version: 66.11
glider: 171
mission: 4
dive: 159
start: 3 21 113 6 4 3
data:
$ID,171
$MISSION,4
$DIVE,159
$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,-20709.055
$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,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,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
$GPS1,210313,055729,2129.055,12359.086,37,1.4,37,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-70.1
$GPS2,210313,060325,2129.094,12359.051,14,1.4,14,-2.8
$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,32.2,2343,-13.7,-8.739,-17.96,3077
$D_GRID,4800
$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,18,-1.17,-177.3,121,2493,821,672,0.0,0.0,0,89,0.00,0.00,-68.68,0.000,16386,0.000,0.000,121,2494,2726,2790,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-1.29,-211.6,121,2494,2793,2663,4.3,-7.6,9,117,8.82,1.90,-8.77,0.000,18692,0.220,0.067,2401,3670,3249,3312,3186,0,0,0,0,0,0,25.94,26.27,26.63
$GC,347,-1.29,-211.6,2401,3670,3316,3186,93.6,-34.7,29,355,0.00,1.70,0.00,0.000,1030,0.000,0.025,2402,2486,3251,3316,3186,0,0,0,0,0,0,28.83,26.51,28.83
$GC,654,-1.29,-211.6,2401,2484,3317,3186,203.0,-34.6,45,660,0.00,1.83,0.00,0.000,260,0.000,0.050,2393,3670,3252,3317,3187,0,0,0,0,0,0,28.83,26.51,28.83
$GC,844,-1.29,-211.6,2392,3669,3320,3186,260.4,-31.3,54,851,0.00,1.73,0.00,0.000,1030,0.000,0.026,2393,2489,3253,3320,3186,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1165,-1.29,-211.6,2393,2488,3322,3186,354.3,-28.6,70,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2488,3254,3322,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1464,-1.29,-211.6,2392,2488,3322,3186,443.9,-29.7,85,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2487,3254,3322,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1764,-1.29,-211.6,2392,2488,3322,3186,521.1,-24.7,100,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2488,3254,3322,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2064,-1.29,-211.6,2393,2487,3325,3186,591.6,-22.3,115,2070,0.00,1.83,0.00,0.000,260,0.000,0.052,2384,3667,3254,3323,3186,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2112,-1.29,-211.6,2384,3667,3322,3186,601.3,-22.2,117,2119,0.12,1.65,0.00,0.000,3078,0.157,0.026,2417,2494,3254,3323,3186,0,0,0,0,0,0,26.51,26.77,28.83
$GC,2433,-1.29,-211.6,2417,2494,3322,3186,666.2,-20.5,128,2439,0.00,2.03,0.00,0.000,516,0.000,0.031,2417,1116,3254,3322,3186,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2478,-1.29,-211.6,2417,1115,3323,3186,673.2,-20.5,129,2484,0.00,2.10,0.00,0.000,1030,0.000,0.042,2407,2498,3254,3323,3186,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2802,-1.29,-211.6,2407,2498,3322,3184,735.2,-17.5,140,2808,0.00,1.83,0.00,0.000,260,0.000,0.054,2398,3674,3253,3322,3184,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2859,-1.29,-211.6,1504,3672,3304,3179,741.2,-17.4,141,2867,0.00,1.70,0.00,0.000,1030,0.000,0.027,2398,2504,3253,3322,3184,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3168,-1.29,-211.6,2398,2504,3322,3178,805.8,-20.4,152,3174,0.00,1.83,0.00,0.000,260,0.000,0.054,2390,3671,3250,3322,3178,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3221,-1.29,-211.6,2389,3671,3322,3178,813.1,-20.4,153,3228,0.12,1.67,0.00,0.000,3078,0.153,0.028,2423,2508,3249,3322,3177,0,0,0,0,0,0,26.52,26.78,28.83
$GC,3537,-1.29,-211.6,2423,2508,3322,3172,871.6,-16.5,164,3543,0.00,2.08,0.00,0.000,516,0.000,0.032,2423,1102,3246,3322,3171,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3575,-1.29,-211.6,2423,1102,3322,3171,877.2,-16.4,165,3582,0.00,2.15,0.00,0.000,1030,0.000,0.041,2413,2507,3246,3322,3170,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3905,-1.29,-211.6,2413,2507,3322,3165,934.6,-17.9,176,3911,0.00,1.80,0.00,0.000,260,0.000,0.055,2404,3670,3243,3322,3164,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3939,-1.29,-211.6,2404,3673,3322,3163,940.9,-17.8,177,3945,0.00,1.70,0.00,0.000,1030,0.000,0.028,2404,2494,3242,3322,3163,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,4092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4092,begin apogee
$GC,4097,-0.20,0.0,2404,1990,3322,3161,970.3,-19.1,182,4421,1.08,0.00,316.30,0.770,10246,0.116,0.000,2767,1987,2379,2541,2218,0,0,0,0,0,0,26.46,28.83,24.49
$STATE,4423,end apogee,CONTROL_FINISHED_OK
$STATE,4423,begin climb
$GC,4425,1.29,211.6,2767,1987,2533,2209,995.1,0.0,192,4661,1.30,2.22,223.10,0.912,10756,0.043,0.038,3270,622,1504,1598,1411,0,0,0,0,0,0,25.23,24.89,24.18
$GC,4698,1.29,211.6,3270,622,1579,1393,965.7,18.7,200,4705,0.00,2.20,0.00,0.000,1030,0.000,0.034,3270,2009,1485,1579,1392,0,0,0,0,0,0,28.83,25.33,28.83
$GC,5019,1.29,211.6,3270,2009,1571,1384,884.5,24.9,211,5025,0.00,2.20,0.00,0.000,260,0.000,0.047,3270,3411,1477,1571,1384,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5065,1.29,211.6,3270,3411,1570,1384,875.5,24.9,212,5072,0.12,2.10,0.00,0.000,5126,0.178,0.029,3250,2016,1476,1570,1383,0,0,0,0,0,0,26.01,26.21,28.83
$GC,5390,1.29,211.6,3251,2016,1568,1381,795.8,23.2,223,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2016,1474,1568,1381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5691,1.29,211.6,3251,2016,1567,1378,727.3,22.7,233,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2016,1472,1567,1378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5990,1.29,211.6,3250,2016,1566,1376,655.3,24.2,243,5996,0.00,2.15,0.00,0.000,516,0.000,0.041,3262,602,1471,1566,1376,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6049,1.29,211.6,3262,604,1565,1376,646.8,24.5,244,6057,0.00,2.10,0.00,0.000,1030,0.000,0.033,3262,2008,1470,1565,1376,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6355,1.29,211.6,3261,2008,1563,1373,569.4,22.1,257,6361,0.00,2.17,0.00,0.000,260,0.000,0.047,3261,3409,1468,1564,1373,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6367,1.29,211.6,3262,3409,1564,1373,569.4,22.1,257,6373,0.00,2.10,0.00,0.000,1030,0.000,0.030,3273,1996,1467,1561,1373,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6681,1.29,211.6,3273,1995,1561,1371,501.5,19.4,273,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1996,1466,1562,1371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6981,1.29,211.6,3273,1994,1561,1370,439.9,20.6,288,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1994,1465,1561,1369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7281,1.29,211.6,3273,1994,1560,1369,372.2,21.5,303,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1994,1463,1558,1369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7582,1.29,211.6,3273,1994,1560,1369,311.3,19.5,318,7587,0.00,2.10,0.00,0.000,516,0.000,0.041,3284,604,1464,1560,1369,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7700,1.29,211.6,2352,604,1531,1366,290.2,20.0,323,7709,0.12,2.08,0.00,0.000,5126,0.169,0.032,3251,2006,1464,1560,1369,0,0,0,0,0,0,26.44,26.65,28.83
$GC,8007,1.29,211.6,3251,2006,1561,1369,231.0,16.5,339,8013,0.00,2.15,0.00,0.000,260,0.000,0.046,3251,3405,1464,1560,1369,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8243,1.29,211.6,3251,3405,1560,1369,191.0,19.8,350,8250,0.00,2.08,0.00,0.000,1030,0.000,0.029,3263,1996,1465,1561,1369,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8558,1.29,211.6,3263,1993,1561,1369,135.3,16.3,366,8565,0.00,2.17,0.00,0.000,260,0.000,0.045,3263,3402,1465,1561,1369,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8592,1.29,211.6,3263,3402,1560,1370,131.2,16.3,367,8598,0.00,2.08,0.00,0.000,1030,0.000,0.028,3274,1991,1465,1561,1369,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8906,1.29,211.6,3274,1991,1561,1369,81.3,15.0,383,8913,0.00,2.17,0.00,0.000,260,0.000,0.044,3274,3401,1465,1561,1369,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8940,1.29,211.6,3274,3403,1557,1369,77.3,15.2,384,8946,0.12,2.08,0.00,0.000,5126,0.164,0.028,3253,1991,1465,1561,1369,0,0,0,0,0,0,26.47,26.70,28.83
$GC,9255,1.29,211.6,3252,1991,1562,1369,30.9,13.0,406,9261,0.00,2.10,0.00,0.000,516,0.000,0.040,3263,600,1465,1562,1369,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9280,1.29,211.6,3263,600,1562,1369,27.7,13.1,408,9286,0.00,2.10,0.00,0.000,1030,0.000,0.032,3263,2004,1465,1561,1369,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,9475,end climb,SURFACE_DEPTH_REACHED
$STATE,9475,begin surface coast
$FINISH,0.5,1.001050
$STATE,9502,end surface coast,CONTROL_FINISHED_OK
$STATE,9502,begin surface
$SM_CCo,9520,85.20,0.060,0,0,748,400.08
$SM_GC,1.49,7.97,0.75,85.20,0.036,0.046,0.060,136,2503,748,-8.34,-1.16,400.08,0,0,0,0,0,0,26.70,26.67,26.50
$IRIDIUM_FIX,2124.90,12640.14,210313,010123
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.72
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3969696
$24V_AH,24.2,23.658
$10V_AH,10.3,17.392
$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,19.800,69.300,539.400,85.200,0.000,0.000,0.000,193.050,0.000,0.000,15.577,1868.011,5811.331,656.835,1385.037,235.364,0.000,1544.586,0.000,1121.146,0.000,0.538,0.000
$DEVICE_MAMPS,220.320,67.320,911.880,59.670,0.000,0.000,0.000,129.285,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9500.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.927,0.000,0.000,0.000
$MEM,329676
$DATA_FILE_SIZE,16719,448
$CAP_FILE_SIZE,240371,0
$CFSIZE,260034560,236593152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.266,234.1,1
$GPS,210313,084529,2129.639,12359.032,41,1.0,42,-2.8