820,1.25,2.28,253.75,0.717,10756,0.069,0.039,3171,627,1546,1638,1455,0,0,0,0,0,0,25.15,24.96,24.34
$GC,5927,1.09,170.3,3171,627,1618,1436,895.0,17.1,257,5936,0.00,2.15,0.00,0.000,1030,0.000,0.034,3171,2006,1527,1618,1436,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6234,1.09,170.3,3171,2006,1614,1431,834.1,18.4,268,6240,0.00,2.22,0.00,0.000,260,0.000,0.050,3171,3409,1522,1614,1431,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6268,1.09,170.3,3171,3409,1614,1431,827.5,18.5,269,6274,0.00,2.10,0.00,0.000,1030,0.000,0.030,3183,2019,1522,1614,1431,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6603,1.09,170.3,3183,2019,1611,1427,762.9,19.8,280,6608,0.00,2.20,0.00,0.000,260,0.000,0.050,3183,3411,1519,1612,1427,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6646,1.09,170.3,3183,3411,1611,1427,755.9,19.7,281,6653,0.12,2.12,0.00,0.000,5126,0.174,0.031,3163,1996,1519,1611,1427,0,0,0,0,0,0,26.27,26.44,28.83
$GC,6970,1.09,170.3,3163,1996,1611,1425,694.2,18.2,292,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1996,1518,1611,1425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7271,1.09,170.3,3163,1996,1610,1424,640.7,17.5,302,7277,0.00,2.22,0.00,0.000,260,0.000,0.050,3163,3414,1516,1609,1424,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7338,1.09,170.3,3163,3414,1610,1424,628.7,17.9,304,7344,0.00,2.12,0.00,0.000,1030,0.000,0.032,3174,1993,1517,1610,1424,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7657,1.09,170.3,3173,1993,1608,1422,571.3,16.9,317,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1993,1515,1608,1422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7957,1.09,170.3,3173,1993,1607,1421,521.3,17.3,332,7962,0.00,2.22,0.00,0.000,260,0.000,0.050,3174,3419,1514,1607,1421,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8050,1.09,170.3,3174,3415,1607,1421,505.2,19.2,336,8057,0.00,2.12,0.00,0.000,1030,0.000,0.032,3185,1991,1514,1607,1421,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8365,1.09,170.3,3185,1991,1606,1419,451.4,16.8,352,8371,0.00,2.20,0.00,0.000,260,0.000,0.050,3185,3405,1512,1606,1419,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8420,1.09,170.3,3185,3407,1606,1421,442.5,19.1,354,8426,0.12,2.10,0.00,0.000,5126,0.168,0.032,3165,1994,1513,1606,1420,0,0,0,0,0,0,26.55,26.72,28.83
$GC,8734,1.09,170.3,3164,1994,1606,1418,390.1,15.9,370,8741,0.00,2.22,0.00,0.000,260,0.000,0.050,3164,3416,1512,1606,1418,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8849,1.09,170.3,3164,3416,1606,1418,372.1,17.0,375,8855,0.00,2.10,0.00,0.000,1030,0.000,0.032,3175,2000,1512,1606,1418,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9163,1.09,170.3,3174,2000,1605,1418,321.1,16.1,391,9164,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2000,1512,1606,1418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9463,1.09,170.3,3174,2000,1606,1418,272.9,16.2,406,9468,0.00,2.10,0.00,0.000,516,0.000,0.043,3186,605,1511,1606,1417,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9596,1.09,170.3,3185,606,1606,1418,253.6,15.3,412,9603,0.00,2.08,0.00,0.000,1030,0.000,0.034,3186,2005,1511,1606,1417,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9911,1.09,170.3,3185,2005,1606,1418,206.1,13.7,428,9917,0.00,2.15,0.00,0.000,260,0.000,0.050,3185,3402,1512,1606,1418,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9970,1.09,170.3,3186,3402,1606,1418,199.8,14.0,430,9980,0.12,2.08,0.00,0.000,5126,0.162,0.031,3164,1997,1512,1606,1418,0,0,0,0,0,0,26.62,26.77,28.83
$GC,10278,1.09,170.3,3164,1997,1606,1418,159.1,12.3,446,10284,0.00,2.17,0.00,0.000,260,0.000,0.049,3164,3402,1512,1606,1418,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10373,1.09,170.3,3164,3402,1606,1418,146.6,14.4,450,10379,0.00,2.08,0.00,0.000,1030,0.000,0.031,3174,1996,1512,1606,1418,0,0,0,0,0,0,28.83,26.77,28.83
$GC,10686,1.09,170.3,3174,1995,1606,1418,112.0,10.6,466,10688,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1996,1512,1606,1418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10987,1.09,170.3,3174,1996,1606,1418,79.8,9.4,481,10992,0.00,2.17,0.00,0.000,260,0.000,0.049,3174,3402,1512,1606,1418,0,0,0,0,0,0,28.83,26.74,28.83
$GC,11071,1.12,187.0,3174,3402,1606,1418,72.5,8.7,485,11095,0.00,2.08,15.02,0.380,9222,0.000,0.031,3186,1990,1478,1580,1376,0,0,0,0,0,0,28.83,26.79,26.19
$GC,11391,1.20,224.7,3185,1990,1566,1367,48.8,7.9,501,11449,0.00,0.00,50.83,0.373,8710,0.000,0.000,3185,1989,1319,1432,1207,0,0,0,0,0,0,28.83,28.83,25.89
$GC,11751,1.20,224.7,2176,1990,1389,1192,8.9,12.1,548,11759,0.00,2.20,0.00,0.000,260,0.000,0.048,3188,3408,1304,1415,1194,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,11791,end climb,SURFACE_DEPTH_REACHED
$STATE,11792,begin surface coast
$FINISH,0.3,1.006712
$STATE,11814,end surface coast,CONTROL_FINISHED_OK
$STATE,11814,begin surface
$SM_CCo,11831,83.75,0.057,0,0,612,400.08
$SM_GC,1.20,7.85,1.40,83.75,0.037,0.031,0.057,129,2491,612,-8.26,1.33,400.08,0,0,0,0,0,0,26.55,26.54,26.41
$IRIDIUM_FIX,2316.83,12243.41,050313,030303
$TT8_MAMPS,0.047936,0.047936
$HUMID,41.88
$INTERNAL_PRESSURE,9.61321
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,4002016
$24V_AH,24.3,10.810
$10V_AH,10.3,7.030
$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,19.500,81.075,633.975,83.750,0.000,0.000,0.000,203.100,0.000,0.000,31.757,2271.123,7387.913,757.924,1663.146,179.471,0.000,1782.576,0.000,1353.943,0.000,0.537,0.000
$DEVICE_MAMPS,220.320,55.845,716.805,57.375,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11806.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.118,0.000,0.000,0.000
$MEM,323968
$DATA_FILE_SIZE,20108,559
$CAP_FILE_SIZE,292817,0
$CFSIZE,260034560,247504896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.247,342.6,1
$GPS,050313,101436,2325.388,12234.192,29,1.2,29,-3.2