version: 66.11
glider: 171
mission: 4
dive: 165
start: 3 21 113 23 6 2
data:
$ID,171
$MISSION,4
$DIVE,165
$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,-20716.695
$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
$GPS1,210313,225957,2135.412,12353.293,12,3.1,31,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.7
$GPS2,210313,230536,2135.413,12353.293,17,1.8,17,-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,331.7,299678,-12.0,-8.739,-16.47,3810
$D_GRID,5314
$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,19,-1.25,-219.0,121,2497,837,664,0.0,0.0,0,82,0.00,0.00,-61.30,0.000,16386,0.000,0.000,121,2497,2493,2558,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.25,-219.0,121,2497,2561,2431,3.3,-4.9,8,117,8.73,2.10,-14.35,0.000,19204,0.216,0.044,2408,1089,3276,3346,3206,0,0,0,0,0,0,25.94,26.34,26.66
$GC,281,-1.25,-219.0,2408,1089,3348,3206,64.6,-31.7,27,289,0.00,2.17,0.00,0.000,1030,0.000,0.041,2398,2505,3277,3349,3206,0,0,0,0,0,0,28.83,26.39,28.83
$GC,587,-1.25,-219.0,2398,2504,3350,3206,173.3,-34.5,43,592,0.00,1.83,0.00,0.000,260,0.000,0.054,2389,3680,3278,3350,3206,0,0,0,0,0,0,28.83,26.48,28.83
$GC,656,-1.25,-219.0,1440,3679,3331,3202,196.2,-35.7,46,662,0.00,1.70,0.00,0.000,1030,0.000,0.024,2389,2488,3278,3350,3206,0,0,0,0,0,0,28.83,26.61,28.83
$GC,975,-1.25,-219.0,2389,2487,3354,3206,302.2,-29.9,62,982,0.12,1.85,0.00,0.000,2308,0.169,0.052,2418,3674,3279,3353,3206,0,0,0,0,0,0,26.43,26.55,28.83
$GC,1017,-1.25,-219.0,2418,3674,3354,3207,309.4,-29.7,63,1025,0.00,1.67,0.00,0.000,1030,0.000,0.024,2418,2497,3280,3354,3207,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1320,-1.25,-219.0,2418,2495,3354,3206,392.3,-26.1,79,1327,0.00,1.83,0.00,0.000,260,0.000,0.055,2409,3673,3280,3355,3206,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1375,-1.25,-219.0,2409,3673,3356,3207,404.5,-26.8,81,1381,0.00,1.67,0.00,0.000,1030,0.000,0.024,2409,2491,3280,3354,3207,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1690,-1.25,-219.0,2409,2489,3356,3207,486.3,-24.0,97,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2489,3281,3357,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1989,-1.25,-219.0,2408,2489,3357,3206,554.9,-22.6,112,1995,0.00,2.03,0.00,0.000,516,0.000,0.032,2409,1112,3281,3357,3206,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2013,-1.25,-219.0,2409,1112,3357,3206,560.6,-23.1,113,2019,0.00,2.10,0.00,0.000,1030,0.000,0.041,2395,2501,3282,3357,3207,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2327,-1.25,-219.0,2395,2501,3356,3206,638.0,-24.3,126,2333,0.00,1.83,0.00,0.000,260,0.000,0.057,2389,3677,3281,3356,3206,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2400,-1.25,-219.0,2389,3677,3356,3207,652.8,-23.5,128,2407,0.10,1.67,0.00,0.000,3078,0.163,0.024,2414,2492,3282,3357,3207,0,0,0,0,0,0,26.53,26.76,28.83
$GC,2725,-1.25,-219.0,2414,2491,3356,3205,716.9,-19.7,139,2731,0.00,1.85,0.00,0.000,260,0.000,0.056,2406,3675,3280,3356,3205,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2769,-1.25,-219.0,2406,3675,3356,3205,724.1,-20.5,140,2775,0.00,1.67,0.00,0.000,1030,0.000,0.024,2407,2492,3280,3356,3205,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3093,-1.25,-219.0,2406,2491,3355,3200,801.5,-23.2,151,3099,0.00,1.85,0.00,0.000,260,0.000,0.057,2397,3674,3278,3356,3200,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3138,-1.25,-219.0,2397,3674,3356,3199,809.5,-23.0,152,3144,0.00,1.67,0.00,0.000,1030,0.000,0.025,2397,2495,3277,3356,3199,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3462,-1.25,-219.0,2397,2494,3356,3194,879.3,-20.0,163,3468,0.00,2.03,0.00,0.000,516,0.000,0.031,2397,1115,3274,3356,3193,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3490,-1.25,-219.0,2397,1115,3356,3193,879.3,-20.0,163,3498,0.12,2.12,0.00,0.000,3078,0.165,0.043,2419,2505,3274,3356,3193,0,0,0,0,0,0,26.48,26.64,28.83
$GC,3797,-1.25,-219.0,2420,2505,3356,3188,942.2,-18.5,174,3803,0.00,2.05,0.00,0.000,516,0.000,0.031,2420,1115,3272,3356,3188,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3825,-1.25,-219.0,2420,1116,3356,3188,942.2,-18.5,174,3833,0.00,2.12,0.00,0.000,1030,0.000,0.043,2410,2506,3272,3356,3188,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,3951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3951,begin apogee
$GC,3956,-0.20,0.0,2409,1997,3355,3185,970.1,-17.9,179,4299,1.00,0.00,332.12,0.744,10246,0.116,0.000,2748,1995,2373,2533,2214,0,0,0,0,0,0,26.46,28.83,24.53
$STATE,4302,end apogee,CONTROL_FINISHED_OK
$STATE,4302,begin climb
$GC,4304,1.25,219.0,2747,1994,2531,2208,982.6,0.0,189,4547,1.30,2.22,230.70,0.895,10756,0.050,0.042,3238,634,1472,1571,1373,0,0,0,0,0,0,25.27,24.91,24.23
$GC,4773,1.25,219.0,2304,634,1522,1348,894.3,24.4,204,4779,0.00,2.12,0.00,0.000,1030,0.000,0.032,3238,2023,1452,1551,1353,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5092,1.25,219.0,3238,2021,1547,1350,819.7,21.3,215,5098,0.00,2.15,0.00,0.000,516,0.000,0.037,3250,627,1450,1548,1353,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5127,1.25,219.0,3250,627,1547,1349,812.3,21.3,216,5132,0.00,2.08,0.00,0.000,1030,0.000,0.032,3250,2001,1448,1547,1349,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5462,1.25,219.0,3250,2001,1546,1347,738.4,21.7,227,5467,0.00,2.17,0.00,0.000,260,0.000,0.047,3250,3402,1445,1544,1347,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5480,1.25,219.0,3249,3402,1546,1347,738.4,21.7,227,5487,0.15,2.05,0.00,0.000,5126,0.171,0.029,3222,2016,1446,1546,1347,0,0,0,0,0,0,26.25,26.50,28.83
$GC,5801,1.25,219.0,3222,2016,1545,1345,671.0,20.5,238,5807,0.00,2.15,0.00,0.000,516,0.000,0.040,3233,606,1444,1544,1344,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5828,1.25,219.0,3233,606,1545,1344,671.0,20.5,238,5836,0.00,2.08,0.00,0.000,1030,0.000,0.032,3233,1999,1444,1545,1344,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6136,1.25,219.0,3233,2000,1544,1342,595.8,23.6,249,6142,0.00,2.17,0.00,0.000,260,0.000,0.047,3233,3405,1443,1544,1342,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6208,1.25,219.0,3233,3405,1543,1342,578.3,25.3,252,6214,0.00,2.08,0.00,0.000,1030,0.000,0.030,3244,2004,1442,1543,1342,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6528,1.25,219.0,3244,2003,1541,1341,510.0,20.5,268,6535,0.00,2.12,0.00,0.000,516,0.000,0.041,3256,606,1441,1541,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6599,1.25,219.0,3256,606,1540,1341,497.0,19.5,271,6606,0.12,2.08,0.00,0.000,5126,0.170,0.031,3223,2005,1440,1540,1341,0,0,0,0,0,0,26.39,26.62,28.83
$GC,6920,1.25,219.0,3223,2005,1539,1338,438.4,18.1,287,6925,0.00,2.12,0.00,0.000,516,0.000,0.040,3234,609,1438,1539,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6985,1.25,219.0,3234,609,1539,1338,425.1,19.6,290,6992,0.00,2.08,0.00,0.000,1030,0.000,0.032,3234,1998,1438,1539,1338,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7310,1.25,219.0,3234,1998,1539,1338,363.4,18.0,306,7316,0.00,2.17,0.00,0.000,260,0.000,0.047,3234,3408,1438,1539,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7376,1.25,219.0,3234,3408,1539,1338,350.8,18.7,309,7382,0.00,2.10,0.00,0.000,1030,0.000,0.030,3246,1997,1439,1539,1339,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7701,1.25,219.0,3245,1996,1539,1337,291.2,18.0,325,7707,0.00,2.10,0.00,0.000,516,0.000,0.040,3257,608,1437,1538,1337,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7799,1.25,219.0,3257,608,1539,1337,274.0,19.2,329,7806,0.12,2.08,0.00,0.000,5126,0.164,0.031,3224,2008,1438,1539,1337,0,0,0,0,0,0,26.44,26.66,28.83
$GC,8115,1.25,219.0,3223,2008,1538,1337,220.0,15.4,345,8122,0.00,2.12,0.00,0.000,516,0.000,0.039,3234,606,1438,1539,1337,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8222,1.25,219.0,2240,606,1508,1334,205.4,13.4,350,8229,0.00,2.08,0.00,0.000,1030,0.000,0.031,3234,2005,1438,1539,1337,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8548,1.25,219.0,3234,2005,1539,1337,167.8,12.0,366,8553,0.00,2.15,0.00,0.000,260,0.000,0.045,3235,3409,1438,1539,1337,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8653,1.25,219.0,2224,3408,1507,1333,152.2,15.0,371,8659,0.00,2.08,0.00,0.000,1030,0.000,0.028,3246,1991,1438,1539,1337,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8978,1.25,219.0,3246,1990,1539,1337,99.5,16.9,387,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1990,1438,1540,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9278,1.25,219.0,3246,1990,1543,1337,49.7,15.5,402,9283,0.00,2.17,0.00,0.000,260,0.000,0.046,3246,3404,1440,1544,1337,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9419,1.25,219.0,3246,3402,1545,1337,28.7,14.3,415,9425,0.12,2.05,0.00,0.000,5126,0.161,0.028,3224,1994,1441,1545,1337,0,0,0,0,0,0,26.48,26.71,28.83
$STATE,9636,end climb,SURFACE_DEPTH_REACHED
$STATE,9636,begin surface coast
$FINISH,0.5,1.010840
$STATE,9664,end surface coast,CONTROL_FINISHED_OK
$STATE,9664,begin surface
$SM_CCo,9681,82.20,0.059,0,0,748,400.08
$SM_GC,1.57,7.88,0.77,82.20,0.035,0.049,0.059,135,2492,748,-8.30,-1.30,400.08,0,0,0,0,0,0,26.69,26.65,26.51
$IRIDIUM_FIX,2127.21,12347.19,210313,202040
$TT8_MAMPS,0.048685,0.048685
$HUMID,45.03
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3967776
$24V_AH,24.2,24.480
$10V_AH,10.3,17.863
$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,19.775,90.075,562.825,82.200,0.000,0.000,0.000,195.775,0.000,0.000,18.080,1976.996,5684.404,703.108,1481.934,254.911,0.000,1651.964,0.000,1205.477,0.000,0.538,0.000
$DEVICE_MAMPS,216.495,56.610,895.050,58.905,0.000,0.000,0.000,121.635,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9673.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.958,0.000,0.000,0.000
$MEM,329700
$DATA_FILE_SIZE,16767,458
$CAP_FILE_SIZE,256994,0
$CFSIZE,260034560,236052480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,182.2,1
$GPS,220313,015006,2136.565,12352.542,41,1.2,42,-2.9