version: 66.11
glider: 171
mission: 4
dive: 152
start: 3 20 113 8 37 8
data:
$ID,171
$MISSION,4
$DIVE,152
$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,-20698.688
$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,55
$R_STBD_OVSHOOT,30
$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
$GPS1,200313,083105,2143.810,12358.880,41,1.1,42,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.7
$GPS2,200313,083642,2143.789,12358.923,11,1.9,11,-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,164.3,25605,-12.0,-8.739,-16.47,3810
$D_GRID,5345
$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,-219.0,136,2495,830,666,0.0,0.0,0,82,0.00,0.00,-62.15,0.000,16386,0.000,0.000,135,2495,2479,2553,2405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.25,-219.0,135,2495,2559,2405,3.3,-5.0,8,118,8.77,1.88,-14.88,0.000,18692,0.220,0.067,2416,3679,3275,3345,3206,0,0,0,0,0,0,25.96,26.29,26.65
$GC,209,-1.25,-219.0,2416,3679,3348,3206,44.3,-33.1,23,217,0.00,1.73,0.00,0.000,1030,0.000,0.025,2416,2480,3277,3349,3206,0,0,0,0,0,0,28.83,26.46,28.83
$GC,526,-1.25,-219.0,2416,2479,3349,3206,150.8,-33.8,40,532,0.00,1.85,0.00,0.000,260,0.000,0.052,2407,3673,3278,3351,3206,0,0,0,0,0,0,28.83,26.48,28.83
$GC,581,-1.25,-219.0,2407,3673,3350,3207,166.4,-34.1,42,587,0.00,1.67,0.00,0.000,1030,0.000,0.024,2407,2500,3278,3350,3206,0,0,0,0,0,0,28.83,26.60,28.83
$GC,895,-1.25,-219.0,2407,2498,3353,3206,262.6,-27.1,58,902,0.00,1.85,0.00,0.000,260,0.000,0.053,2398,3664,3279,3353,3206,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1001,-1.25,-219.0,2398,3664,3354,3206,292.0,-27.0,63,1008,0.12,1.67,0.00,0.000,3078,0.165,0.027,2431,2489,3280,3354,3207,0,0,0,0,0,0,26.43,26.67,28.83
$GC,1327,-1.25,-219.0,2431,2488,3354,3206,374.2,-25.2,79,1333,0.00,1.83,0.00,0.000,260,0.000,0.052,2422,3673,3280,3354,3206,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1396,-1.25,-219.0,2422,3673,3354,3206,390.7,-24.9,82,1403,0.00,1.67,0.00,0.000,1030,0.000,0.024,2423,2489,3280,3355,3206,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1717,-1.25,-219.0,2422,2488,3354,3206,469.3,-23.3,98,1723,0.00,1.85,0.00,0.000,260,0.000,0.053,2413,3678,3279,3354,3205,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1843,-1.25,-219.0,1472,3678,3336,3202,497.0,-21.7,104,1849,0.00,1.67,0.00,0.000,1030,0.000,0.024,2413,2498,3280,3355,3206,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2169,-1.25,-219.0,2413,2496,3355,3206,568.0,-21.2,120,2175,0.00,2.03,0.00,0.000,516,0.000,0.030,2413,1112,3280,3355,3206,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2239,-1.25,-219.0,2413,1112,3355,3206,581.8,-20.3,123,2245,0.12,2.10,0.00,0.000,3078,0.164,0.039,2436,2501,3280,3355,3206,0,0,0,0,0,0,26.48,26.65,28.83
$GC,2549,-1.25,-219.0,2435,2501,3355,3206,642.2,-19.1,135,2556,0.00,1.83,0.00,0.000,260,0.000,0.054,2427,3679,3280,3355,3206,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2633,-1.25,-219.0,2427,3679,3355,3206,655.3,-19.7,137,2639,0.00,1.67,0.00,0.000,1030,0.000,0.025,2427,2496,3280,3354,3206,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2949,-1.25,-219.0,2427,2495,3354,3206,716.1,-17.4,148,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2495,3280,3354,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3248,-1.25,-219.0,2427,2495,3354,3202,766.0,-16.4,158,3253,0.00,1.83,0.00,0.000,260,0.000,0.054,2418,3671,3278,3355,3202,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3305,-1.25,-219.0,2418,3671,3354,3201,771.7,-16.4,159,3313,0.00,1.67,0.00,0.000,1030,0.000,0.027,2418,2497,3277,3354,3201,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3612,-1.25,-219.0,2418,2496,3354,3197,829.3,-17.6,170,3619,0.00,2.03,0.00,0.000,516,0.000,0.030,2418,1111,3275,3354,3196,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3661,-1.25,-219.0,2418,1111,3354,3196,835.8,-17.9,171,3667,0.00,2.10,0.00,0.000,1030,0.000,0.041,2407,2500,3275,3354,3196,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3980,-1.25,-219.0,2407,2500,3354,3191,898.4,-19.1,182,3985,0.00,1.83,0.00,0.000,260,0.000,0.057,2398,3674,3272,3354,3190,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4038,-1.25,-219.0,2398,3673,3354,3190,904.8,-19.0,183,4046,0.12,1.67,0.00,0.000,3078,0.150,0.028,2432,2499,3272,3354,3190,0,0,0,0,0,0,26.53,26.79,28.83
$GC,4345,-1.25,-219.0,2432,2499,3354,3185,961.8,-16.7,194,4352,0.00,2.05,0.00,0.000,516,0.000,0.031,2432,1109,3269,3354,3184,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4379,-1.25,-219.0,1504,1108,3336,3179,967.6,-16.5,195,4385,0.00,2.12,0.00,0.000,1030,0.000,0.041,2423,2501,3269,3354,3184,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,4411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4411,begin apogee
$GC,4417,-0.20,0.0,2422,2003,3354,3184,973.0,-16.3,196,4757,1.00,0.00,331.92,0.751,10246,0.112,0.000,2764,2002,2379,2539,2219,0,0,0,0,0,0,26.48,28.83,24.51
$STATE,4759,end apogee,CONTROL_FINISHED_OK
$STATE,4760,begin climb
$GC,4761,1.25,219.0,2763,2001,2532,2203,990.9,0.0,206,5006,1.27,2.33,231.38,0.902,10756,0.043,0.038,3258,622,1472,1570,1374,0,0,0,0,0,0,25.23,24.89,24.20
$GC,5110,1.25,219.0,3258,619,1551,1356,933.4,25.3,217,5116,0.00,2.17,0.00,0.000,1030,0.000,0.031,3258,2022,1453,1551,1356,0,0,0,0,0,0,28.83,25.64,28.83
$GC,5435,1.25,219.0,3258,2021,1546,1352,847.1,25.5,228,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2021,1449,1547,1352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5735,1.25,219.0,3258,2021,1545,1349,770.9,25.8,238,5741,0.00,2.15,0.00,0.000,516,0.000,0.038,3269,622,1447,1545,1349,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5808,1.25,219.0,3270,622,1545,1349,754.0,25.8,240,5815,0.12,2.10,0.00,0.000,5126,0.172,0.033,3238,2008,1447,1545,1349,0,0,0,0,0,0,26.25,26.43,28.83
$GC,6134,1.25,219.0,3238,2008,1544,1346,674.7,23.2,251,6140,0.00,2.17,0.00,0.000,260,0.000,0.047,3238,3401,1445,1544,1346,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6168,1.25,219.0,3238,3401,1543,1346,666.6,23.2,252,6174,0.00,2.08,0.00,0.000,1030,0.000,0.029,3249,2010,1444,1543,1346,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6492,1.25,219.0,3249,2010,1540,1343,592.1,22.2,263,6498,0.00,2.17,0.00,0.000,260,0.000,0.047,3249,3406,1441,1540,1343,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6588,1.25,219.0,3249,3406,1540,1344,570.2,25.5,267,6594,0.00,2.08,0.00,0.000,1030,0.000,0.029,3261,2000,1441,1539,1344,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6902,1.25,219.0,3260,1999,1539,1341,497.4,21.1,283,6908,0.00,2.12,0.00,0.000,516,0.000,0.041,3271,608,1440,1539,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6976,1.25,219.0,3271,607,1538,1341,482.1,23.4,286,6983,0.12,2.08,0.00,0.000,5126,0.168,0.033,3239,2002,1439,1538,1341,0,0,0,0,0,0,26.41,26.62,28.83
$GC,7293,1.25,219.0,3239,2002,1538,1338,412.8,19.2,302,7299,0.00,2.17,0.00,0.000,260,0.000,0.047,3239,3405,1438,1539,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7322,1.25,219.0,3238,3405,1538,1339,407.6,19.4,303,7328,0.00,2.08,0.00,0.000,1030,0.000,0.030,3250,1998,1438,1538,1339,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7642,1.25,219.0,3250,1998,1538,1338,339.8,20.2,319,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1998,1438,1538,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7941,1.25,219.0,3250,1998,1538,1338,282.0,19.9,334,7947,0.00,2.17,0.00,0.000,260,0.000,0.046,3250,3402,1438,1538,1338,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8080,1.25,219.0,2320,3400,1510,1335,256.0,20.3,340,8088,0.00,2.08,0.00,0.000,1030,0.000,0.029,3262,1993,1438,1538,1338,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8388,1.25,219.0,3262,1992,1538,1338,196.1,18.6,356,8393,0.00,2.17,0.00,0.000,260,0.000,0.046,3262,3402,1438,1539,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8446,1.25,219.0,3263,3402,1538,1338,187.8,18.6,358,8455,0.15,2.05,0.00,0.000,5126,0.158,0.028,3233,1996,1438,1538,1338,0,0,0,0,0,0,26.46,26.70,28.83
$GC,8753,1.25,219.0,3233,1995,1538,1338,135.6,15.7,374,8759,0.00,2.10,0.00,0.000,516,0.000,0.040,3244,606,1438,1538,1339,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8808,1.25,219.0,3244,606,1539,1338,128.3,16.1,376,8814,0.00,2.05,0.00,0.000,1030,0.000,0.031,3244,2001,1438,1538,1338,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9122,1.25,219.0,3244,2001,1538,1338,75.0,16.2,392,9129,0.00,2.15,0.00,0.000,260,0.000,0.045,3244,3404,1438,1539,1337,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9228,1.25,219.0,2256,3402,1508,1334,56.9,17.2,397,9235,0.00,2.05,0.00,0.000,1030,0.000,0.028,3256,1998,1438,1539,1338,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9541,1.25,219.0,2240,1996,1507,1334,15.8,13.6,430,9550,0.00,2.08,0.00,0.000,516,0.000,0.040,3266,610,1438,1539,1338,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9599,1.25,219.0,2240,610,1506,1335,7.7,14.2,440,9607,0.12,2.05,0.00,0.000,5126,0.152,0.031,3232,2006,1439,1540,1338,0,0,0,0,0,0,26.50,26.68,28.83
$STATE,9634,end climb,SURFACE_DEPTH_REACHED
$STATE,9634,begin surface coast
$FINISH,0.6,1.023265
$STATE,9657,end surface coast,CONTROL_FINISHED_OK
$STATE,9657,begin surface
$SM_CCo,9674,81.97,0.059,0,0,748,400.08
$SM_GC,1.30,7.93,0.75,81.97,0.038,0.048,0.059,120,2497,748,-8.35,-1.19,400.08,0,0,0,0,0,0,26.70,26.65,26.51
$IRIDIUM_FIX,2141.13,12359.43,200313,050551
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.29
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3971936
$24V_AH,24.2,22.768
$10V_AH,10.3,16.813
$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,19.875,88.700,563.300,81.975,0.000,0.000,0.000,202.025,0.000,0.000,12.769,1951.222,5716.709,711.339,1469.710,242.799,0.000,1662.937,0.000,1196.082,0.000,0.537,0.000
$DEVICE_MAMPS,219.555,67.320,901.935,58.905,0.000,0.000,0.000,120.105,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9661.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.908,0.000,0.000,0.000
$MEM,329724
$DATA_FILE_SIZE,16756,450
$CAP_FILE_SIZE,255104,0
$CFSIZE,260034560,237215744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,228.4,1
$GPS,200313,112057,2141.652,12358.835,12,3.9,32,-2.9