version: 66.11
glider: 171
mission: 4
dive: 180
start: 3 23 113 18 8 10
data:
$ID,171
$MISSION,4
$DIVE,180
$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,-20739.201
$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,59
$R_STBD_OVSHOOT,35
$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
$GPS1,230313,180200,2149.947,12338.245,39,1.9,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-67.7
$GPS2,230313,180743,2150.006,12338.303,11,1.5,11,-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,293.3,263677,-12.0,-8.739,-16.47,3810
$D_GRID,4664
$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,16,begin dive
$GC,18,-1.25,-219.0,126,2499,836,661,0.0,0.0,0,88,0.00,0.00,-67.97,0.000,16386,0.000,0.000,127,2499,2671,2734,2608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-1.25,-219.0,126,2499,2735,2608,3.7,-5.2,9,117,8.75,2.17,-10.55,0.000,18948,0.217,0.047,2411,1093,3276,3344,3209,0,0,0,0,0,0,25.89,26.32,26.63
$GC,226,-1.25,-219.0,2411,1093,3347,3209,52.0,-31.9,25,232,0.00,2.15,0.00,0.000,1030,0.000,0.041,2401,2497,3278,3347,3209,0,0,0,0,0,0,28.83,26.35,28.83
$GC,552,-1.25,-219.0,2399,2497,3350,3209,161.4,-32.6,41,557,0.00,1.83,0.00,0.000,260,0.000,0.054,2392,3674,3279,3350,3209,0,0,0,0,0,0,28.83,26.45,28.83
$GC,678,-1.25,-219.0,2392,3674,3350,3209,201.6,-31.1,47,684,0.00,1.67,0.00,0.000,1030,0.000,0.024,2392,2490,3279,3350,3209,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1004,-1.25,-219.0,2392,2489,3353,3209,298.6,-30.0,63,1010,0.00,1.83,0.00,0.000,260,0.000,0.051,2383,3670,3281,3353,3209,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1043,-1.25,-219.0,2383,3671,3353,3209,306.3,-29.6,64,1053,0.12,1.67,0.00,0.000,3078,0.162,0.024,2415,2485,3281,3354,3209,0,0,0,0,0,0,26.39,26.67,28.83
$GC,1349,-1.25,-219.0,2415,2485,3355,3209,389.8,-24.7,80,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2485,3281,3354,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1649,-1.25,-219.0,2415,2485,3355,3209,463.0,-23.8,95,1654,0.00,1.83,0.00,0.000,260,0.000,0.054,2407,3670,3282,3355,3209,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1695,-1.25,-219.0,2406,3670,3355,3209,473.0,-23.4,97,1701,0.00,1.65,0.00,0.000,1030,0.000,0.024,2407,2499,3282,3355,3209,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2020,-1.25,-219.0,2406,2498,3355,3209,544.7,-21.9,113,2026,0.00,2.03,0.00,0.000,516,0.000,0.031,2406,1115,3282,3355,3209,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2069,-1.25,-219.0,2406,1115,3355,3209,554.7,-22.4,115,2075,0.00,2.10,0.00,0.000,1030,0.000,0.041,2396,2501,3282,3355,3209,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2378,-1.25,-219.0,2396,2501,3355,3209,624.1,-22.5,129,2383,0.00,1.80,0.00,0.000,260,0.000,0.054,2387,3671,3282,3355,3209,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2423,-1.25,-219.0,2387,3671,3355,3209,631.6,-22.7,130,2430,0.12,1.65,0.00,0.000,3078,0.151,0.025,2421,2496,3281,3355,3208,0,0,0,0,0,0,26.48,26.74,28.83
$GC,2748,-1.25,-219.0,2420,2495,3354,3207,697.6,-19.1,141,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2495,3281,3355,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3048,-1.25,-219.0,2420,2495,3355,3204,755.0,-18.8,151,3054,0.00,1.83,0.00,0.000,260,0.000,0.054,2413,3671,3279,3355,3203,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3149,-1.25,-219.0,2412,3671,3355,3202,772.8,-18.5,154,3155,0.00,1.65,0.00,0.000,1030,0.000,0.026,2412,2510,3278,3355,3202,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3478,-1.25,-219.0,2412,2510,3354,3197,833.5,-18.1,165,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2510,3276,3355,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3778,-1.25,-219.0,2412,2510,3354,3192,888.7,-18.5,175,3784,0.00,2.05,0.00,0.000,516,0.000,0.028,2411,1109,3273,3355,3192,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3801,-1.25,-219.0,2412,1109,3354,3192,888.7,-18.5,175,3807,0.00,2.12,0.00,0.000,1030,0.000,0.040,2402,2504,3273,3355,3191,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4116,-1.25,-219.0,2402,2504,3354,3186,954.3,-19.8,186,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2504,3270,3354,3187,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4203,begin apogee
$GC,4209,-0.20,0.0,2401,1989,3357,3186,972.1,-19.7,189,4734,1.02,0.00,513.10,0.623,10246,0.117,0.000,2750,1987,2379,2538,2221,0,0,0,0,0,0,26.41,28.83,24.62
$STATE,4735,end apogee,CONTROL_FINISHED_OK
$STATE,4735,begin climb
$GC,4737,1.25,219.0,2747,1987,2533,2215,1001.1,0.0,205,4978,1.30,2.28,229.02,0.918,10756,0.047,0.037,3242,634,1479,1578,1381,0,0,0,0,0,0,25.28,24.84,24.14
$GC,5021,1.25,219.0,3242,633,1558,1359,961.7,21.8,215,5027,0.00,2.17,0.00,0.000,1030,0.000,0.031,3242,2011,1458,1558,1359,0,0,0,0,0,0,28.83,25.32,28.83
$GC,5337,1.25,219.0,3242,2011,1549,1353,875.2,25.6,226,5343,0.00,2.20,0.00,0.000,260,0.000,0.047,3242,3408,1451,1549,1353,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5384,1.25,219.0,3242,3408,1548,1353,865.9,25.5,227,5391,0.12,2.08,0.00,0.000,5126,0.177,0.028,3223,2020,1450,1548,1353,0,0,0,0,0,0,25.98,26.21,28.83
$GC,5704,1.25,219.0,3222,2019,1547,1350,785.3,24.5,238,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2019,1448,1547,1350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6005,1.25,219.0,3223,2019,1546,1348,712.3,24.0,248,6011,0.00,2.17,0.00,0.000,260,0.000,0.047,3223,3409,1447,1546,1348,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6054,1.25,219.0,3223,3409,1546,1348,703.8,24.1,249,6060,0.00,2.10,0.00,0.000,1030,0.000,0.030,3234,1997,1447,1546,1348,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6373,1.25,219.0,3234,1997,1545,1346,628.1,21.8,260,6378,0.00,2.20,0.00,0.000,260,0.000,0.047,3234,3406,1444,1544,1345,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6451,1.25,219.0,2304,3405,1515,1342,614.3,21.4,262,6456,0.00,2.08,0.00,0.000,1030,0.000,0.030,3246,2001,1444,1544,1345,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6769,1.25,219.0,3245,2001,1542,1343,543.6,21.2,277,6775,0.00,2.12,0.00,0.000,516,0.000,0.041,3257,609,1443,1542,1344,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6797,1.25,219.0,3256,608,1542,1343,538.6,21.1,278,6804,0.12,2.08,0.00,0.000,5126,0.173,0.032,3225,2006,1442,1542,1343,0,0,0,0,0,0,26.35,26.59,28.83
$GC,7118,1.25,219.0,3225,2006,1540,1341,474.2,20.3,294,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2006,1440,1540,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7418,1.25,219.0,3225,2006,1539,1340,412.2,20.1,309,7424,0.00,2.15,0.00,0.000,260,0.000,0.046,3225,3402,1439,1539,1340,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7486,1.25,219.0,3225,3402,1539,1340,398.4,20.4,312,7492,0.00,2.08,0.00,0.000,1030,0.000,0.029,3235,1998,1440,1539,1341,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7811,1.25,219.0,3235,1998,1539,1339,337.4,18.5,328,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1998,1439,1539,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8110,1.25,219.0,3236,1998,1539,1340,281.2,19.0,343,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1998,1439,1539,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8410,1.25,219.0,3236,1998,1539,1339,225.1,17.8,358,8416,0.00,2.17,0.00,0.000,260,0.000,0.046,3236,3402,1439,1539,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8525,1.25,219.0,3236,3402,1539,1339,203.3,21.0,363,8532,0.00,2.08,0.00,0.000,1030,0.000,0.028,3247,1991,1439,1539,1339,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8841,1.25,219.0,3247,1991,1539,1339,147.6,15.8,379,8847,0.00,2.08,0.00,0.000,516,0.000,0.040,3259,610,1439,1539,1339,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8911,1.25,219.0,3258,610,1539,1339,136.8,15.9,382,8918,0.12,2.05,0.00,0.000,5126,0.159,0.031,3225,2002,1439,1539,1339,0,0,0,0,0,0,26.43,26.65,28.83
$GC,9233,1.25,219.0,3224,2002,1539,1339,87.6,14.4,398,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2002,1439,1539,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9531,1.25,219.0,3224,2002,1540,1339,50.5,12.5,413,9537,0.00,2.15,0.00,0.000,260,0.000,0.044,3225,3403,1439,1540,1339,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9759,1.25,219.0,2176,3402,1511,1335,20.1,14.0,437,9767,0.00,2.05,0.00,0.000,1030,0.000,0.028,3235,1997,1441,1543,1339,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,9904,end climb,SURFACE_DEPTH_REACHED
$STATE,9904,begin surface coast
$FINISH,0.4,1.023206
$STATE,9932,end surface coast,CONTROL_FINISHED_OK
$STATE,9932,begin surface
$SM_CCo,9949,82.12,0.059,0,0,747,400.08
$SM_GC,1.37,7.93,0.75,82.12,0.036,0.040,0.059,134,2501,747,-8.31,-1.47,400.08,0,0,0,0,0,0,26.67,26.66,26.48
$IRIDIUM_FIX,2138.81,12339.47,230313,151552
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.56
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3962976
$24V_AH,24.1,26.586
$10V_AH,10.3,19.061
$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,19.625,69.750,742.125,82.125,0.000,0.000,0.000,200.775,0.000,0.000,12.557,1879.319,6004.943,774.777,1454.556,260.317,0.000,1745.256,0.000,1181.987,0.000,0.538,0.000
$DEVICE_MAMPS,217.260,54.315,918.000,58.905,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9934.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.946,0.000,0.000,0.000
$MEM,329704
$DATA_FILE_SIZE,16700,469
$CAP_FILE_SIZE,249525,0
$CFSIZE,260034560,234745856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,112.4,1
$GPS,230313,205633,2150.622,12337.173,11,3.0,31,-2.9