version: 66.11
glider: 171
mission: 4
dive: 164
start: 3 21 113 20 14 38
data:
$ID,171
$MISSION,4
$DIVE,164
$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,-20715.342
$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,51
$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
$GPS1,210313,200805,2134.263,12354.499,28,1.7,29,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.8
$GPS2,210313,201412,2134.257,12354.474,12,1.7,29,-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,333.7,302532,-12.0,-8.739,-16.47,3810
$D_GRID,5276
$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,-219.0,126,2494,834,667,0.0,0.0,0,81,0.00,0.00,-60.92,0.000,16386,0.000,0.000,126,2495,2478,2553,2403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.25,-219.0,126,2495,2556,2403,3.3,-5.2,8,116,8.75,1.85,-14.57,0.000,18692,0.218,0.069,2404,3668,3274,3344,3205,0,0,0,0,0,0,25.94,26.27,26.65
$GC,350,-1.25,-219.0,2404,3668,3346,3205,95.4,-33.9,30,356,0.00,1.70,0.00,0.000,1030,0.000,0.025,2404,2488,3275,3346,3205,0,0,0,0,0,0,28.83,26.52,28.83
$GC,670,-1.25,-219.0,2404,2488,3348,3205,205.0,-32.3,46,676,0.00,1.85,0.00,0.000,260,0.000,0.055,2395,3668,3277,3348,3206,0,0,0,0,0,0,28.83,26.50,28.83
$GC,798,-1.25,-219.0,2394,3668,3349,3205,247.3,-32.2,52,804,0.00,1.67,0.00,0.000,1030,0.000,0.026,2396,2497,3277,3349,3205,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1119,-1.25,-219.0,2395,2496,3350,3205,337.9,-27.0,68,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2496,3278,3350,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1417,-1.25,-219.0,2393,2496,3351,3206,423.6,-27.7,83,1424,0.00,1.83,0.00,0.000,260,0.000,0.055,2387,3668,3278,3351,3205,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1435,-1.25,-219.0,2386,3668,3351,3206,423.6,-27.7,83,1444,0.12,1.67,0.00,0.000,3078,0.161,0.026,2419,2489,3278,3351,3205,0,0,0,0,0,0,26.46,26.71,28.83
$GC,1742,-1.25,-219.0,2419,2489,3353,3206,506.7,-24.5,99,1748,0.00,1.83,0.00,0.000,260,0.000,0.055,2411,3668,3278,3352,3205,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1918,-1.25,-219.0,2410,3668,3352,3206,546.8,-23.6,107,1923,0.00,1.65,0.00,0.000,1030,0.000,0.026,2410,2507,3279,3353,3206,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2242,-1.25,-219.0,2410,2506,3353,3205,622.6,-22.4,122,2248,0.00,2.05,0.00,0.000,516,0.000,0.032,2410,1111,3279,3353,3206,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2269,-1.25,-219.0,2410,1111,3352,3208,622.6,-22.4,122,2277,0.00,2.12,0.00,0.000,1030,0.000,0.043,2400,2500,3279,3353,3205,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2577,-1.25,-219.0,2396,2501,3352,3205,696.5,-21.1,133,2583,0.00,1.83,0.00,0.000,260,0.000,0.058,2391,3674,3279,3352,3206,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2682,-1.25,-219.0,2391,3674,3352,3205,717.1,-21.1,136,2688,0.00,1.73,0.00,0.000,1030,0.000,0.024,2391,2490,3279,3352,3206,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3006,-1.25,-219.0,2391,2490,3352,3202,783.7,-19.6,147,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2489,3277,3352,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3307,-1.25,-219.0,2391,2489,3352,3198,844.9,-21.6,157,3313,0.00,1.85,0.00,0.000,260,0.000,0.057,2382,3673,3275,3352,3198,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3375,-1.25,-219.0,2382,3673,3352,3197,859.4,-22.0,159,3382,0.12,1.67,0.00,0.000,3078,0.155,0.025,2415,2490,3274,3352,3197,0,0,0,0,0,0,26.51,26.77,28.83
$GC,3705,-1.25,-219.0,2415,2490,3352,3191,925.5,-19.1,170,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2490,3271,3352,3191,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3943,begin apogee
$GC,3949,-0.20,0.0,2415,2001,3351,3187,970.4,-18.3,178,4286,0.98,0.00,328.88,0.758,10246,0.112,0.000,2748,1998,2378,2538,2218,0,0,0,0,0,0,26.48,28.83,24.53
$STATE,4288,end apogee,CONTROL_FINISHED_OK
$STATE,4289,begin climb
$GC,4291,1.25,219.0,2747,1998,2531,2204,992.4,0.0,188,4535,1.30,2.33,230.02,0.907,10756,0.047,0.044,3243,632,1473,1573,1374,0,0,0,0,0,0,25.25,24.88,24.20
$GC,4578,1.25,219.0,3243,632,1556,1356,955.3,21.2,197,4584,0.00,2.20,0.00,0.000,1030,0.000,0.035,3243,2019,1456,1556,1356,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4901,1.25,219.0,3243,2018,1548,1350,872.7,24.9,208,4907,0.00,2.17,0.00,0.000,516,0.000,0.040,3254,628,1448,1547,1350,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4929,1.25,219.0,3254,628,1547,1350,872.7,24.9,208,4939,0.12,2.10,0.00,0.000,5126,0.176,0.033,3223,2006,1448,1547,1349,0,0,0,0,0,0,26.00,26.18,28.83
$GC,5236,1.25,219.0,3223,2006,1546,1347,797.6,21.7,219,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2006,1447,1549,1346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5536,1.25,219.0,3223,2006,1545,1344,729.0,23.6,229,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2006,1442,1541,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5836,1.25,219.0,3223,2006,1544,1342,664.3,20.4,239,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2006,1443,1544,1342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6136,1.25,219.0,3223,2006,1542,1341,597.8,22.4,249,6142,0.00,2.17,0.00,0.000,260,0.000,0.049,3221,3407,1441,1542,1341,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6225,1.25,219.0,3223,3407,1541,1341,576.1,24.4,253,6231,0.00,2.08,0.00,0.000,1030,0.000,0.030,3234,2015,1440,1540,1341,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6550,1.25,219.0,3234,2015,1539,1339,506.9,19.3,269,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2015,1438,1539,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6849,1.25,219.0,3234,2015,1539,1337,444.3,20.3,284,6855,0.00,2.15,0.00,0.000,516,0.000,0.041,3245,601,1438,1539,1337,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6866,1.25,219.0,3245,601,1539,1337,444.3,20.3,284,6874,0.00,2.08,0.00,0.000,1030,0.000,0.032,3246,1999,1437,1538,1337,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7173,1.25,219.0,3245,2000,1538,1334,383.1,19.7,300,7179,0.00,2.15,0.00,0.000,260,0.000,0.047,3245,3403,1437,1538,1337,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7299,1.25,219.0,3245,3403,1538,1337,359.5,18.1,306,7306,0.12,2.08,0.00,0.000,5126,0.171,0.030,3225,1996,1437,1538,1337,0,0,0,0,0,0,26.43,26.67,28.83
$GC,7626,1.25,219.0,3225,1996,1537,1336,302.0,18.1,322,7632,0.00,2.10,0.00,0.000,516,0.000,0.041,3236,608,1437,1538,1336,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7676,1.25,219.0,3236,608,1537,1336,292.9,18.6,324,7682,0.00,2.08,0.00,0.000,1030,0.000,0.031,3236,2010,1437,1538,1336,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7997,1.25,219.0,3235,2010,1538,1336,234.6,15.5,340,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2010,1436,1537,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8295,1.25,219.0,3236,2010,1538,1333,193.6,14.7,355,8301,0.00,2.15,0.00,0.000,260,0.000,0.047,3236,3409,1437,1538,1336,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8319,1.25,219.0,3236,3409,1538,1336,190.4,14.3,356,8325,0.00,2.08,0.00,0.000,1030,0.000,0.030,3250,2000,1437,1538,1336,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8644,1.25,219.0,3246,1999,1537,1336,143.6,14.6,372,8650,0.00,2.17,0.00,0.000,260,0.000,0.046,3247,3407,1437,1538,1336,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8718,1.25,219.0,3247,3407,1538,1336,133.3,15.3,375,8726,0.12,2.08,0.00,0.000,5126,0.163,0.028,3225,1993,1437,1538,1336,0,0,0,0,0,0,26.46,26.70,28.83
$GC,9036,1.25,219.0,3225,1993,1539,1335,88.9,13.6,391,9037,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1993,1438,1539,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9334,1.25,219.0,3225,1990,1540,1336,50.8,12.1,406,9340,0.00,2.10,0.00,0.000,516,0.000,0.041,3236,600,1438,1541,1336,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9370,1.25,219.0,3237,600,1539,1336,46.3,12.6,408,9376,0.00,2.10,0.00,0.000,1030,0.000,0.034,3236,2006,1438,1540,1336,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9686,1.25,219.0,2192,2004,1510,1332,7.6,12.2,452,9693,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2006,1439,1543,1336,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9725,end climb,SURFACE_DEPTH_REACHED
$STATE,9725,begin surface coast
$FINISH,0.5,1.009684
$STATE,9748,end surface coast,CONTROL_FINISHED_OK
$STATE,9748,begin surface
$SM_CCo,9765,82.35,0.060,0,0,748,400.08
$SM_GC,1.52,7.93,0.75,82.35,0.037,0.048,0.060,122,2495,748,-8.29,-1.13,400.08,0,0,0,0,0,0,26.71,26.65,26.51
$IRIDIUM_FIX,2122.58,12357.47,210313,171750
$TT8_MAMPS,0.048685,0.048685
$HUMID,44.32
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3968096
$24V_AH,24.2,24.345
$10V_AH,10.3,17.782
$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,19.575,65.075,558.900,82.350,0.000,0.000,0.000,210.925,0.000,0.000,30.314,1882.249,5999.788,667.544,1424.515,238.125,0.000,1580.626,0.000,1127.061,0.000,0.538,0.000
$DEVICE_MAMPS,218.025,68.850,906.525,59.670,0.000,0.000,0.000,119.340,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9751.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.999,0.000,0.000,0.000
$MEM,329696
$DATA_FILE_SIZE,16769,463
$CAP_FILE_SIZE,243304,0
$CFSIZE,260034560,236154880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,221.5,1
$GPS,210313,225957,2135.412,12353.293,12,3.1,31,-2.8