version: 66.11
glider: 171
mission: 4
dive: 194
start: 3 25 113 10 18 52
data:
$ID,171
$MISSION,4
$DIVE,194
$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,-20759.992
$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,33
$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
$GPS1,250313,101225,2200.322,12325.004,40,2.3,60,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-67.2
$GPS2,250313,101825,2200.321,12324.991,16,1.4,16,-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,309.8,234430,-12.0,-8.739,-16.47,3810
$D_GRID,4942
$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,-219.0,126,2490,838,663,0.0,0.0,0,81,0.00,0.00,-61.17,0.000,16386,0.000,0.000,126,2491,2456,2528,2385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.25,-219.0,126,2491,2530,2385,3.1,-3.8,8,116,8.82,1.85,-15.18,0.000,18692,0.220,0.067,2402,3671,3274,3345,3204,0,0,0,0,0,0,25.84,26.24,26.63
$GC,349,-1.25,-219.0,2402,3671,3350,3204,97.6,-35.1,31,355,0.00,1.70,0.00,0.000,1030,0.000,0.024,2402,2486,3279,3354,3204,0,0,0,0,0,0,28.83,26.49,28.83
$GC,668,-1.25,-219.0,2401,2485,3352,3204,201.7,-31.0,47,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2484,3278,3352,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,969,-1.25,-219.0,2401,2484,3354,3204,292.2,-29.7,62,974,0.00,1.85,0.00,0.000,260,0.000,0.055,2393,3673,3279,3354,3204,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1002,-1.25,-219.0,2393,3673,3354,3204,299.1,-29.1,63,1008,0.00,1.67,0.00,0.000,1030,0.000,0.024,2393,2497,3279,3354,3204,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1316,-1.25,-219.0,2392,2496,3355,3204,389.9,-28.8,79,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2496,3279,3354,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1616,-1.25,-219.0,2393,2496,3355,3204,470.7,-27.0,94,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2496,3279,3355,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1916,-1.25,-219.0,2392,2496,3355,3204,545.8,-25.9,109,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2496,3279,3355,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2216,-1.25,-219.0,2392,2496,3355,3204,618.3,-23.5,123,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2496,3279,3355,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2516,-1.25,-219.0,2392,2496,3355,3204,685.1,-22.9,133,2522,0.00,1.85,0.00,0.000,260,0.000,0.055,2384,3678,3279,3355,3204,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2539,-1.25,-219.0,2384,3678,3355,3207,685.1,-22.9,133,2545,0.08,1.73,0.00,0.000,3078,0.140,0.026,2410,2501,3279,3355,3204,0,0,0,0,0,0,26.46,26.73,28.83
$GC,2854,-1.25,-219.0,2410,2499,3355,3202,755.5,-20.3,144,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2499,3278,3355,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3153,-1.25,-219.0,2408,2499,3355,3197,816.2,-19.9,154,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2499,3276,3355,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3454,-1.25,-219.0,2410,2499,3355,3193,875.2,-19.5,164,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2499,3273,3355,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3753,-1.25,-219.0,2410,2499,3354,3188,929.8,-17.5,174,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2499,3271,3354,3188,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3992,begin apogee
$GC,3997,-0.20,0.0,2410,2007,3353,3185,972.1,-17.9,182,4337,1.02,0.00,328.98,0.756,10246,0.119,0.000,2753,2006,2373,2533,2213,0,0,0,0,0,0,26.36,28.83,24.48
$STATE,4340,end apogee,CONTROL_FINISHED_OK
$STATE,4340,begin climb
$GC,4342,1.25,219.0,2753,2007,2531,2208,991.7,0.0,192,4587,1.27,2.33,227.00,0.916,10756,0.047,0.037,3241,613,1467,1568,1366,0,0,0,0,0,0,25.25,24.84,24.13
$GC,4604,1.25,219.0,3240,613,1562,1360,964.3,18.0,200,4610,0.00,2.20,0.00,0.000,1030,0.000,0.031,3241,2004,1460,1561,1359,0,0,0,0,0,0,28.83,25.18,28.83
$GC,4924,1.25,219.0,3240,2004,1551,1352,879.7,24.9,211,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2004,1451,1551,1352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5223,1.25,219.0,3240,2003,1549,1349,807.2,24.2,221,5229,0.00,2.20,0.00,0.000,260,0.000,0.047,3241,3412,1449,1549,1349,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5246,1.25,219.0,3241,3412,1549,1349,807.2,24.2,221,5252,0.00,2.10,0.00,0.000,1030,0.000,0.028,3252,2005,1449,1549,1349,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5561,1.25,219.0,3252,2005,1547,1346,720.5,25.7,232,5568,0.12,2.20,0.00,0.000,4356,0.184,0.045,3216,3415,1447,1547,1347,0,0,0,0,0,0,26.26,26.43,28.83
$GC,5610,1.25,219.0,3215,3415,1547,1347,711.8,25.3,233,5617,0.00,2.12,0.00,0.000,1030,0.000,0.030,3227,1993,1447,1547,1347,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5930,1.25,219.0,3226,1992,1549,1345,640.9,20.3,244,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1992,1445,1546,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6241,1.25,219.0,3226,1992,1545,1343,575.1,21.2,256,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1992,1444,1545,1343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6540,1.25,219.0,3226,1992,1544,1342,511.1,20.1,271,6547,0.00,2.20,0.00,0.000,260,0.000,0.047,3226,3408,1442,1544,1341,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6587,1.25,219.0,3226,3408,1544,1342,500.6,21.4,273,6594,0.00,2.10,0.00,0.000,1030,0.000,0.029,3238,1997,1443,1544,1342,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6913,1.25,219.0,3238,1996,1542,1340,433.9,18.6,289,6919,0.00,2.12,0.00,0.000,516,0.000,0.041,3249,606,1441,1542,1340,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6937,1.25,219.0,3249,606,1543,1340,429.0,19.1,290,6944,0.00,2.10,0.00,0.000,1030,0.000,0.031,3249,2008,1441,1542,1340,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7263,1.25,219.0,3249,2009,1541,1340,365.6,19.0,306,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2008,1441,1542,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7562,1.25,219.0,3250,2008,1540,1340,307.6,19.1,321,7568,0.00,2.12,0.00,0.000,516,0.000,0.039,3262,609,1440,1540,1340,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7685,1.25,219.0,3261,609,1540,1340,285.5,20.4,326,7694,0.15,2.08,0.00,0.000,5126,0.158,0.031,3221,2009,1440,1540,1341,0,0,0,0,0,0,26.36,26.63,28.83
$GC,7991,1.25,219.0,3220,2009,1540,1340,230.3,15.9,342,7997,0.00,2.15,0.00,0.000,260,0.000,0.047,3221,3400,1440,1540,1340,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8031,1.25,219.0,3219,3400,1540,1340,226.0,16.3,343,8039,0.00,2.08,0.00,0.000,1030,0.000,0.030,3232,2000,1440,1541,1340,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8336,1.25,219.0,3230,1999,1540,1340,178.9,14.1,359,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1999,1440,1540,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8636,1.25,219.0,3231,2000,1540,1340,136.9,15.0,374,8642,0.00,2.10,0.00,0.000,516,0.000,0.040,3243,609,1440,1540,1340,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8847,1.25,219.0,2240,609,1509,1337,105.4,15.8,384,8853,0.00,2.05,0.00,0.000,1030,0.000,0.030,3243,1999,1440,1541,1340,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9167,1.25,219.0,3243,1999,1541,1340,60.3,13.0,400,9173,0.00,2.15,0.00,0.000,260,0.000,0.046,3243,3408,1440,1541,1340,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9299,1.25,219.0,3243,3408,1543,1340,42.0,14.0,408,9305,0.12,2.08,0.00,0.000,5126,0.162,0.028,3222,1992,1441,1543,1340,0,0,0,0,0,0,26.41,26.67,28.83
$GC,9615,1.25,219.0,3221,1991,1544,1340,5.3,10.0,453,9623,0.00,2.17,0.00,0.000,260,0.000,0.044,3222,3406,1442,1545,1340,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,9646,end climb,SURFACE_DEPTH_REACHED
$STATE,9646,begin surface coast
$FINISH,0.4,1.023359
$STATE,9679,end surface coast,CONTROL_FINISHED_OK
$STATE,9679,begin surface
$SM_CCo,9697,82.80,0.058,0,0,748,400.08
$SM_GC,1.21,7.85,1.38,82.80,0.032,0.031,0.058,143,2489,748,-8.30,1.58,400.08,0,0,0,0,0,0,26.61,26.70,26.46
$IRIDIUM_FIX,2152.74,12326.58,250313,070758
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.60
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3958496
$24V_AH,24.1,28.536
$10V_AH,10.2,20.160
$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,19.450,53.375,555.975,82.800,0.000,0.000,0.000,209.675,0.000,0.000,17.841,1782.016,6131.610,647.063,1328.682,249.768,0.000,1515.145,0.000,1049.134,0.000,0.537,0.000
$DEVICE_MAMPS,220.320,66.555,916.470,58.140,0.000,0.000,0.000,122.400,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9687.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.061,0.000,0.000,0.000
$MEM,329700
$DATA_FILE_SIZE,16773,464
$CAP_FILE_SIZE,231801,0
$CFSIZE,260034560,233549824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.098,144.8,1
$GPS,250313,130243,2201.073,12323.781,11,1.9,12,-2.9