version: 66.11
glider: 171
mission: 4
dive: 195
start: 3 25 113 13 11 34
data:
$ID,171
$MISSION,4
$DIVE,195
$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,-20761.25
$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,63
$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
$GPS1,250313,130243,2201.073,12323.781,11,1.9,12,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-64.9
$GPS2,250313,131109,2201.138,12323.799,14,2.7,33,-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,310.9,231915,-12.0,-8.739,-16.47,3810
$D_GRID,4946
$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,19,-1.25,-219.0,126,2487,840,665,0.0,0.0,0,89,0.00,0.00,-68.20,0.000,16386,0.000,0.000,126,2486,2701,2768,2634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-1.25,-219.0,126,2487,2770,2635,3.9,-6.1,9,118,8.88,1.90,-9.88,0.000,18692,0.220,0.066,2403,3658,3276,3343,3209,0,0,0,0,0,0,25.83,26.23,26.60
$GC,352,-1.25,-219.0,2402,3658,3345,3209,100.7,-33.7,30,359,0.00,1.70,0.00,0.000,1030,0.000,0.024,2403,2505,3277,3345,3209,0,0,0,0,0,0,28.83,26.48,28.83
$GC,678,-1.25,-219.0,2402,2503,3348,3209,200.2,-29.4,46,684,0.00,2.08,0.00,0.000,516,0.000,0.031,2403,1094,3278,3348,3209,0,0,0,0,0,0,28.83,26.53,28.83
$GC,711,-1.25,-219.0,2402,1093,3347,3210,207.7,-29.6,47,717,0.00,2.12,0.00,0.000,1030,0.000,0.039,2392,2488,3278,3348,3208,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1026,-1.25,-219.0,2392,2488,3350,3209,305.1,-29.9,63,1032,0.00,1.85,0.00,0.000,260,0.000,0.054,2382,3674,3279,3350,3209,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1092,-1.25,-219.0,2382,3674,3349,3209,323.7,-28.3,66,1099,0.12,1.67,0.00,0.000,3078,0.162,0.024,2414,2490,3277,3346,3209,0,0,0,0,0,0,26.36,26.65,28.83
$GC,1418,-1.25,-219.0,2414,2489,3350,3209,408.2,-25.9,82,1424,0.00,2.03,0.00,0.000,516,0.000,0.031,2414,1105,3279,3350,3209,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1468,-1.25,-219.0,2414,1105,3350,3209,420.2,-26.4,84,1474,0.00,2.12,0.00,0.000,1030,0.000,0.038,2404,2506,3279,3350,3209,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1788,-1.25,-219.0,2404,2506,3350,3209,499.3,-23.4,100,1795,0.00,1.85,0.00,0.000,260,0.000,0.054,2395,3699,3279,3350,3209,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1843,-1.25,-219.0,2395,3698,3349,3209,510.2,-23.4,102,1849,0.00,1.75,0.00,0.000,1030,0.000,0.024,2395,2496,3279,3350,3209,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2158,-1.25,-219.0,2395,2496,3350,3209,585.2,-22.9,118,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2495,3279,3350,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2479,-1.25,-219.0,2395,2495,3350,3209,659.9,-23.0,130,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2496,3279,3350,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2779,-1.25,-219.0,2394,2496,3354,3206,726.9,-21.7,140,2785,0.00,1.85,0.00,0.000,260,0.000,0.054,2386,3676,3278,3350,3206,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2823,-1.25,-219.0,2386,3676,3350,3206,734.5,-21.6,141,2830,0.12,1.67,0.00,0.000,3078,0.155,0.025,2420,2490,3278,3350,3206,0,0,0,0,0,0,26.45,26.74,28.83
$GC,3148,-1.25,-219.0,2419,2489,3350,3202,797.6,-18.2,152,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2488,3275,3350,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3448,-1.25,-219.0,2419,2488,3350,3196,852.4,-18.1,162,3454,0.00,1.85,0.00,0.000,260,0.000,0.055,2411,3673,3273,3350,3197,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3487,-1.25,-219.0,2411,3673,3349,3196,859.0,-18.6,163,3494,0.00,1.70,0.00,0.000,1030,0.000,0.025,2411,2508,3273,3350,3196,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3817,-1.25,-219.0,2411,2508,3350,3190,924.9,-20.0,174,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2508,3270,3350,3190,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4055,begin apogee
$GC,4061,-0.20,0.0,2411,1996,3350,3186,971.1,-18.9,182,4400,1.00,0.00,330.70,0.750,10246,0.116,0.000,2747,1994,2378,2539,2218,0,0,0,0,0,0,26.37,28.83,24.49
$STATE,4403,end apogee,CONTROL_FINISHED_OK
$STATE,4403,begin climb
$GC,4405,1.25,219.0,2747,1994,2532,2209,989.5,0.0,192,4648,1.30,2.40,231.43,0.899,11012,0.049,0.049,3229,3414,1473,1575,1372,0,0,0,0,0,0,25.23,24.86,24.17
$GC,4692,1.25,219.0,3229,3413,1558,1360,951.8,21.6,202,4698,0.00,2.17,0.00,0.000,1030,0.000,0.028,3240,2017,1458,1558,1359,0,0,0,0,0,0,28.83,25.38,28.83
$GC,5008,1.25,219.0,3240,2017,1551,1351,863.5,25.9,213,5014,0.00,2.22,0.00,0.000,260,0.000,0.047,3241,3415,1450,1550,1351,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5056,1.25,219.0,3240,3415,1550,1352,854.1,26.0,214,5062,0.12,2.12,0.00,0.000,5126,0.177,0.028,3221,1995,1450,1550,1351,0,0,0,0,0,0,25.98,26.22,28.83
$GC,5375,1.25,219.0,3221,1998,1548,1348,777.4,22.3,225,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1995,1448,1548,1348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5676,1.25,219.0,3221,1995,1547,1346,710.2,22.7,235,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1995,1446,1547,1346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5975,1.25,219.0,3221,1996,1546,1345,644.8,21.7,245,5981,0.00,2.12,0.00,0.000,516,0.000,0.041,3232,607,1445,1546,1345,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6051,1.25,219.0,3232,608,1546,1345,630.3,21.9,247,6057,0.00,2.12,0.00,0.000,1030,0.000,0.032,3232,2025,1445,1546,1345,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6375,1.25,219.0,3232,2026,1544,1343,562.0,20.5,261,6381,0.00,2.12,0.00,0.000,260,0.000,0.046,3233,3403,1443,1544,1343,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6414,1.25,219.0,3232,3403,1544,1343,556.8,21.0,262,6422,0.00,2.10,0.00,0.000,1030,0.000,0.030,3243,1994,1443,1544,1343,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6720,1.25,219.0,3243,1995,1542,1342,491.0,19.9,278,6726,0.00,2.20,0.00,0.000,260,0.000,0.046,3243,3411,1441,1542,1341,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6833,1.25,219.0,3244,3411,1541,1342,467.0,21.5,283,6840,0.12,2.08,0.00,0.000,5126,0.172,0.030,3223,2004,1441,1542,1341,0,0,0,0,0,0,26.36,26.63,28.83
$GC,7154,1.25,219.0,3223,2004,1540,1340,405.4,18.5,299,7161,0.00,2.12,0.00,0.000,516,0.000,0.041,3234,609,1440,1541,1340,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7291,1.25,219.0,3234,609,1540,1340,381.2,18.6,305,7297,0.00,2.08,0.00,0.000,1030,0.000,0.031,3234,2008,1440,1541,1340,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7605,1.25,219.0,3234,2008,1541,1340,319.9,18.7,321,7610,0.00,2.15,0.00,0.000,516,0.000,0.041,3245,605,1440,1541,1339,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7741,1.25,219.0,3245,604,1541,1339,295.3,19.9,327,7747,0.00,2.08,0.00,0.000,1030,0.000,0.031,3246,2006,1440,1541,1339,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8055,1.25,219.0,3245,2006,1541,1340,236.4,17.1,343,8061,0.00,2.15,0.00,0.000,260,0.000,0.046,3245,3405,1440,1540,1340,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8104,1.25,219.0,3245,3405,1541,1340,227.5,19.1,345,8111,0.12,2.08,0.00,0.000,5126,0.170,0.028,3225,1992,1440,1541,1339,0,0,0,0,0,0,26.39,26.65,28.83
$GC,8426,1.25,219.0,3225,1992,1541,1340,172.1,15.9,361,8432,0.00,2.10,0.00,0.000,516,0.000,0.040,3236,609,1440,1541,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8668,1.25,219.0,3235,609,1541,1339,137.1,15.1,372,8674,0.00,2.05,0.00,0.000,1030,0.000,0.030,3236,2001,1440,1541,1340,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8983,1.25,219.0,3236,2001,1541,1338,88.2,15.0,388,8990,0.00,2.10,0.00,0.000,516,0.000,0.038,3246,610,1440,1541,1340,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9017,1.25,219.0,3246,610,1541,1339,84.4,15.2,389,9023,0.00,2.05,0.00,0.000,1030,0.000,0.030,3247,2005,1440,1541,1339,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9331,1.25,219.0,3246,2006,1541,1339,37.5,10.6,409,9336,0.00,2.12,0.00,0.000,516,0.000,0.039,3258,605,1440,1541,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9366,1.25,219.0,3257,605,1541,1339,33.8,10.7,412,9373,0.12,2.08,0.00,0.000,5126,0.154,0.031,3223,2005,1441,1541,1342,0,0,0,0,0,0,26.42,26.65,28.83
$STATE,9613,end climb,SURFACE_DEPTH_REACHED
$STATE,9613,begin surface coast
$FINISH,0.6,1.023366
$STATE,9637,end surface coast,CONTROL_FINISHED_OK
$STATE,9637,begin surface
$SM_CCo,9654,82.82,0.058,0,0,748,400.08
$SM_GC,1.15,7.90,0.75,82.82,0.037,0.047,0.058,144,2495,748,-8.29,-1.19,400.08,0,0,0,0,0,0,26.63,26.61,26.46
$IRIDIUM_FIX,2150.42,12323.36,250313,131314
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.52
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3958176
$24V_AH,24.2,28.674
$10V_AH,10.3,20.240
$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,19.825,74.425,562.125,82.825,0.000,0.000,0.000,278.000,0.000,0.000,34.904,1919.901,5852.085,686.334,1515.391,266.972,0.000,1669.008,0.000,1148.625,0.000,0.537,0.000
$DEVICE_MAMPS,220.320,65.790,898.875,58.140,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9644.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.977,0.000,0.000,0.000
$MEM,329680
$DATA_FILE_SIZE,16736,455
$CAP_FILE_SIZE,246046,0
$CFSIZE,260034560,233451520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,119.4,1
$GPS,250313,155506,2202.261,12322.946,34,1.1,35,-2.9