version: 66.11
glider: 171
mission: 4
dive: 168
start: 3 22 113 7 37 56
data:
$ID,171
$MISSION,4
$DIVE,168
$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,-20721.273
$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,55
$R_STBD_OVSHOOT,35
$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
$GPS1,220313,073205,2137.695,12350.448,29,1.0,30,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.3
$GPS2,220313,073730,2137.700,12350.423,12,1.5,17,-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,342.9,293270,-12.0,-8.739,-16.47,3810
$D_GRID,5240
$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,-219.0,126,2494,829,665,0.0,0.0,0,82,0.00,0.00,-61.30,0.000,16386,0.000,0.000,126,2494,2461,2536,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.25,-219.0,127,2494,2541,2387,3.3,-4.8,8,117,8.82,1.85,-15.15,0.000,18692,0.222,0.067,2402,3676,3277,3348,3206,0,0,0,0,0,0,25.92,26.29,26.66
$GC,348,-1.25,-219.0,2402,3676,3352,3206,94.3,-32.5,31,355,0.00,1.70,0.00,0.000,1030,0.000,0.025,2402,2487,3279,3352,3206,0,0,0,0,0,0,28.83,26.53,28.83
$GC,668,-1.25,-219.0,2403,2486,3354,3206,206.5,-35.6,47,674,0.00,1.85,0.00,0.000,260,0.000,0.054,2394,3671,3280,3354,3206,0,0,0,0,0,0,28.83,26.51,28.83
$GC,843,-1.25,-219.0,2393,3671,3355,3207,257.1,-28.7,55,850,0.00,1.70,0.00,0.000,1030,0.000,0.024,2393,2510,3281,3356,3206,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1159,-1.25,-219.0,2393,2510,3356,3207,349.7,-27.9,71,1165,0.00,1.80,0.00,0.000,260,0.000,0.054,2387,3673,3281,3356,3207,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1226,-1.25,-219.0,2385,3672,3356,3207,368.4,-27.8,74,1233,0.12,1.67,0.00,0.000,3078,0.163,0.024,2417,2484,3281,3356,3207,0,0,0,0,0,0,26.44,26.70,28.83
$GC,1552,-1.25,-219.0,2416,2485,3356,3207,446.3,-23.3,90,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2484,3281,3356,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1851,-1.25,-219.0,2417,2485,3356,3207,519.4,-22.8,105,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2485,3281,3356,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2151,-1.25,-219.0,2416,2485,3356,3207,582.1,-21.1,120,2157,0.00,1.85,0.00,0.000,260,0.000,0.055,2408,3671,3281,3356,3207,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2212,-1.25,-219.0,2408,3670,3356,3207,591.9,-21.5,122,2220,0.00,1.65,0.00,0.000,1030,0.000,0.024,2409,2498,3281,3356,3207,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2538,-1.25,-219.0,2408,2498,3357,3207,664.2,-20.6,134,2544,0.00,1.83,0.00,0.000,260,0.000,0.054,2400,3673,3281,3356,3207,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2572,-1.25,-219.0,2399,3673,3356,3207,671.7,-20.6,135,2577,0.00,1.67,0.00,0.000,1030,0.000,0.026,2400,2498,3281,3356,3207,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2906,-1.25,-219.0,2399,2496,3356,3206,740.5,-19.7,146,2912,0.00,2.03,0.00,0.000,516,0.000,0.031,2400,1115,3281,3356,3206,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2933,-1.25,-219.0,2399,1116,3356,3206,740.5,-19.7,146,2943,0.12,2.10,0.00,0.000,3078,0.162,0.043,2422,2499,3280,3356,3205,0,0,0,0,0,0,26.48,26.65,28.83
$GC,3241,-1.25,-219.0,2422,2499,3358,3202,800.7,-17.7,157,3246,0.00,1.83,0.00,0.000,260,0.000,0.056,2414,3674,3278,3356,3201,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3315,-1.25,-219.0,2414,3674,3355,3201,813.2,-18.6,159,3321,0.00,1.67,0.00,0.000,1030,0.000,0.025,2414,2502,3278,3356,3201,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3639,-1.25,-219.0,2414,2501,3356,3196,879.7,-19.6,170,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2501,3276,3356,3196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3939,-1.25,-219.0,2413,2501,3355,3191,933.1,-17.2,180,3945,0.00,1.83,0.00,0.000,260,0.000,0.057,2405,3668,3273,3356,3190,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3977,-1.25,-219.0,2405,3668,3355,3190,939.0,-17.2,181,3984,0.00,1.73,0.00,0.000,1030,0.000,0.028,2405,2511,3272,3355,3190,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4156,begin apogee
$GC,4162,-0.20,0.0,2405,1980,3355,3187,970.8,-17.0,187,4498,1.02,0.00,327.83,0.757,10246,0.116,0.000,2751,1978,2377,2536,2218,0,0,0,0,0,0,26.45,28.83,24.54
$STATE,4501,end apogee,CONTROL_FINISHED_OK
$STATE,4501,begin climb
$GC,4503,1.25,219.0,2751,1978,2532,2203,988.0,0.0,197,4747,1.27,2.28,230.00,0.906,10756,0.046,0.042,3240,634,1473,1573,1373,0,0,0,0,0,0,25.27,24.89,24.20
$GC,4782,1.25,219.0,3240,634,1556,1355,950.9,20.5,206,4788,0.00,2.17,0.00,0.000,1030,0.000,0.033,3240,2004,1455,1556,1355,0,0,0,0,0,0,28.83,25.34,28.83
$GC,5116,1.25,219.0,3240,2004,1548,1350,868.9,24.5,217,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2004,1449,1548,1350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5417,1.25,219.0,3240,2005,1545,1348,795.6,24.3,227,5423,0.00,2.20,0.00,0.000,260,0.000,0.047,3240,3413,1447,1546,1348,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5485,1.25,219.0,3240,3413,1545,1348,779.6,24.4,229,5491,0.12,2.08,0.00,0.000,5126,0.176,0.028,3220,2016,1445,1545,1346,0,0,0,0,0,0,26.21,26.44,28.83
$GC,5815,1.25,219.0,3220,2015,1544,1346,706.4,22.2,240,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2015,1446,1547,1345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6115,1.25,219.0,3220,2014,1542,1343,643.0,20.5,250,6121,0.00,2.15,0.00,0.000,516,0.000,0.040,3231,609,1442,1542,1343,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6150,1.25,219.0,3231,609,1541,1343,636.1,20.3,251,6156,0.00,2.10,0.00,0.000,1030,0.000,0.032,3231,2007,1442,1542,1343,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6474,1.25,219.0,3231,2007,1541,1341,570.5,20.7,264,6480,0.00,2.15,0.00,0.000,260,0.000,0.047,3231,3401,1441,1541,1341,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6623,1.25,219.0,3231,3400,1539,1341,539.2,21.0,271,6630,0.00,2.08,0.00,0.000,1030,0.000,0.029,3243,1994,1440,1539,1341,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6944,1.25,219.0,3242,1997,1539,1339,474.3,20.6,287,6950,0.00,2.10,0.00,0.000,516,0.000,0.040,3254,608,1439,1539,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6992,1.25,219.0,2272,609,1509,1335,465.4,19.9,289,6998,0.12,2.08,0.00,0.000,5126,0.169,0.032,3222,2007,1439,1539,1339,0,0,0,0,0,0,26.41,26.63,28.83
$GC,7314,1.25,219.0,3221,2007,1538,1338,404.5,18.0,305,7320,0.00,2.12,0.00,0.000,516,0.000,0.040,3233,608,1438,1538,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7338,1.25,219.0,3233,608,1539,1338,399.5,18.2,306,7344,0.00,2.08,0.00,0.000,1030,0.000,0.032,3233,2001,1437,1538,1337,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7664,1.25,219.0,3232,2002,1538,1338,339.6,18.4,322,7670,0.00,2.17,0.00,0.000,260,0.000,0.046,3233,3403,1438,1538,1338,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7831,1.25,219.0,3232,3403,1538,1338,306.9,18.8,330,7838,0.00,2.08,0.00,0.000,1030,0.000,0.029,3244,1996,1438,1539,1338,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8157,1.25,219.0,3244,1995,1538,1337,247.7,19.4,346,8163,0.00,2.08,0.00,0.000,516,0.000,0.040,3255,611,1438,1538,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8236,1.25,219.0,3255,610,1538,1338,233.8,20.6,349,8245,0.12,2.05,0.00,0.000,5126,0.162,0.031,3222,2003,1438,1539,1338,0,0,0,0,0,0,26.45,26.66,28.83
$GC,8544,1.25,219.0,3222,2003,1538,1338,187.5,14.0,365,8549,0.00,2.15,0.00,0.000,260,0.000,0.045,3222,3405,1438,1538,1338,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8617,1.25,219.0,3222,3405,1538,1338,178.6,13.4,368,8624,0.00,2.05,0.00,0.000,1030,0.000,0.028,3233,1999,1438,1539,1337,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8932,1.25,219.0,3233,1998,1538,1338,131.1,15.3,384,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1999,1438,1538,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9232,1.25,219.0,3233,1998,1539,1338,83.4,15.6,399,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1999,1438,1539,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9534,1.25,219.0,3233,1998,1540,1338,41.9,12.5,417,9540,0.00,2.17,0.00,0.000,260,0.000,0.046,3233,3413,1439,1541,1337,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9580,1.25,219.0,3233,3413,1542,1337,35.6,13.3,421,9586,0.00,2.08,0.00,0.000,1030,0.000,0.028,3245,2002,1439,1542,1337,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,9833,end climb,SURFACE_DEPTH_REACHED
$STATE,9834,begin surface coast
$FINISH,0.6,1.023258
$STATE,9862,end surface coast,CONTROL_FINISHED_OK
$STATE,9862,begin surface
$SM_CCo,9880,82.05,0.059,0,0,747,400.08
$SM_GC,1.47,7.95,0.77,82.05,0.038,0.050,0.059,132,2501,747,-8.29,-1.13,400.08,0,0,0,0,0,0,26.70,26.65,26.50
$IRIDIUM_FIX,2127.21,12353.62,220313,040424
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.92
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3966816
$24V_AH,24.2,24.888
$10V_AH,10.3,18.097
$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,19.700,72.650,557.825,82.050,0.000,0.000,0.000,178.700,0.000,0.000,18.742,1970.257,5946.480,672.707,1446.968,247.740,0.000,1585.602,0.000,1190.770,0.000,0.538,0.000
$DEVICE_MAMPS,221.850,66.555,905.760,58.905,0.000,0.000,0.000,126.225,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9868.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.007,0.000,0.000,0.000
$MEM,329676
$DATA_FILE_SIZE,16788,467
$CAP_FILE_SIZE,252512,0
$CFSIZE,260034560,235794432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.194,231.3,1
$GPS,220313,102523,2138.723,12349.192,28,1.1,46,-2.9