version: 66.11
glider: 171
mission: 4
dive: 147
start: 3 19 113 18 19 9
data:
$ID,171
$MISSION,4
$DIVE,147
$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,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,-20689.969
$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,2835
$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,55
$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,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
$GPS1,190313,181236,2153.593,12400.025,41,1.1,41,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.8
$GPS2,190313,181843,2153.637,12400.027,10,1.6,10,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,185.8,43777,-12.0,-8.739,-16.47,3810
$D_GRID,5310
$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,-1.25,-219.0,112,2494,823,672,0.0,0.0,0,88,0.00,0.00,-68.15,0.000,16386,0.000,0.000,113,2494,2704,2775,2634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-1.25,-219.0,112,2494,2778,2634,4.4,-7.4,9,116,8.93,2.17,-9.50,0.000,18948,0.219,0.046,2429,1089,3278,3340,3216,0,0,0,0,0,0,25.89,26.28,26.56
$GC,172,-1.25,-219.0,2429,1089,3343,3216,36.8,-33.0,19,178,0.00,2.17,0.00,0.000,1030,0.000,0.041,2418,2496,3279,3342,3216,0,0,0,0,0,0,28.83,26.27,28.83
$GC,497,-1.25,-219.0,2418,2496,3344,3216,143.6,-32.5,37,504,0.00,1.83,0.00,0.000,260,0.000,0.053,2409,3674,3280,3344,3216,0,0,0,0,0,0,28.83,26.44,28.83
$GC,563,-1.25,-219.0,2409,3674,3344,3216,165.2,-32.3,40,570,0.00,1.75,0.00,0.000,1030,0.000,0.025,2409,2491,3280,3344,3216,0,0,0,0,0,0,28.83,26.57,28.83
$GC,889,-1.25,-219.0,2409,2489,3345,3215,261.8,-27.9,56,895,0.00,1.83,0.00,0.000,260,0.000,0.051,2403,3674,3280,3345,3216,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1069,-1.25,-219.0,2400,3674,3343,3216,313.9,-31.3,64,1078,0.12,1.67,0.00,0.000,3078,0.164,0.024,2433,2490,3281,3347,3216,0,0,0,0,0,0,26.41,26.68,28.83
$GC,1376,-1.25,-219.0,2432,2488,3348,3216,398.8,-25.3,80,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2489,3282,3348,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1676,-1.25,-219.0,2432,2488,3350,3216,466.4,-21.5,95,1682,0.00,1.83,0.00,0.000,260,0.000,0.052,2424,3674,3283,3350,3216,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1746,-1.25,-219.0,2424,3674,3349,3216,481.3,-21.8,98,1752,0.00,1.65,0.00,0.000,1030,0.000,0.024,2422,2499,3283,3350,3216,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2066,-1.25,-219.0,2424,2498,3350,3216,552.6,-20.9,114,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2498,3281,3346,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2385,-1.25,-219.0,2425,2498,3350,3216,613.2,-17.9,129,2391,0.00,2.03,0.00,0.000,516,0.000,0.032,2424,1114,3281,3349,3213,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2419,-1.25,-219.0,2424,1114,3349,3216,619.4,-18.0,130,2425,0.00,2.12,0.00,0.000,1030,0.000,0.040,2413,2507,3282,3349,3216,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2754,-1.25,-219.0,2413,2507,3350,3214,685.4,-20.2,141,2760,0.00,1.80,0.00,0.000,260,0.000,0.054,2404,3674,3282,3350,3214,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2926,-1.25,-219.0,2404,3674,3349,3212,717.9,-20.7,146,2932,0.10,1.67,0.00,0.000,3078,0.161,0.025,2430,2495,3280,3349,3212,0,0,0,0,0,0,26.55,26.76,28.83
$GC,3246,-1.25,-219.0,2430,2493,3350,3207,775.6,-16.6,157,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2493,3278,3350,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3547,-1.25,-219.0,2430,2493,3350,3202,825.3,-16.5,167,3552,0.00,1.85,0.00,0.000,260,0.000,0.055,2420,3679,3276,3350,3202,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3620,-1.25,-219.0,2421,3679,3349,3202,836.8,-17.0,169,3626,0.00,1.70,0.00,0.000,1030,0.000,0.027,2421,2492,3275,3350,3201,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3944,-1.25,-219.0,2421,2491,3349,3196,895.2,-17.2,180,3951,0.00,2.05,0.00,0.000,516,0.000,0.031,2419,1101,3272,3349,3196,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3998,-1.25,-219.0,2421,1101,3349,3196,901.0,-17.1,181,4003,0.00,2.15,0.00,0.000,1030,0.000,0.041,2410,2508,3272,3349,3195,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4312,-1.25,-219.0,2410,2508,3349,3190,956.2,-16.5,192,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2508,3269,3349,3190,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4400,begin apogee
$GC,4406,-0.20,0.0,2410,1993,3349,3188,971.1,-16.5,195,4951,1.05,0.00,533.20,0.616,10246,0.116,0.000,2764,1990,2379,2540,2218,0,0,0,0,0,0,26.46,28.83,24.63
$STATE,4953,end apogee,CONTROL_FINISHED_OK
$STATE,4953,begin climb
$GC,4955,1.25,219.0,2764,1990,2535,2213,1000.7,0.0,212,5203,1.27,2.22,233.60,0.923,10756,0.044,0.039,3258,628,1472,1568,1376,0,0,0,0,0,0,25.29,24.87,24.16
$GC,5281,1.25,219.0,3258,627,1550,1356,958.0,22.2,223,5290,0.00,2.17,0.00,0.000,1030,0.000,0.032,3258,2016,1453,1550,1356,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5589,1.25,219.0,3258,2016,1545,1352,875.9,25.5,234,5594,0.00,2.20,0.00,0.000,260,0.000,0.047,3258,3412,1448,1545,1351,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5616,1.25,219.0,3258,3412,1545,1351,875.9,25.5,234,5626,0.12,2.10,0.00,0.000,5126,0.173,0.030,3238,2018,1448,1545,1351,0,0,0,0,0,0,26.01,26.22,28.83
$GC,5923,1.25,219.0,3237,2017,1543,1348,795.0,24.1,245,5929,0.00,2.15,0.00,0.000,516,0.000,0.038,3249,606,1445,1542,1348,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5977,1.25,219.0,3248,606,1542,1348,786.6,24.1,246,5983,0.00,2.10,0.00,0.000,1030,0.000,0.032,3249,2003,1445,1542,1348,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6293,1.25,219.0,3248,2003,1541,1345,706.3,23.6,257,6299,0.00,2.17,0.00,0.000,260,0.000,0.047,3249,3403,1443,1541,1346,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6381,1.25,219.0,2312,3402,1511,1342,691.0,22.9,259,6389,0.00,2.10,0.00,0.000,1030,0.000,0.030,3260,1991,1442,1539,1346,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6690,1.25,219.0,3260,1992,1539,1344,616.6,22.7,270,6696,0.00,2.20,0.00,0.000,260,0.000,0.047,3260,3405,1441,1539,1344,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6809,1.25,219.0,3260,3405,1539,1343,588.6,26.5,274,6819,0.12,2.10,0.00,0.000,5126,0.178,0.031,3240,1989,1441,1538,1344,0,0,0,0,0,0,26.36,26.60,28.83
$GC,7116,1.25,219.0,3239,1991,1538,1341,521.5,19.5,290,7123,0.00,2.10,0.00,0.000,516,0.000,0.040,3250,606,1439,1538,1341,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7162,1.25,219.0,3250,606,1538,1341,513.1,18.9,292,7168,0.00,2.10,0.00,0.000,1030,0.000,0.032,3250,2010,1439,1538,1341,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7488,1.25,219.0,3250,2010,1537,1340,448.8,19.8,308,7494,0.00,2.17,0.00,0.000,260,0.000,0.047,3250,3406,1439,1538,1340,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7607,1.25,219.0,3250,3406,1537,1340,426.0,21.4,313,7616,0.00,2.10,0.00,0.000,1030,0.000,0.031,3262,1993,1438,1536,1340,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7915,1.25,219.0,3261,1993,1536,1338,360.3,20.9,329,7920,0.00,2.17,0.00,0.000,260,0.000,0.046,3262,3402,1437,1536,1338,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7982,1.25,219.0,3261,3402,1536,1338,345.5,22.2,332,7989,0.15,2.08,0.00,0.000,5126,0.168,0.030,3233,1997,1437,1536,1338,0,0,0,0,0,0,26.41,26.67,28.83
$GC,8304,1.25,219.0,3233,1997,1536,1337,286.6,16.7,348,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1997,1437,1537,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8603,1.25,219.0,3233,1997,1536,1337,233.0,18.0,363,8609,0.00,2.10,0.00,0.000,516,0.000,0.041,3244,607,1436,1536,1337,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8627,1.25,219.0,3244,607,1533,1337,228.6,17.7,364,8634,0.00,2.08,0.00,0.000,1030,0.000,0.031,3244,2002,1436,1536,1337,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8953,1.25,219.0,3244,2002,1536,1337,171.4,16.4,380,8959,0.00,2.12,0.00,0.000,516,0.000,0.038,3256,606,1436,1536,1337,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9068,1.25,219.0,3255,606,1537,1337,153.7,16.5,385,9074,0.00,2.08,0.00,0.000,1030,0.000,0.031,3256,2008,1436,1536,1337,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9383,1.25,219.0,3256,2008,1536,1337,104.4,15.0,401,9389,0.00,2.12,0.00,0.000,260,0.000,0.045,3256,3402,1438,1537,1340,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9509,1.25,219.0,3255,3402,1537,1337,83.4,17.1,407,9515,0.12,2.08,0.00,0.000,5126,0.168,0.028,3234,1989,1437,1537,1337,0,0,0,0,0,0,26.47,26.70,28.83
$GC,9823,1.25,219.0,3234,1991,1538,1337,41.9,13.6,425,9829,0.00,2.17,0.00,0.000,260,0.000,0.045,3235,3406,1437,1538,1337,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10053,1.25,219.0,2176,3405,1505,1333,9.4,15.1,456,10061,0.00,2.05,0.00,0.000,1030,0.000,0.028,3246,2005,1438,1539,1337,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,10095,end climb,SURFACE_DEPTH_REACHED
$STATE,10095,begin surface coast
$FINISH,0.7,1.023326
$STATE,10113,end surface coast,CONTROL_FINISHED_OK
$STATE,10113,begin surface
$SM_CCo,10130,82.18,0.059,0,0,748,400.08
$SM_GC,1.18,7.85,0.75,82.18,0.030,0.046,0.059,117,2496,748,-8.35,-1.39,400.08,0,0,0,0,0,0,26.71,26.67,26.51
$IRIDIUM_FIX,2148.09,12402.03,190313,141402
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.80
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3973536
$24V_AH,24.2,22.087
$10V_AH,10.4,16.420
$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,19.850,82.800,766.800,82.175,0.000,0.000,0.000,216.575,0.000,0.000,11.105,1997.085,5896.158,826.574,1591.955,256.292,0.000,1876.189,0.000,1292.343,0.000,0.538,0.000
$DEVICE_MAMPS,218.790,55.080,922.590,58.905,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10110.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.909,0.000,0.000,0.000
$MEM,329668
$DATA_FILE_SIZE,16763,466
$CAP_FILE_SIZE,264704,0
$CFSIZE,260034560,237641728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039, 73.2,1
$GPS,190313,211036,2151.906,12359.991,34,1.3,35,-2.9