version: 66.11
glider: 171
mission: 4
dive: 154
start: 3 20 113 14 25 2
data:
$ID,171
$MISSION,4
$DIVE,154
$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,-20701.203
$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,31
$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
$GPS1,200313,141706,2139.638,12359.521,39,1.2,40,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-68.9
$GPS2,200313,142437,2139.602,12359.534,14,1.2,14,-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,185.6,17802,-12.0,-8.739,-16.47,3810
$D_GRID,5462
$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,-219.0,128,2497,831,664,0.0,0.0,0,80,0.00,0.00,-59.90,0.000,16386,0.000,0.000,128,2497,2435,2502,2369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.25,-219.0,128,2497,2507,2369,3.0,-4.2,8,116,8.80,2.17,-16.02,0.000,18948,0.219,0.044,2424,1087,3276,3346,3206,0,0,0,0,0,0,25.93,26.32,26.63
$GC,144,-1.25,-219.0,2424,1087,3348,3206,24.5,-34.1,17,154,0.00,2.17,0.00,0.000,1030,0.000,0.040,2414,2500,3277,3349,3206,0,0,0,0,0,0,28.83,26.29,28.83
$GC,462,-1.25,-219.0,2413,2500,3350,3206,124.8,-31.4,37,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2499,3278,3351,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,761,-1.25,-219.0,2413,2500,3352,3206,216.1,-27.7,52,767,0.00,1.83,0.00,0.000,260,0.000,0.054,2404,3679,3279,3352,3206,0,0,0,0,0,0,28.83,26.53,28.83
$GC,870,-1.25,-219.0,2404,3679,3354,3207,244.3,-27.3,57,878,0.10,1.70,0.00,0.000,3078,0.171,0.025,2429,2475,3280,3354,3206,0,0,0,0,0,0,26.42,26.65,28.83
$GC,1192,-1.25,-219.0,2428,2473,3355,3206,329.4,-27.4,73,1198,0.00,1.85,0.00,0.000,260,0.000,0.052,2420,3674,3280,3355,3206,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1220,-1.25,-219.0,2420,3674,3355,3207,336.0,-26.9,74,1225,0.00,1.65,0.00,0.000,1030,0.000,0.024,2420,2510,3280,3355,3206,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1540,-1.25,-219.0,2419,2509,3355,3207,420.7,-25.7,90,1546,0.00,1.83,0.00,0.000,260,0.000,0.053,2411,3680,3280,3355,3206,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1648,-1.25,-219.0,1472,3679,3338,3202,448.4,-25.1,95,1654,0.00,1.70,0.00,0.000,1030,0.000,0.024,2411,2485,3280,3355,3206,0,0,0,0,0,0,28.83,26.73,28.83
$GC,1973,-1.25,-219.0,2411,2485,3355,3206,523.7,-22.2,111,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2485,3282,3355,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2272,-1.25,-219.0,2411,2484,3355,3207,587.8,-20.7,126,2277,0.00,1.85,0.00,0.000,260,0.000,0.054,2402,3677,3280,3355,3206,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2347,-1.25,-219.0,2402,3677,3356,3206,602.7,-22.3,129,2353,0.12,1.67,0.00,0.000,3078,0.151,0.024,2436,2488,3280,3355,3206,0,0,0,0,0,0,26.52,26.77,28.83
$GC,2671,-1.25,-219.0,2436,2489,3355,3206,668.1,-19.3,140,2677,0.00,2.00,0.00,0.000,516,0.000,0.028,2436,1114,3280,3355,3206,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2725,-1.25,-219.0,2436,1114,3355,3206,674.9,-19.5,141,2731,0.00,2.12,0.00,0.000,1030,0.000,0.039,2426,2510,3280,3355,3206,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3040,-1.25,-219.0,2426,2510,3355,3204,745.1,-21.8,152,3046,0.00,1.80,0.00,0.000,260,0.000,0.055,2417,3673,3279,3355,3203,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3140,-1.25,-219.0,2416,3672,3355,3203,766.9,-22.2,155,3147,0.00,1.67,0.00,0.000,1030,0.000,0.025,2414,2492,3279,3356,3202,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3470,-1.25,-219.0,2417,2491,3355,3197,833.4,-19.5,166,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2491,3276,3355,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3770,-1.25,-219.0,2417,2491,3355,3193,889.7,-18.8,176,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2491,3274,3355,3193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4070,-1.25,-219.0,2417,2491,3355,3188,943.3,-17.5,186,4076,0.00,1.85,0.00,0.000,260,0.000,0.056,2408,3674,3271,3355,3187,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4134,-1.25,-219.0,2408,3674,3355,3187,954.9,-17.6,188,4140,0.00,1.67,0.00,0.000,1030,0.000,0.026,2408,2509,3271,3356,3187,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,4227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4227,begin apogee
$GC,4232,-0.20,0.0,2408,1982,3354,3185,971.4,-17.5,191,4567,1.05,0.00,325.67,0.763,10246,0.116,0.000,2763,1980,2377,2537,2217,0,0,0,0,0,0,26.47,28.83,24.53
$STATE,4570,end apogee,CONTROL_FINISHED_OK
$STATE,4570,begin climb
$GC,4572,1.25,219.0,2762,1980,2532,2202,988.4,0.0,201,4809,1.27,0.00,230.80,0.906,10758,0.043,0.000,3245,1982,1487,1584,1390,0,0,0,0,0,0,25.26,28.83,24.20
$GC,5099,1.25,219.0,3245,1980,1547,1352,886.6,24.6,220,5105,0.00,2.30,0.00,0.000,260,0.000,0.047,3245,3422,1449,1547,1352,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5183,1.25,219.0,3245,3423,1547,1352,869.7,25.2,222,5189,0.00,2.10,0.00,0.000,1030,0.000,0.027,3257,2017,1449,1547,1352,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5499,1.25,219.0,3256,2016,1545,1349,782.2,25.6,233,5504,0.00,2.15,0.00,0.000,516,0.000,0.038,3268,610,1447,1545,1349,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5543,1.25,219.0,3271,610,1545,1349,772.9,25.8,234,5550,0.12,2.12,0.00,0.000,5126,0.173,0.032,3236,2018,1446,1544,1349,0,0,0,0,0,0,26.22,26.40,28.83
$GC,5868,1.25,219.0,3236,2018,1543,1346,698.6,20.7,245,5874,0.00,2.17,0.00,0.000,260,0.000,0.048,3236,3406,1444,1543,1346,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5942,1.25,219.0,3236,3406,1542,1346,684.7,20.8,247,5948,0.00,2.10,0.00,0.000,1030,0.000,0.030,3247,1996,1444,1542,1347,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6266,1.25,219.0,3247,1995,1540,1344,616.5,19.8,258,6272,0.00,2.10,0.00,0.000,516,0.000,0.040,3258,607,1442,1540,1344,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6336,1.25,219.0,3258,607,1540,1344,602.7,20.3,260,6342,0.00,2.08,0.00,0.000,1030,0.000,0.032,3258,1996,1442,1540,1344,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6647,1.25,219.0,3258,1997,1539,1342,534.6,21.2,275,6653,0.00,2.17,0.00,0.000,260,0.000,0.048,3258,3405,1440,1539,1342,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6701,1.25,219.0,3258,3405,1539,1343,523.8,22.5,277,6708,0.12,2.08,0.00,0.000,5126,0.176,0.031,3238,1997,1440,1539,1342,0,0,0,0,0,0,26.39,26.63,28.83
$GC,7017,1.25,219.0,3237,1997,1538,1341,452.8,22.4,293,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1997,1439,1538,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7316,1.25,219.0,3238,1997,1538,1339,396.3,17.4,308,7322,0.00,2.20,0.00,0.000,260,0.000,0.047,3238,3413,1438,1538,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7344,1.25,219.0,3237,3414,1538,1339,392.1,17.5,309,7350,0.00,2.10,0.00,0.000,1030,0.000,0.031,3249,1996,1438,1538,1339,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7663,1.25,219.0,3249,1996,1537,1338,334.0,18.0,325,7670,0.00,2.20,0.00,0.000,260,0.000,0.046,3249,3413,1437,1537,1338,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7689,1.25,219.0,3249,3414,1537,1338,329.3,17.9,326,7696,0.00,2.10,0.00,0.000,1030,0.000,0.030,3260,2000,1438,1538,1338,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8014,1.25,219.0,3260,1999,1534,1338,263.6,22.8,342,8020,0.00,2.10,0.00,0.000,516,0.000,0.041,3271,609,1437,1537,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8053,1.25,219.0,3271,609,1538,1338,257.8,22.9,343,8063,0.12,2.08,0.00,0.000,5126,0.163,0.031,3238,2006,1438,1538,1338,0,0,0,0,0,0,26.46,26.66,28.83
$GC,8359,1.25,219.0,3237,2006,1538,1338,200.3,15.2,359,8364,0.00,2.15,0.00,0.000,260,0.000,0.047,3238,3403,1438,1538,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8594,1.25,219.0,3238,3404,1538,1338,166.5,14.8,370,8601,0.00,2.08,0.00,0.000,1030,0.000,0.028,3249,1990,1438,1538,1338,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8909,1.25,219.0,3249,1990,1538,1338,118.6,14.9,386,8915,0.00,2.17,0.00,0.000,260,0.000,0.045,3249,3402,1438,1538,1338,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8949,1.25,219.0,3249,3402,1538,1338,114.9,15.0,387,8958,0.00,2.08,0.00,0.000,1030,0.000,0.028,3261,1991,1438,1538,1338,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9254,1.25,219.0,3261,1991,1539,1338,64.7,16.5,403,9261,0.00,2.17,0.00,0.000,260,0.000,0.045,3261,3404,1438,1539,1338,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9294,1.25,219.0,3261,3403,1539,1338,60.5,16.7,404,9303,0.12,2.05,0.00,0.000,5126,0.163,0.028,3238,1997,1439,1541,1338,0,0,0,0,0,0,26.48,26.71,28.83
$GC,9602,1.25,219.0,3239,1997,1540,1338,17.5,13.0,437,9611,0.00,2.08,0.00,0.000,516,0.000,0.039,3249,609,1439,1540,1338,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9687,1.25,219.0,2240,609,1507,1334,6.1,13.2,452,9695,0.00,2.05,0.00,0.000,1030,0.000,0.029,3250,2008,1439,1540,1338,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,9712,end climb,SURFACE_DEPTH_REACHED
$STATE,9712,begin surface coast
$FINISH,0.5,1.009921
$STATE,9734,end surface coast,CONTROL_FINISHED_OK
$STATE,9734,begin surface
$SM_CCo,9751,81.80,0.059,0,0,748,400.08
$SM_GC,1.29,7.90,0.73,81.80,0.034,0.044,0.059,132,2491,748,-8.33,-1.47,400.08,0,0,0,0,0,0,26.70,26.67,26.51
$IRIDIUM_FIX,2129.53,12401.98,200313,141425
$TT8_MAMPS,0.048685,0.048685
$HUMID,44.44
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3971296
$24V_AH,24.2,23.044
$10V_AH,10.3,16.971
$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,19.750,81.975,556.475,81.800,0.000,0.000,0.000,250.375,0.000,0.000,15.259,1915.069,5957.294,716.089,1452.784,239.249,0.000,1665.623,0.000,1133.131,0.000,0.537,0.000
$DEVICE_MAMPS,218.790,55.845,905.760,58.905,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9733.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.995,0.000,0.000,0.000
$MEM,329696
$DATA_FILE_SIZE,16789,460
$CAP_FILE_SIZE,248990,0
$CFSIZE,260034560,237047808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,203.6,1
$GPS,200313,171005,2137.438,12359.208,14,1.3,31,-2.9