version: 66.11
glider: 171
mission: 4
dive: 185
start: 3 24 113 8 38 2
data:
$ID,171
$MISSION,4
$DIVE,185
$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,-20746.625
$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,65
$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
$GPS1,240313,083130,2153.122,12333.739,40,0.9,41,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.3
$GPS2,240313,083736,2153.134,12333.884,11,1.4,11,-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,310.8,254239,-12.0,-8.739,-16.47,3810
$D_GRID,4818
$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,-219.0,112,2496,835,663,0.0,0.0,0,82,0.00,0.00,-61.28,0.000,16386,0.000,0.000,112,2496,2488,2551,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.25,-219.0,112,2496,2549,2427,3.2,-5.0,8,117,8.85,2.15,-14.38,0.000,18948,0.218,0.044,2408,1101,3277,3348,3206,0,0,0,0,0,0,25.86,26.31,26.61
$GC,187,-1.25,-219.0,2405,1099,3350,3207,36.1,-30.3,21,195,0.00,2.15,0.00,0.000,1030,0.000,0.041,2398,2500,3278,3350,3207,0,0,0,0,0,0,28.83,26.30,28.83
$GC,495,-1.25,-219.0,2398,2500,3351,3207,143.1,-34.3,39,502,0.00,1.83,0.00,0.000,260,0.000,0.054,2389,3676,3279,3351,3207,0,0,0,0,0,0,28.83,26.41,28.83
$GC,607,-1.25,-219.0,2389,3678,3352,3207,178.8,-33.0,44,613,0.00,1.67,0.00,0.000,1030,0.000,0.024,2389,2497,3279,3352,3207,0,0,0,0,0,0,28.83,26.58,28.83
$GC,928,-1.25,-219.0,2389,2495,3355,3207,274.5,-28.9,60,930,0.12,0.00,0.00,0.000,2054,0.165,0.000,2422,2494,3281,3355,3207,0,0,0,0,0,0,26.43,28.83,28.83
$GC,1226,-1.25,-219.0,2421,2494,3355,3207,354.1,-26.4,75,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2494,3280,3355,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1527,-1.25,-219.0,2421,2494,3355,3206,430.3,-24.0,90,1533,0.00,1.83,0.00,0.000,260,0.000,0.052,2413,3672,3281,3355,3207,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1625,-1.25,-219.0,2413,3673,3355,3206,452.2,-25.2,94,1631,0.00,1.70,0.00,0.000,1030,0.000,0.024,2413,2499,3281,3355,3207,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1939,-1.25,-219.0,2413,2498,3356,3207,529.0,-24.0,110,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2498,3281,3356,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2240,-1.25,-219.0,2413,2498,3356,3207,594.6,-20.5,125,2246,0.00,1.83,0.00,0.000,260,0.000,0.053,2404,3671,3281,3356,3207,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2252,-1.25,-219.0,2404,3674,3355,3207,594.6,-20.5,125,2258,0.00,1.67,0.00,0.000,1030,0.000,0.027,2404,2498,3280,3355,3206,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2586,-1.25,-219.0,2404,2498,3355,3207,665.1,-20.3,137,2592,0.00,1.83,0.00,0.000,260,0.000,0.054,2395,3671,3281,3356,3207,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2674,-1.25,-219.0,2394,3671,3356,3206,678.7,-21.0,139,2682,0.00,1.73,0.00,0.000,1030,0.000,0.026,2395,2495,3281,3355,3207,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2983,-1.25,-219.0,2395,2495,3355,3204,749.4,-21.3,150,2989,0.00,2.03,0.00,0.000,516,0.000,0.029,2395,1109,3281,3359,3204,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3027,-1.25,-219.0,2395,1109,3355,3203,756.8,-21.1,151,3034,0.12,2.12,0.00,0.000,3078,0.163,0.039,2418,2506,3279,3355,3203,0,0,0,0,0,0,26.44,26.62,28.83
$GC,3352,-1.25,-219.0,2417,2506,3355,3198,818.3,-18.2,162,3359,0.00,1.85,0.00,0.000,260,0.000,0.054,2409,3687,3276,3355,3198,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3391,-1.25,-219.0,1472,3686,3337,3193,825.1,-18.5,163,3397,0.00,1.70,0.00,0.000,1030,0.000,0.028,2409,2505,3276,3355,3197,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3720,-1.25,-219.0,2409,2505,3355,3193,892.2,-20.2,174,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2505,3272,3352,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4020,-1.25,-219.0,2409,2505,3355,3188,950.0,-18.8,184,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2505,3271,3355,3188,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4138,begin apogee
$GC,4144,-0.20,0.0,2409,1987,3354,3185,972.4,-18.6,188,4479,1.00,0.00,327.42,0.754,10246,0.116,0.000,2747,1985,2381,2539,2223,0,0,0,0,0,0,26.41,28.83,24.51
$STATE,4481,end apogee,CONTROL_FINISHED_OK
$STATE,4481,begin climb
$GC,4483,1.25,219.0,2747,1985,2531,2212,992.9,0.0,198,4720,1.30,0.00,228.88,0.900,10758,0.049,0.000,3228,1985,1486,1585,1388,0,0,0,0,0,0,25.23,28.83,24.16
$GC,5010,1.25,219.0,3228,1985,1552,1354,897.2,23.5,217,5015,0.00,2.28,0.00,0.000,260,0.000,0.046,3228,3416,1453,1552,1354,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5049,1.25,219.0,3228,3416,1551,1354,888.9,23.6,218,5055,0.00,2.12,0.00,0.000,1030,0.000,0.028,3240,2010,1452,1551,1354,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5378,1.25,219.0,3240,2010,1549,1351,805.1,25.4,229,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2010,1450,1550,1351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5678,1.25,219.0,3240,2010,1547,1348,729.6,24.7,239,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2010,1447,1547,1348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5978,1.25,219.0,3240,2010,1546,1347,658.1,23.6,249,5984,0.00,2.15,0.00,0.000,516,0.000,0.039,3252,600,1447,1547,1347,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6024,1.25,219.0,3251,600,1546,1347,650.1,23.2,250,6030,0.12,2.12,0.00,0.000,5126,0.171,0.031,3220,2028,1445,1545,1346,0,0,0,0,0,0,26.31,26.53,28.83
$GC,6339,1.25,219.0,3219,2028,1545,1345,584.8,18.8,262,6345,0.00,2.12,0.00,0.000,260,0.000,0.046,3220,3402,1445,1546,1344,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6372,1.25,219.0,3219,3402,1545,1344,579.6,19.6,263,6378,0.00,2.08,0.00,0.000,1030,0.000,0.030,3231,1995,1445,1545,1345,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6687,1.25,219.0,3230,1996,1543,1343,512.6,20.8,279,6693,0.00,2.20,0.00,0.000,260,0.000,0.046,3231,3402,1443,1544,1343,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6807,1.25,219.0,2248,3402,1512,1339,487.8,23.9,284,6815,0.00,2.08,0.00,0.000,1030,0.000,0.029,3242,1996,1442,1542,1343,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7113,1.25,219.0,3242,1995,1541,1341,422.7,19.9,300,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1995,1441,1541,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7413,1.25,219.0,3242,1995,1540,1341,362.8,20.0,315,7419,0.00,2.17,0.00,0.000,260,0.000,0.046,3242,3400,1440,1540,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7521,1.25,219.0,2256,3399,1509,1337,339.1,22.1,320,7528,0.12,2.08,0.00,0.000,5126,0.171,0.029,3222,1995,1440,1540,1340,0,0,0,0,0,0,26.39,26.65,28.83
$GC,7848,1.25,219.0,3221,1995,1540,1339,278.7,18.1,336,7854,0.00,2.17,0.00,0.000,260,0.000,0.045,3222,3402,1439,1540,1339,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7887,1.25,219.0,3221,3400,1540,1339,273.6,18.5,337,7896,0.00,2.08,0.00,0.000,1030,0.000,0.028,3233,1992,1439,1540,1338,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8193,1.25,219.0,3233,1993,1543,1339,212.3,17.8,353,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1993,1439,1540,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8493,1.25,219.0,3233,1993,1540,1339,162.2,15.8,368,8499,0.00,2.20,0.00,0.000,260,0.000,0.044,3233,3409,1439,1540,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8526,1.25,219.0,3233,3409,1540,1339,157.9,16.2,369,8533,0.00,2.08,0.00,0.000,1030,0.000,0.028,3244,1992,1439,1540,1339,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8841,1.25,219.0,3245,1992,1540,1339,105.2,16.1,385,8848,0.00,2.10,0.00,0.000,516,0.000,0.040,3256,607,1439,1540,1338,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8891,1.25,219.0,3256,607,1540,1339,98.3,15.4,387,8898,0.12,2.05,0.00,0.000,5126,0.161,0.030,3222,2002,1439,1540,1339,0,0,0,0,0,0,26.43,26.65,28.83
$GC,9212,1.25,219.0,3222,2002,1540,1339,53.0,13.9,403,9219,0.00,2.10,0.00,0.000,516,0.000,0.038,3233,610,1440,1541,1339,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9323,1.25,219.0,3233,610,1541,1339,39.7,12.8,412,9331,0.00,2.05,0.00,0.000,1030,0.000,0.030,3234,2007,1440,1541,1339,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,9616,end climb,SURFACE_DEPTH_REACHED
$STATE,9616,begin surface coast
$FINISH,0.6,1.023107
$STATE,9644,end surface coast,CONTROL_FINISHED_OK
$STATE,9644,begin surface
$SM_CCo,9661,82.07,0.059,0,0,747,400.08
$SM_GC,1.24,7.93,0.73,82.07,0.037,0.046,0.059,112,2489,747,-8.29,-1.53,400.08,0,0,0,0,0,0,26.69,26.63,26.47
$IRIDIUM_FIX,2143.45,12332.39,240313,050520
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.76
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3961376
$24V_AH,24.2,27.298
$10V_AH,10.3,19.454
$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,19.700,65.750,556.300,82.075,0.000,0.000,0.000,224.250,0.000,0.000,11.923,1815.198,6012.772,664.401,1361.401,254.538,0.000,1566.029,0.000,1072.029,0.000,0.537,0.000
$DEVICE_MAMPS,218.025,54.315,900.405,58.905,0.000,0.000,0.000,122.400,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9644.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.027,0.000,0.000,0.000
$MEM,329676
$DATA_FILE_SIZE,16758,463
$CAP_FILE_SIZE,237556,0
$CFSIZE,260034560,234332160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,166.1,1
$GPS,240313,112119,2153.861,12332.497,13,1.8,14,-2.9