version: 66.11
glider: 171
mission: 4
dive: 171
start: 3 22 113 16 17 51
data:
$ID,171
$MISSION,4
$DIVE,171
$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,-20725.961
$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,38
$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
$GPS1,220313,161200,2141.522,12347.423,38,1.1,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-69.5
$GPS2,220313,161725,2141.547,12347.444,11,1.3,11,-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,309.7,285160,-12.0,-8.739,-16.47,3810
$D_GRID,4767
$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,-219.0,130,2505,829,667,0.0,0.0,0,82,0.00,0.00,-61.95,0.000,16386,0.000,0.000,130,2506,2474,2547,2401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.25,-219.0,130,2506,2552,2400,3.2,-4.7,8,118,8.88,1.83,-14.82,0.000,18692,0.224,0.067,2403,3669,3275,3344,3206,0,0,0,0,0,0,25.92,26.28,26.66
$GC,126,-1.25,-219.0,2403,3670,3345,3206,18.9,-36.1,13,135,0.00,1.70,0.00,0.000,1030,0.000,0.024,2403,2480,3275,3345,3206,0,0,0,0,0,0,28.83,26.40,28.83
$GC,439,-1.25,-219.0,2402,2479,3348,3206,122.2,-32.0,34,445,0.00,2.03,0.00,0.000,516,0.000,0.034,2403,1111,3277,3348,3206,0,0,0,0,0,0,28.83,26.50,28.83
$GC,650,-1.25,-219.0,2403,1111,3349,3206,186.7,-31.7,44,656,0.00,2.10,0.00,0.000,1030,0.000,0.042,2392,2488,3277,3349,3206,0,0,0,0,0,0,28.83,26.50,28.83
$GC,975,-1.25,-219.0,2392,2488,3351,3206,287.8,-29.6,60,981,0.00,1.85,0.00,0.000,260,0.000,0.057,2383,3678,3279,3352,3206,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1111,-1.25,-219.0,2383,3677,3352,3207,324.8,-28.7,66,1118,0.12,1.67,0.00,0.000,3078,0.159,0.024,2415,2498,3279,3352,3206,0,0,0,0,0,0,26.43,26.67,28.83
$GC,1427,-1.25,-219.0,2415,2496,3353,3206,412.8,-27.2,82,1433,0.00,2.05,0.00,0.000,516,0.000,0.034,2415,1109,3279,3353,3206,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1466,-1.25,-219.0,2415,1109,3353,3206,419.2,-26.5,83,1474,0.00,2.12,0.00,0.000,1030,0.000,0.042,2405,2502,3279,3353,3206,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1771,-1.25,-219.0,2405,2502,3354,3206,495.4,-22.2,99,1776,0.00,1.83,0.00,0.000,260,0.000,0.057,2396,3677,3280,3354,3206,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1836,-1.25,-219.0,2396,3677,3354,3206,510.5,-23.0,102,1842,0.00,1.73,0.00,0.000,1030,0.000,0.024,2396,2502,3280,3355,3206,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2162,-1.25,-219.0,2396,2501,3354,3206,590.0,-23.7,118,2168,0.00,1.83,0.00,0.000,260,0.000,0.057,2387,3673,3280,3355,3206,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2252,-1.25,-219.0,1472,3672,3337,3202,606.2,-23.9,121,2261,0.12,1.67,0.00,0.000,3078,0.155,0.024,2421,2492,3280,3354,3206,0,0,0,0,0,0,26.49,26.74,28.83
$GC,2561,-1.25,-219.0,2421,2490,3354,3206,669.8,-18.7,132,2566,0.00,1.85,0.00,0.000,260,0.000,0.057,2413,3673,3280,3354,3206,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2618,-1.25,-219.0,2412,3673,3354,3206,676.7,-19.1,133,2627,0.00,1.67,0.00,0.000,1030,0.000,0.025,2413,2492,3280,3354,3206,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2926,-1.25,-219.0,2413,2490,3354,3203,743.0,-20.7,144,2932,0.00,1.85,0.00,0.000,260,0.000,0.057,2404,3673,3278,3354,3203,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2960,-1.25,-219.0,2403,3672,3354,3202,750.4,-21.1,145,2966,0.00,1.67,0.00,0.000,1030,0.000,0.026,2404,2496,3278,3354,3202,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3295,-1.25,-219.0,2403,2496,3354,3198,821.9,-20.6,156,3301,0.00,1.85,0.00,0.000,260,0.000,0.057,2395,3674,3275,3354,3197,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3363,-1.25,-219.0,2394,3674,3354,3197,835.1,-20.3,158,3369,0.00,1.67,0.00,0.000,1030,0.000,0.026,2395,2495,3275,3354,3197,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3693,-1.25,-219.0,2394,2494,3354,3191,901.3,-20.6,169,3698,0.00,1.85,0.00,0.000,260,0.000,0.057,2386,3674,3272,3354,3191,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3742,-1.25,-219.0,2386,3674,3350,3191,908.7,-21.0,170,3748,0.12,1.67,0.00,0.000,3078,0.158,0.027,2419,2496,3272,3354,3190,0,0,0,0,0,0,26.48,26.77,28.83
$STATE,4060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4060,begin apogee
$GC,4065,-0.20,0.0,2419,2010,3353,3185,970.1,-17.1,181,4400,0.98,0.00,324.77,0.761,10246,0.113,0.000,2750,2008,2373,2533,2214,0,0,0,0,0,0,26.45,28.83,24.52
$STATE,4403,end apogee,CONTROL_FINISHED_OK
$STATE,4403,begin climb
$GC,4405,1.25,219.0,2750,2007,2530,2208,987.7,0.0,191,4646,1.27,2.33,227.82,0.913,10756,0.047,0.042,3239,626,1474,1574,1375,0,0,0,0,0,0,25.27,24.89,24.18
$GC,4686,1.25,219.0,3239,627,1559,1359,951.1,19.8,200,4692,0.00,2.20,0.00,0.000,1030,0.000,0.034,3238,2008,1458,1558,1359,0,0,0,0,0,0,28.83,25.36,28.83
$GC,5020,1.25,219.0,3239,2008,1550,1353,873.1,23.6,211,5026,0.00,2.22,0.00,0.000,260,0.000,0.047,3239,3418,1452,1551,1353,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5085,1.25,219.0,3239,3418,1549,1353,856.3,24.8,213,5091,0.00,2.12,0.00,0.000,1030,0.000,0.028,3250,2010,1451,1549,1353,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5419,1.25,219.0,3250,2009,1547,1350,770.3,25.4,224,5425,0.00,2.20,0.00,0.000,260,0.000,0.046,3250,3417,1448,1547,1349,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5468,1.25,219.0,3250,3417,1547,1350,761.5,25.1,225,5476,0.15,2.12,0.00,0.000,5126,0.174,0.029,3223,1994,1448,1547,1349,0,0,0,0,0,0,26.21,26.46,28.83
$GC,5789,1.25,219.0,3223,1993,1542,1346,691.6,20.5,236,5795,0.00,2.22,0.00,0.000,260,0.000,0.047,3224,3417,1446,1546,1347,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5863,1.25,219.0,3223,3417,1546,1347,676.9,21.7,238,5869,0.00,2.12,0.00,0.000,1030,0.000,0.030,3235,1994,1446,1546,1347,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6188,1.25,219.0,3235,1994,1545,1345,596.5,23.9,249,6193,0.00,2.12,0.00,0.000,516,0.000,0.041,3246,601,1445,1545,1345,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6256,1.25,219.0,3246,601,1548,1344,580.8,23.4,252,6262,0.00,2.12,0.00,0.000,1030,0.000,0.033,3246,2017,1444,1544,1344,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6581,1.25,219.0,3246,2017,1543,1343,505.1,23.3,268,6587,0.00,2.15,0.00,0.000,260,0.000,0.047,3246,3409,1443,1544,1343,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6627,1.25,219.0,3246,3410,1543,1343,494.6,22.7,270,6635,0.12,2.10,0.00,0.000,5126,0.177,0.031,3227,1996,1442,1542,1343,0,0,0,0,0,0,26.38,26.63,28.83
$GC,6954,1.25,219.0,3227,1996,1541,1342,437.4,18.2,286,6956,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1995,1441,1541,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7253,1.25,219.0,3227,1996,1541,1340,376.0,18.5,301,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1996,1440,1541,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7553,1.25,219.0,3226,1996,1540,1339,322.7,20.6,316,7559,0.00,2.12,0.00,0.000,516,0.000,0.041,3237,606,1439,1540,1339,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7571,1.25,219.0,3237,606,1540,1339,322.7,20.6,316,7580,0.00,2.08,0.00,0.000,1030,0.000,0.032,3237,2006,1439,1540,1339,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7877,1.25,219.0,3237,2006,1540,1339,258.9,19.0,332,7884,0.00,2.15,0.00,0.000,260,0.000,0.046,3237,3402,1439,1540,1339,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7959,1.25,219.0,3237,3402,1541,1339,245.9,19.3,335,7967,0.00,2.08,0.00,0.000,1030,0.000,0.028,3249,1994,1439,1540,1339,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8266,1.25,219.0,3249,1994,1541,1339,195.5,13.2,351,8271,0.00,2.17,0.00,0.000,260,0.000,0.045,3249,3403,1439,1540,1339,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8362,1.25,219.0,3249,3403,1541,1339,182.9,14.6,355,8369,0.15,2.08,0.00,0.000,5126,0.164,0.028,3220,1996,1439,1540,1339,0,0,0,0,0,0,26.41,26.68,28.83
$GC,8678,1.25,219.0,3220,1996,1541,1339,136.1,15.0,371,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1996,1440,1541,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8978,1.25,219.0,3220,1996,1541,1339,93.9,12.9,386,8979,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1996,1440,1541,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9277,1.25,219.0,3220,1996,1542,1342,52.2,14.5,401,9283,0.00,2.10,0.00,0.000,516,0.000,0.041,3231,609,1440,1543,1338,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9435,1.25,219.0,3231,609,1542,1339,29.2,14.3,415,9441,0.00,2.08,0.00,0.000,1030,0.000,0.031,3231,2010,1441,1543,1339,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,9638,end climb,SURFACE_DEPTH_REACHED
$STATE,9640,begin surface coast
$FINISH,0.5,1.023168
$STATE,9662,end surface coast,CONTROL_FINISHED_OK
$STATE,9662,begin surface
$SM_CCo,9679,82.03,0.059,0,0,747,400.08
$SM_GC,1.35,7.88,0.75,82.03,0.035,0.053,0.059,137,2500,747,-8.28,-1.19,400.08,0,0,0,0,0,0,26.67,26.64,26.50
$IRIDIUM_FIX,2129.53,12348.48,220313,131300
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.84
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3965856
$24V_AH,24.2,25.307
$10V_AH,10.3,18.339
$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,19.800,80.825,552.600,82.025,0.000,0.000,0.000,184.100,0.000,0.000,13.327,1936.733,5769.971,687.190,1431.812,256.980,0.000,1605.100,0.000,1176.825,0.000,0.538,0.000
$DEVICE_MAMPS,224.145,67.320,912.645,58.905,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9661.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.982,0.000,0.000,0.000
$MEM,329700
$DATA_FILE_SIZE,16789,455
$CAP_FILE_SIZE,251070,0
$CFSIZE,260034560,235528192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,138.7,1
$GPS,220313,190153,2142.330,12346.469,40,1.5,41,-2.9