version: 66.11
glider: 171
mission: 4
dive: 163
start: 3 21 113 17 24 33
data:
$ID,171
$MISSION,4
$DIVE,163
$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,-20714.084
$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,53
$R_STBD_OVSHOOT,30
$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
$GPS1,210313,171833,2133.149,12355.962,11,2.8,31,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-67.9
$GPS2,210313,172407,2133.150,12355.969,12,1.5,12,-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,327.5,305787,-12.0,-8.739,-16.47,3810
$D_GRID,5210
$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,-219.0,140,2489,833,657,0.0,0.0,0,82,0.00,0.00,-61.85,0.000,16386,0.000,0.000,139,2490,2471,2543,2399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.25,-219.0,138,2490,2549,2399,3.2,-4.5,8,117,8.82,1.88,-14.80,0.000,18692,0.223,0.069,2405,3671,3273,3344,3202,0,0,0,0,0,0,25.92,26.27,26.64
$GC,349,-1.25,-219.0,2404,3672,3351,3204,95.8,-33.7,31,356,0.00,1.70,0.00,0.000,1030,0.000,0.024,2405,2481,3277,3351,3204,0,0,0,0,0,0,28.83,26.52,28.83
$GC,669,-1.25,-219.0,2404,2480,3353,3204,202.6,-33.0,47,675,0.00,1.85,0.00,0.000,260,0.000,0.055,2396,3670,3278,3353,3204,0,0,0,0,0,0,28.83,26.49,28.83
$GC,835,-1.25,-219.0,2396,3670,3353,3206,256.2,-30.2,55,841,0.00,1.67,0.00,0.000,1030,0.000,0.025,2396,2505,3279,3353,3206,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1161,-1.25,-219.0,2395,2504,3355,3206,349.5,-29.1,71,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2504,3280,3355,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1460,-1.25,-219.0,2395,2504,3355,3206,433.7,-26.0,86,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2504,3280,3355,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1759,-1.25,-219.0,2395,2504,3356,3206,510.1,-25.2,101,1765,0.00,1.83,0.00,0.000,260,0.000,0.056,2387,3671,3280,3355,3206,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1839,-1.25,-219.0,2387,3670,3355,3206,525.7,-23.7,104,1848,0.12,1.67,0.00,0.000,3078,0.160,0.024,2420,2489,3281,3356,3206,0,0,0,0,0,0,26.48,26.73,28.83
$GC,2146,-1.25,-219.0,2420,2489,3356,3206,598.1,-22.8,120,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2489,3281,3356,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2466,-1.25,-219.0,2419,2489,3356,3206,666.0,-19.9,131,2472,0.00,1.85,0.00,0.000,260,0.000,0.056,2411,3674,3281,3357,3206,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2575,-1.25,-219.0,2411,3674,3356,3206,685.0,-19.3,134,2581,0.00,1.67,0.00,0.000,1030,0.000,0.024,2411,2491,3281,3356,3206,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2894,-1.25,-219.0,2411,2489,3356,3205,750.3,-19.3,145,2900,0.00,2.03,0.00,0.000,516,0.000,0.032,2411,1111,3280,3356,3205,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2942,-1.25,-219.0,2411,1111,3356,3204,756.7,-19.3,146,2949,0.00,2.12,0.00,0.000,1030,0.000,0.044,2401,2502,3280,3356,3204,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3263,-1.25,-219.0,2401,2502,3356,3200,823.7,-20.9,157,3269,0.00,1.83,0.00,0.000,260,0.000,0.057,2392,3674,3277,3355,3199,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3308,-1.25,-219.0,2392,3674,3356,3199,831.3,-21.1,158,3314,0.00,1.67,0.00,0.000,1030,0.000,0.026,2392,2494,3277,3356,3199,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3632,-1.25,-219.0,2391,2494,3355,3194,902.5,-20.6,169,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2494,3275,3356,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3933,-1.25,-219.0,2391,2494,3355,3188,963.8,-20.2,179,3939,0.00,1.85,0.00,0.000,260,0.000,0.058,2383,3671,3272,3356,3188,0,0,0,0,0,0,28.83,26.62,28.83
$STATE,3966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3966,begin apogee
$GC,3973,-0.20,0.0,2383,2012,3355,3188,970.7,-20.0,180,4312,1.10,0.00,330.30,0.754,10246,0.122,0.000,2749,2009,2377,2537,2218,0,0,0,0,0,0,26.44,28.83,24.50
$STATE,4315,end apogee,CONTROL_FINISHED_OK
$STATE,4315,begin climb
$GC,4317,1.25,219.0,2749,2009,2531,2204,990.7,0.0,190,4561,1.27,2.35,229.88,0.907,10756,0.047,0.042,3239,619,1472,1572,1372,0,0,0,0,0,0,25.24,24.87,24.18
$GC,4596,1.25,219.0,3239,619,1557,1356,950.8,22.1,199,4602,0.00,2.22,0.00,0.000,1030,0.000,0.036,3239,2010,1456,1556,1356,0,0,0,0,0,0,28.83,25.31,28.83
$GC,4930,1.25,219.0,3239,2010,1548,1349,870.4,23.5,210,4936,0.00,2.17,0.00,0.000,516,0.000,0.041,3250,614,1446,1543,1349,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4965,1.25,219.0,3250,615,1547,1349,862.5,23.4,211,4971,0.00,2.12,0.00,0.000,1030,0.000,0.034,3250,2007,1447,1547,1348,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5299,1.25,219.0,3250,2007,1546,1346,781.2,24.9,222,5306,0.00,2.20,0.00,0.000,260,0.000,0.048,3250,3411,1445,1545,1346,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5327,1.25,219.0,2304,3409,1516,1343,781.2,24.9,222,5336,0.15,2.10,0.00,0.000,5126,0.175,0.029,3223,2009,1446,1546,1346,0,0,0,0,0,0,26.20,26.44,28.83
$GC,5635,1.25,219.0,3223,2009,1545,1344,707.8,20.1,233,5641,0.00,2.15,0.00,0.000,516,0.000,0.040,3234,606,1444,1544,1344,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5694,1.25,219.0,3234,606,1545,1344,699.8,20.5,234,5703,0.00,2.10,0.00,0.000,1030,0.000,0.034,3234,2002,1444,1544,1344,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6003,1.25,219.0,3234,2002,1543,1341,629.4,20.5,245,6008,0.00,2.17,0.00,0.000,260,0.000,0.048,3234,3402,1441,1542,1341,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6067,1.25,219.0,3232,3402,1541,1341,615.2,20.7,247,6073,0.00,2.10,0.00,0.000,1030,0.000,0.029,3245,1991,1440,1541,1340,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6381,1.25,219.0,3245,1991,1540,1340,552.8,21.0,261,6387,0.00,2.10,0.00,0.000,516,0.000,0.041,3257,610,1440,1540,1340,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6426,1.25,219.0,2272,609,1509,1336,544.2,20.1,263,6432,0.12,2.10,0.00,0.000,5126,0.172,0.032,3225,2011,1439,1540,1339,0,0,0,0,0,0,26.39,26.60,28.83
$GC,6753,1.25,219.0,3225,2011,1539,1338,481.3,18.7,279,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2011,1438,1539,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7051,1.25,219.0,3225,2011,1539,1337,425.9,19.1,294,7057,0.00,2.15,0.00,0.000,260,0.000,0.047,3225,3403,1438,1539,1337,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7147,1.25,219.0,3225,3403,1539,1337,406.4,22.5,298,7153,0.00,2.08,0.00,0.000,1030,0.000,0.029,3236,1996,1438,1539,1337,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7461,1.25,219.0,3236,1996,1538,1336,341.9,19.9,314,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1996,1437,1539,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7761,1.25,219.0,3235,1996,1538,1336,286.4,18.0,329,7762,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1995,1437,1539,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8062,1.25,219.0,3235,1996,1539,1336,234.0,18.3,344,8063,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1996,1437,1538,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8361,1.25,219.0,3236,1996,1538,1337,183.3,14.9,359,8368,0.00,2.17,0.00,0.000,260,0.000,0.047,3236,3402,1437,1538,1336,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8574,1.25,219.0,3236,3402,1538,1336,152.9,14.3,369,8580,0.00,2.05,0.00,0.000,1030,0.000,0.028,3247,2001,1437,1539,1336,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8894,1.25,219.0,3247,2001,1539,1336,114.5,12.3,385,8895,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2001,1437,1539,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9193,1.25,219.0,3247,2001,1539,1336,65.3,18.1,400,9198,0.00,2.10,0.00,0.000,516,0.000,0.042,3259,610,1437,1539,1336,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9216,1.25,219.0,2256,610,1508,1333,61.1,18.1,401,9223,0.12,2.08,0.00,0.000,5126,0.157,0.032,3224,2008,1438,1540,1336,0,0,0,0,0,0,26.48,26.67,28.83
$GC,9529,1.25,219.0,3224,2008,1541,1336,15.9,14.1,433,9537,0.00,2.15,0.00,0.000,260,0.000,0.047,3225,3409,1439,1542,1337,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9566,1.25,219.0,2176,3408,1508,1333,10.5,14.5,439,9574,0.00,2.05,0.00,0.000,1030,0.000,0.028,3236,2004,1440,1543,1337,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,9621,end climb,SURFACE_DEPTH_REACHED
$STATE,9621,begin surface coast
$FINISH,0.5,1.023265
$STATE,9645,end surface coast,CONTROL_FINISHED_OK
$STATE,9645,begin surface
$SM_CCo,9662,81.82,0.059,0,0,748,400.08
$SM_GC,1.29,7.80,0.75,81.82,0.029,0.047,0.059,127,2492,748,-8.29,-1.44,400.08,0,0,0,0,0,0,26.69,26.65,26.50
$IRIDIUM_FIX,2124.90,12357.47,210313,141445
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.92
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3968416
$24V_AH,24.2,24.208
$10V_AH,10.3,17.704
$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,19.525,69.600,560.175,81.825,0.000,0.000,0.000,194.850,0.000,0.000,13.295,1887.679,5870.890,670.971,1403.742,242.044,0.000,1573.879,0.000,1140.905,0.000,0.538,0.000
$DEVICE_MAMPS,223.380,68.850,907.290,58.905,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9649.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.936,0.000,0.000,0.000
$MEM,329704
$DATA_FILE_SIZE,16788,453
$CAP_FILE_SIZE,243499,0
$CFSIZE,260034560,236240896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.142,227.9,1
$GPS,210313,200805,2134.263,12354.499,28,1.7,29,-2.8