version: 66.11
glider: 171
mission: 4
dive: 44
start: 3 3 113 0 47 9
data:
$ID,171
$MISSION,4
$DIVE,44
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,920
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,-20553.896
$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,2810
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,52
$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,2730
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$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
$GPS1,030313,004030,2315.274,12209.462,41,1.6,41,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-66.7
$GPS2,030313,004642,2315.190,12209.534,35,1.1,35,-3.1
$SPEED_LIMITS,0.161,0.271
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,99.5,189941,-15.0,-9.293,-18.92,2788
$D_GRID,4174
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.09,-170.3,121,2496,1201,1012,0.0,0.0,0,63,0.00,0.00,-43.53,0.000,16386,0.000,0.000,121,2497,2351,2407,2295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-1.09,-170.3,121,2496,2413,2296,3.2,-5.8,6,105,9.00,2.17,-18.88,0.000,18948,0.223,0.052,2453,1105,3407,3429,3385,0,0,0,0,0,0,26.01,26.25,26.53
$GC,290,-1.09,-170.3,2452,1104,3427,3389,73.2,-32.4,27,296,0.00,2.15,0.00,0.000,1030,0.000,0.044,2442,2494,3408,3427,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,603,-1.09,-170.3,2441,2494,3427,3395,174.1,-26.9,43,610,0.00,1.83,0.00,0.000,260,0.000,0.055,2432,3673,3410,3427,3394,0,0,0,0,0,0,28.83,26.49,28.83
$GC,636,-1.09,-170.3,2432,3673,3427,3395,180.9,-27.5,44,642,0.00,1.70,0.00,0.000,1030,0.000,0.026,2432,2493,3411,3428,3395,0,0,0,0,0,0,28.83,26.56,28.83
$GC,950,-1.09,-170.3,2432,2492,3427,3398,274.0,-27.0,60,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2492,3412,3427,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1250,-1.09,-170.3,2432,2492,3427,3399,349.9,-25.2,75,1255,0.00,1.85,0.00,0.000,260,0.000,0.056,2423,3678,3413,3427,3399,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1437,-1.09,-170.3,1488,3677,3413,3396,394.0,-23.4,84,1444,0.08,1.73,0.00,0.000,3078,0.135,0.024,2462,2496,3413,3427,3399,0,0,0,0,0,0,26.57,26.72,28.83
$GC,1758,-1.09,-170.3,2462,2494,3427,3400,459.0,-19.6,100,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2494,3413,3427,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2057,-1.09,-170.3,2462,2494,3427,3400,518.0,-19.5,115,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2494,3412,3427,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2357,-1.09,-170.3,2462,2494,3424,3399,575.9,-18.8,130,2363,0.00,1.85,0.00,0.000,260,0.000,0.057,2454,3676,3412,3424,3400,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2410,-1.09,-170.3,2454,3676,3423,3399,584.4,-19.0,132,2416,0.00,1.67,0.00,0.000,1030,0.000,0.026,2454,2497,3411,3423,3400,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2723,-1.09,-170.3,2454,2496,3421,3399,645.2,-18.6,144,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2496,3410,3421,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3023,-1.09,-170.3,2453,2496,3419,3397,699.2,-17.9,154,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2496,3408,3419,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3323,-1.09,-170.3,2454,2500,3417,3395,752.2,-17.8,164,3329,0.00,1.85,0.00,0.000,260,0.000,0.057,2445,3675,3404,3417,3392,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3396,-1.09,-170.3,2445,3676,3416,3394,764.1,-18.5,166,3403,0.00,1.67,0.00,0.000,1030,0.000,0.028,2444,2496,3404,3415,3394,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3720,-1.09,-170.3,2444,2496,3414,3393,822.8,-17.0,177,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2495,3402,3414,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4020,-1.09,-170.3,2444,2496,3412,3388,872.0,-16.2,187,4027,0.00,1.83,0.00,0.000,260,0.000,0.057,2435,3671,3400,3412,3388,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4048,-1.09,-170.3,2435,3671,3411,3388,872.0,-16.2,187,4056,0.00,1.67,0.00,0.000,1030,0.000,0.029,2435,2507,3399,3411,3388,0,0,0,0,0,0,28.83,26.86,28.83
$STATE,4323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4323,begin apogee
$GC,4328,-0.25,0.0,2435,1987,3408,3385,922.1,-16.5,197,4744,0.85,0.00,404.35,0.598,10246,0.113,0.000,2727,1986,2724,2849,2599,0,0,0,0,0,0,26.71,28.83,24.37
$STATE,4746,end apogee,CONTROL_FINISHED_OK
$STATE,4746,begin climb
$GC,4747,1.09,170.3,2726,1986,2846,2595,950.8,0.0,210,5010,1.17,0.00,254.05,0.728,10758,0.045,0.000,3166,1984,2030,2175,1886,0,0,0,0,0,0,25.13,28.83,24.27
$GC,5328,1.09,170.3,3166,1984,2135,1868,920.7,11.8,229,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1984,2001,2135,1868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5628,1.09,170.3,3165,1984,2132,1865,887.2,10.6,239,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1984,1998,2132,1865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5929,1.09,170.3,3166,1984,2130,1863,854.9,10.8,249,5935,0.00,2.28,0.00,0.000,260,0.000,0.051,3166,3422,1996,2130,1863,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5972,1.09,170.3,3166,3422,2130,1863,851.0,10.9,250,5978,0.00,2.10,0.00,0.000,1030,0.000,0.029,3177,2012,1996,2130,1863,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6296,1.09,170.3,3177,2012,2128,1861,816.4,10.1,261,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2012,1994,2128,1861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6596,1.09,170.3,3177,2012,2125,1860,785.9,10.3,271,6602,0.00,2.20,0.00,0.000,260,0.000,0.051,3177,3415,1991,2122,1860,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6785,1.09,170.3,3177,3415,2123,1860,764.8,11.7,277,6791,0.00,2.10,0.00,0.000,1030,0.000,0.032,3189,2003,1992,2124,1860,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7114,1.09,170.3,3189,2003,2123,1859,729.5,10.9,288,7115,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2003,1991,2123,1859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7414,1.09,170.3,3188,2003,2123,1858,698.6,9.9,298,7420,0.00,2.22,0.00,0.000,260,0.000,0.051,3189,3422,1987,2119,1856,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7644,1.09,170.3,3188,3424,2123,1858,676.7,10.1,305,7651,0.15,2.12,0.00,0.000,5126,0.172,0.031,3161,1990,1990,2123,1858,0,0,0,0,0,0,26.55,26.72,28.83
$GC,7964,1.14,198.1,3161,1988,2122,1856,648.3,8.3,316,8027,0.00,0.00,60.47,0.544,8454,0.000,0.000,3161,1988,1922,2060,1784,0,0,0,0,0,0,28.83,28.83,25.52
$GC,8324,1.14,198.1,3161,1988,2037,1770,612.7,10.1,328,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1988,1903,2037,1770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8633,1.14,198.1,3161,1988,2033,1770,582.5,9.7,341,8639,0.00,2.28,0.00,0.000,260,0.000,0.051,3161,3421,1901,2032,1770,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8739,1.14,198.1,3161,3421,2033,1770,571.6,10.3,346,8745,0.00,2.12,0.00,0.000,1030,0.000,0.031,3172,1996,1901,2033,1770,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9063,1.14,198.1,3171,1996,2032,1770,540.1,9.4,362,9064,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1995,1901,2032,1770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9363,1.20,224.5,3171,1996,2031,1770,512.0,8.3,377,9419,0.00,2.22,50.47,0.549,8708,0.000,0.041,3182,609,1809,1942,1676,0,0,0,0,0,0,28.83,26.05,25.46
$GC,9477,1.20,224.5,3182,609,1922,1669,502.2,9.4,382,9483,0.00,2.15,0.00,0.000,1030,0.000,0.034,3182,2010,1795,1921,1670,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9791,1.20,224.5,3185,2010,1910,1666,464.0,12.3,398,9792,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2010,1788,1910,1666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10091,1.20,224.5,3182,2010,1907,1666,430.3,10.7,413,10097,0.00,2.20,0.00,0.000,260,0.000,0.051,3182,3411,1786,1907,1666,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10118,1.20,224.5,3182,3411,1907,1666,427.6,10.6,414,10124,0.00,2.12,0.00,0.000,1030,0.000,0.034,3194,2003,1786,1907,1666,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10437,1.20,224.5,3193,2003,1906,1666,395.7,9.6,430,10444,0.00,2.22,0.00,0.000,260,0.000,0.050,3194,3411,1786,1906,1666,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10604,1.20,224.5,3193,3411,1906,1666,377.3,11.5,438,10610,0.00,2.10,0.00,0.000,1030,0.000,0.033,3206,1998,1786,1906,1666,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10929,1.20,224.5,3205,1998,1910,1666,340.1,11.5,454,10930,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1998,1785,1905,1666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11228,1.20,224.5,3205,1998,1906,1666,303.1,12.3,469,11234,0.00,2.22,0.00,0.000,260,0.000,0.050,3205,3417,1786,1907,1666,0,0,0,0,0,0,28.83,26.65,28.83
$GC,11462,1.20,224.5,3205,3417,1906,1666,275.1,13.0,480,11468,0.00,2.10,0.00,0.000,1030,0.000,0.032,3216,1997,1786,1906,1667,0,0,0,0,0,0,28.83,26.70,28.83
$GC,11777,1.23,241.8,3216,1997,1906,1666,245.3,8.7,496,11801,0.00,2.28,18.17,0.489,8452,0.000,0.048,3216,3408,1739,1855,1623,0,0,0,0,0,0,28.83,26.49,26.01
$GC,11999,1.23,241.8,3216,3408,1833,1618,223.2,11.4,506,12005,0.00,2.10,0.00,0.000,1030,0.000,0.031,3228,1997,1727,1832,1622,0,0,0,0,0,0,28.83,26.59,28.83
$GC,12313,1.23,241.8,3227,1997,1830,1618,186.4,12.0,522,12319,0.00,2.12,0.00,0.000,516,0.000,0.041,3239,596,1724,1831,1618,0,0,0,0,0,0,28.83,26.61,28.83
$GC,12438,1.23,241.8,3239,596,1830,1618,171.0,11.9,528,12445,0.12,2.10,0.00,0.000,5126,0.164,0.033,3207,2010,1724,1830,1618,0,0,0,0,0,0,26.51,26.65,28.83
$GC,12764,1.36,304.4,3206,2010,1830,1618,146.7,7.0,544,12860,0.12,2.25,86.88,0.425,10500,0.082,0.048,3299,3424,1478,1588,1368,0,0,0,0,0,0,26.73,25.94,25.50
$GC,13090,1.36,304.4,3298,3424,1564,1356,95.8,15.8,559,13097,0.22,2.15,0.00,0.000,5126,0.155,0.030,3247,1994,1460,1564,1356,0,0,0,0,0,0,26.10,26.28,28.83
$GC,13405,1.36,304.4,3247,1993,1564,1355,58.7,11.0,575,13412,0.00,2.15,0.00,0.000,516,0.000,0.041,3259,591,1458,1564,1352,0,0,0,0,0,0,28.83,26.42,28.83
$GC,13645,1.36,304.4,3258,591,1563,1355,31.0,11.0,594,13652,0.00,2.10,0.00,0.000,1030,0.000,0.032,3259,2001,1459,1564,1355,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,13886,end climb,SURFACE_DEPTH_REACHED
$STATE,13886,begin surface coast
$FINISH,0.3,1.023165
$STATE,13909,end surface coast,CONTROL_FINISHED_OK
$STATE,13909,begin surface
$SM_CCo,13924,41.40,0.060,0,0,1099,400.08
$SM_GC,1.02,7.95,0.75,41.40,0.032,0.049,0.060,125,2499,1099,-8.26,-1.39,400.08,0,0,0,0,0,0,26.60,26.57,26.50
$IRIDIUM_FIX,2305.10,12205.79,020313,202008
$TT8_MAMPS,0.047936,0.047936
$HUMID,42.59
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,4006496
$24V_AH,24.3,8.932
$10V_AH,10.4,5.567
$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,19.675,75.475,874.400,41.400,0.000,0.000,0.000,216.375,0.000,0.000,35.919,2750.211,8474.064,867.049,2040.925,195.776,0.000,2086.163,0.000,1693.845,0.000,0.538,0.000
$DEVICE_MAMPS,223.380,56.610,728.280,59.670,0.000,0.000,0.000,129.285,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13902.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.792,0.000,0.000,0.000
$MEM,323952
$DATA_FILE_SIZE,23410,640
$CAP_FILE_SIZE,344872,0
$CFSIZE,260034560,249044992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,358.4,1
$GPS,030313,044129,2315.340,12211.526,56,1.0,56,-3.1