version: 66.11
glider: 171
mission: 4
dive: 156
start: 3 20 113 20 7 56
data:
$ID,171
$MISSION,4
$DIVE,156
$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,-20703.715
$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,58
$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
$GPS1,200313,200206,2135.413,12359.114,43,0.8,44,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.2
$GPS2,200313,200731,2135.442,12359.052,12,1.0,12,-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,156.8,10211,-12.0,-8.739,-16.47,3810
$D_GRID,5385
$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,-219.0,125,2487,831,667,0.0,0.0,0,89,0.00,0.00,-68.57,0.000,16386,0.000,0.000,124,2487,2702,2768,2637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-1.25,-219.0,124,2487,2770,2639,4.0,-6.3,9,117,8.77,2.15,-9.65,0.000,18948,0.218,0.049,2423,1101,3278,3342,3214,0,0,0,0,0,0,25.97,26.35,26.65
$GC,162,-1.25,-219.0,2422,1101,3344,3214,34.4,-35.6,18,168,0.00,2.15,0.00,0.000,1030,0.000,0.041,2413,2499,3279,3344,3214,0,0,0,0,0,0,28.83,26.33,28.83
$GC,488,-1.25,-219.0,2412,2500,3347,3215,142.9,-33.2,36,493,0.00,1.80,0.00,0.000,260,0.000,0.052,2403,3675,3280,3347,3214,0,0,0,0,0,0,28.83,26.48,28.83
$GC,547,-1.25,-219.0,2403,3675,3347,3214,158.1,-33.2,38,557,0.10,1.70,0.00,0.000,3078,0.173,0.025,2427,2484,3281,3347,3215,0,0,0,0,0,0,26.36,26.59,28.83
$GC,854,-1.25,-219.0,2427,2483,3349,3215,251.0,-27.1,54,860,0.00,1.85,0.00,0.000,260,0.000,0.051,2418,3679,3281,3349,3214,0,0,0,0,0,0,28.83,26.55,28.83
$GC,984,-1.25,-219.0,2419,3679,3350,3215,283.3,-25.2,60,990,0.00,1.73,0.00,0.000,1030,0.000,0.025,2418,2501,3282,3350,3214,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1304,-1.25,-219.0,2418,2499,3351,3215,367.3,-25.9,76,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2499,3282,3351,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1603,-1.25,-219.0,2418,2499,3351,3215,443.5,-26.7,91,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2500,3283,3352,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1904,-1.25,-219.0,2418,2499,3353,3215,514.8,-23.3,106,1910,0.00,1.83,0.00,0.000,260,0.000,0.053,2409,3674,3283,3352,3215,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2067,-1.25,-219.0,2409,3674,3353,3215,551.1,-23.9,113,2076,0.00,1.67,0.00,0.000,1030,0.000,0.024,2410,2493,3283,3353,3214,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2394,-1.25,-219.0,2409,2492,3352,3214,624.7,-19.7,128,2400,0.00,1.83,0.00,0.000,260,0.000,0.053,2400,3673,3283,3352,3215,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2416,-1.25,-219.0,2400,3673,3353,3214,624.7,-19.7,128,2423,0.12,1.67,0.00,0.000,3078,0.151,0.026,2435,2489,3285,3353,3217,0,0,0,0,0,0,26.53,26.77,28.83
$GC,2731,-1.25,-219.0,2434,2490,3352,3214,683.3,-17.0,139,2736,0.00,2.00,0.00,0.000,516,0.000,0.029,2435,1114,3283,3352,3214,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2769,-1.25,-219.0,2435,1114,3352,3215,689.4,-17.3,140,2776,0.00,2.12,0.00,0.000,1030,0.000,0.041,2425,2504,3283,3352,3214,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3099,-1.25,-219.0,2425,2505,3352,3212,754.4,-19.9,151,3105,0.00,1.80,0.00,0.000,260,0.000,0.054,2415,3674,3280,3349,3212,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3203,-1.25,-219.0,2415,3674,3352,3210,773.3,-19.9,154,3209,0.00,1.70,0.00,0.000,1030,0.000,0.027,2415,2508,3280,3352,3209,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3527,-1.25,-219.0,2415,2508,3352,3205,836.1,-18.4,165,3533,0.00,2.05,0.00,0.000,516,0.000,0.031,2415,1112,3278,3352,3204,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3562,-1.25,-219.0,2415,1112,3352,3204,842.2,-18.0,166,3568,0.00,2.15,0.00,0.000,1030,0.000,0.042,2405,2508,3278,3352,3204,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3896,-1.25,-219.0,2404,2509,3351,3199,903.4,-18.2,177,3902,0.00,1.80,0.00,0.000,260,0.000,0.055,2396,3673,3275,3351,3199,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3949,-1.25,-219.0,2396,3673,3351,3198,909.7,-18.1,178,3956,0.12,1.67,0.00,0.000,3078,0.150,0.028,2430,2499,3275,3352,3198,0,0,0,0,0,0,26.53,26.78,28.83
$GC,4264,-1.25,-219.0,2429,2498,3351,3193,964.4,-16.4,189,4270,0.00,1.85,0.00,0.000,260,0.000,0.056,2421,3679,3271,3350,3193,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,4296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4296,begin apogee
$GC,4304,-0.20,0.0,2421,2009,3351,3192,970.2,-16.4,190,4638,1.00,0.00,325.62,0.764,10246,0.110,0.000,2763,2007,2377,2537,2217,0,0,0,0,0,0,26.48,28.83,24.51
$STATE,4640,end apogee,CONTROL_FINISHED_OK
$STATE,4642,begin climb
$GC,4643,1.25,219.0,2763,2007,2532,2202,992.2,0.0,200,4880,1.27,0.00,230.20,0.907,11014,0.043,0.000,3246,2006,1487,1584,1390,0,0,0,0,0,0,25.25,28.83,24.20
$GC,5168,1.25,219.0,3246,2006,1549,1352,896.8,24.0,219,5174,0.00,2.25,0.00,0.000,260,0.000,0.047,3246,3421,1450,1549,1352,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5206,1.25,219.0,3246,3421,1549,1352,888.3,24.4,220,5212,0.00,2.15,0.00,0.000,1030,0.000,0.028,3258,2001,1452,1553,1352,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5535,1.25,219.0,3258,2001,1546,1349,802.4,26.4,231,5542,0.00,2.22,0.00,0.000,260,0.000,0.047,3258,3418,1447,1546,1349,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5575,1.25,219.0,3258,3418,1546,1349,792.8,26.8,232,5581,0.12,2.12,0.00,0.000,5126,0.177,0.030,3238,2002,1447,1546,1349,0,0,0,0,0,0,26.19,26.40,28.83
$GC,5904,1.25,219.0,3238,2002,1545,1346,710.8,24.0,243,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2002,1445,1545,1346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6205,1.25,219.0,3238,2002,1544,1344,643.1,22.1,253,6211,0.00,2.12,0.00,0.000,516,0.000,0.041,3249,608,1444,1544,1344,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6249,1.25,219.0,3249,607,1544,1344,635.1,22.3,254,6256,0.00,2.12,0.00,0.000,1030,0.000,0.033,3248,2018,1444,1544,1344,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6564,1.25,219.0,3249,2018,1541,1343,561.5,23.1,267,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2018,1442,1541,1343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6864,1.25,219.0,3248,2018,1540,1341,492.6,21.9,282,6870,0.00,2.15,0.00,0.000,516,0.000,0.040,3260,608,1440,1540,1341,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6923,1.25,219.0,3260,608,1542,1341,483.5,21.8,284,6931,0.00,2.08,0.00,0.000,1030,0.000,0.032,3261,2002,1440,1540,1341,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7230,1.25,219.0,3261,2002,1539,1340,417.2,20.3,300,7236,0.00,2.15,0.00,0.000,260,0.000,0.046,3261,3404,1439,1539,1340,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7278,1.25,219.0,3261,3404,1542,1340,407.9,20.9,302,7285,0.12,2.08,0.00,0.000,5126,0.173,0.031,3240,1997,1439,1539,1340,0,0,0,0,0,0,26.42,26.66,28.83
$GC,7600,1.25,219.0,3239,1997,1538,1338,344.4,20.7,318,7606,0.00,2.20,0.00,0.000,260,0.000,0.047,3239,3402,1438,1539,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7617,1.25,219.0,3239,3402,1538,1338,344.4,20.7,318,7626,0.00,2.08,0.00,0.000,1030,0.000,0.031,3251,2003,1438,1539,1338,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7924,1.25,219.0,3250,2003,1539,1338,278.4,19.0,334,7931,0.00,2.17,0.00,0.000,260,0.000,0.047,3251,3408,1438,1539,1338,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7990,1.25,219.0,3250,3408,1538,1338,264.4,20.6,337,7997,0.00,2.10,0.00,0.000,1030,0.000,0.030,3262,1999,1438,1538,1338,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8316,1.25,219.0,3262,1999,1539,1338,206.7,15.9,353,8322,0.00,2.17,0.00,0.000,260,0.000,0.047,3262,3404,1438,1538,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8371,1.25,219.0,3262,3404,1538,1338,198.2,17.6,355,8378,0.15,2.08,0.00,0.000,5126,0.161,0.030,3233,1996,1438,1539,1338,0,0,0,0,0,0,26.45,26.69,28.83
$GC,8687,1.25,219.0,3233,1996,1541,1338,146.6,15.3,371,8693,0.00,2.20,0.00,0.000,260,0.000,0.046,3233,3408,1438,1539,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8720,1.25,219.0,3232,3408,1539,1338,142.5,15.5,372,8727,0.00,2.08,0.00,0.000,1030,0.000,0.030,3245,1997,1438,1539,1338,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9035,1.25,219.0,3244,1996,1538,1338,91.5,15.3,388,9041,0.00,2.17,0.00,0.000,260,0.000,0.046,3244,3406,1438,1539,1338,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9069,1.25,219.0,3244,3406,1539,1338,87.7,15.4,389,9075,0.00,2.08,0.00,0.000,1030,0.000,0.029,3256,1996,1438,1539,1338,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9382,1.25,219.0,3256,1995,1539,1338,39.4,13.4,409,9389,0.00,2.10,0.00,0.000,516,0.000,0.039,3267,597,1438,1539,1338,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9598,1.25,219.0,2240,597,1506,1334,8.7,15.6,440,9607,0.12,2.08,0.00,0.000,5126,0.152,0.030,3233,2013,1439,1540,1338,0,0,0,0,0,0,26.50,26.69,28.83
$STATE,9640,end climb,SURFACE_DEPTH_REACHED
$STATE,9640,begin surface coast
$FINISH,0.5,1.009958
$STATE,9663,end surface coast,CONTROL_FINISHED_OK
$STATE,9663,begin surface
$SM_CCo,9680,81.85,0.059,0,0,748,400.08
$SM_GC,1.49,7.90,0.73,81.85,0.037,0.048,0.059,133,2485,748,-8.33,-1.44,400.08,0,0,0,0,0,0,26.71,26.66,26.51
$IRIDIUM_FIX,2129.53,12356.84,200313,171717
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.48
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3970656
$24V_AH,24.2,23.317
$10V_AH,10.3,17.124
$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,19.825,85.725,555.825,81.850,0.000,0.000,0.000,187.650,0.000,0.000,13.720,1850.882,5935.011,702.921,1360.486,234.696,0.000,1589.252,0.000,1100.943,0.000,0.537,0.000
$DEVICE_MAMPS,218.025,55.845,906.525,58.905,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9661.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.917,0.000,0.000,0.000
$MEM,329668
$DATA_FILE_SIZE,16727,451
$CAP_FILE_SIZE,244113,0
$CFSIZE,260034560,236879872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,243.9,1
$GPS,200313,225145,2133.469,12359.237,7,7.5,27,-2.8