version: 66.11
glider: 171
mission: 4
dive: 161
start: 3 21 113 11 43 44
data:
$ID,171
$MISSION,4
$DIVE,161
$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,-20711.568
$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,47
$R_STBD_OVSHOOT,32
$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
$GPS1,210313,113806,2130.810,12357.918,11,1.4,29,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-68.4
$GPS2,210313,114318,2130.813,12357.927,10,1.4,15,-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,344.1,310954,-12.0,-8.739,-16.47,3810
$D_GRID,5039
$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,-219.0,127,2495,831,666,0.0,0.0,0,82,0.00,0.00,-61.45,0.000,16386,0.000,0.000,127,2495,2530,2595,2466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.25,-219.0,127,2495,2598,2467,4.0,-7.8,8,117,8.82,1.90,-12.98,0.000,18692,0.220,0.075,2418,3656,3278,3348,3209,0,0,0,0,0,0,25.96,26.27,26.66
$GC,340,-1.25,-219.0,2418,3657,3354,3209,89.3,-32.4,29,348,0.00,1.70,0.00,0.000,1030,0.000,0.025,2418,2472,3281,3354,3209,0,0,0,0,0,0,28.83,26.52,28.83
$GC,647,-1.25,-219.0,2418,2470,3355,3209,190.3,-27.3,45,652,0.00,1.88,0.00,0.000,260,0.000,0.055,2409,3667,3282,3355,3209,0,0,0,0,0,0,28.83,26.49,28.83
$GC,821,-1.25,-219.0,2409,3667,3355,3210,239.4,-30.2,53,828,0.00,1.67,0.00,0.000,1030,0.000,0.026,2409,2502,3282,3355,3210,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1136,-1.25,-219.0,2408,2501,3357,3210,331.5,-26.1,69,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2501,3283,3357,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1435,-1.25,-219.0,2409,2501,3357,3209,405.0,-25.9,84,1442,0.00,1.83,0.00,0.000,260,0.000,0.057,2400,3668,3283,3357,3210,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1486,-1.25,-219.0,2399,3668,3357,3210,417.7,-28.2,86,1492,0.12,1.67,0.00,0.000,3078,0.152,0.026,2434,2497,3284,3357,3211,0,0,0,0,0,0,26.48,26.70,28.83
$GC,1807,-1.25,-219.0,2433,2496,3358,3211,492.5,-21.7,102,1813,0.00,1.83,0.00,0.000,260,0.000,0.057,2425,3668,3284,3358,3210,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1903,-1.25,-219.0,2425,3668,3358,3211,511.0,-21.2,106,1909,0.00,1.67,0.00,0.000,1030,0.000,0.026,2426,2497,3284,3358,3211,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2217,-1.25,-219.0,2425,2496,3358,3211,579.0,-20.9,122,2223,0.00,2.08,0.00,0.000,516,0.000,0.034,2426,1100,3284,3358,3211,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2241,-1.25,-219.0,1488,1099,3340,3206,584.1,-21.0,123,2247,0.00,2.15,0.00,0.000,1030,0.000,0.043,2415,2498,3286,3358,3215,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2566,-1.25,-219.0,2414,2498,3358,3211,652.8,-20.8,135,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2498,3284,3357,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2865,-1.25,-219.0,2414,2498,3357,3210,714.8,-20.0,145,2871,0.00,1.83,0.00,0.000,260,0.000,0.059,2405,3670,3284,3358,3211,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2893,-1.25,-219.0,2405,3670,3359,3210,714.8,-20.0,145,2902,0.00,1.67,0.00,0.000,1030,0.000,0.026,2405,2498,3283,3357,3210,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3201,-1.25,-219.0,2405,2497,3357,3206,783.7,-20.3,156,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2497,3283,3360,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3500,-1.25,-219.0,2405,2497,3357,3202,843.9,-19.7,166,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2497,3279,3357,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3799,-1.25,-219.0,2404,2497,3357,3197,902.0,-19.3,176,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2497,3277,3358,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4100,-1.25,-219.0,2405,2497,3357,3192,958.2,-18.3,186,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2497,3274,3357,3192,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4188,begin apogee
$GC,4193,-0.20,0.0,2405,2010,3357,3190,974.9,-18.4,189,4537,1.08,0.00,335.02,0.754,10246,0.116,0.000,2768,2009,2377,2537,2218,0,0,0,0,0,0,26.46,28.83,24.51
$STATE,4540,end apogee,CONTROL_FINISHED_OK
$STATE,4540,begin climb
$GC,4542,1.25,219.0,2767,2009,2532,2205,994.7,0.0,199,4784,1.25,2.30,232.62,0.904,10756,0.042,0.041,3255,609,1476,1575,1377,0,0,0,0,0,0,25.25,24.86,24.17
$GC,4811,1.25,219.0,3255,609,1558,1362,959.3,21.1,209,4818,0.00,2.25,0.00,0.000,1030,0.000,0.037,3256,2002,1458,1557,1360,0,0,0,0,0,0,28.83,25.22,28.83
$GC,5131,1.25,219.0,3255,2001,1547,1352,871.3,26.3,220,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2002,1450,1548,1352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5431,1.25,219.0,3255,2002,1545,1349,793.4,25.5,230,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2002,1447,1546,1349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5732,1.25,219.0,3255,2002,1544,1347,721.0,22.7,240,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2002,1445,1544,1347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6031,1.25,219.0,3255,2002,1542,1345,649.9,24.6,250,6037,0.00,2.15,0.00,0.000,516,0.000,0.042,3267,609,1443,1542,1345,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6070,1.25,219.0,3267,609,1541,1345,641.3,24.8,251,6076,0.12,2.12,0.00,0.000,5126,0.170,0.035,3235,2019,1443,1541,1345,0,0,0,0,0,0,26.34,26.53,28.83
$GC,6390,1.25,219.0,3235,2019,1540,1343,571.2,20.1,264,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2019,1441,1540,1342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6690,1.25,219.0,3235,2019,1539,1341,510.0,20.5,279,6695,0.00,2.17,0.00,0.000,516,0.000,0.043,3247,607,1438,1536,1341,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6777,1.25,219.0,2272,607,1509,1337,492.8,20.6,283,6783,0.00,2.08,0.00,0.000,1030,0.000,0.034,3247,1999,1440,1539,1341,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7098,1.25,219.0,3247,1999,1538,1339,431.4,18.5,299,7104,0.00,2.20,0.00,0.000,260,0.000,0.050,3247,3411,1439,1539,1340,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7221,1.25,219.0,3247,3410,1538,1339,408.6,21.1,304,7230,0.00,2.10,0.00,0.000,1030,0.000,0.031,3258,1998,1438,1538,1339,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7526,1.25,219.0,3259,1998,1538,1338,341.4,21.0,320,7533,0.00,2.12,0.00,0.000,516,0.000,0.044,3270,606,1438,1539,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7555,1.25,219.0,3269,606,1538,1338,336.1,21.4,321,7561,0.12,2.08,0.00,0.000,5126,0.170,0.034,3238,2000,1438,1538,1338,0,0,0,0,0,0,26.43,26.64,28.83
$GC,7875,1.25,219.0,3237,2000,1538,1338,276.0,18.8,337,7881,0.00,2.17,0.00,0.000,260,0.000,0.048,3237,3408,1438,1538,1338,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7950,1.25,219.0,3237,3408,1538,1338,263.2,18.9,340,7956,0.00,2.10,0.00,0.000,1030,0.000,0.030,3249,1991,1438,1538,1338,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8264,1.25,219.0,3248,1991,1538,1338,200.7,17.0,356,8271,0.00,2.20,0.00,0.000,260,0.000,0.048,3249,3403,1438,1538,1338,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8501,1.25,219.0,3249,3404,1538,1338,162.9,16.1,367,8508,0.00,2.08,0.00,0.000,1030,0.000,0.028,3260,1994,1438,1538,1338,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8817,1.25,219.0,3260,1994,1538,1338,111.8,16.2,383,8823,0.00,2.17,0.00,0.000,260,0.000,0.047,3260,3403,1438,1538,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8846,1.25,219.0,3260,3403,1538,1338,107.6,16.5,384,8853,0.12,2.08,0.00,0.000,5126,0.165,0.029,3238,1993,1438,1538,1338,0,0,0,0,0,0,26.46,26.69,28.83
$GC,9167,1.25,219.0,3238,1993,1539,1338,57.0,15.3,400,9174,0.00,2.10,0.00,0.000,516,0.000,0.043,3250,609,1438,1539,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9185,1.25,219.0,3249,609,1538,1339,57.0,15.3,400,9193,0.00,2.08,0.00,0.000,1030,0.000,0.034,3250,2006,1438,1538,1338,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9497,1.25,219.0,3249,2006,1539,1338,13.1,11.7,438,9505,0.00,2.15,0.00,0.000,516,0.000,0.043,3261,605,1438,1539,1338,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,9573,end climb,SURFACE_DEPTH_REACHED
$STATE,9573,begin surface coast
$FINISH,2.3,1.023049
$STATE,9580,end surface coast,CONTROL_FINISHED_OK
$STATE,9580,begin surface
$SM_CCo,9600,82.22,0.060,0,0,748,400.08
$SM_GC,1.26,8.12,2.92,82.22,0.046,0.036,0.060,114,2498,748,-8.36,-1.10,400.08,0,0,0,0,0,0,26.70,26.64,26.49
$IRIDIUM_FIX,2122.58,12357.47,210313,080846
$TT8_MAMPS,0.048685,0.048685
$HUMID,44.68
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3969056
$24V_AH,24.2,23.933
$10V_AH,10.3,17.546
$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,19.775,66.200,567.650,82.225,0.000,0.000,0.000,169.450,0.000,0.000,16.708,1834.573,5906.196,688.719,1328.921,233.033,0.000,1530.852,0.000,1087.613,0.000,0.537,0.000
$DEVICE_MAMPS,220.320,74.970,904.230,60.435,0.000,0.000,0.000,127.755,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9589.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.897,0.000,0.000,0.000
$MEM,329720
$DATA_FILE_SIZE,16780,453
$CAP_FILE_SIZE,236255,0
$CFSIZE,260034560,236421120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.136,225.2,1
$GPS,210313,142624,2132.128,12356.905,38,1.4,39,-2.8