version: 66.11
glider: 171
mission: 4
dive: 193
start: 3 25 113 7 28 30
data:
$ID,171
$MISSION,4
$DIVE,193
$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,-20758.639
$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,57
$R_STBD_OVSHOOT,40
$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
$GPS1,250313,072127,2159.727,12326.201,11,3.2,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-64.8
$GPS2,250313,072803,2159.741,12326.188,14,3.2,33,-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,299.2,236735,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.25,-219.0,126,2504,836,662,0.0,0.0,0,80,0.00,0.00,-60.20,0.000,16386,0.000,0.000,126,2504,2430,2494,2367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.25,-219.0,126,2504,2500,2367,3.4,-5.6,8,116,8.77,1.90,-15.93,0.000,18692,0.218,0.070,2400,3668,3277,3348,3207,0,0,0,0,0,0,25.88,26.25,26.63
$GC,348,-1.25,-219.0,2400,3668,3351,3207,97.7,-34.1,31,354,0.00,1.70,0.00,0.000,1030,0.000,0.024,2400,2489,3278,3350,3207,0,0,0,0,0,0,28.83,26.49,28.83
$GC,668,-1.25,-219.0,2400,2487,3355,3206,202.1,-31.4,47,674,0.00,1.85,0.00,0.000,260,0.000,0.055,2391,3665,3280,3354,3207,0,0,0,0,0,0,28.83,26.47,28.83
$GC,794,-1.25,-219.0,2391,3665,3355,3207,241.2,-30.0,53,800,0.00,1.67,0.00,0.000,1030,0.000,0.026,2391,2496,3281,3355,3207,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1120,-1.25,-219.0,2391,2494,3355,3207,337.3,-28.6,69,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2494,3281,3356,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1418,-1.25,-219.0,2391,2494,3356,3207,421.9,-26.5,84,1425,0.00,1.83,0.00,0.000,260,0.000,0.055,2383,3665,3281,3356,3207,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1458,-1.25,-219.0,2382,3665,3356,3207,428.3,-26.0,85,1467,0.10,1.70,0.00,0.000,3078,0.142,0.025,2429,2503,3281,3356,3207,0,0,0,0,0,0,26.36,26.70,28.83
$GC,1763,-1.25,-219.0,2429,2501,3356,3207,502.8,-22.0,101,1769,0.00,2.05,0.00,0.000,516,0.000,0.031,2429,1101,3281,3356,3207,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1781,-1.25,-219.0,2429,1101,3356,3207,502.8,-22.0,101,1789,0.00,2.12,0.00,0.000,1030,0.000,0.040,2419,2495,3281,3356,3207,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2088,-1.25,-219.0,2418,2495,3356,3207,570.2,-20.0,117,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2495,3281,3356,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2397,-1.25,-219.0,2418,2495,3354,3207,632.9,-20.2,130,2403,0.00,2.05,0.00,0.000,516,0.000,0.032,2418,1106,3281,3355,3207,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2456,-1.25,-219.0,2418,1106,3355,3207,640.1,-20.6,131,2464,0.00,2.12,0.00,0.000,1030,0.000,0.040,2408,2507,3281,3356,3207,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2764,-1.25,-219.0,2407,2505,3356,3206,712.5,-21.4,142,2770,0.00,1.80,0.00,0.000,260,0.000,0.056,2399,3673,3280,3355,3206,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2893,-1.25,-219.0,2398,3673,3355,3205,738.8,-20.8,146,2899,0.00,1.67,0.00,0.000,1030,0.000,0.025,2399,2493,3280,3356,3204,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3222,-1.25,-219.0,2398,2491,3355,3201,803.5,-19.3,157,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2491,3277,3355,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3522,-1.25,-219.0,2398,2491,3355,3195,864.3,-21.0,167,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2491,3275,3355,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3822,-1.25,-219.0,2401,2491,3355,3191,925.6,-20.0,177,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2491,3273,3355,3191,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4060,begin apogee
$GC,4066,-0.20,0.0,2398,1996,3354,3187,973.8,-20.1,185,4406,1.05,0.00,330.02,0.758,10246,0.119,0.000,2749,1994,2376,2535,2217,0,0,0,0,0,0,26.37,28.83,24.50
$STATE,4408,end apogee,CONTROL_FINISHED_OK
$STATE,4408,begin climb
$GC,4410,1.25,219.0,2749,1994,2531,2209,995.0,0.0,195,4651,1.30,2.45,230.73,0.908,10500,0.047,0.049,3232,3411,1476,1578,1375,0,0,0,0,0,0,25.25,24.86,24.15
$GC,4690,1.25,219.0,3232,3411,1562,1363,959.1,20.8,205,4696,0.00,2.17,0.00,0.000,1030,0.000,0.028,3243,2017,1461,1561,1361,0,0,0,0,0,0,28.83,25.33,28.83
$GC,5014,1.25,219.0,3243,2018,1552,1352,874.3,25.1,216,5020,0.00,2.17,0.00,0.000,516,0.000,0.038,3255,605,1452,1552,1352,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5042,1.25,219.0,3254,605,1552,1352,874.3,25.1,216,5051,0.12,2.12,0.00,0.000,5126,0.176,0.031,3225,2015,1452,1552,1352,0,0,0,0,0,0,25.97,26.18,28.83
$GC,5349,1.25,219.0,3224,2015,1550,1350,794.8,24.0,227,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2015,1450,1550,1350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5649,1.25,219.0,3224,2015,1548,1347,721.8,24.3,237,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2016,1447,1548,1347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5948,1.25,219.0,3224,2015,1547,1346,657.1,20.8,247,5954,0.00,2.15,0.00,0.000,260,0.000,0.047,3225,3401,1446,1547,1345,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5996,1.25,219.0,3224,3399,1547,1346,649.8,20.5,248,6002,0.00,2.10,0.00,0.000,1030,0.000,0.030,3236,1989,1446,1547,1345,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6306,1.25,219.0,3235,1989,1545,1343,580.5,21.4,260,6312,0.00,2.10,0.00,0.000,516,0.000,0.041,3247,609,1444,1546,1343,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6436,1.25,219.0,3247,609,1545,1343,551.3,22.7,266,6441,0.00,2.08,0.00,0.000,1030,0.000,0.031,3247,2000,1444,1545,1343,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6761,1.25,219.0,3247,2000,1544,1342,481.0,21.4,282,6768,0.00,2.12,0.00,0.000,516,0.000,0.039,3259,599,1443,1544,1342,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6811,1.25,219.0,3258,599,1544,1342,471.3,21.4,284,6818,0.15,2.08,0.00,0.000,5126,0.161,0.031,3218,2000,1443,1544,1342,0,0,0,0,0,0,26.34,26.60,28.83
$GC,7132,1.25,219.0,3218,2001,1543,1341,408.4,19.6,300,7138,0.00,2.12,0.00,0.000,516,0.000,0.040,3230,599,1442,1543,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7171,1.25,219.0,3230,599,1543,1341,403.4,19.8,301,7179,0.00,2.10,0.00,0.000,1030,0.000,0.032,3230,2008,1442,1543,1341,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7476,1.25,219.0,3230,2008,1542,1341,340.0,21.2,317,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2008,1442,1543,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7777,1.25,219.0,3230,2008,1542,1341,283.8,18.6,332,7783,0.00,2.15,0.00,0.000,516,0.000,0.039,3242,603,1441,1543,1340,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7795,1.25,219.0,3241,603,1542,1341,283.8,18.6,332,7803,0.00,2.08,0.00,0.000,1030,0.000,0.031,3242,2004,1441,1542,1341,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8101,1.25,219.0,3242,2004,1542,1340,225.1,18.4,348,8108,0.00,2.15,0.00,0.000,260,0.000,0.046,3242,3403,1441,1543,1340,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8141,1.25,219.0,3242,3404,1542,1341,220.0,19.0,349,8150,0.12,2.08,0.00,0.000,5126,0.169,0.029,3221,1995,1440,1542,1338,0,0,0,0,0,0,26.39,26.65,28.83
$GC,8446,1.25,219.0,3221,1995,1543,1341,161.7,17.0,365,8452,0.00,2.17,0.00,0.000,260,0.000,0.046,3224,3402,1442,1543,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8474,1.25,219.0,3221,3402,1543,1341,157.8,16.5,366,8481,0.00,2.05,0.00,0.000,1030,0.000,0.028,3233,2006,1442,1543,1341,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8795,1.25,219.0,3233,2005,1542,1340,110.6,14.2,382,8801,0.00,2.12,0.00,0.000,516,0.000,0.040,3244,603,1441,1543,1340,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8965,1.25,219.0,3244,603,1542,1339,85.4,14.8,390,8971,0.00,2.08,0.00,0.000,1030,0.000,0.031,3244,2007,1441,1542,1340,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9274,1.25,219.0,3244,2007,1543,1340,41.9,14.0,408,9280,0.00,2.15,0.00,0.000,260,0.000,0.046,3244,3408,1442,1543,1341,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9335,1.25,219.0,3247,3408,1543,1340,33.9,13.8,413,9344,0.12,2.08,0.00,0.000,5126,0.163,0.028,3223,1988,1441,1543,1340,0,0,0,0,0,0,26.41,26.67,28.83
$STATE,9604,end climb,SURFACE_DEPTH_REACHED
$STATE,9605,begin surface coast
$FINISH,0.5,1.001442
$STATE,9634,end surface coast,CONTROL_FINISHED_OK
$STATE,9635,begin surface
$SM_CCo,9652,82.90,0.058,0,0,748,400.08
$SM_GC,1.25,7.75,0.77,82.90,0.027,0.049,0.058,139,2488,748,-8.28,-1.50,400.08,0,0,0,0,0,0,26.63,26.61,26.45
$IRIDIUM_FIX,2152.74,12326.58,250313,040450
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.07
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3958816
$24V_AH,24.2,28.399
$10V_AH,10.3,20.085
$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,19.500,70.800,560.750,82.900,0.000,0.000,0.000,226.425,0.000,0.000,35.028,1864.258,5889.312,696.640,1418.654,258.975,0.000,1603.912,0.000,1101.249,0.000,0.539,0.000
$DEVICE_MAMPS,218.025,69.615,908.055,58.140,0.000,0.000,0.000,120.870,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9643.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.011,0.000,0.000,0.000
$MEM,329696
$DATA_FILE_SIZE,16765,463
$CAP_FILE_SIZE,241299,0
$CFSIZE,260034560,233627648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,139.1,1
$GPS,250313,101225,2200.322,12325.004,40,2.3,60,-2.9