version: 66.11
glider: 171
mission: 4
dive: 173
start: 3 22 113 22 1 1
data:
$ID,171
$MISSION,4
$DIVE,173
$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,-20730.113
$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,39
$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
$GPS1,220313,215451,2143.098,12345.004,9,3.9,29,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-70.7
$GPS2,220313,220035,2143.130,12345.011,40,1.2,40,-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,317.9,280089,-12.0,-8.739,-16.47,3810
$D_GRID,4738
$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,-219.0,131,2505,829,668,0.0,0.0,0,81,0.00,0.00,-60.58,0.000,16386,0.000,0.000,130,2505,2430,2493,2368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.25,-219.0,130,2506,2497,2368,3.1,-4.6,8,117,8.80,1.90,-16.02,0.000,19204,0.221,0.069,2405,3673,3277,3349,3205,0,0,0,0,0,0,25.93,26.30,26.67
$GC,349,-1.25,-219.0,2405,3673,3351,3206,93.0,-34.1,32,355,0.00,1.70,0.00,0.000,1030,0.000,0.024,2405,2489,3278,3351,3206,0,0,0,0,0,0,28.83,26.53,28.83
$GC,669,-1.25,-219.0,2405,2488,3353,3206,204.8,-34.6,48,675,0.00,1.85,0.00,0.000,260,0.000,0.053,2397,3669,3279,3353,3206,0,0,0,0,0,0,28.83,26.51,28.83
$GC,870,-1.25,-219.0,2397,3671,3355,3206,262.6,-28.7,57,878,0.00,1.67,0.00,0.000,1030,0.000,0.024,2397,2497,3280,3354,3206,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1176,-1.25,-219.0,2396,2496,3355,3206,348.3,-27.0,73,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2496,3280,3355,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1476,-1.25,-219.0,2396,2496,3357,3206,432.7,-28.3,88,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2496,3281,3356,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1776,-1.25,-219.0,2397,2496,3356,3206,508.9,-22.4,103,1781,0.00,1.83,0.00,0.000,260,0.000,0.055,2388,3668,3281,3356,3206,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1901,-1.25,-219.0,2388,3668,3356,3206,539.0,-24.5,109,1908,0.12,1.67,0.00,0.000,3078,0.158,0.025,2421,2496,3281,3357,3206,0,0,0,0,0,0,26.47,26.73,28.83
$GC,2219,-1.25,-219.0,2420,2495,3357,3206,608.4,-19.7,124,2225,0.00,2.05,0.00,0.000,516,0.000,0.033,2421,1104,3281,3357,3206,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2253,-1.25,-219.0,2421,1104,3357,3206,615.5,-19.2,125,2259,0.00,2.12,0.00,0.000,1030,0.000,0.042,2411,2493,3281,3357,3206,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2588,-1.25,-219.0,2411,2492,3357,3206,680.1,-19.2,136,2593,0.00,1.83,0.00,0.000,260,0.000,0.057,2402,3669,3281,3357,3206,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2713,-1.25,-219.0,2402,3670,3356,3206,703.4,-18.6,140,2719,0.00,1.67,0.00,0.000,1030,0.000,0.026,2402,2505,3281,3357,3206,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3047,-1.25,-219.0,2402,2504,3355,3202,766.6,-20.1,151,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2504,3279,3356,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3347,-1.25,-219.0,2402,2504,3356,3198,823.8,-18.5,161,3353,0.00,1.85,0.00,0.000,260,0.000,0.057,2393,3677,3276,3356,3197,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3395,-1.25,-219.0,2393,3677,3356,3197,830.5,-18.7,162,3401,0.00,1.70,0.00,0.000,1030,0.000,0.026,2393,2486,3276,3356,3197,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3714,-1.25,-219.0,2393,2484,3356,3192,895.1,-19.4,173,3720,0.00,1.88,0.00,0.000,260,0.000,0.057,2384,3676,3274,3356,3192,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3753,-1.25,-219.0,2384,3676,3356,3191,901.9,-19.6,174,3759,0.12,1.67,0.00,0.000,3078,0.155,0.027,2418,2496,3273,3356,3191,0,0,0,0,0,0,26.49,26.77,28.83
$GC,4083,-1.25,-219.0,2415,2495,3355,3186,962.6,-17.7,185,4089,0.00,1.85,0.00,0.000,260,0.000,0.056,2410,3674,3270,3355,3185,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4141,-1.25,-219.0,2409,3674,3355,3185,969.0,-17.9,186,4150,0.00,1.73,0.00,0.000,1030,0.000,0.027,2410,2498,3270,3355,3186,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4176,begin apogee
$GC,4182,-0.20,0.0,2409,1994,3355,3182,979.7,-17.9,188,4525,1.00,0.00,331.48,0.755,10246,0.116,0.000,2747,1993,2372,2532,2213,0,0,0,0,0,0,26.43,28.83,24.53
$STATE,4528,end apogee,CONTROL_FINISHED_OK
$STATE,4528,begin climb
$GC,4530,1.25,219.0,2747,1993,2530,2208,998.9,0.0,198,4771,1.30,2.42,227.40,0.919,10500,0.049,0.053,3229,3398,1471,1570,1372,0,0,0,0,0,0,25.28,24.87,24.18
$GC,4817,1.25,219.0,2256,3396,1523,1354,966.8,19.1,208,4825,0.00,2.15,0.00,0.000,1030,0.000,0.028,3241,2018,1455,1553,1358,0,0,0,0,0,0,28.83,25.42,28.83
$GC,5125,1.25,219.0,3240,2018,1552,1353,892.5,22.0,219,5131,0.00,2.22,0.00,0.000,260,0.000,0.047,3240,3412,1451,1549,1353,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5193,1.25,219.0,3240,3412,1547,1353,876.5,23.5,221,5200,0.12,2.15,0.00,0.000,5126,0.177,0.028,3222,1990,1450,1548,1353,0,0,0,0,0,0,26.02,26.25,28.83
$GC,5523,1.25,219.0,3221,1990,1546,1349,797.2,24.6,232,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1990,1448,1547,1349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5823,1.25,219.0,3221,1988,1546,1347,728.5,22.3,242,5830,0.00,2.22,0.00,0.000,260,0.000,0.047,3222,3414,1446,1546,1347,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5877,1.25,219.0,3221,3414,1545,1347,720.1,22.8,243,5883,0.00,2.10,0.00,0.000,1030,0.000,0.029,3233,1999,1446,1545,1347,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6193,1.25,219.0,3233,1998,1544,1345,642.1,22.8,254,6198,0.00,2.22,0.00,0.000,260,0.000,0.047,3234,3417,1444,1544,1345,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6280,1.25,219.0,3233,3417,1543,1345,626.8,22.5,256,6288,0.00,2.10,0.00,0.000,1030,0.000,0.030,3245,1999,1442,1540,1345,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6597,1.25,219.0,3244,1998,1541,1343,545.1,24.4,271,6603,0.00,2.12,0.00,0.000,516,0.000,0.043,3256,609,1442,1541,1343,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6726,1.25,219.0,3256,609,1540,1343,520.3,18.9,277,6733,0.12,2.10,0.00,0.000,5126,0.172,0.032,3224,2019,1441,1540,1343,0,0,0,0,0,0,26.39,26.61,28.83
$GC,7048,1.25,219.0,3224,2019,1539,1340,457.1,18.4,293,7054,0.00,2.12,0.00,0.000,260,0.000,0.046,3224,3400,1439,1539,1340,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7157,1.25,219.0,2224,3399,1508,1337,435.6,20.3,298,7163,0.00,2.10,0.00,0.000,1030,0.000,0.030,3235,1994,1439,1539,1340,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7482,1.25,219.0,3235,1994,1540,1339,370.9,19.9,314,7488,0.00,2.10,0.00,0.000,516,0.000,0.041,3246,608,1439,1539,1339,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7548,1.25,219.0,3245,608,1539,1339,357.5,20.0,317,7555,0.00,2.08,0.00,0.000,1030,0.000,0.032,3247,1998,1438,1537,1339,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7875,1.25,219.0,3246,1998,1539,1339,296.7,17.6,333,7880,0.00,2.12,0.00,0.000,516,0.000,0.041,3257,606,1439,1539,1339,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7945,1.25,219.0,3257,606,1539,1339,284.4,18.3,336,7952,0.12,2.08,0.00,0.000,5126,0.167,0.031,3224,2009,1439,1539,1339,0,0,0,0,0,0,26.42,26.65,28.83
$GC,8267,1.25,219.0,3224,2009,1539,1339,229.3,15.2,352,8273,0.00,2.12,0.00,0.000,516,0.000,0.040,3235,607,1439,1539,1339,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8285,1.25,219.0,3235,608,1539,1339,229.3,15.2,352,8293,0.00,2.05,0.00,0.000,1030,0.000,0.031,3234,1999,1439,1539,1339,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8592,1.25,219.0,3235,1999,1539,1339,178.1,14.6,368,8598,0.00,2.15,0.00,0.000,260,0.000,0.045,3235,3402,1439,1539,1339,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8745,1.25,219.0,3235,3402,1539,1339,152.3,16.9,375,8751,0.00,2.05,0.00,0.000,1030,0.000,0.028,3247,1995,1439,1539,1339,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9065,1.25,219.0,3247,1995,1540,1339,100.0,15.9,391,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1995,1439,1539,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9364,1.25,219.0,3246,1995,1541,1339,53.8,14.2,406,9365,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1995,1439,1541,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9669,1.25,219.0,3247,1995,1544,1339,12.6,11.5,443,9677,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1995,1441,1544,1339,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9740,end climb,SURFACE_DEPTH_REACHED
$STATE,9740,begin surface coast
$FINISH,0.5,1.006359
$STATE,9769,end surface coast,CONTROL_FINISHED_OK
$STATE,9769,begin surface
$SM_CCo,9786,81.88,0.060,0,0,748,400.08
$SM_GC,1.39,7.95,0.77,81.88,0.036,0.047,0.060,129,2492,748,-8.31,-1.27,400.08,0,0,0,0,0,0,26.68,26.65,26.48
$IRIDIUM_FIX,2134.17,12345.26,220313,191906
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.60
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3965216
$24V_AH,24.2,25.580
$10V_AH,10.3,18.502
$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,19.675,73.250,558.875,81.875,0.000,0.000,0.000,174.550,0.000,0.000,42.001,2005.611,5760.901,702.790,1486.820,252.525,0.000,1608.609,0.000,1215.129,0.000,0.537,0.000
$DEVICE_MAMPS,221.085,68.850,918.765,59.670,0.000,0.000,0.000,126.990,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9780.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.929,0.000,0.000,0.000
$MEM,329720
$DATA_FILE_SIZE,16749,461
$CAP_FILE_SIZE,253729,0
$CFSIZE,260034560,235352064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,157.7,1
$GPS,230313,004635,2144.237,12344.177,10,1.4,27,-2.9