version: 66.11
glider: 171
mission: 4
dive: 187
start: 3 24 113 14 17 51
data:
$ID,171
$MISSION,4
$DIVE,187
$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,-20749.143
$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,57
$R_STBD_OVSHOOT,32
$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
$GPS1,240313,141159,2155.023,12331.675,40,1.2,41,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.6
$GPS2,240313,141725,2155.031,12331.797,13,1.3,13,-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,304.7,249386,-12.0,-8.739,-16.47,3810
$D_GRID,4756
$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,-219.0,133,2501,828,668,0.0,0.0,0,83,0.00,0.00,-61.80,0.000,16386,0.000,0.000,131,2501,2468,2542,2395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.25,-219.0,132,2501,2546,2395,3.4,-5.4,8,118,8.80,2.10,-14.95,0.000,18948,0.220,0.041,2410,1095,3276,3348,3205,0,0,0,0,0,0,25.88,26.34,26.65
$GC,154,-1.25,-219.0,1424,1094,3330,3200,26.0,-31.1,18,160,0.00,2.17,0.00,0.000,1030,0.000,0.041,2400,2503,3277,3350,3205,0,0,0,0,0,0,28.83,26.30,28.83
$GC,468,-1.25,-219.0,2400,2503,3353,3205,133.9,-35.1,37,474,0.00,1.83,0.00,0.000,260,0.000,0.055,2391,3674,3278,3352,3205,0,0,0,0,0,0,28.83,26.42,28.83
$GC,523,-1.25,-219.0,2392,3674,3352,3205,150.7,-36.5,39,529,0.00,1.70,0.00,0.000,1030,0.000,0.025,2391,2493,3279,3353,3205,0,0,0,0,0,0,28.83,26.54,28.83
$GC,837,-1.25,-219.0,2391,2492,3355,3205,253.0,-30.2,55,844,0.00,2.05,0.00,0.000,516,0.000,0.034,2391,1101,3281,3355,3208,0,0,0,0,0,0,28.83,26.57,28.83
$GC,871,-1.25,-219.0,2391,1101,3355,3205,261.0,-30.4,56,877,0.15,2.15,0.00,0.000,3078,0.164,0.042,2420,2511,3278,3351,3205,0,0,0,0,0,0,26.32,26.52,28.83
$GC,1187,-1.25,-219.0,2419,2511,3357,3205,351.9,-27.3,72,1193,0.00,1.83,0.00,0.000,260,0.000,0.055,2412,3661,3280,3356,3205,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1262,-1.25,-219.0,2412,3661,3356,3206,370.1,-27.2,75,1268,0.00,1.67,0.00,0.000,1030,0.000,0.025,2412,2489,3281,3357,3205,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1576,-1.25,-219.0,2411,2487,3357,3205,450.9,-23.3,91,1582,0.00,2.03,0.00,0.000,516,0.000,0.030,2412,1101,3281,3357,3205,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1630,-1.25,-219.0,2411,1101,3357,3205,460.9,-22.7,93,1637,0.00,2.12,0.00,0.000,1030,0.000,0.040,2401,2502,3281,3357,3205,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1947,-1.25,-219.0,2400,2502,3356,3206,534.1,-21.2,109,1953,0.00,1.80,0.00,0.000,260,0.000,0.055,2392,3670,3281,3357,3205,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2076,-1.25,-219.0,2391,3669,3357,3205,563.2,-22.6,115,2082,0.00,1.67,0.00,0.000,1030,0.000,0.024,2392,2492,3281,3357,3205,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2410,-1.25,-219.0,2392,2490,3357,3207,636.4,-21.2,129,2415,0.00,2.03,0.00,0.000,516,0.000,0.028,2392,1101,3281,3357,3205,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2457,-1.25,-219.0,2391,1103,3357,3205,644.2,-21.8,130,2464,0.15,2.12,0.00,0.000,3078,0.157,0.040,2422,2502,3281,3357,3205,0,0,0,0,0,0,26.42,26.61,28.83
$GC,2777,-1.25,-219.0,2422,2502,3357,3205,709.7,-19.8,141,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2503,3280,3356,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3077,-1.25,-219.0,2425,2503,3356,3201,766.2,-18.7,151,3082,0.00,1.83,0.00,0.000,260,0.000,0.057,2414,3676,3278,3356,3201,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3185,-1.25,-219.0,2414,3676,3356,3199,784.8,-19.4,154,3191,0.00,1.67,0.00,0.000,1030,0.000,0.025,2414,2494,3277,3356,3199,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3504,-1.25,-219.0,2413,2493,3356,3195,849.1,-19.0,165,3511,0.00,2.03,0.00,0.000,516,0.000,0.030,2411,1111,3275,3356,3194,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3539,-1.25,-219.0,2414,1110,3356,3193,855.5,-18.8,166,3545,0.00,2.12,0.00,0.000,1030,0.000,0.040,2403,2500,3274,3356,3193,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3873,-1.25,-219.0,2403,2500,3356,3188,918.8,-18.4,177,3879,0.00,1.83,0.00,0.000,260,0.000,0.057,2394,3672,3272,3356,3188,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3940,-1.25,-219.0,2394,3672,3355,3188,930.9,-18.7,179,3946,0.00,1.67,0.00,0.000,1030,0.000,0.027,2394,2500,3271,3355,3188,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,4177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4177,begin apogee
$GC,4183,-0.20,0.0,2394,2002,3354,3185,975.3,-18.0,187,4513,1.08,0.00,321.10,0.761,10246,0.119,0.000,2754,2000,2375,2534,2217,0,0,0,0,0,0,26.39,28.83,24.49
$STATE,4515,end apogee,CONTROL_FINISHED_OK
$STATE,4515,begin climb
$GC,4517,1.25,219.0,2753,2000,2530,2212,993.2,0.0,197,4757,1.27,2.33,226.07,0.913,10756,0.044,0.040,3245,622,1471,1570,1373,0,0,0,0,0,0,25.25,24.87,24.15
$GC,4791,1.25,219.0,3245,622,1558,1358,957.5,20.8,205,4797,0.00,2.20,0.00,0.000,1030,0.000,0.032,3245,2005,1457,1557,1358,0,0,0,0,0,0,28.83,25.30,28.83
$GC,5107,1.25,219.0,3244,2005,1549,1354,872.0,25.9,216,5108,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2005,1451,1549,1354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5405,1.25,219.0,3245,2005,1547,1351,796.7,25.3,226,5411,0.00,2.12,0.00,0.000,516,0.000,0.038,3256,617,1448,1547,1350,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5428,1.25,219.0,3256,617,1547,1350,796.7,25.3,226,5435,0.12,2.10,0.00,0.000,5126,0.168,0.031,3225,2017,1448,1547,1350,0,0,0,0,0,0,26.16,26.37,28.83
$GC,5743,1.25,219.0,3224,2016,1546,1349,718.2,22.9,237,5749,0.00,2.15,0.00,0.000,260,0.000,0.048,3225,3400,1447,1546,1348,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5791,1.25,219.0,3224,3400,1546,1349,710.2,23.1,238,5798,0.00,2.08,0.00,0.000,1030,0.000,0.030,3236,2005,1447,1546,1348,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6111,1.25,219.0,3235,2005,1548,1346,632.2,23.8,249,6117,0.00,2.17,0.00,0.000,260,0.000,0.047,3236,3401,1445,1545,1346,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6139,1.25,219.0,3235,3401,1544,1346,632.2,23.8,249,6147,0.00,2.08,0.00,0.000,1030,0.000,0.029,3247,2000,1445,1545,1346,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6445,1.25,219.0,3247,1999,1543,1344,554.9,21.7,263,6452,0.00,2.10,0.00,0.000,516,0.000,0.041,3259,609,1444,1544,1344,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6532,1.25,219.0,3258,609,1543,1344,535.7,22.1,267,6540,0.15,2.08,0.00,0.000,5126,0.163,0.031,3218,1999,1443,1542,1344,0,0,0,0,0,0,26.34,26.58,28.83
$GC,6859,1.25,219.0,3218,1999,1541,1342,473.6,18.8,283,6865,0.00,2.17,0.00,0.000,260,0.000,0.048,3218,3400,1441,1542,1341,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6999,1.25,219.0,2248,3399,1511,1338,445.9,22.0,289,7007,0.00,2.08,0.00,0.000,1030,0.000,0.030,3229,1997,1440,1540,1341,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7306,1.25,219.0,3229,1997,1539,1339,384.2,19.5,305,7312,0.00,2.12,0.00,0.000,516,0.000,0.041,3240,603,1439,1539,1339,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7395,1.25,219.0,3240,603,1539,1339,368.2,18.7,309,7401,0.00,2.08,0.00,0.000,1030,0.000,0.031,3240,2002,1439,1539,1339,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7717,1.25,219.0,3240,2002,1539,1339,306.4,19.3,325,7723,0.00,2.10,0.00,0.000,516,0.000,0.039,3252,608,1439,1539,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7830,1.25,219.0,2256,607,1509,1335,285.5,18.5,330,7836,0.12,2.05,0.00,0.000,5126,0.163,0.030,3219,2000,1439,1540,1339,0,0,0,0,0,0,26.40,26.64,28.83
$GC,8151,1.25,219.0,3219,2000,1539,1340,229.5,18.2,346,8158,0.00,2.15,0.00,0.000,260,0.000,0.047,3219,3406,1439,1539,1339,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8176,1.25,219.0,3219,3406,1539,1339,224.7,18.2,347,8182,0.00,2.08,0.00,0.000,1030,0.000,0.029,3232,1995,1438,1537,1339,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8502,1.25,219.0,3229,1995,1539,1339,169.5,16.1,363,8508,0.00,2.17,0.00,0.000,260,0.000,0.047,3230,3400,1439,1539,1339,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8549,1.25,219.0,3230,3400,1540,1339,161.7,16.8,365,8554,0.00,2.05,0.00,0.000,1030,0.000,0.029,3242,2001,1439,1539,1339,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8874,1.25,219.0,3241,2001,1540,1339,113.5,14.9,381,8880,0.00,2.12,0.00,0.000,516,0.000,0.040,3253,601,1439,1540,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8963,1.25,219.0,2272,601,1509,1336,100.4,15.1,385,8970,0.12,2.08,0.00,0.000,5126,0.156,0.031,3219,2002,1439,1539,1339,0,0,0,0,0,0,26.43,26.65,28.83
$GC,9285,1.25,219.0,3219,2002,1540,1339,54.1,13.9,401,9291,0.00,2.17,0.00,0.000,260,0.000,0.046,3219,3409,1440,1541,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9312,1.25,219.0,3219,3409,1542,1339,50.0,14.4,402,9318,0.00,2.08,0.00,0.000,1030,0.000,0.028,3230,1992,1440,1542,1338,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9627,1.25,219.0,2176,1990,1510,1336,8.4,13.8,444,9635,0.00,2.17,0.00,0.000,260,0.000,0.047,3231,3400,1441,1544,1339,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,9658,end climb,SURFACE_DEPTH_REACHED
$STATE,9658,begin surface coast
$FINISH,0.5,1.023095
$STATE,9675,end surface coast,CONTROL_FINISHED_OK
$STATE,9675,begin surface
$SM_CCo,9694,81.90,0.060,0,0,749,400.08
$SM_GC,1.34,7.93,1.35,81.90,0.037,0.025,0.060,138,2491,749,-8.28,1.61,400.08,0,0,0,0,0,0,26.66,26.71,26.46
$IRIDIUM_FIX,2145.77,12332.39,240313,111143
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.80
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3960736
$24V_AH,24.2,27.568
$10V_AH,10.3,19.611
$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,19.900,93.550,547.175,81.900,0.000,0.000,0.000,181.000,0.000,0.000,14.258,1927.906,5793.095,689.302,1417.147,270.189,0.000,1605.510,0.000,1164.063,0.000,0.538,0.000
$DEVICE_MAMPS,220.320,56.610,912.645,59.670,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9672.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.996,0.000,0.000,0.000
$MEM,329696
$DATA_FILE_SIZE,16745,452
$CAP_FILE_SIZE,251770,0
$CFSIZE,260034560,234139648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114, 97.7,1
$GPS,240313,170137,2156.052,12330.864,10,1.9,11,-2.9