version: 66.11
glider: 171
mission: 4
dive: 196
start: 3 25 113 16 1 8
data:
$ID,171
$MISSION,4
$DIVE,196
$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,-20762.508
$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,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
$GPS1,250313,155506,2202.261,12322.946,34,1.1,35,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-66.5
$GPS2,250313,160043,2202.321,12323.012,15,1.2,15,-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,302.5,229663,-12.0,-8.739,-16.47,3810
$D_GRID,5136
$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,-219.0,127,2497,839,660,0.0,0.0,0,82,0.00,0.00,-61.35,0.000,16386,0.000,0.000,126,2498,2453,2522,2384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.25,-219.0,126,2498,2529,2385,3.0,-4.3,8,117,8.80,1.92,-15.60,0.000,18692,0.220,0.070,2402,3675,3276,3347,3206,0,0,0,0,0,0,25.88,26.25,26.64
$GC,349,-1.25,-219.0,2402,3676,3350,3208,96.4,-34.3,31,356,0.00,1.70,0.00,0.000,1030,0.000,0.024,2402,2490,3278,3351,3206,0,0,0,0,0,0,28.83,26.49,28.83
$GC,669,-1.25,-219.0,2402,2489,3354,3206,197.4,-28.9,47,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2489,3280,3354,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,970,-1.25,-219.0,2402,2489,3355,3205,285.1,-28.4,62,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2489,3281,3356,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1269,-1.25,-219.0,2401,2489,3356,3206,368.3,-27.6,77,1276,0.00,1.85,0.00,0.000,260,0.000,0.055,2393,3675,3281,3356,3206,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1329,-1.25,-219.0,2393,3675,3356,3206,380.7,-27.3,79,1337,0.00,1.67,0.00,0.000,1030,0.000,0.023,2393,2492,3281,3356,3206,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1636,-1.25,-219.0,2393,2490,3356,3206,465.5,-24.0,95,1642,0.00,2.03,0.00,0.000,516,0.000,0.031,2393,1105,3281,3356,3206,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1738,-1.25,-219.0,2393,1105,3356,3206,486.4,-24.5,99,1747,0.12,2.12,0.00,0.000,3078,0.167,0.039,2415,2505,3281,3356,3206,0,0,0,0,0,0,26.39,26.58,28.83
$GC,2043,-1.25,-219.0,2414,2505,3357,3205,556.6,-20.4,115,2049,0.00,1.80,0.00,0.000,260,0.000,0.054,2406,3674,3281,3357,3206,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2092,-1.25,-219.0,2406,3674,3357,3205,566.0,-20.7,117,2098,0.00,1.67,0.00,0.000,1030,0.000,0.024,2407,2489,3281,3357,3206,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2401,-1.25,-219.0,2406,2488,3357,3206,637.5,-23.1,130,2407,0.00,1.85,0.00,0.000,260,0.000,0.054,2397,3678,3281,3357,3206,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2454,-1.25,-219.0,2397,3678,3357,3206,645.2,-22.8,131,2461,0.00,1.67,0.00,0.000,1030,0.000,0.024,2399,2493,3281,3357,3206,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2770,-1.25,-219.0,2397,2492,3356,3206,718.2,-22.0,142,2777,0.00,2.03,0.00,0.000,516,0.000,0.029,2397,1106,3281,3356,3206,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2816,-1.25,-219.0,2397,1105,3357,3206,726.1,-21.8,143,2823,0.12,2.12,0.00,0.000,3078,0.164,0.039,2419,2504,3281,3357,3206,0,0,0,0,0,0,26.41,26.60,28.83
$GC,3142,-1.25,-219.0,2419,2504,3356,3202,792.4,-19.0,154,3148,0.00,1.80,0.00,0.000,260,0.000,0.055,2411,3670,3279,3356,3202,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3200,-1.25,-219.0,2411,3672,3356,3201,799.1,-19.0,155,3208,0.00,1.67,0.00,0.000,1030,0.000,0.025,2411,2492,3278,3356,3201,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3507,-1.25,-219.0,2411,2491,3356,3197,862.8,-18.9,166,3514,0.00,2.03,0.00,0.000,516,0.000,0.029,2411,1108,3276,3356,3197,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3560,-1.25,-219.0,2410,1108,3356,3196,869.4,-18.8,167,3566,0.00,2.12,0.00,0.000,1030,0.000,0.040,2400,2502,3276,3356,3196,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3875,-1.25,-219.0,2400,2502,3356,3191,933.3,-19.4,178,3881,0.00,1.83,0.00,0.000,260,0.000,0.056,2392,3674,3273,3356,3191,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3940,-1.25,-219.0,2391,3674,3355,3190,946.6,-19.9,180,3946,0.00,1.73,0.00,0.000,1030,0.000,0.026,2391,2508,3272,3355,3190,0,0,0,0,0,0,28.83,26.75,28.83
$STATE,4062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4062,begin apogee
$GC,4068,-0.20,0.0,2391,1993,3355,3188,971.4,-20.0,184,4414,1.08,0.00,336.27,0.746,10246,0.121,0.000,2749,1991,2380,2540,2221,0,0,0,0,0,0,26.35,28.83,24.50
$STATE,4415,end apogee,CONTROL_FINISHED_OK
$STATE,4416,begin climb
$GC,4417,1.25,219.0,2749,1991,2531,2210,995.3,0.0,194,4659,1.30,2.40,231.10,0.902,11012,0.047,0.047,3232,3418,1475,1578,1372,0,0,0,0,0,0,25.22,24.85,24.13
$GC,4686,1.25,219.0,3231,3418,1563,1362,966.3,19.2,204,4693,0.00,2.20,0.00,0.000,1030,0.000,0.027,3244,2020,1461,1562,1360,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5007,1.25,219.0,3243,2019,1552,1351,883.6,23.8,215,5013,0.00,2.22,0.00,0.000,260,0.000,0.047,3244,3420,1451,1552,1351,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5086,1.25,219.0,3243,3420,1551,1350,866.8,24.8,217,5094,0.12,2.15,0.00,0.000,5126,0.180,0.028,3225,1990,1451,1551,1351,0,0,0,0,0,0,25.99,26.23,28.83
$GC,5408,1.25,219.0,3225,1989,1550,1347,789.9,22.6,228,5414,0.00,2.10,0.00,0.000,516,0.000,0.037,3236,606,1448,1550,1347,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5457,1.25,219.0,3235,606,1550,1348,781.3,22.9,229,5463,0.00,2.12,0.00,0.000,1030,0.000,0.032,3235,2022,1448,1550,1347,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5776,1.25,219.0,3235,2022,1548,1346,700.1,25.2,240,5782,0.00,2.17,0.00,0.000,516,0.000,0.037,3247,602,1446,1547,1346,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5865,1.25,219.0,3247,601,1547,1345,684.5,24.2,242,5874,0.00,2.10,0.00,0.000,1030,0.000,0.031,3247,2010,1446,1547,1346,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6173,1.25,219.0,3247,2009,1547,1344,607.6,22.2,253,6178,0.00,2.15,0.00,0.000,260,0.000,0.047,3247,3402,1445,1547,1344,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6270,1.25,219.0,3247,3401,1546,1344,587.6,22.9,257,6277,0.15,2.08,0.00,0.000,5126,0.174,0.028,3220,1995,1445,1546,1344,0,0,0,0,0,0,26.29,26.58,28.83
$GC,6587,1.25,219.0,3220,1995,1545,1346,521.4,19.8,273,6592,0.00,2.10,0.00,0.000,516,0.000,0.040,3230,610,1443,1545,1341,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6635,1.25,219.0,2240,610,1514,1338,512.3,20.0,275,6641,0.00,2.08,0.00,0.000,1030,0.000,0.031,3231,2004,1443,1545,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6956,1.25,219.0,3230,2004,1545,1340,450.6,16.8,291,6962,0.00,2.12,0.00,0.000,516,0.000,0.039,3242,609,1442,1544,1341,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7130,1.25,219.0,3242,609,1543,1340,419.6,18.9,299,7135,0.00,2.08,0.00,0.000,1030,0.000,0.031,3242,2010,1441,1543,1340,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7450,1.25,219.0,3242,2009,1543,1340,358.1,18.6,315,7456,0.00,2.12,0.00,0.000,516,0.000,0.038,3253,610,1441,1543,1340,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7566,1.25,219.0,3253,610,1542,1340,337.6,19.1,320,7572,0.12,2.08,0.00,0.000,5126,0.170,0.031,3221,2003,1441,1542,1340,0,0,0,0,0,0,26.37,26.62,28.83
$GC,7882,1.25,219.0,3222,2003,1542,1340,280.0,18.9,336,7888,0.00,2.15,0.00,0.000,260,0.000,0.046,3221,3402,1441,1542,1340,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7998,1.25,219.0,3221,3402,1542,1340,258.5,20.0,341,8004,0.00,2.05,0.00,0.000,1030,0.000,0.028,3232,2002,1441,1542,1340,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8312,1.25,219.0,3232,2002,1543,1340,201.2,18.8,357,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2002,1441,1542,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8612,1.25,219.0,3232,2002,1542,1340,150.1,17.0,372,8618,0.00,2.10,0.00,0.000,516,0.000,0.039,3243,610,1441,1543,1340,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8855,1.25,219.0,3243,610,1542,1341,111.4,15.8,383,8860,0.00,2.05,0.00,0.000,1030,0.000,0.030,3243,2002,1441,1542,1340,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9169,1.25,219.0,3243,2002,1543,1340,63.3,13.7,399,9175,0.00,2.15,0.00,0.000,260,0.000,0.044,3243,3409,1440,1542,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9224,1.25,219.0,3243,3409,1543,1340,56.7,14.2,401,9231,0.12,2.05,0.00,0.000,5126,0.161,0.028,3221,1996,1441,1543,1340,0,0,0,0,0,0,26.41,26.67,28.83
$GC,9536,1.25,219.0,2176,1994,1511,1336,19.0,11.6,434,9545,0.00,2.08,0.00,0.000,516,0.000,0.038,3232,612,1442,1545,1340,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9584,1.25,219.0,2192,612,1511,1337,13.2,12.0,442,9592,0.00,2.05,0.00,0.000,1030,0.000,0.030,3233,2004,1442,1544,1340,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,9666,end climb,SURFACE_DEPTH_REACHED
$STATE,9666,begin surface coast
$FINISH,0.4,1.023378
$STATE,9690,end surface coast,CONTROL_FINISHED_OK
$STATE,9690,begin surface
$SM_CCo,9707,82.82,0.058,0,0,748,400.08
$SM_GC,1.29,7.82,0.75,82.82,0.030,0.052,0.058,136,2486,748,-8.29,-1.36,400.08,0,0,0,0,0,0,26.61,26.58,26.45
$IRIDIUM_FIX,2152.74,12321.41,250313,131331
$TT8_MAMPS,0.048685,0.048685
$HUMID,44.68
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3957856
$24V_AH,24.1,28.811
$10V_AH,10.2,20.322
$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,19.775,86.025,567.375,82.825,0.000,0.000,0.000,189.525,0.000,0.000,16.115,2029.906,5593.789,720.555,1497.951,281.294,0.000,1660.408,0.000,1236.786,0.000,0.537,0.000
$DEVICE_MAMPS,219.555,69.615,901.935,58.140,0.000,0.000,0.000,122.400,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9699.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.982,0.000,0.000,0.000
$MEM,329720
$DATA_FILE_SIZE,16753,461
$CAP_FILE_SIZE,259158,0
$CFSIZE,260034560,233349120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071, 80.7,1
$GPS,250313,184554,2203.405,12321.971,55,1.2,56,-2.9