version: 66.11
glider: 171
mission: 4
dive: 169
start: 3 22 113 10 31 40
data:
$ID,171
$MISSION,4
$DIVE,169
$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,-20722.627
$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,55
$R_STBD_OVSHOOT,37
$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
$GPS1,220313,102523,2138.723,12349.192,28,1.1,46,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-70.6
$GPS2,220313,103113,2138.768,12349.136,12,1.6,12,-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,344.2,290356,-12.0,-8.739,-16.47,3810
$D_GRID,5090
$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,-219.0,128,2502,828,667,0.0,0.0,0,80,0.00,0.00,-60.50,0.000,16386,0.000,0.000,128,2502,2437,2506,2369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.25,-219.0,128,2502,2511,2369,3.3,-5.1,8,116,8.77,1.90,-15.73,0.000,18692,0.220,0.068,2399,3671,3278,3349,3208,0,0,0,0,0,0,25.92,26.27,26.65
$GC,348,-1.25,-219.0,2398,3671,3355,3208,91.9,-33.4,31,354,0.00,1.70,0.00,0.000,1030,0.000,0.024,2399,2483,3281,3354,3208,0,0,0,0,0,0,28.83,26.52,28.83
$GC,668,-1.25,-219.0,2399,2482,3356,3208,196.4,-31.5,47,674,0.00,1.88,0.00,0.000,260,0.000,0.054,2390,3676,3282,3356,3208,0,0,0,0,0,0,28.83,26.51,28.83
$GC,904,-1.25,-219.0,2390,3676,3356,3210,259.9,-25.6,58,910,0.00,1.67,0.00,0.000,1030,0.000,0.024,2390,2496,3283,3356,3210,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1219,-1.25,-219.0,2390,2494,3358,3210,351.2,-25.7,74,1225,0.00,1.85,0.00,0.000,260,0.000,0.052,2381,3678,3284,3358,3210,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1274,-1.25,-219.0,2381,3678,3358,3210,363.8,-26.4,76,1281,0.08,1.73,0.00,0.000,3078,0.149,0.025,2418,2493,3284,3358,3210,0,0,0,0,0,0,26.40,26.71,28.83
$GC,1590,-1.25,-219.0,2418,2492,3359,3210,446.1,-26.0,92,1597,0.00,1.83,0.00,0.000,260,0.000,0.054,2409,3670,3284,3359,3210,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1629,-1.25,-219.0,2410,3669,3360,3210,453.0,-26.3,93,1638,0.00,1.70,0.00,0.000,1030,0.000,0.025,2410,2502,3284,3358,3210,0,0,0,0,0,0,28.83,26.73,28.83
$GC,1936,-1.25,-219.0,2410,2501,3359,3210,525.5,-21.6,109,1941,0.00,2.05,0.00,0.000,516,0.000,0.031,2410,1106,3284,3359,3210,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1963,-1.25,-219.0,2409,1106,3359,3210,530.9,-21.6,110,1970,0.00,2.10,0.00,0.000,1030,0.000,0.041,2399,2494,3284,3359,3210,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2284,-1.25,-219.0,2399,2494,3359,3210,600.0,-19.9,126,2290,0.00,1.83,0.00,0.000,260,0.000,0.055,2390,3670,3284,3359,3210,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2423,-1.25,-219.0,2390,3670,3358,3210,628.0,-22.3,131,2429,0.00,1.67,0.00,0.000,1030,0.000,0.025,2390,2495,3284,3358,3210,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2742,-1.25,-219.0,2390,2495,3358,3210,706.9,-24.6,142,2748,0.00,2.05,0.00,0.000,516,0.000,0.031,2390,1103,3284,3359,3210,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2770,-1.25,-219.0,2390,1102,3359,3210,706.9,-24.6,142,2779,0.15,2.15,0.00,0.000,3078,0.160,0.044,2420,2503,3284,3359,3210,0,0,0,0,0,0,26.46,26.64,28.83
$GC,3077,-1.25,-219.0,2420,2503,3358,3207,774.9,-18.0,153,3083,0.00,1.83,0.00,0.000,260,0.000,0.055,2412,3677,3282,3358,3206,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3173,-1.25,-219.0,2411,3677,3358,3205,791.2,-17.0,156,3179,0.00,1.70,0.00,0.000,1030,0.000,0.025,2412,2491,3282,3359,3205,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3507,-1.25,-219.0,2412,2490,3358,3198,846.1,-17.5,167,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2490,3279,3358,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3807,-1.25,-219.0,2412,2490,3358,3196,906.0,-20.1,177,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2490,3277,3358,3196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4108,-1.25,-219.0,2412,2490,3358,3191,963.3,-18.9,187,4114,0.00,2.03,0.00,0.000,516,0.000,0.031,2412,1115,3274,3358,3190,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4137,-1.25,-219.0,2412,1115,3358,3190,963.3,-18.9,187,4145,0.00,2.12,0.00,0.000,1030,0.000,0.043,2402,2504,3274,3358,3190,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,4171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4171,begin apogee
$GC,4176,-0.20,0.0,2402,1999,3358,3189,975.4,-18.4,189,4518,1.02,0.00,330.95,0.756,10246,0.117,0.000,2747,1997,2373,2533,2214,0,0,0,0,0,0,26.44,28.83,24.53
$STATE,4520,end apogee,CONTROL_FINISHED_OK
$STATE,4520,begin climb
$GC,4522,1.25,219.0,2747,1997,2531,2202,995.6,0.0,199,4844,1.30,2.33,311.73,0.756,10756,0.048,0.044,3240,627,1481,1580,1383,0,0,0,0,0,0,25.27,24.99,24.38
$GC,4882,1.25,219.0,3239,627,1565,1370,949.9,21.3,210,4891,0.00,2.17,0.00,0.000,1030,0.000,0.034,3240,2008,1465,1564,1366,0,0,0,0,0,0,28.83,25.39,28.83
$GC,5189,1.25,219.0,3243,2008,1555,1357,867.1,25.0,221,5195,0.00,2.15,0.00,0.000,516,0.000,0.040,3252,628,1455,1555,1356,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5212,1.25,219.0,3252,628,1554,1356,867.1,25.0,221,5218,0.12,2.10,0.00,0.000,5126,0.174,0.033,3221,2007,1455,1554,1356,0,0,0,0,0,0,25.98,26.17,28.83
$GC,5526,1.25,219.0,3221,2008,1553,1355,786.4,23.7,232,5532,0.00,2.17,0.00,0.000,260,0.000,0.047,3221,3402,1454,1553,1355,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5555,1.25,219.0,3220,3402,1553,1355,786.4,23.7,232,5564,0.00,2.08,0.00,0.000,1030,0.000,0.028,3232,2009,1453,1552,1355,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5862,1.25,219.0,3232,2009,1551,1353,710.3,21.9,243,5868,0.00,2.17,0.00,0.000,260,0.000,0.047,3232,3402,1454,1556,1353,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5915,1.25,219.0,3232,3402,1551,1353,702.4,21.9,244,5921,0.00,2.08,0.00,0.000,1030,0.000,0.028,3243,1998,1452,1551,1353,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6231,1.25,219.0,3243,1998,1550,1351,629.7,21.6,255,6237,0.00,2.12,0.00,0.000,516,0.000,0.041,3255,608,1450,1550,1351,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6304,1.25,219.0,3255,608,1549,1351,614.7,21.9,257,6311,0.12,2.10,0.00,0.000,5126,0.174,0.032,3223,2002,1449,1549,1350,0,0,0,0,0,0,26.35,26.57,28.83
$GC,6631,1.25,219.0,3223,2002,1548,1346,542.5,20.0,272,6637,0.00,2.17,0.00,0.000,260,0.000,0.046,3223,3411,1448,1548,1348,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6763,1.25,219.0,3223,3411,1547,1348,515.2,21.3,278,6769,0.00,2.10,0.00,0.000,1030,0.000,0.031,3234,1995,1447,1547,1348,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7083,1.25,219.0,3234,1995,1547,1345,448.7,21.0,294,7090,0.00,2.10,0.00,0.000,516,0.000,0.041,3246,609,1446,1547,1345,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7133,1.25,219.0,3245,609,1547,1345,439.1,21.0,296,7139,0.00,2.08,0.00,0.000,1030,0.000,0.031,3245,2007,1446,1547,1345,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7453,1.25,219.0,3245,2007,1546,1345,375.6,17.5,312,7459,0.00,2.15,0.00,0.000,260,0.000,0.046,3245,3402,1446,1546,1346,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7498,1.25,219.0,3245,3402,1546,1345,366.9,18.4,314,7505,0.12,2.08,0.00,0.000,5126,0.172,0.029,3225,2001,1445,1546,1345,0,0,0,0,0,0,26.41,26.66,28.83
$GC,7825,1.25,219.0,3225,2001,1546,1344,309.4,16.8,330,7830,0.00,2.15,0.00,0.000,260,0.000,0.046,3227,3402,1444,1545,1344,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7852,1.25,219.0,2240,3401,1515,1341,304.8,17.3,331,7858,0.00,2.08,0.00,0.000,1030,0.000,0.029,3236,1994,1444,1545,1344,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8172,1.25,219.0,3236,1994,1545,1344,243.6,20.6,347,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1994,1445,1546,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8471,1.25,219.0,3236,1994,1546,1344,194.8,14.6,362,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1994,1444,1545,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8771,1.25,219.0,3236,1994,1545,1344,152.0,15.3,377,8777,0.00,2.17,0.00,0.000,260,0.000,0.046,3237,3403,1445,1546,1344,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8798,1.25,219.0,3236,3403,1546,1343,147.9,15.8,378,8805,0.00,2.05,0.00,0.000,1030,0.000,0.028,3247,2000,1445,1546,1344,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9119,1.25,219.0,3247,2000,1546,1344,93.9,16.4,394,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2000,1445,1546,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9418,1.25,219.0,3248,2000,1548,1344,46.4,14.3,410,9423,0.00,2.15,0.00,0.000,260,0.000,0.046,3248,3403,1446,1548,1344,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9457,1.25,219.0,3248,3402,1548,1344,41.5,14.4,413,9465,0.15,2.05,0.00,0.000,5126,0.157,0.028,3218,2000,1446,1548,1344,0,0,0,0,0,0,26.44,26.70,28.83
$GC,9771,1.25,219.0,2128,1996,1515,1340,4.0,9.9,461,9778,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2000,1447,1550,1344,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9784,end climb,SURFACE_DEPTH_REACHED
$STATE,9784,begin surface coast
$FINISH,0.6,1.018551
$STATE,9812,end surface coast,CONTROL_FINISHED_OK
$STATE,9812,begin surface
$SM_CCo,9830,82.75,0.059,0,0,748,400.08
$SM_GC,1.48,7.88,0.77,82.75,0.037,0.049,0.059,132,2499,748,-8.28,-1.13,400.08,0,0,0,0,0,0,26.69,26.65,26.49
$IRIDIUM_FIX,2131.85,12351.69,220313,070724
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.76
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3966496
$24V_AH,24.4,25.033
$10V_AH,10.3,18.179
$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,19.725,82.050,642.675,82.750,0.000,0.000,0.000,208.025,0.000,0.000,13.717,1938.754,5834.522,752.788,1478.887,256.558,0.000,1723.754,0.000,1196.583,0.000,0.538,0.000
$DEVICE_MAMPS,220.320,68.085,755.820,58.905,0.000,0.000,0.000,120.870,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9823.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.000,0.000,0.000,0.000
$MEM,329704
$DATA_FILE_SIZE,16797,468
$CAP_FILE_SIZE,256150,0
$CFSIZE,260034560,235704320
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124,239.7,1
$GPS,220313,131803,2140.137,12348.327,10,5.1,30,-2.9