version: 66.11
glider: 171
mission: 4
dive: 148
start: 3 19 113 21 16 45
data:
$ID,171
$MISSION,4
$DIVE,148
$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,-20691.322
$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,53
$R_STBD_OVSHOOT,39
$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
$GPS1,190313,211036,2151.906,12359.991,34,1.3,35,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.3
$GPS2,190313,211619,2151.944,12400.091,16,1.4,16,-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,190.5,40641,-12.0,-8.739,-16.47,3810
$D_GRID,5313
$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,18,-1.25,-219.0,116,2498,834,668,0.0,0.0,0,81,0.00,0.00,-60.78,0.000,16386,0.000,0.000,117,2498,2445,2512,2378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.25,-219.0,116,2499,2518,2378,3.3,-5.5,8,116,8.80,0.00,-15.50,0.000,18694,0.216,0.000,2425,2499,3276,3344,3208,0,0,0,0,0,0,25.95,28.83,26.65
$GC,421,-1.25,-219.0,2424,2499,3350,3209,118.6,-32.1,35,427,0.00,1.80,0.00,0.000,260,0.000,0.053,2416,3662,3276,3344,3209,0,0,0,0,0,0,28.83,26.45,28.83
$GC,576,-1.25,-219.0,2415,3662,3348,3209,163.7,-30.4,42,583,0.00,1.70,0.00,0.000,1030,0.000,0.027,2416,2481,3278,3348,3209,0,0,0,0,0,0,28.83,26.60,28.83
$GC,891,-1.25,-219.0,2416,2480,3350,3209,260.1,-29.6,58,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2480,3279,3350,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1190,-1.25,-219.0,2416,2480,3351,3209,341.6,-25.3,73,1197,0.00,1.83,0.00,0.000,260,0.000,0.053,2407,3663,3280,3351,3209,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1215,-1.25,-219.0,2407,3662,3351,3209,347.6,-24.9,74,1222,0.00,1.67,0.00,0.000,1030,0.000,0.027,2407,2491,3278,3351,3206,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1541,-1.25,-219.0,2407,2489,3352,3209,429.8,-26.0,90,1547,0.00,1.83,0.00,0.000,260,0.000,0.053,2398,3673,3280,3352,3209,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1616,-1.25,-219.0,2398,3676,3354,3209,447.7,-26.4,93,1622,0.12,1.67,0.00,0.000,3078,0.158,0.024,2432,2488,3281,3354,3209,0,0,0,0,0,0,26.50,26.73,28.83
$GC,1931,-1.25,-219.0,2431,2488,3354,3209,521.2,-22.1,109,1937,0.00,1.85,0.00,0.000,260,0.000,0.053,2423,3675,3281,3354,3209,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2006,-1.25,-219.0,2423,3676,3355,3209,535.5,-21.7,112,2012,0.00,1.67,0.00,0.000,1030,0.000,0.024,2423,2491,3283,3354,3212,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2321,-1.25,-219.0,2423,2489,3354,3209,598.4,-18.4,128,2327,0.00,2.03,0.00,0.000,516,0.000,0.029,2423,1105,3281,3354,3209,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2360,-1.25,-219.0,2423,1105,3354,3209,605.1,-18.5,130,2366,0.00,2.10,0.00,0.000,1030,0.000,0.040,2412,2492,3281,3354,3209,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2690,-1.25,-219.0,2412,2492,3354,3209,670.8,-21.0,141,2696,0.00,1.83,0.00,0.000,260,0.000,0.055,2403,3671,3281,3354,3209,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2747,-1.25,-219.0,1504,3670,3337,3204,678.0,-21.0,142,2756,0.08,1.70,0.00,0.000,3078,0.132,0.027,2430,2511,3281,3354,3209,0,0,0,0,0,0,26.53,26.77,28.83
$GC,3056,-1.25,-219.0,2432,2511,3354,3205,743.3,-19.3,153,3062,0.00,2.08,0.00,0.000,516,0.000,0.028,2430,1096,3279,3354,3205,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3114,-1.25,-219.0,2429,1096,3354,3205,749.8,-18.9,154,3123,0.00,2.15,0.00,0.000,1030,0.000,0.039,2420,2506,3278,3354,3203,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3422,-1.25,-219.0,2420,2506,3354,3201,814.8,-19.8,165,3428,0.00,1.83,0.00,0.000,260,0.000,0.055,2410,3678,3277,3354,3200,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3541,-1.25,-219.0,2410,3678,3354,3199,833.6,-19.5,168,3549,0.00,1.73,0.00,0.000,1030,0.000,0.027,2411,2498,3276,3354,3198,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3849,-1.25,-219.0,2410,2497,3354,3194,892.0,-17.4,179,3855,0.00,2.05,0.00,0.000,516,0.000,0.031,2410,1111,3274,3354,3194,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3924,-1.25,-219.0,2410,1112,3354,3193,903.4,-17.2,181,3930,0.12,2.12,0.00,0.000,3078,0.163,0.041,2433,2506,3271,3354,3189,0,0,0,0,0,0,26.48,26.65,28.83
$GC,4249,-1.25,-219.0,2433,2506,3354,3188,958.0,-16.3,192,4255,0.00,1.83,0.00,0.000,260,0.000,0.055,2425,3679,3271,3354,3188,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4287,-1.25,-219.0,2425,3679,3353,3187,963.8,-16.5,193,4294,0.00,1.70,0.00,0.000,1030,0.000,0.028,2425,2497,3270,3354,3187,0,0,0,0,0,0,28.83,26.78,28.83
$STATE,4347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4347,begin apogee
$GC,4352,-0.20,0.0,2424,1993,3354,3186,974.9,-17.0,195,4690,1.00,0.00,329.17,0.760,10246,0.112,0.000,2764,1988,2377,2538,2217,0,0,0,0,0,0,26.46,28.83,24.49
$STATE,4693,end apogee,CONTROL_FINISHED_OK
$STATE,4693,begin climb
$GC,4695,1.25,219.0,2764,1990,2532,2209,998.6,0.0,205,4936,1.27,2.30,229.40,0.910,10756,0.043,0.039,3258,624,1477,1576,1379,0,0,0,0,0,0,25.25,24.89,24.18
$GC,5021,1.25,219.0,3258,624,1552,1356,954.8,22.4,217,5027,0.00,2.17,0.00,0.000,1030,0.000,0.032,3258,2011,1453,1551,1355,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5356,1.25,219.0,3258,2011,1547,1350,873.4,24.6,228,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2011,1448,1547,1350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5655,1.25,219.0,3258,2011,1546,1348,798.6,24.9,238,5661,0.00,2.20,0.00,0.000,260,0.000,0.047,3258,3415,1447,1547,1348,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5694,1.25,219.0,3258,3415,1545,1348,789.7,24.8,239,5700,0.12,2.10,0.00,0.000,5126,0.176,0.030,3238,2013,1446,1545,1348,0,0,0,0,0,0,26.22,26.44,28.83
$GC,6024,1.25,219.0,3238,2013,1544,1345,710.4,23.0,250,6025,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2013,1444,1544,1345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6323,1.25,219.0,3238,2012,1542,1343,646.6,21.6,260,6325,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2013,1443,1542,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6624,1.25,219.0,3238,2013,1541,1342,581.6,22.3,271,6630,0.00,2.17,0.00,0.000,260,0.000,0.046,3238,3414,1441,1541,1342,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6664,1.25,219.0,3238,3414,1541,1342,576.1,22.3,272,6672,0.00,2.12,0.00,0.000,1030,0.000,0.031,3250,1991,1441,1540,1342,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6969,1.25,219.0,3249,1991,1539,1340,510.4,20.3,288,6975,0.00,2.20,0.00,0.000,260,0.000,0.046,3249,3409,1439,1539,1340,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7149,1.25,219.0,3249,3409,1539,1340,473.2,22.7,296,7155,0.00,2.10,0.00,0.000,1030,0.000,0.030,3258,1994,1439,1539,1340,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7463,1.25,219.0,3261,1996,1539,1338,405.3,21.1,312,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1994,1438,1539,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7763,1.25,219.0,3261,1994,1538,1338,345.2,20.6,327,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1994,1438,1538,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8063,1.25,219.0,3261,1994,1538,1337,284.5,21.0,342,8069,0.00,2.20,0.00,0.000,260,0.000,0.046,3261,3409,1438,1538,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8244,1.25,219.0,3261,3409,1538,1337,245.3,23.5,350,8253,0.12,2.10,0.00,0.000,5126,0.170,0.031,3240,1994,1437,1538,1337,0,0,0,0,0,0,26.46,26.69,28.83
$GC,8551,1.25,219.0,3239,1995,1538,1336,187.1,17.4,366,8557,0.00,2.10,0.00,0.000,516,0.000,0.040,3250,604,1437,1538,1337,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8648,1.25,219.0,3250,604,1538,1337,171.8,17.5,370,8654,0.00,2.08,0.00,0.000,1030,0.000,0.031,3250,2014,1438,1538,1338,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8962,1.25,219.0,3250,2014,1538,1338,121.6,14.7,386,8969,0.00,2.15,0.00,0.000,260,0.000,0.046,3250,3410,1437,1538,1337,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9150,1.25,219.0,3253,3410,1538,1337,90.6,17.3,395,9157,0.00,2.08,0.00,0.000,1030,0.000,0.030,3262,1999,1437,1538,1337,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9465,1.25,219.0,3262,1999,1538,1337,37.7,15.3,414,9471,0.00,2.17,0.00,0.000,260,0.000,0.045,3262,3403,1438,1539,1337,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,9679,end climb,SURFACE_DEPTH_REACHED
$STATE,9679,begin surface coast
$FINISH,0.5,1.023316
$STATE,9691,end surface coast,CONTROL_FINISHED_OK
$STATE,9692,begin surface
$SM_CCo,9710,82.32,0.060,0,0,747,400.08
$SM_GC,1.25,7.93,1.38,82.32,0.032,0.031,0.060,115,2489,747,-8.34,1.44,400.08,0,0,0,0,0,0,26.72,26.75,26.51
$IRIDIUM_FIX,2143.45,12357.50,190313,181806
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.68
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3973216
$24V_AH,24.2,22.224
$10V_AH,10.3,16.499
$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,19.575,71.475,558.575,82.325,0.000,0.000,0.000,200.875,0.000,0.000,17.496,1945.573,5798.081,665.680,1485.239,237.433,0.000,1612.353,0.000,1203.273,0.000,0.537,0.000
$DEVICE_MAMPS,215.730,55.080,909.585,59.670,0.000,0.000,0.000,122.400,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9695.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.793,0.000,0.000,0.000
$MEM,329732
$DATA_FILE_SIZE,16758,449
$CAP_FILE_SIZE,247454,0
$CFSIZE,260034560,237568000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130, 96.8,1
$GPS,200313,000106,2150.104,12400.590,29,1.1,30,-2.9