version: 66.11
glider: 171
mission: 4
dive: 7
start: 2 25 113 16 5 57
data:
$ID,171
$MISSION,4
$DIVE,7
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$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,557.86951
$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,-20213.486
$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,2800
$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,0.02
$PITCH_ADJ_DBAND,1
$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,49
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,415
$VBD_MAX,3400
$C_VBD,2730
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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
$GPS1,250213,160006,2204.308,12105.339,37,1.1,38,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-69.0
$GPS2,250213,160531,2204.534,12105.439,10,1.3,10,-2.8
$SPEED_LIMITS,0.173,0.282
$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,24.6,114781,-15.8,-10.000,-19.55,2669
$D_GRID,1263
$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,-0.85,-175.2,129,2522,548,368,0.0,0.0,0,87,0.00,0.00,-67.53,0.000,16386,0.000,0.000,128,2523,2446,2532,2361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.85,-175.2,128,2523,2537,2361,4.0,-8.1,9,122,9.38,1.88,-15.25,0.000,18692,0.234,0.077,2509,3664,3413,3436,3391,0,0,0,0,0,0,26.15,26.33,26.64
$GC,356,-0.63,-175.2,2509,3664,3437,3445,92.6,-29.5,30,363,0.28,1.73,0.00,0.000,3078,0.142,0.029,2591,2489,3440,3436,3445,0,0,0,0,0,0,26.40,26.55,28.83
$GC,670,-0.63,-175.2,2590,2488,3437,3451,149.2,-14.1,46,676,0.00,1.88,0.00,0.000,260,0.000,0.063,2582,3664,3443,3436,3450,0,0,0,0,0,0,28.83,26.58,28.83
$GC,870,-0.69,-175.2,2582,3664,3437,3452,173.6,-12.4,55,878,0.00,1.67,0.00,0.000,1030,0.000,0.030,2582,2502,3444,3437,3452,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1176,-0.72,-175.2,2582,2502,3437,3453,219.8,-13.3,71,1182,0.00,1.85,0.00,0.000,260,0.000,0.065,2574,3661,3444,3436,3453,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1200,-0.75,-175.2,2574,3661,3437,3453,222.9,-13.4,72,1206,0.00,1.67,0.00,0.000,1030,0.000,0.031,2575,2499,3444,3436,3453,0,0,0,0,0,0,28.83,26.76,28.83
$GC,1524,-0.80,-175.2,2574,2499,3437,3453,256.1,-9.2,88,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2499,3445,3437,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1824,-0.86,-175.2,2574,2499,3437,3453,292.1,-12.5,103,1830,0.12,1.85,0.00,0.000,4356,0.086,0.063,2481,3658,3444,3436,3453,0,0,0,0,0,0,26.84,26.75,28.83
$GC,1888,-0.86,-175.2,2481,3658,3436,3453,302.8,-15.6,106,1894,0.15,1.67,0.00,0.000,3078,0.132,0.028,2525,2492,3444,3436,3453,0,0,0,0,0,0,26.72,26.83,28.83
$GC,2213,-0.86,-175.2,2526,2491,3436,3453,352.8,-15.8,122,2218,0.00,2.05,0.00,0.000,516,0.000,0.041,2526,1114,3445,3437,3453,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2310,-0.86,-175.2,2526,1114,3436,3453,364.7,-14.2,126,2319,0.00,2.12,0.00,0.000,1030,0.000,0.047,2516,2494,3444,3436,3453,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2617,-0.86,-175.2,2516,2494,3436,3450,414.7,-16.1,142,2622,0.00,1.85,0.00,0.000,260,0.000,0.067,2507,3673,3443,3436,3450,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2670,-0.86,-175.2,2507,3673,3436,3450,422.3,-16.8,144,2676,0.00,1.67,0.00,0.000,1030,0.000,0.028,2507,2511,3443,3436,3450,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2984,-0.83,-175.2,2507,2510,3436,3447,472.0,-16.1,160,2991,0.00,2.12,0.00,0.000,516,0.000,0.042,2507,1096,3441,3436,3447,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3029,-0.81,-175.2,2507,1096,3436,3448,478.9,-15.2,162,3037,0.15,2.17,0.00,0.000,3078,0.142,0.049,2542,2501,3441,3436,3446,0,0,0,0,0,0,26.75,26.82,28.83
$GC,3355,-0.84,-175.2,2542,2501,3436,3443,521.7,-13.6,178,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2501,3439,3436,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3655,-0.87,-175.2,2542,2500,3436,3441,557.5,-10.9,193,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2501,3437,3435,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3955,-0.91,-175.2,2542,2501,3435,3438,589.8,-11.3,208,3957,0.10,0.00,0.00,0.000,4102,0.103,0.000,2486,2501,3436,3435,3438,0,0,0,0,0,0,26.91,28.83,28.83
$GC,4275,-0.87,-175.2,2485,2501,3434,3437,637.3,-15.2,220,4282,0.12,1.85,0.00,0.000,2308,0.145,0.068,2512,3673,3437,3434,3440,0,0,0,0,0,0,26.80,26.82,28.83
$GC,4401,-0.87,-175.2,2512,3674,3432,3436,654.1,-13.3,224,4407,0.00,1.73,0.00,0.000,1030,0.000,0.030,2512,2489,3434,3432,3436,0,0,0,0,0,0,28.83,26.90,28.83
$GC,4735,-0.87,-175.2,2512,2487,3431,3433,697.7,-12.5,235,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2487,3432,3431,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5034,-0.87,-175.2,2512,2487,3428,3432,737.3,-13.0,245,5040,0.00,2.08,0.00,0.000,516,0.000,0.043,2512,1107,3430,3429,3431,0,0,0,0,0,0,28.83,26.86,28.83
$GC,5077,-0.87,-175.2,2512,1108,3428,3432,741.6,-13.0,246,5083,0.00,2.15,0.00,0.000,1030,0.000,0.049,2502,2501,3430,3428,3432,0,0,0,0,0,0,28.83,26.85,28.83
$GC,5401,-0.87,-175.2,2503,2501,3427,3430,786.4,-13.3,257,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2500,3428,3427,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5700,-0.87,-175.2,2502,2501,3425,3428,823.2,-11.9,267,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2500,3426,3425,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6001,-0.87,-175.2,2502,2501,3423,3428,858.1,-11.4,277,6007,0.00,1.85,0.00,0.000,260,0.000,0.070,2494,3670,3425,3423,3427,0,0,0,0,0,0,28.83,26.84,28.83
$GC,6044,-0.87,-175.2,2494,3670,3423,3427,861.9,-11.2,278,6050,0.00,1.70,0.00,0.000,1030,0.000,0.031,2494,2499,3425,3423,3427,0,0,0,0,0,0,28.83,26.91,28.83
$GC,6367,-0.87,-175.2,2494,2498,3421,3426,898.7,-10.9,289,6368,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2498,3423,3421,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6668,-0.87,-175.2,2494,2497,3420,3425,933.1,-11.8,299,6673,0.00,1.88,0.00,0.000,260,0.000,0.070,2487,3676,3421,3418,3424,0,0,0,0,0,0,28.83,26.84,28.83
$GC,6720,-0.87,-175.2,2487,3676,3420,3424,937.3,-11.9,300,6725,0.00,1.70,0.00,0.000,1030,0.000,0.030,2487,2497,3422,3420,3424,0,0,0,0,0,0,28.83,26.91,28.83
$GC,7033,-0.87,-175.2,2486,2496,3419,3422,982.4,-13.9,311,7040,0.12,2.10,0.00,0.000,2564,0.147,0.042,2530,1103,3420,3419,3422,0,0,0,0,0,0,26.82,26.88,28.83
$GC,7056,-0.87,-175.2,2529,1102,3418,3422,982.4,-13.9,311,7062,0.00,2.17,0.00,0.000,1030,0.000,0.054,2519,2503,3418,3418,3419,0,0,0,0,0,0,28.83,26.85,28.83
$STATE,7098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7098,begin apogee
$GC,7103,-0.20,0.0,2519,2005,3418,3422,990.7,-13.5,313,7271,0.60,0.00,154.10,1.147,10246,0.100,0.000,2732,2002,2728,2847,2609,0,0,0,0,1,0,26.82,28.83,23.97
$STATE,7272,end apogee,CONTROL_FINISHED_OK
$STATE,7273,begin climb
$GC,7274,0.85,175.2,2732,2002,2847,2610,1004.4,0.0,318,7337,0.95,0.00,54.30,1.089,10242,0.050,0.000,3084,2005,2523,2661,2386,0,0,0,0,1,0,24.98,28.83,24.31
$STATE,7338,end climb,ABORT_DEPTH_EXCEEDED
$SM_CCo,7349,512.17,1.100,20,0,411,567.87
$SM_GC,1.20,7.68,0.00,0.00,0.051,0.000,0.000,144,2001,429,-8.24,0.03,564.44,0,0,0,0,0,0,26.82,28.83,28.83
$IRIDIUM_FIX,2152.74,12106.60,250213,131352
$TT8_MAMPS,0.051681,0.051681
$HUMID,44.52
$INTERNAL_PRESSURE,9.59367
$TCM_TEMP,17.10
$XPDR_PINGS,0
$SC_FREEKB,4017952
$24V_AH,23.8,2.526
$10V_AH,10.4,2.107
$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,19.650,46.475,208.400,512.175,0.000,0.000,0.000,208.650,0.000,0.000,11.461,1582.298,10789.864,941.485,1037.887,91.495,0.000,1722.795,0.000,777.779,0.000,0.537,0.000
$DEVICE_MAMPS,234.090,77.265,1147.500,1100.070,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7284.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.490,0.000,0.000,0.000
$MEM,324068
$DATA_FILE_SIZE,10117,321
$CAP_FILE_SIZE,195838,0
$CFSIZE,260034560,252981248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,250213,200236,2207.396,12107.697,39,2.0,39,-2.8