version: 66.11
glider: 171
mission: 4
dive: 186
start: 3 24 113 11 27 29
data:
$ID,171
$MISSION,4
$DIVE,186
$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,-20747.883
$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,2820
$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,58
$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
$GPS1,240313,112119,2153.861,12332.497,13,1.8,14,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.6
$GPS2,240313,112703,2153.846,12332.565,12,2.3,31,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,316.3,251634,-12.0,-8.739,-16.47,3810
$D_GRID,4807
$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,-219.0,111,2490,830,664,0.0,0.0,0,81,0.00,0.00,-59.88,0.000,16386,0.000,0.000,111,2491,2401,2452,2351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.25,-219.0,111,2491,2460,2351,3.2,-5.0,8,116,8.88,2.15,-16.30,0.000,18948,0.220,0.044,2411,1090,3277,3349,3206,0,0,0,0,0,0,25.89,26.36,26.66
$GC,196,-1.25,-219.0,2411,1090,3351,3206,39.2,-31.1,22,204,0.00,2.17,0.00,0.000,1030,0.000,0.041,2402,2501,3278,3351,3206,0,0,0,0,0,0,28.83,26.34,28.83
$GC,513,-1.25,-219.0,2401,2502,3354,3206,148.3,-34.8,40,520,0.00,2.08,0.00,0.000,516,0.000,0.028,2402,1089,3280,3354,3206,0,0,0,0,0,0,28.83,26.52,28.83
$GC,538,-1.25,-219.0,2401,1089,3354,3206,156.7,-34.4,41,545,0.00,2.15,0.00,0.000,1030,0.000,0.041,2391,2501,3280,3354,3206,0,0,0,0,0,0,28.83,26.47,28.83
$GC,864,-1.25,-219.0,2390,2501,3356,3207,260.4,-30.0,57,870,0.00,1.80,0.00,0.000,260,0.000,0.050,2382,3671,3281,3356,3207,0,0,0,0,0,0,28.83,26.53,28.83
$GC,919,-1.25,-219.0,2381,3671,3356,3211,274.2,-29.8,59,926,0.15,1.67,0.00,0.000,3078,0.161,0.024,2421,2487,3281,3356,3207,0,0,0,0,0,0,26.34,26.66,28.83
$GC,1235,-1.25,-219.0,2420,2487,3357,3207,361.9,-26.4,75,1241,0.00,1.85,0.00,0.000,260,0.000,0.051,2412,3674,3282,3357,3207,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1301,-1.25,-219.0,2412,3674,3357,3207,380.5,-27.3,78,1307,0.00,1.73,0.00,0.000,1030,0.000,0.023,2414,2489,3282,3357,3207,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1627,-1.25,-219.0,2412,2488,3357,3207,459.1,-24.5,94,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2488,3282,3357,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1925,-1.25,-219.0,2412,2488,3357,3207,529.6,-23.3,109,1932,0.00,1.83,0.00,0.000,260,0.000,0.052,2403,3670,3282,3357,3207,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1997,-1.25,-219.0,2403,3670,3357,3207,544.9,-23.0,112,2003,0.00,1.65,0.00,0.000,1030,0.000,0.024,2403,2496,3281,3355,3207,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2306,-1.25,-219.0,2403,2495,3357,3207,611.2,-22.6,127,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2495,3282,3357,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2606,-1.25,-219.0,2403,2495,3357,3207,679.3,-22.7,137,2613,0.00,2.00,0.00,0.000,516,0.000,0.029,2403,1121,3282,3357,3207,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2651,-1.25,-219.0,2403,1121,3357,3207,686.9,-22.3,138,2658,0.00,2.10,0.00,0.000,1030,0.000,0.041,2393,2502,3282,3357,3207,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2976,-1.25,-219.0,2392,2502,3357,3205,758.1,-20.4,149,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2502,3281,3357,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3276,-1.25,-219.0,2392,2503,3356,3200,817.0,-19.3,159,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2502,3278,3357,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3576,-1.25,-219.0,2393,2502,3357,3196,876.7,-19.8,169,3582,0.00,2.05,0.00,0.000,516,0.000,0.029,2393,1115,3275,3356,3195,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3604,-1.25,-219.0,2392,1115,3355,3195,876.7,-19.8,169,3613,0.12,2.12,0.00,0.000,3078,0.164,0.046,2415,2492,3275,3356,3195,0,0,0,0,0,0,26.43,26.59,28.83
$GC,3912,-1.25,-219.0,2415,2492,3355,3191,937.0,-17.5,180,3918,0.00,1.85,0.00,0.000,260,0.000,0.058,2405,3674,3273,3356,3190,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3965,-1.25,-219.0,2407,3674,3356,3190,943.5,-17.5,181,3972,0.00,1.70,0.00,0.000,1030,0.000,0.027,2407,2511,3272,3356,3189,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,4098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4098,begin apogee
$GC,4103,-0.20,0.0,2407,1994,3355,3187,970.4,-17.5,186,4437,1.02,0.00,325.45,0.757,10246,0.114,0.000,2753,1992,2378,2537,2220,0,0,0,0,0,0,26.41,28.83,24.51
$STATE,4438,end apogee,CONTROL_FINISHED_OK
$STATE,4438,begin climb
$GC,4440,1.25,219.0,2752,1992,2531,2212,988.8,0.0,196,4678,1.27,2.30,227.23,0.907,10756,0.044,0.039,3243,628,1478,1576,1380,0,0,0,0,0,0,25.22,24.87,24.16
$GC,4692,1.25,219.0,3243,628,1561,1364,956.2,19.6,204,4698,0.00,2.20,0.00,0.000,1030,0.000,0.032,3243,2009,1462,1561,1364,0,0,0,0,0,0,28.83,25.12,28.83
$GC,5027,1.25,219.0,3243,2009,1550,1353,873.2,24.4,215,5033,0.00,2.20,0.00,0.000,260,0.000,0.047,3243,3409,1451,1549,1353,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5092,1.25,219.0,3243,3409,1549,1353,857.1,24.7,217,5099,0.12,2.10,0.00,0.000,5126,0.177,0.028,3224,2016,1450,1548,1353,0,0,0,0,0,0,25.99,26.22,28.83
$GC,5428,1.25,219.0,3224,2016,1547,1349,780.7,23.3,228,5434,0.00,2.15,0.00,0.000,516,0.000,0.038,3235,607,1448,1547,1349,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5538,1.25,219.0,3235,607,1546,1348,758.2,23.5,231,5544,0.00,2.10,0.00,0.000,1030,0.000,0.031,3235,2011,1447,1546,1348,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5857,1.25,219.0,3235,2010,1545,1346,681.6,22.4,242,5863,0.00,2.15,0.00,0.000,260,0.000,0.047,3235,3401,1446,1546,1346,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5875,1.25,219.0,3234,3401,1545,1346,681.6,22.4,242,5881,0.00,2.08,0.00,0.000,1030,0.000,0.029,3246,1998,1446,1546,1346,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6195,1.25,219.0,3246,2000,1544,1345,601.4,23.4,253,6201,0.00,2.10,0.00,0.000,516,0.000,0.040,3258,609,1445,1545,1345,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6241,1.25,219.0,3257,609,1543,1345,591.5,22.4,255,6247,0.12,2.08,0.00,0.000,5126,0.171,0.031,3226,2000,1444,1543,1345,0,0,0,0,0,0,26.33,26.56,28.83
$GC,6567,1.25,219.0,3225,2000,1541,1343,526.1,20.1,271,6573,0.00,2.15,0.00,0.000,260,0.000,0.047,3225,3402,1442,1542,1343,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6754,1.25,219.0,3225,3402,1540,1343,484.8,21.7,280,6760,0.00,2.08,0.00,0.000,1030,0.000,0.030,3237,2000,1441,1540,1343,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7080,1.25,219.0,3237,2000,1539,1340,420.0,18.3,296,7086,0.00,2.12,0.00,0.000,516,0.000,0.040,3246,601,1439,1539,1340,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7108,1.25,219.0,3245,601,1539,1343,415.2,18.2,297,7114,0.00,2.08,0.00,0.000,1030,0.000,0.031,3248,1998,1439,1539,1340,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7428,1.25,219.0,3248,1999,1539,1340,351.6,19.9,313,7435,0.00,2.17,0.00,0.000,260,0.000,0.046,3248,3412,1439,1539,1340,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7489,1.25,219.0,3247,3413,1539,1340,342.0,20.4,315,7497,0.15,2.10,0.00,0.000,5126,0.170,0.030,3221,1989,1439,1539,1340,0,0,0,0,0,0,26.35,26.65,28.83
$GC,7796,1.25,219.0,3220,1991,1539,1339,282.1,18.8,331,7801,0.00,2.10,0.00,0.000,516,0.000,0.040,3232,606,1439,1539,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7866,1.25,219.0,3231,606,1539,1339,271.2,16.9,334,7872,0.00,2.08,0.00,0.000,1030,0.000,0.031,3231,2010,1439,1539,1339,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8187,1.25,219.0,3231,2010,1537,1339,215.8,17.2,350,8193,0.00,2.15,0.00,0.000,260,0.000,0.046,3231,3409,1439,1539,1339,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8236,1.25,219.0,3230,3409,1539,1339,207.9,17.3,352,8242,0.00,2.08,0.00,0.000,1030,0.000,0.030,3243,1999,1439,1539,1339,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8556,1.25,219.0,3243,1998,1539,1338,158.2,12.8,368,8563,0.00,2.12,0.00,0.000,516,0.000,0.040,3254,603,1439,1539,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8668,1.25,219.0,2304,603,1509,1335,142.8,14.5,373,8674,0.12,2.05,0.00,0.000,5126,0.162,0.031,3221,2000,1439,1539,1339,0,0,0,0,0,0,26.41,26.65,28.83
$GC,8989,1.25,219.0,3221,2000,1539,1339,97.0,14.4,389,8996,0.00,2.12,0.00,0.000,260,0.000,0.046,3221,3402,1439,1539,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9037,1.25,219.0,3221,3402,1539,1339,90.4,14.0,391,9044,0.00,2.05,0.00,0.000,1030,0.000,0.028,3232,1997,1439,1539,1339,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9353,1.25,219.0,3232,1997,1540,1339,48.1,13.4,407,9359,0.00,2.10,0.00,0.000,516,0.000,0.040,3243,610,1440,1541,1339,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9484,1.25,219.0,3243,610,1540,1339,29.2,14.1,419,9490,0.00,2.05,0.00,0.000,1030,0.000,0.030,3243,2006,1440,1541,1339,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,9667,end climb,SURFACE_DEPTH_REACHED
$STATE,9667,begin surface coast
$FINISH,0.4,1.011668
$STATE,9690,end surface coast,CONTROL_FINISHED_OK
$STATE,9690,begin surface
$SM_CCo,9708,81.70,0.059,0,0,748,400.08
$SM_GC,1.39,7.93,0.75,81.70,0.036,0.045,0.059,139,2498,748,-8.28,-1.10,400.08,0,0,0,0,0,0,26.65,26.63,26.46
$IRIDIUM_FIX,2145.77,12335.61,240313,080852
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.76
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3961056
$24V_AH,24.2,27.433
$10V_AH,10.3,19.532
$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,19.900,87.400,552.675,81.700,0.000,0.000,0.000,178.825,0.000,0.000,33.552,1910.029,5843.300,681.219,1420.161,275.764,0.000,1586.924,0.000,1147.211,0.000,0.538,0.000
$DEVICE_MAMPS,219.555,58.140,906.525,58.905,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9693.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.976,0.000,0.000,0.000
$MEM,329704
$DATA_FILE_SIZE,16811,455
$CAP_FILE_SIZE,249470,0
$CFSIZE,260034560,234229760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,125.8,1
$GPS,240313,141159,2155.023,12331.675,40,1.2,41,-2.9