version: 66.11
glider: 171
mission: 4
dive: 174
start: 3 23 113 0 52 31
data:
$ID,171
$MISSION,4
$DIVE,174
$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,-20731.371
$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,32
$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
$GPS1,230313,004635,2144.237,12344.177,10,1.4,27,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.0
$GPS2,230313,005205,2144.255,12344.243,17,1.4,27,-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,312.4,277876,-12.0,-8.739,-16.47,3810
$D_GRID,4627
$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,-219.0,127,2494,830,667,0.0,0.0,0,82,0.00,0.00,-61.65,0.000,16386,0.000,0.000,126,2495,2476,2551,2401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.25,-219.0,126,2495,2555,2401,3.3,-5.2,8,117,8.75,2.08,-14.68,0.000,19204,0.219,0.043,2410,1102,3274,3344,3205,0,0,0,0,0,0,25.93,26.36,26.69
$GC,295,-1.25,-219.0,2410,1102,3347,3205,71.4,-32.3,28,301,0.00,2.15,0.00,0.000,1030,0.000,0.041,2400,2501,3276,3347,3205,0,0,0,0,0,0,28.83,26.41,28.83
$GC,610,-1.25,-219.0,2400,2501,3349,3206,180.8,-32.9,44,615,0.00,1.80,0.00,0.000,260,0.000,0.052,2391,3670,3277,3349,3205,0,0,0,0,0,0,28.83,26.48,28.83
$GC,750,-1.25,-219.0,2391,3670,3350,3206,221.0,-32.6,50,759,0.00,1.73,0.00,0.000,1030,0.000,0.024,2391,2491,3277,3350,3205,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1057,-1.25,-219.0,2391,2489,3351,3206,310.8,-27.6,66,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2489,3278,3351,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1356,-1.25,-219.0,2391,2489,3353,3206,395.5,-28.6,81,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2489,3279,3353,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1656,-1.25,-219.0,2391,2489,3354,3205,478.6,-29.6,96,1662,0.00,1.83,0.00,0.000,260,0.000,0.053,2382,3670,3279,3353,3206,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1695,-1.25,-219.0,2382,3670,3353,3206,485.5,-29.5,97,1704,0.10,1.70,0.00,0.000,3078,0.139,0.024,2413,2494,3278,3353,3203,0,0,0,0,0,0,26.45,26.72,28.83
$GC,2002,-1.25,-219.0,2415,2493,3354,3207,557.1,-20.0,113,2008,0.00,2.03,0.00,0.000,516,0.000,0.031,2416,1110,3279,3354,3205,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2021,-1.25,-219.0,2415,1109,3354,3206,557.1,-20.0,113,2029,0.00,2.12,0.00,0.000,1030,0.000,0.041,2405,2508,3279,3354,3205,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2326,-1.25,-219.0,2403,2507,3354,3205,628.6,-22.1,127,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2507,3279,3354,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2626,-1.25,-219.0,2405,2507,3353,3206,691.9,-21.0,137,2632,0.00,1.80,0.00,0.000,260,0.000,0.055,2397,3671,3279,3353,3206,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2752,-1.25,-219.0,2397,3671,3353,3205,719.1,-21.6,141,2758,0.00,1.67,0.00,0.000,1030,0.000,0.024,2397,2495,3279,3353,3205,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3087,-1.25,-219.0,2396,2495,3353,3202,794.3,-22.0,152,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2495,3277,3353,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3387,-1.25,-219.0,2396,2495,3353,3198,852.7,-18.8,162,3393,0.00,1.85,0.00,0.000,260,0.000,0.055,2388,3674,3275,3353,3197,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3466,-1.25,-219.0,2387,3674,3350,3197,865.7,-19.4,164,3472,0.12,1.67,0.00,0.000,3078,0.155,0.024,2421,2494,3274,3353,3196,0,0,0,0,0,0,26.49,26.77,28.83
$GC,3785,-1.25,-219.0,2421,2493,3352,3191,924.6,-17.4,175,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2493,3271,3352,3191,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4054,begin apogee
$GC,4060,-0.20,0.0,2420,2006,3352,3184,970.1,-16.8,184,4657,0.98,0.00,584.47,0.593,10246,0.113,0.000,2753,2004,2379,2539,2220,0,0,0,0,0,0,26.45,28.83,24.68
$STATE,4658,end apogee,CONTROL_FINISHED_OK
$STATE,4658,begin climb
$GC,4660,1.25,219.0,2752,2004,2534,2215,1006.2,0.0,202,4901,1.27,2.35,228.23,0.946,10756,0.044,0.041,3245,621,1475,1575,1376,0,0,0,0,0,0,25.30,24.83,24.13
$GC,5074,1.25,219.0,3245,621,1552,1356,938.9,24.6,217,5080,0.00,2.15,0.00,0.000,1030,0.000,0.033,3245,2006,1454,1552,1356,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5389,1.25,219.0,3245,2008,1549,1353,861.5,23.0,228,5395,0.00,2.15,0.00,0.000,516,0.000,0.038,3256,618,1451,1549,1353,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5412,1.25,219.0,3255,618,1547,1353,861.5,23.0,228,5418,0.12,2.10,0.00,0.000,5126,0.175,0.032,3225,2006,1450,1548,1353,0,0,0,0,0,0,26.08,26.27,28.83
$GC,5728,1.25,219.0,3225,2006,1547,1349,788.6,21.2,239,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2006,1448,1547,1349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6027,1.25,219.0,3225,2006,1546,1347,722.2,22.2,249,6033,0.00,2.17,0.00,0.000,260,0.000,0.047,3225,3403,1446,1545,1347,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6092,1.25,219.0,3225,3403,1545,1347,706.8,22.9,251,6098,0.00,2.08,0.00,0.000,1030,0.000,0.029,3236,2010,1446,1545,1347,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6427,1.25,219.0,3235,2010,1544,1345,632.4,22.6,262,6433,0.00,2.17,0.00,0.000,260,0.000,0.047,3236,3408,1444,1544,1345,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6451,1.25,219.0,3235,3408,1544,1345,632.4,22.6,262,6457,0.00,2.08,0.00,0.000,1030,0.000,0.029,3247,2000,1444,1544,1345,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6776,1.25,219.0,3247,2000,1541,1344,549.0,22.1,277,6782,0.00,2.12,0.00,0.000,516,0.000,0.041,3259,605,1441,1540,1343,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6846,1.25,219.0,3261,605,1541,1343,534.3,21.9,280,6853,0.15,2.08,0.00,0.000,5126,0.165,0.032,3219,2002,1442,1541,1343,0,0,0,0,0,0,26.37,26.60,28.83
$GC,7167,1.25,219.0,3218,2002,1539,1341,470.6,19.2,296,7174,0.00,2.12,0.00,0.000,516,0.000,0.040,3229,609,1440,1540,1341,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7223,1.25,219.0,3229,609,1540,1341,460.8,20.1,298,7229,0.00,2.08,0.00,0.000,1030,0.000,0.032,3229,2004,1440,1539,1341,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7537,1.25,219.0,3229,2004,1539,1340,395.3,19.9,314,7538,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2004,1439,1539,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7837,1.25,219.0,3229,2004,1539,1339,339.4,18.0,329,7843,0.00,2.12,0.00,0.000,516,0.000,0.040,3241,606,1439,1539,1339,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7896,1.25,219.0,3241,606,1539,1339,331.1,18.4,331,7904,0.00,2.08,0.00,0.000,1030,0.000,0.031,3241,2012,1439,1539,1339,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8203,1.25,219.0,3241,2015,1539,1339,267.9,19.8,347,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2012,1439,1539,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8502,1.25,219.0,3241,2012,1539,1339,214.2,15.6,362,8503,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2012,1439,1539,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8803,1.25,219.0,3241,2012,1539,1339,173.1,14.3,377,8808,0.00,2.12,0.00,0.000,260,0.000,0.046,3241,3400,1439,1539,1339,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8840,1.25,219.0,2272,3399,1509,1335,169.5,14.3,378,8849,0.12,2.05,0.00,0.000,5126,0.167,0.028,3220,1995,1439,1539,1339,0,0,0,0,0,0,26.44,26.69,28.83
$GC,9147,1.25,219.0,3220,1994,1540,1339,126.7,13.4,394,9153,0.00,2.17,0.00,0.000,260,0.000,0.045,3220,3406,1439,1539,1339,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9262,1.25,219.0,3220,3406,1539,1339,110.6,15.2,399,9269,0.00,2.05,0.00,0.000,1030,0.000,0.028,3231,2005,1439,1540,1339,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9578,1.25,219.0,3229,2005,1541,1339,65.2,13.0,415,9583,0.00,2.10,0.00,0.000,516,0.000,0.039,3242,610,1439,1540,1339,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9624,1.25,219.0,3242,610,1541,1339,59.6,12.8,417,9630,0.00,2.05,0.00,0.000,1030,0.000,0.031,3242,2003,1440,1541,1339,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9936,1.25,219.0,2208,2002,1511,1335,18.7,12.8,448,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2004,1441,1544,1339,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10059,end climb,SURFACE_DEPTH_REACHED
$STATE,10059,begin surface coast
$FINISH,0.5,1.022973
$STATE,10088,end surface coast,CONTROL_FINISHED_OK
$STATE,10088,begin surface
$SM_CCo,10105,81.78,0.060,0,0,748,400.08
$SM_GC,1.39,7.82,0.75,81.78,0.029,0.047,0.060,132,2495,748,-8.29,-1.19,400.08,0,0,0,0,0,0,26.70,26.64,26.48
$IRIDIUM_FIX,2131.85,12346.55,220313,212107
$TT8_MAMPS,0.048685,0.048685
$HUMID,44.64
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3964896
$24V_AH,24.1,25.745
$10V_AH,10.3,18.584
$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,19.450,66.250,812.700,81.775,0.000,0.000,0.000,172.800,0.000,0.000,28.721,1894.332,6059.334,825.772,1481.547,252.789,0.000,1799.768,0.000,1220.700,0.000,0.538,0.000
$DEVICE_MAMPS,218.790,55.080,945.540,59.670,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10097.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.933,0.000,0.000,0.000
$MEM,329676
$DATA_FILE_SIZE,16793,476
$CAP_FILE_SIZE,250462,0
$CFSIZE,260034560,235270144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,121.1,1
$GPS,230313,034336,2145.329,12343.656,37,1.1,38,-2.9