version: 66.11
glider: 171
mission: 4
dive: 191
start: 3 25 113 1 41 33
data:
$ID,171
$MISSION,4
$DIVE,191
$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,-20755.93
$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,67
$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
$GPS1,250313,013536,2158.112,12327.721,28,1.0,29,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-64.2
$GPS2,250313,014107,2158.109,12327.741,12,1.0,12,-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,300.0,240541,-12.0,-8.739,-16.47,3810
$D_GRID,4731
$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,-219.0,126,2488,838,657,0.0,0.0,0,81,0.00,0.00,-60.60,0.000,16386,0.000,0.000,126,2489,2444,2513,2376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.25,-219.0,126,2488,2520,2377,3.3,-4.2,8,117,9.00,1.88,-15.20,0.000,18692,0.226,0.067,2404,3678,3276,3349,3203,0,0,0,0,0,0,25.86,26.20,26.58
$GC,349,-1.25,-219.0,2404,3678,3351,3203,96.7,-34.9,30,355,0.00,1.70,0.00,0.000,1030,0.000,0.024,2404,2490,3277,3351,3203,0,0,0,0,0,0,28.83,26.47,28.83
$GC,669,-1.25,-219.0,2404,2489,3354,3203,205.6,-32.7,46,675,0.00,1.85,0.00,0.000,260,0.000,0.053,2395,3674,3278,3354,3203,0,0,0,0,0,0,28.83,26.46,28.83
$GC,717,-1.25,-219.0,2395,3674,3354,3203,218.6,-30.6,48,723,0.00,1.67,0.00,0.000,1030,0.000,0.024,2395,2498,3278,3354,3203,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1038,-1.25,-219.0,2395,2497,3356,3203,311.9,-29.8,64,1044,0.00,1.85,0.00,0.000,260,0.000,0.055,2386,3674,3279,3356,3203,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1055,-1.25,-219.0,2386,3675,3356,3203,311.9,-29.8,64,1065,0.12,1.67,0.00,0.000,3078,0.161,0.024,2418,2493,3279,3356,3203,0,0,0,0,0,0,26.37,26.65,28.83
$GC,1362,-1.25,-219.0,2418,2490,3357,3203,393.7,-24.3,80,1369,0.00,1.83,0.00,0.000,260,0.000,0.054,2410,3669,3280,3356,3204,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1438,-1.25,-219.0,2410,3669,3357,3204,411.8,-26.8,83,1444,0.00,1.65,0.00,0.000,1030,0.000,0.024,2410,2506,3280,3356,3204,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1752,-1.25,-219.0,2410,2505,3357,3203,492.2,-24.1,99,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2504,3280,3357,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2052,-1.25,-219.0,2410,2505,3356,3203,559.0,-21.3,114,2058,0.00,2.05,0.00,0.000,516,0.000,0.031,2410,1106,3279,3356,3203,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2126,-1.25,-219.0,2409,1106,3356,3204,573.4,-22.0,117,2133,0.00,2.12,0.00,0.000,1030,0.000,0.040,2399,2501,3279,3356,3203,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2451,-1.25,-219.0,2400,2501,3356,3203,645.6,-21.2,130,2457,0.00,2.05,0.00,0.000,516,0.000,0.030,2399,1105,3280,3356,3204,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2474,-1.25,-219.0,2399,1105,3356,3203,645.6,-21.2,130,2481,0.12,2.12,0.00,0.000,3078,0.164,0.040,2422,2505,3279,3356,3203,0,0,0,0,0,0,26.43,26.61,28.83
$GC,2789,-1.25,-219.0,2421,2505,3356,3203,709.6,-18.4,141,2794,0.00,1.80,0.00,0.000,260,0.000,0.054,2413,3673,3279,3356,3203,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2811,-1.25,-219.0,1504,3672,3339,3199,709.6,-18.4,141,2816,0.00,1.67,0.00,0.000,1030,0.000,0.025,2413,2490,3279,3356,3203,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3126,-1.25,-219.0,2413,2489,3356,3199,775.1,-19.5,152,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2489,3277,3356,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3424,-1.25,-219.0,2413,2489,3356,3195,831.0,-17.8,162,3431,0.00,2.03,0.00,0.000,516,0.000,0.029,2413,1106,3275,3356,3194,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3443,-1.25,-219.0,2413,1106,3356,3194,831.0,-17.8,162,3449,0.00,2.12,0.00,0.000,1030,0.000,0.041,2403,2504,3275,3356,3194,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3762,-1.25,-219.0,2402,2503,3356,3190,892.8,-18.4,173,3769,0.00,1.83,0.00,0.000,260,0.000,0.057,2394,3677,3272,3356,3189,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3801,-1.25,-219.0,2393,3677,3355,3189,899.3,-18.5,174,3807,0.00,1.73,0.00,0.000,1030,0.000,0.027,2393,2497,3272,3356,3189,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4130,-1.25,-219.0,2393,2496,3355,3185,959.2,-17.4,185,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2496,3270,3355,3185,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4219,begin apogee
$GC,4225,-0.20,0.0,2393,2010,3354,3184,974.9,-17.4,188,4568,1.08,0.00,332.25,0.754,10246,0.120,0.000,2751,2009,2372,2532,2213,0,0,0,0,0,0,26.38,28.83,24.49
$STATE,4571,end apogee,CONTROL_FINISHED_OK
$STATE,4571,begin climb
$GC,4573,1.25,219.0,2751,2009,2529,2208,991.8,0.0,198,4898,1.27,2.33,314.10,0.754,10756,0.048,0.037,3238,616,1481,1582,1381,0,0,0,0,0,0,25.26,24.98,24.35
$GC,4935,1.25,219.0,3238,617,1567,1367,947.5,20.5,209,4944,0.00,2.20,0.00,0.000,1030,0.000,0.031,3238,2014,1466,1567,1366,0,0,0,0,0,0,28.83,25.37,28.83
$GC,5243,1.25,219.0,3238,2014,1557,1356,870.9,23.2,220,5249,0.00,2.20,0.00,0.000,260,0.000,0.047,3238,3409,1456,1557,1356,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5270,1.25,219.0,3238,3409,1557,1353,870.9,23.2,220,5279,0.00,2.10,0.00,0.000,1030,0.000,0.029,3249,2013,1456,1557,1356,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5578,1.25,219.0,3249,2014,1553,1355,792.1,23.7,231,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2013,1454,1553,1355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5877,1.25,219.0,3249,2014,1552,1353,718.5,24.6,241,5883,0.00,2.15,0.00,0.000,516,0.000,0.039,3261,606,1452,1552,1353,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5912,1.25,219.0,3261,606,1553,1353,710.1,24.3,242,5918,0.15,2.10,0.00,0.000,5126,0.168,0.031,3222,2006,1452,1552,1353,0,0,0,0,0,0,26.24,26.48,28.83
$GC,6248,1.25,219.0,3221,2006,1551,1350,636.1,21.2,253,6253,0.00,2.17,0.00,0.000,260,0.000,0.047,3221,3400,1450,1551,1350,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6297,1.25,219.0,3221,3400,1551,1350,628.4,21.3,254,6303,0.00,2.08,0.00,0.000,1030,0.000,0.030,3232,1995,1450,1550,1350,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6617,1.25,219.0,3233,1995,1550,1348,557.5,20.9,268,6623,0.00,2.10,0.00,0.000,516,0.000,0.040,3243,610,1449,1550,1348,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6769,1.25,219.0,3243,611,1549,1347,527.8,20.1,275,6775,0.00,2.08,0.00,0.000,1030,0.000,0.031,3244,2006,1448,1549,1347,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7089,1.25,219.0,3243,2006,1548,1345,464.5,18.8,291,7095,0.00,2.15,0.00,0.000,260,0.000,0.047,3243,3400,1447,1548,1346,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7135,1.25,219.0,3243,3400,1548,1346,455.5,19.1,293,7141,0.12,2.08,0.00,0.000,5126,0.175,0.030,3223,1995,1447,1548,1346,0,0,0,0,0,0,26.36,26.63,28.83
$GC,7461,1.25,219.0,3223,1994,1547,1344,395.7,18.0,309,7467,0.00,2.10,0.00,0.000,516,0.000,0.040,3234,609,1445,1547,1344,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7609,1.25,219.0,2224,609,1515,1340,369.2,18.2,316,7615,0.00,2.08,0.00,0.000,1030,0.000,0.031,3234,2003,1445,1547,1344,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7935,1.25,219.0,3234,2003,1548,1343,309.6,18.7,332,7941,0.00,2.12,0.00,0.000,516,0.000,0.040,3245,611,1445,1547,1344,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7962,1.25,219.0,3245,611,1547,1344,305.1,18.2,333,7969,0.00,2.08,0.00,0.000,1030,0.000,0.031,3245,2000,1445,1547,1344,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8283,1.25,219.0,3245,2000,1547,1344,248.5,18.7,349,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2000,1445,1547,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8582,1.25,219.0,3245,2001,1547,1344,193.9,17.9,364,8587,0.00,2.10,0.00,0.000,516,0.000,0.040,3257,610,1445,1548,1343,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8743,1.25,219.0,3256,610,1547,1344,169.7,16.3,371,8752,0.12,2.05,0.00,0.000,5126,0.164,0.031,3223,2003,1445,1547,1344,0,0,0,0,0,0,26.41,26.65,28.83
$GC,9048,1.25,219.0,3223,2003,1547,1344,122.9,14.1,387,9053,0.00,2.15,0.00,0.000,260,0.000,0.046,3223,3403,1446,1548,1344,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9182,1.25,219.0,3223,3403,1547,1344,103.4,15.7,393,9189,0.00,2.05,0.00,0.000,1030,0.000,0.028,3234,2003,1446,1548,1344,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9498,1.25,219.0,3234,2000,1547,1344,57.0,14.7,409,9503,0.00,2.15,0.00,0.000,260,0.000,0.046,3234,3402,1446,1548,1344,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9522,1.25,219.0,3234,3402,1549,1344,53.4,14.6,410,9528,0.00,2.05,0.00,0.000,1030,0.000,0.028,3243,1995,1446,1549,1344,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9838,1.25,219.0,2208,1992,1516,1339,14.7,12.3,446,9846,0.00,2.17,0.00,0.000,260,0.000,0.046,3246,3403,1447,1551,1344,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,9920,end climb,SURFACE_DEPTH_REACHED
$STATE,9920,begin surface coast
$FINISH,0.6,1.004072
$STATE,9948,end surface coast,CONTROL_FINISHED_OK
$STATE,9948,begin surface
$SM_CCo,9967,82.65,0.058,0,0,748,400.08
$SM_GC,1.28,7.97,1.35,82.65,0.037,0.028,0.058,123,2492,748,-8.29,1.87,400.08,0,0,0,0,0,0,26.67,26.72,26.46
$IRIDIUM_FIX,2148.09,12330.45,240313,222232
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.99
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3959456
$24V_AH,24.4,28.125
$10V_AH,10.3,19.925
$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,19.975,84.475,646.350,82.650,0.000,0.000,0.000,187.675,0.000,0.000,13.758,1939.706,5956.842,753.679,1453.886,274.277,0.000,1704.169,0.000,1197.694,0.000,0.538,0.000
$DEVICE_MAMPS,226.440,67.320,754.290,58.140,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9958.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.935,0.000,0.000,0.000
$MEM,329676
$DATA_FILE_SIZE,16800,466
$CAP_FILE_SIZE,255815,0
$CFSIZE,260034560,233787392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139, 97.6,1
$GPS,250313,043024,2159.063,12327.077,41,1.2,42,-2.9