version: 66.11
glider: 171
mission: 4
dive: 61
start: 3 5 113 17 16 58
data:
$ID,171
$MISSION,4
$DIVE,61
$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,-20575.367
$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,47
$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,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
$GPS1,050313,171124,2326.913,12237.514,37,1.7,38,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.4
$GPS2,050313,171631,2326.979,12237.496,17,1.3,17,-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,120.2,138046,-15.0,-9.293,-18.92,2788
$D_GRID,3967
$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,-170.3,129,2501,694,539,0.0,0.0,0,80,0.00,0.00,-61.05,0.000,16386,0.000,0.000,129,2502,2347,2409,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.09,-170.3,126,2502,2411,2285,3.0,-4.3,8,115,8.95,2.17,-11.65,0.000,18948,0.224,0.048,2453,1095,2943,3044,2843,0,0,0,0,0,0,26.06,26.31,26.58
$GC,170,-1.09,-170.3,2453,1094,3046,2843,30.8,-29.0,21,176,0.00,2.17,0.00,0.000,1030,0.000,0.041,2443,2503,2944,3046,2843,0,0,0,0,0,0,28.83,26.34,28.83
$GC,494,-1.09,-170.3,2443,2504,3049,2843,124.9,-23.5,40,500,0.00,1.83,0.00,0.000,260,0.000,0.052,2433,3678,2946,3049,2843,0,0,0,0,0,0,28.83,26.50,28.83
$GC,653,-1.09,-170.3,2433,3678,3051,2843,163.9,-26.1,47,659,0.00,1.73,0.00,0.000,1030,0.000,0.026,2433,2475,2947,3051,2843,0,0,0,0,0,0,28.83,26.60,28.83
$GC,967,-1.09,-170.3,2433,2473,3052,2846,235.3,-21.1,63,973,0.00,2.03,0.00,0.000,516,0.000,0.034,2434,1102,2949,3052,2846,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1000,-1.09,-170.3,2433,1102,3053,2846,240.5,-21.3,64,1006,0.12,2.12,0.00,0.000,3078,0.171,0.042,2454,2502,2949,3053,2846,0,0,0,0,0,0,26.51,26.63,28.83
$GC,1314,-1.09,-170.3,2455,2502,3053,2846,304.3,-18.9,80,1320,0.00,1.83,0.00,0.000,260,0.000,0.054,2447,3663,2949,3053,2846,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1338,-1.09,-170.3,2447,3663,3053,2846,308.7,-18.6,81,1344,0.00,1.73,0.00,0.000,1030,0.000,0.027,2447,2494,2949,3053,2846,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1662,-1.09,-170.3,2447,2492,3053,2846,372.2,-19.7,97,1668,0.00,1.83,0.00,0.000,260,0.000,0.053,2438,3674,2949,3053,2846,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1811,-1.09,-170.3,1488,3674,3017,2838,401.4,-20.6,104,1817,0.00,1.67,0.00,0.000,1030,0.000,0.024,2438,2496,2949,3053,2846,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2130,-1.09,-170.3,2437,2495,3053,2849,463.7,-17.7,120,2136,0.00,1.83,0.00,0.000,260,0.000,0.053,2429,3672,2949,3053,2846,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2179,-1.09,-170.3,2428,3673,3053,2846,471.9,-18.0,122,2186,0.12,1.67,0.00,0.000,3078,0.156,0.026,2463,2496,2949,3052,2846,0,0,0,0,0,0,26.64,26.81,28.83
$GC,2499,-1.09,-170.3,2462,2494,3052,2846,522.6,-15.2,138,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2494,2949,3052,2846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2798,-1.09,-170.3,2463,2494,3053,2843,567.9,-15.3,153,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2494,2948,3052,2844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3109,-1.09,-170.3,2463,2494,3053,2840,617.6,-16.1,167,3114,0.00,2.03,0.00,0.000,516,0.000,0.032,2463,1112,2946,3053,2840,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3176,-1.09,-170.3,2463,1112,3052,2840,628.5,-16.5,169,3182,0.00,2.10,0.00,0.000,1030,0.000,0.042,2454,2501,2946,3053,2840,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3505,-1.09,-170.3,2453,2501,3052,2836,682.6,-16.1,180,3511,0.00,1.80,0.00,0.000,260,0.000,0.056,2444,3671,2943,3052,2835,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3551,-1.09,-170.3,2443,3671,3052,2835,688.2,-16.2,181,3557,0.00,1.73,0.00,0.000,1030,0.000,0.028,2444,2497,2944,3053,2835,0,0,0,0,0,0,28.83,26.85,28.83
$GC,3871,-1.09,-170.3,2442,2496,3050,2831,741.0,-15.7,192,3877,0.00,2.03,0.00,0.000,516,0.000,0.032,2444,1115,2941,3052,2831,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3928,-1.09,-170.3,1552,1112,3020,2823,746.6,-15.8,193,3936,0.00,2.10,0.00,0.000,1030,0.000,0.041,2433,2501,2941,3052,2830,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4236,-1.09,-170.3,2433,2501,3052,2827,800.7,-16.1,204,4242,0.00,1.80,0.00,0.000,260,0.000,0.055,2424,3671,2939,3052,2827,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4293,-1.09,-170.3,2423,3671,3053,2826,806.5,-16.1,205,4302,0.12,1.67,0.00,0.000,3078,0.157,0.029,2458,2497,2939,3052,2826,0,0,0,0,0,0,26.68,26.86,28.83
$GC,4601,-1.09,-170.3,2458,2496,3052,2822,853.7,-13.9,216,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2496,2937,3052,2822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4901,-1.09,-170.3,2458,2496,3052,2819,895.8,-13.9,226,4907,0.00,1.83,0.00,0.000,260,0.000,0.057,2450,3670,2935,3052,2818,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4988,-1.09,-170.3,1552,3669,3018,2810,904.9,-13.9,228,4996,0.00,1.67,0.00,0.000,1030,0.000,0.031,2450,2511,2934,3051,2818,0,0,0,0,0,0,28.83,26.86,28.83
$STATE,5084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5084,begin apogee
$GC,5089,-0.25,0.0,2450,1987,3049,2817,921.7,-13.9,232,5387,0.80,0.00,287.95,0.704,10246,0.112,0.000,2724,1986,2240,2426,2055,0,0,0,0,0,0,26.70,28.83,24.46
$STATE,5389,end apogee,CONTROL_FINISHED_OK
$STATE,5389,begin climb
$GC,5391,1.09,170.3,2724,1985,2418,2051,931.2,0.0,241,5676,1.23,2.20,273.38,0.690,10756,0.068,0.036,3166,622,1542,1637,1448,0,0,0,0,0,0,25.19,25.00,24.41
$GC,5866,1.09,170.3,3166,622,1614,1423,871.1,16.6,256,5872,0.00,2.15,0.00,0.000,1030,0.000,0.034,3166,2010,1519,1614,1425,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6190,1.09,170.3,3166,2009,1610,1423,815.3,16.8,267,6195,0.00,2.20,0.00,0.000,260,0.000,0.050,3166,3406,1516,1610,1423,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6243,1.09,170.3,3166,3406,1610,1422,809.2,17.2,268,6249,0.00,2.10,0.00,0.000,1030,0.000,0.030,3177,2012,1516,1610,1422,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6557,1.09,170.3,3177,2012,1608,1420,747.8,18.9,279,6563,0.00,2.20,0.00,0.000,260,0.000,0.050,3177,3408,1514,1608,1420,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6640,1.09,170.3,3177,3408,1608,1420,734.6,19.9,281,6646,0.00,2.10,0.00,0.000,1030,0.000,0.031,3188,1998,1514,1608,1420,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6955,1.09,170.3,3189,1999,1607,1418,671.3,18.1,292,6956,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1999,1512,1607,1418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7254,1.09,170.3,3189,1998,1606,1418,615.2,19.1,302,7260,0.00,2.22,0.00,0.000,260,0.000,0.050,3189,3416,1512,1606,1418,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7349,1.09,170.3,3189,3417,1606,1418,595.0,20.8,305,7356,0.15,2.12,0.00,0.000,5126,0.163,0.033,3160,1997,1511,1605,1418,0,0,0,0,0,0,26.48,26.64,28.83
$GC,7665,1.09,170.3,3160,1997,1605,1415,542.3,16.3,321,7671,0.00,2.12,0.00,0.000,516,0.000,0.042,3170,606,1510,1606,1415,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7732,1.09,170.3,2176,606,1573,1411,532.0,15.8,324,7738,0.00,2.10,0.00,0.000,1030,0.000,0.035,3170,2004,1510,1605,1415,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8052,1.09,170.3,3169,2004,1605,1415,480.8,16.0,340,8053,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2004,1510,1605,1415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8351,1.09,170.3,3170,2005,1608,1414,432.3,16.3,355,8357,0.00,2.17,0.00,0.000,260,0.000,0.050,3170,3408,1509,1605,1414,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8470,1.09,170.3,3170,3408,1605,1414,414.8,16.5,360,8478,0.00,2.10,0.00,0.000,1030,0.000,0.031,3181,1994,1509,1605,1414,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8777,1.09,170.3,3181,1993,1602,1412,370.0,13.1,376,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1993,1508,1605,1412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9077,1.09,170.3,3181,1993,1605,1412,324.8,15.4,391,9083,0.00,2.10,0.00,0.000,516,0.000,0.041,3192,606,1508,1605,1412,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9095,1.09,170.3,3192,606,1604,1412,324.8,15.4,391,9103,0.12,2.08,0.00,0.000,5126,0.163,0.034,3159,2004,1508,1605,1412,0,0,0,0,0,0,26.59,26.73,28.83
$GC,9401,1.09,170.3,3159,2004,1604,1412,282.2,11.5,407,9407,0.00,2.17,0.00,0.000,260,0.000,0.049,3159,3412,1508,1605,1412,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9642,1.09,170.3,3159,3412,1605,1412,245.9,14.2,418,9648,0.00,2.10,0.00,0.000,1030,0.000,0.032,3170,1995,1508,1604,1412,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9955,1.09,170.3,3170,1996,1604,1412,202.6,13.2,434,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1995,1508,1604,1412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10256,1.09,170.3,3170,1996,1605,1412,163.8,12.8,449,10262,0.00,2.17,0.00,0.000,260,0.000,0.049,3170,3402,1508,1604,1412,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10436,1.09,170.3,3170,3403,1605,1412,143.3,11.7,457,10444,0.00,2.08,0.00,0.000,1030,0.000,0.031,3182,1994,1508,1604,1412,0,0,0,0,0,0,28.83,26.78,28.83
$GC,10742,1.09,170.3,3181,1994,1604,1412,105.8,13.5,473,10744,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1994,1509,1605,1413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11043,1.12,184.9,3181,1994,1604,1412,75.9,8.8,488,11049,0.00,0.00,4.00,0.290,8198,0.000,0.000,3182,1994,1491,1592,1391,0,0,0,0,0,0,28.83,28.83,26.23
$GC,11343,1.12,185.4,3181,1994,1595,1390,49.6,9.3,503,11350,0.00,2.08,0.00,0.000,516,0.000,0.040,3192,604,1492,1595,1390,0,0,0,0,0,0,28.83,26.74,28.83
$GC,11361,1.12,185.4,3192,604,1595,1390,48.2,9.6,504,11369,0.00,2.08,0.00,0.000,1030,0.000,0.033,3192,2005,1493,1596,1390,0,0,0,0,0,0,28.83,26.76,28.83
$GC,11670,1.23,243.2,3192,2005,1600,1390,27.0,7.2,535,11836,0.00,2.25,153.95,0.346,8452,0.000,0.047,3192,3399,1250,1363,1137,0,0,0,0,0,0,28.83,25.84,25.46
$STATE,11868,end climb,SURFACE_DEPTH_REACHED
$STATE,11868,begin surface coast
$FINISH,0.4,1.010212
$STATE,11891,end surface coast,CONTROL_FINISHED_OK
$STATE,11891,begin surface
$SM_CCo,11908,78.60,0.057,0,0,612,400.08
$SM_GC,1.15,8.00,1.40,78.60,0.036,0.031,0.057,136,2493,612,-8.26,1.50,400.08,0,0,0,0,0,0,26.06,26.06,26.06
$IRIDIUM_FIX,2316.83,12233.67,050313,131310
$TT8_MAMPS,0.048685,0.048685
$HUMID,41.14
$INTERNAL_PRESSURE,9.61321
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,4001056
$24V_AH,24.4,11.212
$10V_AH,10.3,7.314
$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,19.625,88.375,719.275,78.600,0.000,0.000,0.000,171.575,0.000,0.000,18.285,2334.489,7246.046,829.231,1689.076,187.547,0.000,1868.190,0.000,1419.880,0.000,0.539,0.000
$DEVICE_MAMPS,224.145,56.610,703.800,56.610,0.000,0.000,0.000,130.815,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11887.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.182,0.000,0.000,0.000
$MEM,323928
$DATA_FILE_SIZE,20070,566
$CAP_FILE_SIZE,302489,0
$CFSIZE,260034560,247189504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.249,350.3,1
$GPS,050313,203806,2327.685,12238.763,43,1.4,44,-3.2