version: 66.11
glider: 171
mission: 4
dive: 167
start: 3 22 113 4 45 51
data:
$ID,171
$MISSION,4
$DIVE,167
$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,-20719.211
$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,57
$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
$GPS1,220313,044006,2137.345,12351.598,31,1.2,32,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-69.1
$GPS2,220313,044525,2137.357,12351.585,15,1.2,15,-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,322.2,295279,-12.0,-8.739,-16.47,3810
$D_GRID,5258
$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,-219.0,126,2496,835,662,0.0,0.0,0,82,0.00,0.00,-61.35,0.000,16386,0.000,0.000,126,2496,2509,2573,2446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.25,-219.0,126,2497,2576,2448,3.5,-5.7,8,117,8.80,1.85,-13.93,0.000,19204,0.221,0.070,2401,3670,3277,3348,3207,0,0,0,0,0,0,25.93,26.29,26.67
$GC,125,-1.25,-219.0,2402,3670,3349,3207,19.6,-36.8,13,134,0.00,1.70,0.00,0.000,1030,0.000,0.026,2402,2491,3278,3350,3207,0,0,0,0,0,0,28.83,26.41,28.83
$GC,443,-1.25,-219.0,2401,2490,3351,3207,127.2,-34.3,34,449,0.00,1.85,0.00,0.000,260,0.000,0.053,2393,3677,3278,3351,3206,0,0,0,0,0,0,28.83,26.44,28.83
$GC,684,-1.25,-219.0,2392,3678,3352,3207,206.8,-35.2,45,690,0.00,1.67,0.00,0.000,1030,0.000,0.025,2393,2503,3280,3353,3207,0,0,0,0,0,0,28.83,26.62,28.83
$GC,998,-1.25,-219.0,2392,2501,3355,3207,299.5,-26.9,61,1005,0.00,1.83,0.00,0.000,260,0.000,0.054,2384,3675,3281,3355,3207,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1216,-1.25,-219.0,2384,3676,3355,3207,356.7,-26.3,71,1222,0.08,1.73,0.00,0.000,3078,0.148,0.024,2422,2493,3281,3355,3207,0,0,0,0,0,0,26.41,26.70,28.83
$GC,1532,-1.25,-219.0,2422,2492,3355,3207,439.7,-25.3,87,1537,0.00,1.83,0.00,0.000,260,0.000,0.054,2414,3670,3281,3355,3208,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1587,-1.25,-219.0,2414,3667,3355,3208,450.5,-24.4,89,1593,0.00,1.67,0.00,0.000,1030,0.000,0.025,2414,2496,3281,3355,3207,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1900,-1.25,-219.0,2414,2495,3355,3208,524.3,-23.5,105,1906,0.00,2.03,0.00,0.000,516,0.000,0.032,2414,1109,3281,3355,3207,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1960,-1.25,-219.0,2414,1110,3355,3208,534.2,-22.8,107,1968,0.00,2.10,0.00,0.000,1030,0.000,0.041,2403,2500,3281,3355,3207,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2267,-1.25,-219.0,2403,2501,3355,3208,602.7,-20.2,123,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2501,3281,3355,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2566,-1.25,-219.0,2403,2501,3355,3207,670.1,-23.2,133,2572,0.00,1.83,0.00,0.000,260,0.000,0.056,2394,3671,3281,3355,3207,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2655,-1.25,-219.0,2394,3669,3355,3207,685.6,-23.7,135,2663,0.00,1.67,0.00,0.000,1030,0.000,0.024,2394,2492,3281,3355,3207,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2962,-1.25,-219.0,2394,2491,3355,3207,755.0,-20.8,146,2968,0.00,2.03,0.00,0.000,516,0.000,0.030,2394,1110,3280,3355,3206,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2989,-1.25,-219.0,2394,1110,3356,3206,755.0,-20.8,146,2999,0.12,2.12,0.00,0.000,3078,0.166,0.044,2416,2504,3280,3355,3206,0,0,0,0,0,0,26.48,26.65,28.83
$GC,3297,-1.25,-219.0,2417,2505,3355,3202,822.8,-19.5,157,3303,0.00,1.80,0.00,0.000,260,0.000,0.055,2408,3668,3278,3355,3202,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3345,-1.25,-219.0,2408,3668,3355,3202,829.6,-19.4,158,3351,0.00,1.67,0.00,0.000,1030,0.000,0.025,2408,2495,3278,3355,3201,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3665,-1.25,-219.0,2408,2498,3355,3197,895.6,-19.6,169,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2495,3276,3355,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3965,-1.25,-219.0,2408,2495,3355,3191,950.2,-17.6,179,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2495,3273,3355,3191,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4082,begin apogee
$GC,4088,-0.20,0.0,2408,1990,3355,3189,971.2,-17.5,183,4431,1.00,0.00,331.40,0.750,10246,0.116,0.000,2746,1989,2373,2533,2213,0,0,0,0,0,0,26.46,28.83,24.52
$STATE,4434,end apogee,CONTROL_FINISHED_OK
$STATE,4434,begin climb
$GC,4435,1.25,219.0,2746,1989,2531,2200,991.4,0.0,193,4672,1.30,0.00,231.75,0.907,10758,0.048,0.000,3227,1989,1486,1586,1387,0,0,0,0,0,0,25.28,28.83,24.18
$GC,4954,1.25,219.0,3229,1989,1550,1350,899.0,24.4,212,4961,0.00,2.28,0.00,0.000,260,0.000,0.047,3232,3414,1450,1550,1350,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4977,1.25,219.0,3229,3414,1550,1350,899.0,24.4,212,4984,0.00,2.10,0.00,0.000,1030,0.000,0.027,3241,2013,1448,1549,1347,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5293,1.25,219.0,3240,2013,1547,1348,816.8,23.8,223,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2013,1447,1547,1348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5592,1.25,219.0,3241,2013,1546,1346,748.3,22.4,233,5598,0.00,2.20,0.00,0.000,260,0.000,0.047,3241,3417,1445,1545,1346,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5645,1.25,219.0,3241,3417,1545,1346,740.1,23.0,234,5652,0.12,2.10,0.00,0.000,5126,0.172,0.028,3221,2005,1445,1545,1346,0,0,0,0,0,0,26.29,26.51,28.83
$GC,5960,1.25,219.0,3221,2004,1544,1343,666.0,21.4,245,5967,0.00,2.12,0.00,0.000,516,0.000,0.041,3230,609,1443,1544,1343,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6056,1.25,219.0,3231,609,1544,1343,646.4,20.7,248,6062,0.00,2.10,0.00,0.000,1030,0.000,0.032,3231,2013,1443,1544,1343,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6370,1.25,219.0,3231,2013,1542,1341,577.8,22.0,260,6376,0.00,2.15,0.00,0.000,260,0.000,0.047,3231,3401,1441,1542,1341,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6505,1.25,219.0,3231,3401,1540,1341,549.9,22.6,266,6511,0.00,2.08,0.00,0.000,1030,0.000,0.029,3243,1996,1440,1540,1341,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6819,1.25,219.0,3242,1996,1539,1339,479.8,21.8,282,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1996,1439,1539,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7119,1.25,219.0,3242,1995,1539,1338,418.6,18.4,297,7125,0.00,2.10,0.00,0.000,516,0.000,0.040,3254,609,1438,1538,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7195,1.25,219.0,3254,609,1539,1338,407.5,16.6,300,7202,0.12,2.05,0.00,0.000,5126,0.168,0.031,3222,2002,1438,1539,1338,0,0,0,0,0,0,26.42,26.64,28.83
$GC,7511,1.25,219.0,3221,2002,1538,1338,356.2,18.8,316,7517,0.00,2.17,0.00,0.000,260,0.000,0.047,3222,3406,1438,1538,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7581,1.25,219.0,3221,3406,1539,1338,342.2,20.6,319,7587,0.00,2.08,0.00,0.000,1030,0.000,0.030,3232,1996,1438,1539,1338,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7901,1.25,219.0,3232,1996,1539,1337,282.9,16.9,335,7907,0.00,2.17,0.00,0.000,260,0.000,0.047,3232,3402,1438,1539,1337,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7940,1.25,219.0,2256,3400,1509,1334,278.4,16.9,336,7948,0.00,2.05,0.00,0.000,1030,0.000,0.029,3244,2003,1438,1539,1337,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8247,1.25,219.0,3244,2000,1538,1337,217.3,19.8,352,8248,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2000,1438,1539,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8547,1.25,219.0,3244,2000,1538,1337,171.7,12.1,367,8548,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2001,1439,1542,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8846,1.25,219.0,3244,2000,1539,1337,127.8,15.4,382,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2000,1438,1540,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9147,1.25,219.0,3244,2000,1539,1337,82.1,14.8,397,9153,0.00,2.17,0.00,0.000,260,0.000,0.046,3244,3411,1438,1539,1337,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9207,1.25,219.0,3244,3411,1540,1337,75.3,14.8,399,9216,0.12,2.08,0.00,0.000,5126,0.161,0.028,3222,1991,1438,1540,1336,0,0,0,0,0,0,26.46,26.70,28.83
$GC,9512,1.25,219.0,3222,1991,1543,1337,33.6,11.8,421,9513,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1991,1439,1542,1337,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9771,end climb,SURFACE_DEPTH_REACHED
$STATE,9771,begin surface coast
$FINISH,0.6,1.017908
$STATE,9806,end surface coast,CONTROL_FINISHED_OK
$STATE,9806,begin surface
$SM_CCo,9823,82.12,0.060,0,0,748,400.08
$SM_GC,1.33,7.88,0.77,82.12,0.036,0.049,0.060,130,2492,748,-8.30,-1.39,400.08,0,0,0,0,0,0,26.70,26.66,26.50
$IRIDIUM_FIX,2127.21,12352.33,220313,010127
$TT8_MAMPS,0.048685,0.048685
$HUMID,44.60
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3967136
$24V_AH,24.2,24.752
$10V_AH,10.3,18.018
$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,19.550,64.850,563.150,82.125,0.000,0.000,0.000,175.575,0.000,0.000,16.671,1909.745,6002.208,704.384,1364.902,240.365,0.000,1557.045,0.000,1119.514,0.000,0.538,0.000
$DEVICE_MAMPS,221.085,69.615,907.290,59.670,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9816.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.989,0.000,0.000,0.000
$MEM,329720
$DATA_FILE_SIZE,16812,470
$CAP_FILE_SIZE,243951,0
$CFSIZE,260034560,235892736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183,200.7,1
$GPS,220313,073205,2137.695,12350.448,29,1.0,30,-2.9