version: 66.11
glider: 171
mission: 4
dive: 172
start: 3 22 113 19 8 21
data:
$ID,171
$MISSION,4
$DIVE,172
$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,-20728.035
$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,54
$R_STBD_OVSHOOT,37
$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
$GPS1,220313,190153,2142.330,12346.469,40,1.5,41,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-68.7
$GPS2,220313,190755,2142.358,12346.509,13,1.5,13,-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,308.9,283011,-12.0,-8.739,-16.47,3810
$D_GRID,4642
$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,-219.0,134,2502,832,665,0.0,0.0,0,83,0.00,0.00,-62.42,0.000,16386,0.000,0.000,134,2502,2479,2553,2406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.25,-219.0,134,2502,2556,2406,3.0,-4.0,8,118,8.85,2.10,-14.75,0.000,18948,0.223,0.042,2410,1093,3276,3346,3206,0,0,0,0,0,0,25.89,26.32,26.63
$GC,296,-1.25,-219.0,2410,1093,3348,3207,71.6,-31.3,28,302,0.00,2.15,0.00,0.000,1030,0.000,0.043,2400,2490,3277,3348,3206,0,0,0,0,0,0,28.83,26.39,28.83
$GC,610,-1.25,-219.0,2400,2490,3350,3204,184.4,-35.4,44,616,0.00,1.85,0.00,0.000,260,0.000,0.054,2391,3680,3278,3350,3207,0,0,0,0,0,0,28.83,26.46,28.83
$GC,760,-1.25,-219.0,2391,3680,3351,3207,236.7,-37.3,51,766,0.00,1.70,0.00,0.000,1030,0.000,0.024,2391,2489,3278,3351,3206,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1081,-1.25,-219.0,2391,2488,3354,3207,333.9,-29.3,67,1087,0.00,1.85,0.00,0.000,260,0.000,0.054,2382,3673,3280,3354,3206,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1110,-1.25,-219.0,2382,3673,3354,3206,341.0,-28.5,68,1117,0.12,1.67,0.00,0.000,3078,0.166,0.024,2413,2490,3280,3354,3206,0,0,0,0,0,0,26.40,26.67,28.83
$GC,1431,-1.25,-219.0,2413,2489,3355,3206,429.2,-25.8,84,1437,0.00,2.03,0.00,0.000,516,0.000,0.032,2414,1109,3281,3355,3207,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1449,-1.25,-219.0,2413,1109,3354,3206,429.2,-25.8,84,1457,0.00,2.12,0.00,0.000,1030,0.000,0.041,2403,2506,3280,3354,3207,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1755,-1.25,-219.0,2403,2506,3355,3207,502.9,-19.1,100,1761,0.00,1.80,0.00,0.000,260,0.000,0.056,2394,3673,3280,3355,3206,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1821,-1.25,-219.0,2394,3673,3355,3206,516.8,-20.5,103,1827,0.00,1.70,0.00,0.000,1030,0.000,0.024,2394,2513,3280,3355,3206,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2146,-1.25,-219.0,2394,2512,3354,3207,595.5,-21.2,119,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2511,3281,3355,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2457,-1.25,-219.0,2394,2511,3355,3206,649.6,-18.5,130,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2511,3281,3355,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2756,-1.25,-219.0,2394,2511,3355,3206,715.9,-22.2,140,2761,0.00,1.83,0.00,0.000,260,0.000,0.057,2385,3677,3279,3354,3205,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2844,-1.25,-219.0,2386,3677,3355,3204,729.9,-21.8,142,2853,0.12,1.67,0.00,0.000,3078,0.158,0.024,2419,2486,3279,3354,3204,0,0,0,0,0,0,26.49,26.77,28.83
$GC,3152,-1.25,-219.0,2418,2487,3355,3200,788.5,-17.5,153,3157,0.00,2.00,0.00,0.000,516,0.000,0.031,2419,1121,3277,3355,3199,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3169,-1.25,-219.0,2419,1120,3358,3199,788.5,-17.5,153,3175,0.00,2.10,0.00,0.000,1030,0.000,0.042,2409,2503,3277,3355,3199,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3488,-1.25,-219.0,2409,2503,3354,3195,856.1,-20.5,164,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2503,3275,3355,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3788,-1.25,-219.0,2409,2505,3354,3190,913.4,-19.0,174,3794,0.00,1.83,0.00,0.000,260,0.000,0.057,2400,3674,3272,3354,3190,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3897,-1.25,-219.0,2400,3674,3354,3189,931.7,-19.0,177,3903,0.00,1.67,0.00,0.000,1030,0.000,0.025,2400,2495,3271,3354,3188,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4094,begin apogee
$GC,4100,-0.20,0.0,2400,2008,3354,3185,973.3,-19.5,184,4434,1.05,0.00,325.38,0.761,10246,0.117,0.000,2753,2006,2377,2536,2218,0,0,0,0,0,0,26.44,28.83,24.54
$STATE,4437,end apogee,CONTROL_FINISHED_OK
$STATE,4437,begin climb
$GC,4438,1.25,219.0,2753,2006,2531,2211,992.8,0.0,194,4678,1.27,2.28,228.32,0.907,10756,0.045,0.041,3243,621,1477,1576,1378,0,0,0,0,0,0,25.25,24.89,24.18
$GC,4750,1.25,219.0,3243,622,1555,1356,943.5,23.7,204,4756,0.00,2.20,0.00,0.000,1030,0.000,0.034,3243,2011,1455,1554,1356,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5084,1.25,219.0,3243,2011,1548,1352,866.0,22.3,215,5090,0.00,2.22,0.00,0.000,260,0.000,0.048,3243,3415,1451,1550,1352,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5181,1.25,219.0,3243,3415,1548,1352,842.0,24.3,218,5188,0.12,2.12,0.00,0.000,5126,0.173,0.029,3223,2010,1450,1548,1352,0,0,0,0,0,0,26.09,26.30,28.83
$GC,5517,1.25,219.0,3223,2009,1547,1348,767.4,21.5,229,5523,0.00,2.15,0.00,0.000,516,0.000,0.039,3234,605,1446,1544,1348,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5561,1.25,219.0,3235,605,1546,1348,760.0,21.4,230,5567,0.00,2.10,0.00,0.000,1030,0.000,0.033,3235,2008,1447,1546,1348,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5886,1.25,219.0,3235,2008,1545,1346,683.6,23.5,241,5892,0.00,2.17,0.00,0.000,260,0.000,0.047,3235,3409,1445,1545,1346,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5960,1.25,219.0,3234,3409,1545,1346,667.5,23.9,243,5966,0.00,2.12,0.00,0.000,1030,0.000,0.029,3246,1990,1445,1545,1346,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6275,1.25,219.0,3246,1989,1543,1344,588.8,23.0,254,6281,0.00,2.10,0.00,0.000,516,0.000,0.039,3257,606,1443,1543,1344,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6342,1.25,219.0,3257,606,1543,1344,572.9,23.5,257,6349,0.12,2.10,0.00,0.000,5126,0.172,0.031,3226,2002,1443,1543,1344,0,0,0,0,0,0,26.36,26.59,28.83
$GC,6668,1.25,219.0,3225,2002,1542,1342,504.8,18.3,273,6675,0.00,2.12,0.00,0.000,516,0.000,0.039,3236,606,1442,1542,1342,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6718,1.25,219.0,3236,606,1541,1342,497.6,16.7,275,6724,0.00,2.08,0.00,0.000,1030,0.000,0.031,3237,2004,1441,1541,1342,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7038,1.25,219.0,3236,2004,1540,1340,435.8,20.7,291,7044,0.00,2.15,0.00,0.000,260,0.000,0.045,3237,3400,1440,1540,1340,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7174,1.25,219.0,3237,3401,1539,1340,408.0,22.0,297,7180,0.00,2.08,0.00,0.000,1030,0.000,0.029,3248,1994,1439,1539,1340,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7488,1.25,219.0,3248,1994,1539,1338,349.5,18.3,313,7494,0.00,2.12,0.00,0.000,516,0.000,0.040,3260,605,1438,1539,1338,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7542,1.25,219.0,3259,604,1539,1338,341.0,19.0,315,7550,0.15,2.08,0.00,0.000,5126,0.159,0.031,3218,2002,1438,1539,1338,0,0,0,0,0,0,26.41,26.65,28.83
$GC,7859,1.25,219.0,3218,2002,1539,1338,285.8,16.7,331,7865,0.00,2.15,0.00,0.000,260,0.000,0.045,3218,3402,1438,1539,1338,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7930,1.25,219.0,3218,3402,1539,1338,274.5,16.4,334,7936,0.00,2.08,0.00,0.000,1030,0.000,0.028,3230,1991,1438,1539,1338,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8250,1.25,219.0,3229,1991,1539,1338,220.2,16.8,350,8257,0.00,2.10,0.00,0.000,516,0.000,0.039,3240,599,1438,1539,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8279,1.25,219.0,3240,599,1539,1338,216.1,16.4,351,8284,0.00,2.08,0.00,0.000,1030,0.000,0.031,3241,2006,1438,1539,1338,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8599,1.25,219.0,3240,2006,1539,1338,170.6,14.4,367,8605,0.00,2.15,0.00,0.000,260,0.000,0.045,3241,3405,1438,1539,1338,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8725,1.25,219.0,3240,3405,1539,1338,149.7,16.7,373,8732,0.12,2.05,0.00,0.000,5126,0.167,0.028,3219,1996,1438,1539,1338,0,0,0,0,0,0,26.44,26.69,28.83
$GC,9051,1.25,219.0,3219,1995,1539,1338,103.1,13.6,389,9053,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1998,1438,1539,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9350,1.25,219.0,3219,1995,1542,1338,60.2,14.1,404,9352,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1995,1440,1542,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9651,1.25,219.0,2176,1992,1512,1334,19.4,13.4,434,9659,0.00,2.08,0.00,0.000,516,0.000,0.039,3230,611,1441,1545,1338,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9724,1.25,219.0,2240,610,1514,1335,10.3,12.4,447,9733,0.00,2.05,0.00,0.000,1030,0.000,0.031,3230,2005,1441,1545,1338,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,9792,end climb,SURFACE_DEPTH_REACHED
$STATE,9792,begin surface coast
$FINISH,0.5,1.009507
$STATE,9821,end surface coast,CONTROL_FINISHED_OK
$STATE,9821,begin surface
$SM_CCo,9839,81.85,0.059,0,0,748,400.08
$SM_GC,1.44,7.93,0.75,81.85,0.038,0.047,0.059,134,2502,748,-8.30,-1.19,400.08,0,0,0,0,0,0,26.68,26.66,26.49
$IRIDIUM_FIX,2134.17,12346.55,220313,161622
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.76
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3965536
$24V_AH,24.2,25.444
$10V_AH,10.4,18.421
$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,19.875,82.425,553.700,81.850,0.000,0.000,0.000,220.225,0.000,0.000,15.114,1981.336,5869.362,679.504,1491.284,258.393,0.000,1643.018,0.000,1196.888,0.000,0.538,0.000
$DEVICE_MAMPS,222.615,56.610,907.290,58.905,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9822.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.984,0.000,0.000,0.000
$MEM,329680
$DATA_FILE_SIZE,16793,464
$CAP_FILE_SIZE,255443,0
$CFSIZE,260034560,235438080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,187.7,1
$GPS,220313,215451,2143.098,12345.004,9,3.9,29,-2.9