version: 66.11
glider: 171
mission: 4
dive: 175
start: 3 23 113 3 49 50
data:
$ID,171
$MISSION,4
$DIVE,175
$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,-20732.725
$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,54
$R_STBD_OVSHOOT,33
$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
$GPS1,230313,034336,2145.329,12343.656,37,1.1,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.8
$GPS2,230313,034924,2145.371,12343.736,11,1.2,16,-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,304.4,276052,-12.0,-8.739,-16.47,3810
$D_GRID,4714
$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,-219.0,129,2497,828,666,0.0,0.0,0,83,0.00,0.00,-62.33,0.000,16386,0.000,0.000,129,2497,2507,2570,2445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.25,-219.0,129,2497,2572,2446,3.5,-5.4,8,118,8.80,2.08,-13.93,0.000,18948,0.220,0.042,2409,1099,3275,3345,3206,0,0,0,0,0,0,25.89,26.34,26.65
$GC,268,-1.25,-219.0,2411,1096,3348,3207,67.0,-32.0,26,275,0.00,2.17,0.00,0.000,1030,0.000,0.042,2402,2504,3278,3350,3207,0,0,0,0,0,0,28.83,26.38,28.83
$GC,594,-1.25,-219.0,2402,2504,3351,3207,180.6,-34.3,42,600,0.00,1.80,0.00,0.000,260,0.000,0.051,2393,3671,3280,3351,3209,0,0,0,0,0,0,28.83,26.47,28.83
$GC,702,-1.25,-219.0,1488,3671,3334,3202,216.2,-33.6,47,708,0.00,1.70,0.00,0.000,1030,0.000,0.024,2393,2479,3279,3352,3207,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1023,-1.25,-219.0,2392,2477,3354,3207,309.4,-28.5,63,1029,0.00,1.88,0.00,0.000,260,0.000,0.052,2384,3673,3280,3355,3205,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1040,-1.25,-219.0,2384,3673,3355,3207,309.4,-28.5,63,1049,0.12,1.67,0.00,0.000,3078,0.166,0.024,2415,2496,3281,3355,3207,0,0,0,0,0,0,26.39,26.66,28.83
$GC,1347,-1.25,-219.0,2415,2495,3355,3207,399.3,-27.1,79,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2495,3281,3355,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1647,-1.25,-219.0,2414,2494,3355,3208,476.8,-24.0,94,1652,0.00,1.83,0.00,0.000,260,0.000,0.054,2407,3671,3281,3355,3207,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1680,-1.25,-219.0,2407,3671,3355,3207,482.5,-23.9,95,1685,0.00,1.67,0.00,0.000,1030,0.000,0.024,2408,2492,3281,3355,3207,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1994,-1.25,-219.0,2407,2490,3355,3207,556.9,-23.4,111,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2490,3281,3355,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2313,-1.25,-219.0,2407,2490,3355,3207,624.0,-18.6,125,2320,0.00,1.83,0.00,0.000,260,0.000,0.054,2396,3671,3281,3355,3208,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2378,-1.25,-219.0,2398,3671,3355,3207,637.0,-19.2,127,2385,0.00,1.67,0.00,0.000,1030,0.000,0.024,2398,2495,3281,3355,3207,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2713,-1.25,-219.0,2398,2496,3355,3207,709.8,-21.7,138,2720,0.00,2.03,0.00,0.000,516,0.000,0.031,2398,1114,3281,3355,3207,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2758,-1.25,-219.0,2398,1114,3355,3207,717.2,-21.6,139,2765,0.12,2.12,0.00,0.000,3078,0.164,0.041,2421,2503,3281,3355,3207,0,0,0,0,0,0,26.47,26.63,28.83
$GC,3083,-1.25,-219.0,2420,2503,3355,3203,780.4,-18.1,150,3089,0.00,1.80,0.00,0.000,260,0.000,0.055,2412,3670,3279,3355,3203,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3129,-1.25,-219.0,2412,3667,3355,3203,786.5,-18.2,151,3135,0.00,1.67,0.00,0.000,1030,0.000,0.025,2412,2494,3278,3355,3202,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3452,-1.25,-219.0,2412,2493,3355,3197,845.3,-17.5,162,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2493,3276,3355,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3753,-1.25,-219.0,2412,2493,3354,3193,901.5,-19.1,172,3758,0.00,2.03,0.00,0.000,516,0.000,0.030,2412,1112,3273,3354,3192,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3796,-1.25,-219.0,2412,1112,3355,3192,907.8,-19.0,173,3802,0.00,2.12,0.00,0.000,1030,0.000,0.041,2401,2503,3272,3354,3191,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,4119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4119,begin apogee
$GC,4125,-0.20,0.0,2402,1993,3353,3187,971.3,-18.8,184,4459,1.05,0.00,326.48,0.767,10246,0.119,0.000,2753,1991,2380,2539,2221,0,0,0,0,0,0,26.42,28.83,24.49
$STATE,4461,end apogee,CONTROL_FINISHED_OK
$STATE,4461,begin climb
$GC,4464,1.25,219.0,2753,1991,2532,2212,994.5,0.0,194,4704,1.27,2.22,227.02,0.916,10756,0.046,0.040,3242,634,1475,1575,1375,0,0,0,0,0,0,25.25,24.88,24.19
$GC,4775,1.25,219.0,3244,634,1558,1360,948.5,23.6,204,4781,0.00,2.17,0.00,0.000,1030,0.000,0.032,3242,2014,1458,1558,1359,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5110,1.25,219.0,3242,2014,1551,1354,863.5,25.8,215,5116,0.00,2.15,0.00,0.000,516,0.000,0.038,3253,632,1452,1551,1354,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5155,1.25,219.0,3253,632,1550,1354,854.8,25.8,216,5161,0.12,2.08,0.00,0.000,5126,0.175,0.031,3222,2008,1452,1550,1354,0,0,0,0,0,0,26.04,26.24,28.83
$GC,5480,1.25,219.0,3222,2008,1548,1350,775.5,23.2,227,5486,0.00,2.17,0.00,0.000,260,0.000,0.047,3222,3400,1449,1549,1350,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5534,1.25,219.0,3222,3400,1546,1350,767.2,23.4,228,5540,0.00,2.05,0.00,0.000,1030,0.000,0.029,3233,2019,1449,1548,1350,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5850,1.25,219.0,3233,2019,1547,1348,688.6,23.1,239,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2019,1447,1547,1348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6148,1.25,219.0,3230,2018,1546,1346,623.9,20.9,249,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2019,1446,1546,1346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6449,1.25,219.0,3233,2017,1545,1344,559.4,20.1,262,6455,0.00,2.17,0.00,0.000,260,0.000,0.047,3233,3406,1444,1544,1344,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6524,1.25,219.0,3232,3406,1544,1344,544.5,21.7,265,6530,0.00,2.08,0.00,0.000,1030,0.000,0.030,3245,2004,1444,1544,1344,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6838,1.25,219.0,3244,2004,1542,1341,475.6,21.8,281,6844,0.00,2.12,0.00,0.000,516,0.000,0.041,3255,610,1442,1542,1342,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6918,1.25,219.0,3255,609,1541,1342,461.2,22.1,284,6927,0.12,2.08,0.00,0.000,5126,0.170,0.031,3223,2006,1441,1541,1342,0,0,0,0,0,0,26.39,26.62,28.83
$GC,7224,1.25,219.0,3223,2006,1541,1340,401.1,17.0,300,7230,0.00,2.15,0.00,0.000,260,0.000,0.047,3223,3400,1441,1541,1341,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7304,1.25,219.0,3223,3400,1541,1341,388.8,18.4,303,7312,0.00,2.08,0.00,0.000,1030,0.000,0.030,3234,1995,1441,1541,1341,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7611,1.25,219.0,3234,1994,1538,1339,328.4,19.8,319,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1994,1440,1541,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7910,1.25,219.0,3234,1994,1541,1339,270.8,17.6,334,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1994,1439,1540,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8210,1.25,219.0,3234,1994,1541,1339,216.2,18.6,349,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1994,1440,1541,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8510,1.25,219.0,3234,1994,1541,1342,163.9,16.2,364,8516,0.00,2.10,0.00,0.000,516,0.000,0.040,3245,608,1440,1541,1339,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8555,1.25,219.0,2240,607,1510,1336,157.4,15.2,366,8561,0.00,2.05,0.00,0.000,1030,0.000,0.031,3245,1999,1441,1541,1342,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8881,1.25,219.0,3245,1999,1541,1339,109.9,15.1,382,8887,0.00,2.15,0.00,0.000,260,0.000,0.045,3245,3403,1440,1541,1339,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8957,1.25,219.0,3245,3404,1541,1340,98.4,16.4,385,8964,0.12,2.08,0.00,0.000,5126,0.165,0.028,3224,1989,1440,1541,1339,0,0,0,0,0,0,26.44,26.69,28.83
$GC,9273,1.25,219.0,3223,1989,1541,1339,48.9,15.4,401,9280,0.00,2.08,0.00,0.000,516,0.000,0.039,3234,607,1440,1541,1339,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9302,1.25,219.0,3234,608,1541,1339,44.9,15.3,403,9310,0.00,2.05,0.00,0.000,1030,0.000,0.030,3234,2001,1440,1541,1339,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,9603,end climb,SURFACE_DEPTH_REACHED
$STATE,9603,begin surface coast
$FINISH,0.5,1.022472
$STATE,9629,end surface coast,CONTROL_FINISHED_OK
$STATE,9629,begin surface
$SM_CCo,9646,82.72,0.060,0,0,748,400.08
$SM_GC,1.34,7.88,0.75,82.72,0.033,0.048,0.060,124,2497,748,-8.30,-1.33,400.08,0,0,0,0,0,0,26.69,26.65,26.48
$IRIDIUM_FIX,2136.49,12346.55,230313,000051
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.72
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3964576
$24V_AH,24.2,25.882
$10V_AH,10.2,18.660
$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,19.625,69.550,553.500,82.725,0.000,0.000,0.000,201.850,0.000,0.000,17.123,1817.275,5991.385,666.292,1356.989,243.170,0.000,1550.651,0.000,1084.334,0.000,0.537,0.000
$DEVICE_MAMPS,220.320,55.080,916.470,59.670,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9628.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.904,0.000,0.000,0.000
$MEM,329704
$DATA_FILE_SIZE,16800,453
$CAP_FILE_SIZE,237683,0
$CFSIZE,260034560,235196416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.142,137.7,1
$GPS,230313,063306,2145.842,12342.674,26,1.6,27,-2.9