version: 66.11
glider: 171
mission: 4
dive: 166
start: 3 22 113 1 55 57
data:
$ID,171
$MISSION,4
$DIVE,166
$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,-20717.953
$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,59
$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
$GPS1,220313,015006,2136.565,12352.542,41,1.2,42,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.0
$GPS2,220313,015531,2136.565,12352.556,15,1.2,15,-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,317.7,297464,-12.0,-8.739,-16.47,3810
$D_GRID,5310
$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,-219.0,132,2495,829,667,0.0,0.0,0,81,0.00,0.00,-60.88,0.000,16386,0.000,0.000,131,2495,2470,2545,2396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.25,-219.0,132,2495,2548,2396,3.0,-4.1,8,116,8.80,1.85,-15.00,0.000,18692,0.221,0.070,2405,3669,3273,3343,3204,0,0,0,0,0,0,25.94,26.29,26.67
$GC,348,-1.25,-219.0,2405,3669,3349,3204,96.3,-35.7,31,355,0.00,1.70,0.00,0.000,1030,0.000,0.025,2405,2485,3276,3349,3204,0,0,0,0,0,0,28.83,26.53,28.83
$GC,668,-1.25,-219.0,2405,2484,3350,3206,206.7,-32.5,47,674,0.00,1.85,0.00,0.000,260,0.000,0.056,2396,3668,3277,3350,3204,0,0,0,0,0,0,28.83,26.51,28.83
$GC,869,-1.25,-219.0,2396,3668,3351,3204,269.0,-33.0,56,877,0.00,1.67,0.00,0.000,1030,0.000,0.025,2396,2489,3277,3351,3204,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1175,-1.25,-219.0,2396,2489,3354,3204,366.9,-28.1,72,1181,0.00,1.83,0.00,0.000,260,0.000,0.054,2388,3668,3279,3354,3204,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1225,-1.25,-219.0,2387,3668,3354,3204,380.0,-28.3,74,1231,0.12,1.65,0.00,0.000,3078,0.166,0.024,2420,2496,3278,3353,3204,0,0,0,0,0,0,26.43,26.70,28.83
$GC,1545,-1.25,-219.0,2420,2495,3354,3204,458.8,-23.8,90,1552,0.00,1.83,0.00,0.000,260,0.000,0.054,2411,3667,3279,3354,3204,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1606,-1.25,-219.0,2411,3668,3354,3204,470.6,-25.0,92,1614,0.00,1.65,0.00,0.000,1030,0.000,0.024,2411,2509,3279,3354,3204,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1912,-1.25,-219.0,2411,2509,3355,3204,548.8,-23.3,108,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2509,3280,3355,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2232,-1.25,-219.0,2411,2509,3355,3204,614.1,-20.8,123,2238,0.00,1.80,0.00,0.000,260,0.000,0.055,2402,3668,3279,3355,3204,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2254,-1.25,-219.0,2402,3668,3355,3204,614.1,-20.8,123,2260,0.00,1.67,0.00,0.000,1030,0.000,0.024,2402,2480,3279,3355,3204,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2570,-1.25,-219.0,2402,2479,3355,3204,686.1,-21.4,134,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2478,3278,3353,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2868,-1.25,-219.0,2402,2478,3355,3202,752.6,-21.6,144,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2478,3278,3355,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3168,-1.25,-219.0,2402,2478,3354,3198,808.3,-16.8,154,3174,0.00,1.85,0.00,0.000,260,0.000,0.057,2394,3667,3275,3354,3197,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3217,-1.25,-219.0,2393,3666,3355,3197,814.2,-16.7,155,3223,0.00,1.65,0.00,0.000,1030,0.000,0.027,2394,2513,3275,3354,3197,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3536,-1.25,-219.0,2394,2513,3357,3192,874.4,-19.1,166,3542,0.00,1.80,0.00,0.000,260,0.000,0.057,2385,3667,3272,3354,3191,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3575,-1.25,-219.0,1440,3666,3336,3185,881.3,-19.6,167,3582,0.08,1.73,0.00,0.000,3078,0.135,0.025,2425,2488,3272,3354,3191,0,0,0,0,0,0,26.48,26.77,28.83
$GC,3904,-1.25,-219.0,2425,2487,3354,3185,942.7,-17.9,178,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2488,3269,3354,3185,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4083,begin apogee
$GC,4089,-0.20,0.0,2425,1993,3352,3184,973.6,-17.1,184,4428,0.95,0.00,330.20,0.750,10246,0.110,0.000,2750,1991,2378,2538,2218,0,0,0,0,0,0,26.47,28.83,24.51
$STATE,4431,end apogee,CONTROL_FINISHED_OK
$STATE,4431,begin climb
$GC,4432,1.25,219.0,2750,1991,2531,2208,989.9,0.0,194,4674,1.27,0.00,234.32,0.892,10502,0.047,0.000,3226,1991,1483,1582,1385,0,0,0,0,0,0,25.26,28.83,24.20
$GC,4955,1.25,219.0,3225,1991,1549,1351,889.6,24.4,213,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1991,1450,1550,1351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5256,1.25,219.0,3226,1991,1547,1348,822.7,21.2,223,5261,0.00,2.25,0.00,0.000,260,0.000,0.049,3226,3414,1447,1547,1348,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5300,1.25,219.0,3226,3414,1546,1348,814.6,21.5,224,5306,0.00,2.08,0.00,0.000,1030,0.000,0.029,3237,2022,1447,1547,1348,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5624,1.25,219.0,3237,2024,1545,1346,737.9,22.1,235,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2023,1445,1545,1345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5925,1.25,219.0,3237,2024,1544,1345,673.4,20.6,245,5931,0.00,2.17,0.00,0.000,516,0.000,0.042,3249,604,1444,1544,1345,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5990,1.25,219.0,3249,604,1544,1345,659.8,20.8,247,5996,0.00,2.12,0.00,0.000,1030,0.000,0.033,3249,2015,1444,1544,1344,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6305,1.25,219.0,3248,2016,1541,1342,590.7,23.5,258,6311,0.00,2.15,0.00,0.000,260,0.000,0.049,3249,3403,1441,1542,1340,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6372,1.25,219.0,3248,3404,1541,1342,573.9,24.7,261,6379,0.15,2.10,0.00,0.000,5126,0.172,0.029,3221,1994,1441,1541,1342,0,0,0,0,0,0,26.34,26.61,28.83
$GC,6698,1.25,219.0,3222,1994,1539,1341,506.3,18.7,277,6705,0.00,2.12,0.00,0.000,516,0.000,0.041,3232,601,1440,1539,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6799,1.25,219.0,3232,601,1539,1340,490.7,17.7,281,6808,0.00,2.10,0.00,0.000,1030,0.000,0.033,3232,2005,1439,1539,1340,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7105,1.25,219.0,3232,2003,1539,1338,429.0,21.8,297,7111,0.00,2.12,0.00,0.000,516,0.000,0.040,3244,608,1438,1539,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7220,1.25,219.0,3243,608,1538,1338,405.9,21.4,302,7226,0.00,2.08,0.00,0.000,1030,0.000,0.032,3243,2007,1438,1538,1338,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7534,1.25,219.0,3243,2007,1539,1338,343.7,20.3,318,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2007,1437,1536,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7835,1.25,219.0,3243,2007,1538,1338,284.3,19.0,333,7841,0.00,2.15,0.00,0.000,260,0.000,0.047,3243,3404,1438,1538,1338,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7902,1.25,219.0,3243,3404,1538,1338,270.7,19.7,336,7909,0.12,2.08,0.00,0.000,5126,0.171,0.029,3223,1996,1438,1538,1338,0,0,0,0,0,0,26.44,26.68,28.83
$GC,8228,1.25,219.0,3222,1996,1538,1338,211.9,18.9,352,8235,0.00,2.10,0.00,0.000,516,0.000,0.041,3234,609,1438,1538,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8343,1.25,219.0,2304,609,1510,1335,192.0,18.5,357,8349,0.00,2.05,0.00,0.000,1030,0.000,0.031,3234,1999,1438,1538,1338,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8657,1.25,219.0,3233,1999,1538,1338,145.2,16.0,373,8663,0.00,2.15,0.00,0.000,260,0.000,0.047,3234,3401,1439,1538,1341,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8723,1.25,219.0,3233,3400,1538,1338,133.9,16.9,376,8729,0.00,2.08,0.00,0.000,1030,0.000,0.028,3245,1994,1438,1539,1338,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9048,1.25,219.0,3243,1994,1538,1338,84.5,14.5,392,9049,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1994,1438,1538,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9347,1.25,219.0,3245,1994,1540,1338,42.6,13.4,409,9353,0.00,2.17,0.00,0.000,260,0.000,0.046,3245,3400,1438,1540,1336,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9408,1.25,219.0,3245,3400,1541,1338,34.2,15.1,414,9417,0.12,2.05,0.00,0.000,5126,0.161,0.029,3222,1997,1440,1542,1338,0,0,0,0,0,0,26.47,26.70,28.83
$STATE,9650,end climb,SURFACE_DEPTH_REACHED
$STATE,9650,begin surface coast
$FINISH,0.7,1.023062
$STATE,9678,end surface coast,CONTROL_FINISHED_OK
$STATE,9678,begin surface
$SM_CCo,9696,82.25,0.060,0,0,748,400.08
$SM_GC,1.40,7.82,0.77,82.25,0.033,0.047,0.060,129,2495,748,-8.29,-1.22,400.08,0,0,0,0,0,0,26.69,26.65,26.50
$IRIDIUM_FIX,2127.21,12355.54,210313,232309
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.56
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3967456
$24V_AH,24.2,24.616
$10V_AH,10.4,17.940
$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,19.450,64.100,564.525,82.250,0.000,0.000,0.000,181.200,0.000,0.000,16.591,1892.649,5912.413,710.836,1350.925,232.251,0.000,1552.061,0.000,1098.602,0.000,0.540,0.000
$DEVICE_MAMPS,221.085,69.615,891.990,59.670,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9683.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.958,0.000,0.000,0.000
$MEM,329680
$DATA_FILE_SIZE,16786,460
$CAP_FILE_SIZE,239433,0
$CFSIZE,260034560,235982848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,168.6,1
$GPS,220313,044006,2137.345,12351.598,31,1.2,32,-2.9