version: 66.11
glider: 171
mission: 4
dive: 162
start: 3 21 113 14 32 8
data:
$ID,171
$MISSION,4
$DIVE,162
$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,-20712.828
$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,50
$R_STBD_OVSHOOT,32
$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
$GPS1,210313,142624,2132.128,12356.905,38,1.4,39,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-67.9
$GPS2,210313,143142,2132.148,12356.910,14,1.3,14,-2.8
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,332.9,308146,-12.0,-8.739,-16.47,3810
$D_GRID,5140
$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,-1.25,-219.0,113,2500,835,660,0.0,0.0,0,81,0.00,0.00,-60.70,0.000,16386,0.000,0.000,113,2500,2469,2544,2395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.25,-219.0,114,2500,2548,2395,3.1,-4.7,8,116,8.90,1.85,-15.00,0.000,18692,0.220,0.070,2419,3674,3276,3347,3205,0,0,0,0,0,0,25.94,26.28,26.65
$GC,349,-1.25,-219.0,2419,3674,3353,3206,93.5,-32.5,31,355,0.00,1.73,0.00,0.000,1030,0.000,0.024,2419,2477,3279,3352,3206,0,0,0,0,0,0,28.83,26.52,28.83
$GC,675,-1.25,-219.0,2419,2476,3354,3206,196.4,-30.4,47,680,0.00,1.88,0.00,0.000,260,0.000,0.055,2410,3674,3280,3354,3207,0,0,0,0,0,0,28.83,26.49,28.83
$GC,911,-1.25,-219.0,2410,3674,3354,3207,260.6,-26.5,58,916,0.00,1.67,0.00,0.000,1030,0.000,0.025,2410,2502,3279,3351,3207,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1225,-1.25,-219.0,2410,2501,3356,3207,351.8,-27.2,74,1231,0.00,1.83,0.00,0.000,260,0.000,0.056,2401,3672,3281,3356,3207,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1339,-1.25,-219.0,2401,3672,3356,3207,380.1,-27.1,79,1346,0.12,1.67,0.00,0.000,3078,0.156,0.024,2434,2495,3280,3356,3205,0,0,0,0,0,0,26.46,26.70,28.83
$GC,1656,-1.25,-219.0,2434,2494,3357,3208,454.7,-24.2,95,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2494,3281,3356,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1955,-1.25,-219.0,2434,2494,3357,3207,522.7,-21.3,110,1961,0.00,1.83,0.00,0.000,260,0.000,0.057,2426,3669,3282,3358,3207,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1979,-1.25,-219.0,2426,3668,3357,3207,527.8,-21.0,111,1986,0.00,1.67,0.00,0.000,1030,0.000,0.026,2426,2505,3282,3357,3207,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2306,-1.25,-219.0,2426,2504,3357,3207,593.8,-19.5,127,2311,0.00,2.08,0.00,0.000,516,0.000,0.034,2426,1098,3282,3357,3207,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2324,-1.25,-219.0,2426,1097,3357,3207,593.8,-19.5,127,2332,0.00,2.12,0.00,0.000,1030,0.000,0.043,2415,2499,3281,3357,3205,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2650,-1.25,-219.0,2415,2498,3357,3207,666.5,-21.5,139,2656,0.00,1.83,0.00,0.000,260,0.000,0.057,2406,3672,3282,3357,3207,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2715,-1.25,-219.0,2405,3673,3356,3207,680.5,-21.3,141,2721,0.00,1.73,0.00,0.000,1030,0.000,0.025,2406,2499,3282,3357,3207,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3049,-1.25,-219.0,2405,2498,3357,3204,747.7,-19.2,152,3054,0.00,2.05,0.00,0.000,516,0.000,0.034,2406,1112,3280,3356,3204,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3149,-1.25,-219.0,2406,1112,3356,3204,766.9,-20.1,155,3155,0.15,2.12,0.00,0.000,3078,0.158,0.044,2437,2503,3280,3357,3203,0,0,0,0,0,0,26.47,26.65,28.83
$GC,3479,-1.25,-219.0,2436,2503,3357,3198,827.4,-18.0,166,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2503,3276,3354,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3779,-1.25,-219.0,2436,2503,3356,3194,878.6,-16.2,176,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2503,3274,3356,3193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4079,-1.25,-219.0,2436,2503,3356,3189,925.1,-15.8,186,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2503,3272,3356,3189,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4377,begin apogee
$GC,4383,-0.20,0.0,2436,1987,3356,3184,974.1,-16.5,196,4725,0.95,0.00,334.92,0.758,10246,0.109,0.000,2763,1984,2379,2537,2221,0,0,0,0,0,0,26.48,28.83,24.52
$STATE,4728,end apogee,CONTROL_FINISHED_OK
$STATE,4729,begin climb
$GC,4730,1.25,219.0,2762,1984,2531,2211,996.6,0.0,206,4977,1.27,2.22,234.70,0.903,10756,0.044,0.041,3253,624,1475,1574,1377,0,0,0,0,0,0,25.22,24.86,24.15
$GC,5085,1.25,219.0,3254,627,1551,1355,949.2,23.2,217,5094,0.00,2.15,0.00,0.000,1030,0.000,0.034,3254,2005,1453,1551,1355,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5393,1.25,219.0,3254,2005,1546,1351,868.1,25.2,228,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2005,1449,1547,1351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5693,1.25,219.0,3251,2005,1545,1348,790.7,26.2,238,5694,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2005,1446,1545,1348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5992,1.25,219.0,3254,2005,1543,1346,717.2,22.7,248,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2006,1444,1543,1346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6292,1.25,219.0,3254,2006,1541,1345,651.7,22.1,258,6298,0.00,2.12,0.00,0.000,516,0.000,0.042,3266,627,1443,1541,1345,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6338,1.25,219.0,3266,627,1540,1345,643.6,22.5,259,6345,0.12,2.08,0.00,0.000,5126,0.171,0.034,3234,2009,1443,1541,1345,0,0,0,0,0,0,26.34,26.55,28.83
$GC,6664,1.25,219.0,3234,2009,1540,1342,570.7,22.4,272,6670,0.00,2.17,0.00,0.000,260,0.000,0.049,3234,3402,1441,1540,1342,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6756,1.25,219.0,3234,3402,1539,1342,550.3,23.1,276,6762,0.00,2.05,0.00,0.000,1030,0.000,0.030,3245,2016,1441,1541,1342,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7076,1.25,219.0,3245,2016,1539,1341,480.4,20.9,292,7078,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2016,1439,1539,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7375,1.25,219.0,3245,2016,1538,1339,423.0,19.3,307,7381,0.00,2.17,0.00,0.000,260,0.000,0.047,3245,3405,1438,1538,1338,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7493,1.25,219.0,2304,3403,1508,1335,398.8,23.6,312,7501,0.00,2.08,0.00,0.000,1030,0.000,0.030,3254,2003,1438,1537,1339,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7801,1.25,219.0,3257,2002,1537,1337,328.2,21.2,328,7807,0.00,2.17,0.00,0.000,260,0.000,0.047,3257,3404,1437,1537,1337,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7921,1.25,219.0,3257,3404,1537,1337,305.1,21.9,333,7930,0.12,2.08,0.00,0.000,5126,0.170,0.030,3236,1996,1437,1537,1337,0,0,0,0,0,0,26.43,26.67,28.83
$GC,8228,1.25,219.0,3235,1996,1537,1337,249.2,17.2,349,8233,0.00,2.17,0.00,0.000,260,0.000,0.047,3236,3404,1437,1538,1337,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8261,1.25,219.0,3236,3404,1537,1337,244.8,17.4,350,8267,0.00,2.08,0.00,0.000,1030,0.000,0.030,3248,1997,1437,1537,1337,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8575,1.25,219.0,3247,1997,1537,1337,194.4,15.4,366,8582,0.00,2.20,0.00,0.000,260,0.000,0.047,3248,3411,1437,1537,1337,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8813,1.25,219.0,3249,3411,1537,1337,154.1,17.3,377,8819,0.00,2.08,0.00,0.000,1030,0.000,0.029,3259,1998,1437,1538,1337,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9127,1.25,219.0,3259,1999,1537,1337,98.8,17.4,393,9133,0.00,2.12,0.00,0.000,516,0.000,0.044,3270,606,1437,1537,1337,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9172,1.25,219.0,3270,606,1538,1338,91.1,17.4,395,9179,0.12,2.08,0.00,0.000,5126,0.161,0.034,3236,2008,1437,1538,1337,0,0,0,0,0,0,26.46,26.67,28.83
$GC,9488,1.25,219.0,3236,2007,1539,1340,42.9,15.2,412,9493,0.00,2.12,0.00,0.000,516,0.000,0.042,3248,609,1438,1539,1337,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9611,1.25,219.0,3247,609,1539,1338,26.0,12.7,423,9619,0.00,2.05,0.00,0.000,1030,0.000,0.033,3248,1999,1438,1539,1337,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,9792,end climb,SURFACE_DEPTH_REACHED
$STATE,9792,begin surface coast
$FINISH,0.5,1.023233
$STATE,9814,end surface coast,CONTROL_FINISHED_OK
$STATE,9814,begin surface
$SM_CCo,9832,83.07,0.059,0,0,749,400.08
$SM_GC,1.25,7.85,0.75,83.07,0.030,0.050,0.059,146,2487,749,-8.33,-1.41,400.08,0,0,0,0,0,0,26.67,26.64,26.51
$IRIDIUM_FIX,2120.26,12357.47,210313,111117
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.09
$INTERNAL_PRESSURE,9.61321
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3968736
$24V_AH,24.1,24.071
$10V_AH,10.3,17.626
$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,19.625,65.725,569.625,83.075,0.000,0.000,0.000,178.750,0.000,0.000,14.877,1987.930,5859.681,671.243,1468.597,243.654,0.000,1587.559,0.000,1216.411,0.000,0.537,0.000
$DEVICE_MAMPS,219.555,69.615,902.700,58.905,0.000,0.000,0.000,122.400,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9824.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.915,0.000,0.000,0.000
$MEM,329676
$DATA_FILE_SIZE,16779,461
$CAP_FILE_SIZE,251638,0
$CFSIZE,260034560,236318720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,207.3,1
$GPS,210313,171833,2133.149,12355.962,11,2.8,31,-2.8