version: 66.11
glider: 171
mission: 4
dive: 192
start: 3 25 113 4 36 57
data:
$ID,171
$MISSION,4
$DIVE,192
$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,-20757.283
$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,2820
$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,66
$R_STBD_OVSHOOT,45
$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
$GPS1,250313,043024,2159.063,12327.077,41,1.2,42,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-65.7
$GPS2,250313,043630,2159.070,12327.060,11,1.5,16,-2.9
$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,292.6,238642,-12.0,-8.739,-16.47,3810
$D_GRID,4819
$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,-219.0,118,2490,843,657,0.0,0.0,0,83,0.00,0.00,-62.25,0.000,16386,0.000,0.000,118,2490,2492,2551,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.25,-219.0,118,2490,2555,2434,3.4,-5.7,8,118,8.85,1.85,-14.50,0.000,18692,0.218,0.067,2403,3661,3277,3349,3206,0,0,0,0,0,0,25.84,26.24,26.63
$GC,350,-1.25,-219.0,2403,3661,3350,3206,100.0,-36.3,31,357,0.00,1.70,0.00,0.000,1030,0.000,0.026,2403,2514,3278,3350,3206,0,0,0,0,0,0,28.83,26.48,28.83
$GC,670,-1.25,-219.0,2403,2513,3353,3206,205.8,-30.6,47,676,0.00,1.77,0.00,0.000,260,0.000,0.054,2392,3657,3279,3353,3206,0,0,0,0,0,0,28.83,26.47,28.83
$GC,785,-1.25,-219.0,2394,3657,3359,3206,237.7,-29.8,52,792,0.00,1.67,0.00,0.000,1030,0.000,0.024,2394,2486,3280,3354,3206,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1100,-1.25,-219.0,2394,2484,3355,3206,331.3,-27.9,68,1106,0.00,2.05,0.00,0.000,516,0.000,0.031,2394,1093,3280,3355,3206,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1140,-1.25,-219.0,2394,1093,3355,3206,338.3,-27.7,69,1150,0.12,2.12,0.00,0.000,3078,0.169,0.040,2415,2492,3280,3355,3206,0,0,0,0,0,0,26.36,26.55,28.83
$GC,1446,-1.25,-219.0,2414,2492,3355,3206,424.3,-25.5,85,1453,0.00,1.83,0.00,0.000,260,0.000,0.054,2407,3673,3280,3355,3206,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1521,-1.25,-219.0,2406,3673,3355,3206,441.1,-25.2,88,1527,0.00,1.67,0.00,0.000,1030,0.000,0.024,2407,2492,3280,3355,3206,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1836,-1.25,-219.0,2406,2490,3357,3206,522.5,-24.6,104,1842,0.00,1.85,0.00,0.000,260,0.000,0.054,2400,3678,3280,3355,3206,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1860,-1.25,-219.0,2397,3678,3355,3206,528.2,-24.2,105,1865,0.00,1.67,0.00,0.000,1030,0.000,0.024,2397,2498,3280,3355,3206,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2185,-1.25,-219.0,2397,2496,3355,3206,602.5,-22.5,121,2191,0.00,2.03,0.00,0.000,516,0.000,0.030,2397,1111,3280,3355,3206,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2250,-1.25,-219.0,2397,1111,3352,3206,616.7,-21.9,123,2256,0.12,2.12,0.00,0.000,3078,0.164,0.038,2420,2506,3280,3355,3206,0,0,0,0,0,0,26.43,26.61,28.83
$GC,2585,-1.25,-219.0,2419,2506,3355,3206,682.1,-18.9,134,2590,0.00,1.80,0.00,0.000,260,0.000,0.054,2411,3673,3280,3355,3206,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2643,-1.25,-219.0,2411,3673,3355,3206,689.0,-19.0,135,2651,0.00,1.67,0.00,0.000,1030,0.000,0.024,2411,2489,3280,3355,3206,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2950,-1.25,-219.0,2411,2489,3355,3203,756.2,-19.9,146,2956,0.00,1.85,0.00,0.000,260,0.000,0.055,2402,3674,3279,3355,3203,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3008,-1.25,-219.0,2402,3674,3355,3203,763.4,-19.8,147,3016,0.00,1.67,0.00,0.000,1030,0.000,0.024,2402,2490,3278,3355,3202,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3316,-1.25,-219.0,2402,2489,3355,3198,827.3,-19.4,158,3321,0.00,2.00,0.00,0.000,516,0.000,0.029,2403,1118,3275,3354,3197,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3350,-1.25,-219.0,2402,1118,3355,3197,833.6,-19.2,159,3357,0.00,2.12,0.00,0.000,1030,0.000,0.039,2392,2509,3276,3355,3197,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3686,-1.25,-219.0,2391,2508,3354,3192,899.4,-19.6,170,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2508,3273,3355,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3985,-1.25,-219.0,2392,2508,3354,3186,958.3,-19.6,180,3991,0.00,2.05,0.00,0.000,516,0.000,0.030,2389,1121,3270,3354,3187,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4013,-1.25,-219.0,2391,1121,3354,3186,958.3,-19.6,180,4022,0.12,2.12,0.00,0.000,3078,0.165,0.040,2415,2506,3270,3354,3186,0,0,0,0,0,0,26.41,26.60,28.83
$STATE,4047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4048,begin apogee
$GC,4053,-0.20,0.0,2414,2007,3354,3186,970.7,-19.7,182,4387,1.00,0.00,325.33,0.759,10246,0.116,0.000,2751,2007,2378,2537,2219,0,0,0,0,0,0,26.39,28.83,24.49
$STATE,4389,end apogee,CONTROL_FINISHED_OK
$STATE,4389,begin climb
$GC,4392,1.25,219.0,2751,2007,2532,2210,989.4,0.0,192,4634,1.27,2.25,229.05,0.904,10756,0.046,0.037,3240,626,1474,1575,1374,0,0,0,0,0,0,25.25,24.87,24.17
$GC,4651,1.25,219.0,3239,626,1562,1362,956.7,19.8,200,4657,0.00,2.20,0.00,0.000,1030,0.000,0.031,3240,2018,1461,1562,1361,0,0,0,0,0,0,28.83,25.18,28.83
$GC,4976,1.25,219.0,3240,2018,1551,1353,874.0,24.6,211,4982,0.00,2.20,0.00,0.000,516,0.000,0.037,3251,613,1451,1551,1352,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4999,1.25,219.0,3251,613,1550,1352,874.0,24.6,211,5005,0.12,2.10,0.00,0.000,5126,0.174,0.031,3220,2005,1451,1550,1352,0,0,0,0,0,0,25.95,26.16,28.83
$GC,5315,1.25,219.0,3220,2005,1548,1349,795.5,22.7,222,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2005,1448,1548,1349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5614,1.25,219.0,3220,2005,1547,1347,725.4,22.9,232,5620,0.00,2.17,0.00,0.000,260,0.000,0.047,3221,3402,1445,1544,1346,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5662,1.25,219.0,3220,3402,1547,1347,717.3,22.8,233,5669,0.00,2.08,0.00,0.000,1030,0.000,0.029,3231,2004,1446,1547,1346,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5982,1.25,219.0,3231,2004,1546,1344,643.1,21.0,244,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2005,1444,1545,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6293,1.25,219.0,3231,2004,1545,1343,575.2,22.3,256,6299,0.00,2.12,0.00,0.000,516,0.000,0.040,3243,608,1444,1545,1343,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6436,1.25,219.0,3242,608,1544,1343,545.6,22.4,262,6445,0.00,2.08,0.00,0.000,1030,0.000,0.031,3243,2005,1443,1544,1343,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6742,1.25,219.0,3242,2005,1543,1341,476.7,20.8,278,6749,0.00,2.12,0.00,0.000,516,0.000,0.039,3255,609,1441,1542,1341,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6838,1.25,219.0,3254,609,1541,1341,459.3,20.1,282,6845,0.12,2.08,0.00,0.000,5126,0.172,0.031,3222,2005,1439,1538,1341,0,0,0,0,0,0,26.36,26.61,28.83
$GC,7155,1.25,219.0,3222,2003,1541,1340,399.2,18.2,298,7161,0.00,2.15,0.00,0.000,260,0.000,0.047,3222,3402,1440,1541,1340,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7290,1.25,219.0,3222,3402,1541,1340,373.5,20.6,304,7296,0.00,2.08,0.00,0.000,1030,0.000,0.029,3233,1994,1440,1541,1340,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7604,1.25,219.0,3233,1993,1540,1339,312.1,18.6,320,7610,0.00,2.10,0.00,0.000,516,0.000,0.040,3244,609,1439,1540,1339,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7794,1.25,219.0,2256,609,1510,1335,280.2,16.5,329,7800,0.00,2.08,0.00,0.000,1030,0.000,0.031,3244,2004,1439,1540,1339,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8115,1.25,219.0,3244,2004,1540,1339,220.9,19.3,345,8120,0.00,2.15,0.00,0.000,260,0.000,0.044,3244,3406,1439,1540,1339,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8148,1.25,219.0,3244,3406,1540,1339,215.5,20.2,346,8155,0.12,2.08,0.00,0.000,5126,0.168,0.028,3223,1991,1439,1540,1339,0,0,0,0,0,0,26.39,26.66,28.83
$GC,8464,1.25,219.0,3223,1991,1540,1338,162.1,16.1,362,8471,0.00,2.20,0.00,0.000,260,0.000,0.046,3223,3412,1439,1540,1339,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8540,1.25,219.0,3223,3412,1540,1339,151.1,16.0,365,8546,0.00,2.08,0.00,0.000,1030,0.000,0.029,3235,1995,1439,1540,1339,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8854,1.25,219.0,3235,1995,1540,1339,108.1,13.1,381,8860,0.00,2.10,0.00,0.000,516,0.000,0.039,3246,607,1437,1537,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9042,1.25,219.0,3245,608,1540,1339,82.5,13.8,390,9048,0.00,2.05,0.00,0.000,1030,0.000,0.030,3246,2003,1438,1538,1339,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9356,1.25,219.0,3246,2003,1542,1339,41.1,9.7,409,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2003,1440,1541,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9662,1.25,219.0,2208,2001,1512,1335,4.3,12.9,454,9669,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2003,1441,1545,1338,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9675,end climb,SURFACE_DEPTH_REACHED
$STATE,9675,begin surface coast
$FINISH,0.4,1.018436
$STATE,9699,end surface coast,CONTROL_FINISHED_OK
$STATE,9699,begin surface
$SM_CCo,9716,82.10,0.059,0,0,747,400.08
$SM_GC,1.28,7.90,0.75,82.10,0.033,0.045,0.059,134,2502,747,-8.29,-1.22,400.08,0,0,0,0,0,0,26.67,26.63,26.46
$IRIDIUM_FIX,2150.42,12331.74,250313,010108
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.11
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3959136
$24V_AH,24.2,28.261
$10V_AH,10.3,20.007
$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,19.775,81.550,554.375,82.100,0.000,0.000,0.000,215.400,0.000,0.000,17.487,1995.521,5688.940,689.278,1516.824,272.615,0.000,1659.603,0.000,1221.703,0.000,0.537,0.000
$DEVICE_MAMPS,218.025,66.555,904.230,58.905,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9700.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.965,0.000,0.000,0.000
$MEM,329704
$DATA_FILE_SIZE,16730,460
$CAP_FILE_SIZE,257229,0
$CFSIZE,260034560,233697280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125,111.3,1
$GPS,250313,072127,2159.727,12326.201,11,3.2,31,-2.9