version: 66.11
glider: 171
mission: 4
dive: 155
start: 3 20 113 17 15 57
data:
$ID,171
$MISSION,4
$DIVE,155
$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,-20702.459
$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,57
$R_STBD_OVSHOOT,35
$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
$GPS1,200313,171005,2137.438,12359.208,14,1.3,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-68.8
$GPS2,200313,171531,2137.431,12359.174,12,2.0,12,-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,170.3,13836,-12.0,-8.739,-16.47,3810
$D_GRID,5462
$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,-219.0,130,2493,831,664,0.0,0.0,0,82,0.00,0.00,-61.38,0.000,16386,0.000,0.000,129,2494,2449,2519,2380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.25,-219.0,130,2494,2523,2381,3.0,-4.1,8,117,8.82,2.15,-15.55,0.000,18948,0.221,0.044,2422,1097,3275,3345,3206,0,0,0,0,0,0,25.94,26.35,26.65
$GC,126,-1.25,-219.0,2422,1097,3348,3206,18.1,-35.0,13,135,0.00,2.15,0.00,0.000,1030,0.000,0.039,2412,2501,3278,3351,3206,0,0,0,0,0,0,28.83,26.30,28.83
$GC,438,-1.25,-219.0,2412,2501,3350,3206,123.5,-34.1,34,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2501,3278,3350,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,738,-1.25,-219.0,2412,2501,3351,3206,222.7,-30.2,49,744,0.00,1.80,0.00,0.000,260,0.000,0.054,2403,3671,3278,3351,3206,0,0,0,0,0,0,28.83,26.53,28.83
$GC,878,-1.25,-219.0,2402,3671,3354,3206,261.8,-30.4,55,887,0.08,1.73,0.00,0.000,3078,0.144,0.024,2429,2490,3280,3354,3206,0,0,0,0,0,0,26.42,26.67,28.83
$GC,1185,-1.25,-219.0,2428,2488,3360,3206,350.0,-26.6,71,1191,0.00,2.03,0.00,0.000,516,0.000,0.028,2429,1096,3280,3355,3206,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1202,-1.25,-219.0,2428,1096,3355,3206,350.0,-26.6,71,1211,0.00,2.12,0.00,0.000,1030,0.000,0.037,2418,2502,3280,3355,3206,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1509,-1.25,-219.0,2418,2501,3355,3206,433.4,-26.0,87,1515,0.00,1.80,0.00,0.000,260,0.000,0.054,2409,3671,3280,3355,3206,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1558,-1.25,-219.0,1456,3670,3337,3202,445.1,-26.2,89,1564,0.00,1.67,0.00,0.000,1030,0.000,0.024,2409,2487,3280,3355,3206,0,0,0,0,0,0,28.83,26.73,28.83
$GC,1879,-1.25,-219.0,2409,2487,3355,3206,518.4,-22.5,105,1885,0.00,1.83,0.00,0.000,260,0.000,0.053,2400,3668,3280,3355,3206,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1960,-1.25,-219.0,2399,3670,3355,3206,533.8,-22.4,108,1969,0.12,1.65,0.00,0.000,3078,0.156,0.024,2434,2494,3280,3355,3206,0,0,0,0,0,0,26.51,26.75,28.83
$GC,2266,-1.25,-219.0,2433,2495,3355,3206,596.6,-18.0,124,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2495,3280,3355,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2587,-1.25,-219.0,2433,2495,3355,3206,657.4,-19.4,135,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2495,3280,3355,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2886,-1.25,-219.0,2433,2495,3355,3206,715.5,-19.5,145,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2495,3280,3355,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3186,-1.25,-219.0,2433,2495,3355,3202,770.0,-17.6,155,3192,0.00,1.85,0.00,0.000,260,0.000,0.054,2425,3674,3278,3355,3202,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3234,-1.25,-219.0,2425,3674,3355,3202,775.7,-17.2,156,3240,0.00,1.67,0.00,0.000,1030,0.000,0.026,2425,2495,3278,3355,3201,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3554,-1.25,-219.0,2425,2493,3355,3197,832.5,-17.5,167,3560,0.00,2.03,0.00,0.000,516,0.000,0.029,2425,1113,3276,3355,3197,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3588,-1.25,-219.0,2424,1113,3355,3196,838.6,-17.6,168,3594,0.00,2.12,0.00,0.000,1030,0.000,0.041,2414,2502,3276,3355,3197,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3922,-1.25,-219.0,2414,2499,3355,3192,900.5,-18.9,179,3928,0.00,1.83,0.00,0.000,260,0.000,0.057,2405,3667,3273,3355,3191,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3960,-1.25,-219.0,2405,3667,3355,3190,907.2,-18.9,180,3966,0.00,1.67,0.00,0.000,1030,0.000,0.028,2405,2510,3271,3353,3190,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4288,begin apogee
$GC,4294,-0.20,0.0,2405,1978,3354,3185,971.0,-19.3,191,4633,1.08,0.00,327.12,0.759,10246,0.116,0.000,2769,1975,2373,2533,2213,0,0,0,0,0,0,26.47,28.83,24.53
$STATE,4635,end apogee,CONTROL_FINISHED_OK
$STATE,4636,begin climb
$GC,4637,1.25,219.0,2768,1976,2532,2199,993.1,0.0,201,4874,1.25,0.00,231.57,0.907,10758,0.042,0.000,3244,1975,1486,1584,1389,0,0,0,0,0,0,25.29,28.83,24.20
$GC,5159,1.25,219.0,3243,1975,1549,1352,903.4,22.8,220,5166,0.00,2.30,0.00,0.000,260,0.000,0.047,3243,3418,1451,1551,1352,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5238,1.25,219.0,3243,3418,1547,1352,888.1,23.0,222,5244,0.00,2.10,0.00,0.000,1030,0.000,0.028,3255,2022,1449,1547,1352,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5557,1.25,219.0,3255,2022,1545,1349,812.0,22.5,233,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2022,1447,1545,1349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5857,1.25,219.0,3255,2021,1544,1347,741.2,23.2,243,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2022,1444,1543,1346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6157,1.25,219.0,3255,2022,1543,1345,669.1,24.2,253,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2022,1444,1543,1345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6457,1.25,219.0,3255,2022,1541,1344,597.4,23.4,263,6463,0.00,2.15,0.00,0.000,516,0.000,0.041,3266,610,1442,1541,1343,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6538,1.25,219.0,3266,610,1540,1343,582.1,23.7,266,6546,0.12,2.10,0.00,0.000,5126,0.170,0.033,3234,2011,1441,1540,1343,0,0,0,0,0,0,26.39,26.59,28.83
$GC,6843,1.25,219.0,3234,2011,1539,1341,510.4,21.7,282,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2011,1440,1539,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7143,1.25,219.0,3233,2011,1539,1340,452.0,18.1,297,7149,0.00,2.15,0.00,0.000,260,0.000,0.048,3234,3402,1439,1539,1340,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7294,1.25,219.0,3234,3402,1538,1340,424.5,17.9,304,7300,0.00,2.08,0.00,0.000,1030,0.000,0.029,3245,1995,1439,1538,1340,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7614,1.25,219.0,3245,1994,1538,1338,364.0,19.9,320,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1994,1438,1538,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7913,1.25,219.0,3245,1994,1538,1338,304.1,19.3,335,7919,0.00,2.10,0.00,0.000,516,0.000,0.040,3257,606,1438,1538,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7999,1.25,219.0,3257,606,1538,1338,287.5,19.4,339,8005,0.00,2.08,0.00,0.000,1030,0.000,0.031,3257,2002,1438,1538,1338,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8325,1.25,219.0,3257,2002,1538,1338,231.6,15.3,355,8331,0.00,2.12,0.00,0.000,516,0.000,0.038,3269,600,1438,1538,1338,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8349,1.25,219.0,3268,600,1538,1338,227.6,15.4,356,8356,0.12,2.08,0.00,0.000,5126,0.158,0.031,3235,2005,1438,1538,1338,0,0,0,0,0,0,26.47,26.67,28.83
$GC,8675,1.25,219.0,3235,2005,1538,1338,179.2,15.9,372,8682,0.00,2.15,0.00,0.000,260,0.000,0.047,3235,3401,1438,1538,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8913,1.25,219.0,3235,3400,1538,1338,136.7,18.4,383,8919,0.00,2.05,0.00,0.000,1030,0.000,0.028,3246,1997,1438,1538,1338,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9227,1.25,219.0,3246,1996,1538,1338,83.8,15.9,399,9234,0.00,2.17,0.00,0.000,260,0.000,0.046,3246,3402,1438,1539,1338,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9353,1.25,219.0,3246,3402,1540,1338,61.8,17.6,405,9359,0.00,2.05,0.00,0.000,1030,0.000,0.028,3258,1996,1439,1540,1338,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9665,1.25,219.0,3258,1996,1541,1337,17.4,15.0,436,9673,0.00,2.08,0.00,0.000,516,0.000,0.038,3269,611,1439,1541,1337,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,9768,end climb,SURFACE_DEPTH_REACHED
$STATE,9768,begin surface coast
$FINISH,0.6,1.022878
$STATE,9785,end surface coast,CONTROL_FINISHED_OK
$STATE,9785,begin surface
$SM_CCo,9805,81.85,0.059,0,0,748,400.08
$SM_GC,1.34,7.90,2.90,81.85,0.030,0.036,0.059,125,2485,748,-8.34,-1.44,400.08,0,0,0,0,0,0,26.71,26.65,26.51
$IRIDIUM_FIX,2129.53,12356.84,200313,141440
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.84
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3970976
$24V_AH,24.2,23.181
$10V_AH,10.3,17.047
$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,19.500,65.475,558.700,81.850,0.000,0.000,0.000,188.700,0.000,0.000,13.002,1858.105,6084.375,696.646,1344.647,226.116,0.000,1549.177,0.000,1091.037,0.000,0.537,0.000
$DEVICE_MAMPS,221.085,56.610,907.290,58.905,0.000,0.000,0.000,126.225,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9789.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.846,0.000,0.000,0.000
$MEM,329700
$DATA_FILE_SIZE,16788,458
$CAP_FILE_SIZE,237763,0
$CFSIZE,260034560,236974080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,232.3,1
$GPS,200313,200206,2135.413,12359.114,43,0.8,44,-2.9