version: 66.11
glider: 171
mission: 4
dive: 160
start: 3 21 113 8 51 21
data:
$ID,171
$MISSION,4
$DIVE,160
$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,-20710.311
$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,2835
$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,49
$R_STBD_OVSHOOT,39
$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
$GPS1,210313,084529,2129.639,12359.032,41,1.0,42,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.2
$GPS2,210313,085055,2129.682,12359.002,11,1.8,11,-2.8
$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,351.5,313640,-12.0,-8.739,-16.47,3810
$D_GRID,4935
$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,-219.0,127,2505,826,671,0.0,0.0,0,81,0.00,0.00,-60.92,0.000,16386,0.000,0.000,127,2506,2452,2525,2379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.25,-219.0,127,2506,2530,2379,3.2,-4.8,8,116,8.80,1.80,-15.27,0.000,18692,0.219,0.065,2417,3663,3276,3344,3209,0,0,0,0,0,0,25.95,26.29,26.66
$GC,349,-1.25,-219.0,2417,3663,3350,3206,95.4,-32.9,31,355,0.00,1.70,0.00,0.000,1030,0.000,0.027,2418,2482,3278,3350,3206,0,0,0,0,0,0,28.83,26.53,28.83
$GC,668,-1.25,-219.0,2418,2481,3350,3206,191.5,-27.8,47,674,0.00,1.85,0.00,0.000,260,0.000,0.052,2408,3667,3278,3350,3206,0,0,0,0,0,0,28.83,26.51,28.83
$GC,904,-1.25,-219.0,2408,3667,3353,3206,258.3,-30.0,58,911,0.00,1.67,0.00,0.000,1030,0.000,0.026,2408,2493,3279,3353,3206,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1219,-1.25,-219.0,2408,2491,3354,3206,345.9,-26.4,74,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2491,3280,3354,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1518,-1.25,-219.0,2408,2491,3354,3206,431.0,-28.5,89,1525,0.00,1.80,0.00,0.000,260,0.000,0.052,2399,3662,3280,3354,3207,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1578,-1.25,-219.0,2400,3663,3354,3206,443.4,-27.8,91,1587,0.12,1.65,0.00,0.000,3078,0.156,0.026,2433,2496,3280,3354,3206,0,0,0,0,0,0,26.48,26.74,28.83
$GC,1884,-1.25,-219.0,2432,2495,3355,3207,516.2,-21.8,107,1890,0.00,1.80,0.00,0.000,260,0.000,0.054,2424,3660,3281,3355,3207,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1939,-1.25,-219.0,2424,3660,3355,3207,525.7,-21.3,109,1945,0.00,1.65,0.00,0.000,1030,0.000,0.026,2424,2501,3280,3355,3206,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2253,-1.25,-219.0,2424,2499,3355,3206,593.2,-20.7,125,2259,0.00,2.05,0.00,0.000,516,0.000,0.031,2424,1109,3280,3353,3207,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2293,-1.25,-219.0,2424,1109,3355,3206,598.1,-20.4,126,2301,0.00,2.10,0.00,0.000,1030,0.000,0.041,2413,2493,3281,3355,3207,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2599,-1.25,-219.0,2413,2493,3355,3204,657.4,-17.5,137,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2493,3280,3355,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2898,-1.25,-219.0,2413,2493,3354,3206,712.3,-19.3,147,2904,0.00,1.83,0.00,0.000,260,0.000,0.057,2405,3668,3280,3355,3206,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2936,-1.25,-219.0,2404,3668,3355,3206,719.1,-19.4,148,2942,0.10,1.67,0.00,0.000,3078,0.163,0.027,2430,2496,3280,3355,3206,0,0,0,0,0,0,26.54,26.76,28.83
$GC,3266,-1.25,-219.0,2430,2496,3354,3201,779.1,-17.3,159,3273,0.00,1.83,0.00,0.000,260,0.000,0.057,2422,3668,3277,3354,3201,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3310,-1.25,-219.0,2421,3668,3354,3201,784.9,-16.8,160,3317,0.00,1.67,0.00,0.000,1030,0.000,0.026,2422,2499,3278,3355,3201,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3635,-1.25,-219.0,2422,2499,3354,3196,838.9,-16.3,171,3641,0.00,2.08,0.00,0.000,516,0.000,0.034,2422,1104,3275,3354,3196,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3674,-1.25,-219.0,2421,1104,3354,3195,844.5,-16.2,172,3680,0.00,2.12,0.00,0.000,1030,0.000,0.044,2411,2498,3274,3354,3195,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4003,-1.25,-219.0,2411,2498,3354,3192,905.5,-18.8,183,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2498,3272,3354,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4303,-1.25,-219.0,2411,2498,3354,3186,960.2,-17.7,193,4309,0.00,1.83,0.00,0.000,260,0.000,0.058,2403,3670,3268,3354,3182,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4347,-1.25,-219.0,2402,3670,3353,3185,966.2,-17.8,194,4353,0.12,1.67,0.00,0.000,3078,0.148,0.028,2437,2501,3269,3354,3184,0,0,0,0,0,0,26.52,26.77,28.83
$STATE,4370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4370,begin apogee
$GC,4376,-0.20,0.0,2436,2007,3353,3184,972.1,-17.6,195,4719,0.95,0.00,333.85,0.754,10246,0.109,0.000,2763,2005,2375,2535,2216,0,0,0,0,0,0,26.48,28.83,24.51
$STATE,4722,end apogee,CONTROL_FINISHED_OK
$STATE,4722,begin climb
$GC,4723,1.25,219.0,2763,2005,2531,2202,992.0,0.0,205,4972,1.27,2.35,233.77,0.895,10756,0.044,0.045,3256,618,1470,1567,1373,0,0,0,0,0,0,25.26,24.87,24.18
$GC,5026,1.25,219.0,3255,618,1554,1361,949.8,22.2,215,5032,0.00,2.22,0.00,0.000,1030,0.000,0.037,3256,2008,1457,1553,1361,0,0,0,0,0,0,28.83,25.41,28.83
$GC,5361,1.25,219.0,3256,2008,1547,1354,863.3,26.1,226,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2008,1451,1547,1355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5660,1.25,219.0,3256,2008,1546,1352,787.1,25.1,236,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2008,1449,1546,1352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5960,1.25,219.0,3256,2008,1544,1350,712.4,24.5,246,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2008,1447,1544,1350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6260,1.25,219.0,3256,2009,1542,1347,642.9,22.8,256,6266,0.00,2.17,0.00,0.000,260,0.000,0.049,3256,3409,1445,1542,1348,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6272,1.25,219.0,3256,3409,1542,1348,642.9,22.8,256,6279,0.12,2.10,0.00,0.000,5126,0.177,0.030,3236,2009,1445,1542,1348,0,0,0,0,0,0,26.33,26.56,28.83
$GC,6598,1.25,219.0,3236,2009,1540,1345,569.8,21.8,269,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2009,1442,1540,1345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6897,1.25,219.0,3236,2008,1539,1343,510.0,18.4,284,6904,0.00,2.15,0.00,0.000,516,0.000,0.042,3247,603,1441,1539,1343,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6973,1.25,219.0,3246,603,1539,1343,497.5,19.0,287,6979,0.00,2.10,0.00,0.000,1030,0.000,0.035,3248,2007,1441,1539,1343,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7287,1.25,219.0,3251,2007,1538,1341,434.2,19.5,303,7293,0.00,2.17,0.00,0.000,260,0.000,0.048,3247,3412,1439,1538,1341,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7509,1.25,219.0,2272,3411,1508,1338,390.4,19.8,313,7517,0.00,2.10,0.00,0.000,1030,0.000,0.031,3259,2003,1439,1538,1341,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7815,1.25,219.0,3259,2002,1538,1340,330.9,19.2,329,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2001,1438,1537,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8115,1.25,219.0,3259,2001,1538,1340,274.6,19.6,344,8121,0.00,2.17,0.00,0.000,260,0.000,0.047,3259,3404,1439,1538,1340,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8218,1.25,219.0,3259,3404,1538,1340,254.5,23.0,348,8228,0.12,2.10,0.00,0.000,5126,0.171,0.031,3238,1988,1439,1538,1340,0,0,0,0,0,0,26.44,26.67,28.83
$GC,8524,1.25,219.0,3237,1988,1538,1340,196.6,14.8,364,8531,0.00,2.20,0.00,0.000,260,0.000,0.047,3238,3406,1439,1538,1340,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8691,1.25,219.0,3237,3406,1538,1340,173.0,15.3,372,8697,0.00,2.10,0.00,0.000,1030,0.000,0.030,3249,1994,1439,1538,1340,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9017,1.25,219.0,3249,1994,1538,1340,121.0,15.5,388,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1994,1439,1538,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9315,1.25,219.0,3249,1994,1538,1340,76.0,15.9,403,9321,0.00,2.17,0.00,0.000,260,0.000,0.047,3249,3407,1439,1539,1340,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9348,1.25,219.0,3249,3407,1539,1341,71.9,16.4,404,9355,0.00,2.08,0.00,0.000,1030,0.000,0.030,3261,1999,1440,1540,1340,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9659,1.25,219.0,3260,1998,1540,1340,23.5,13.9,429,9667,0.00,2.12,0.00,0.000,516,0.000,0.044,3272,600,1440,1540,1340,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9778,1.25,219.0,2240,600,1507,1337,7.4,13.9,451,9788,0.12,2.08,0.00,0.000,5126,0.157,0.034,3238,2002,1440,1540,1340,0,0,0,0,0,0,26.48,26.67,28.83
$STATE,9814,end climb,SURFACE_DEPTH_REACHED
$STATE,9814,begin surface coast
$FINISH,0.5,1.023018
$STATE,9837,end surface coast,CONTROL_FINISHED_OK
$STATE,9837,begin surface
$SM_CCo,9854,82.65,0.060,0,0,747,400.08
$SM_GC,1.47,7.90,0.75,82.65,0.034,0.049,0.060,136,2492,747,-8.35,-1.27,400.08,0,0,0,0,0,0,26.68,26.65,26.50
$IRIDIUM_FIX,2120.26,12357.47,210313,060602
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.15
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3969376
$24V_AH,24.2,23.796
$10V_AH,10.3,17.471
$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,19.650,68.625,567.625,82.650,0.000,0.000,0.000,188.875,0.000,0.000,12.623,1932.885,5972.770,684.647,1433.511,237.251,0.000,1599.738,0.000,1173.967,0.000,0.538,0.000
$DEVICE_MAMPS,218.790,65.025,895.050,59.670,0.000,0.000,0.000,122.400,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9847.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.892,0.000,0.000,0.000
$MEM,329704
$DATA_FILE_SIZE,16799,461
$CAP_FILE_SIZE,249574,0
$CFSIZE,260034560,236494848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.197,236.9,1
$GPS,210313,113806,2130.810,12357.918,11,1.4,29,-2.8