version: 66.11
glider: 171
mission: 4
dive: 176
start: 3 23 113 6 43 31
data:
$ID,171
$MISSION,4
$DIVE,176
$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,-20733.98
$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,58
$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
$GPS1,230313,063306,2145.842,12342.674,26,1.6,27,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.5
$GPS2,230313,064305,2145.844,12342.826,16,1.7,32,-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,312.1,274272,-12.0,-8.739,-16.47,3810
$D_GRID,4823
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.25,-219.0,124,2500,836,660,0.0,0.0,0,80,0.00,0.00,-60.22,0.000,16386,0.000,0.000,124,2499,2446,2513,2380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.25,-219.0,124,2499,2519,2380,3.0,-4.0,8,116,8.85,2.17,-15.62,0.000,18948,0.219,0.045,2410,1094,3276,3348,3205,0,0,0,0,0,0,25.84,26.27,26.57
$GC,238,-1.25,-219.0,2409,1093,3349,3207,51.8,-32.2,25,246,0.00,2.15,0.00,0.000,1030,0.000,0.040,2399,2495,3278,3350,3207,0,0,0,0,0,0,28.83,26.32,28.83
$GC,544,-1.25,-219.0,2399,2495,3350,3207,166.2,-35.9,41,550,0.00,1.85,0.00,0.000,260,0.000,0.054,2391,3674,3278,3350,3207,0,0,0,0,0,0,28.83,26.43,28.83
$GC,664,-1.25,-219.0,2390,3674,3350,3207,202.7,-34.8,46,672,0.00,1.70,0.00,0.000,1030,0.000,0.024,2390,2486,3278,3350,3207,0,0,0,0,0,0,28.83,26.58,28.83
$GC,971,-1.25,-219.0,2390,2484,3353,3207,300.0,-31.9,62,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2485,3280,3353,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1270,-1.25,-219.0,2390,2484,3354,3207,387.5,-27.1,77,1276,0.00,1.85,0.00,0.000,260,0.000,0.054,2381,3677,3280,3354,3207,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1316,-1.25,-219.0,2381,3676,3354,3207,400.1,-27.5,79,1324,0.15,1.67,0.00,0.000,3078,0.157,0.024,2422,2491,3280,3354,3207,0,0,0,0,0,0,26.39,26.69,28.83
$GC,1643,-1.25,-219.0,2422,2490,3354,3207,481.9,-23.8,95,1649,0.00,1.83,0.00,0.000,260,0.000,0.054,2413,3671,3280,3354,3207,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1693,-1.25,-219.0,2413,3671,3355,3207,492.9,-23.8,97,1700,0.00,1.65,0.00,0.000,1030,0.000,0.024,2413,2506,3280,3354,3207,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2014,-1.25,-219.0,2413,2505,3354,3207,563.8,-21.0,113,2020,0.00,2.05,0.00,0.000,516,0.000,0.031,2413,1106,3280,3354,3207,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2047,-1.25,-219.0,2413,1106,3354,3208,569.2,-21.1,114,2053,0.00,2.12,0.00,0.000,1030,0.000,0.041,2402,2504,3280,3354,3207,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2362,-1.25,-219.0,2402,2503,3354,3207,637.6,-20.3,127,2367,0.00,1.80,0.00,0.000,260,0.000,0.054,2393,3671,3280,3354,3207,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2415,-1.25,-219.0,2393,3671,3354,3207,645.1,-20.8,128,2421,0.00,1.67,0.00,0.000,1030,0.000,0.024,2394,2489,3280,3354,3207,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2730,-1.25,-219.0,2393,2489,3353,3206,717.9,-21.7,139,2737,0.00,2.00,0.00,0.000,516,0.000,0.028,2393,1114,3279,3354,3205,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2795,-1.25,-219.0,2393,1114,3354,3205,732.2,-21.7,141,2803,0.12,2.12,0.00,0.000,3078,0.166,0.041,2415,2503,3279,3354,3205,0,0,0,0,0,0,26.46,26.63,28.83
$GC,3131,-1.25,-219.0,2415,2503,3355,3201,797.4,-18.4,152,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2503,3277,3354,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3431,-1.25,-219.0,2415,2503,3353,3196,852.8,-18.7,162,3437,0.00,1.85,0.00,0.000,260,0.000,0.055,2407,3667,3276,3353,3199,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3454,-1.25,-219.0,2407,3666,3354,3196,852.8,-18.7,162,3460,0.00,1.70,0.00,0.000,1030,0.000,0.027,2407,2509,3274,3353,3196,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3770,-1.25,-219.0,2407,2508,3353,3190,917.4,-18.9,173,3776,0.00,2.05,0.00,0.000,516,0.000,0.029,2407,1108,3271,3353,3189,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3834,-1.25,-219.0,1476,1107,3335,3184,930.0,-18.7,175,3840,0.00,2.12,0.00,0.000,1030,0.000,0.041,2397,2502,3270,3353,3188,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,4046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4046,begin apogee
$GC,4052,-0.20,0.0,2396,1979,3350,3185,970.4,-18.8,182,4385,1.05,0.00,323.67,0.757,10246,0.121,0.000,2747,1977,2376,2535,2217,0,0,0,0,0,0,26.41,28.83,24.53
$STATE,4387,end apogee,CONTROL_FINISHED_OK
$STATE,4387,begin climb
$GC,4390,1.25,219.0,2747,1977,2531,2210,988.7,0.0,192,4626,1.30,2.20,224.60,0.916,10756,0.051,0.038,3237,628,1476,1577,1376,0,0,0,0,0,0,25.26,24.89,24.19
$GC,4715,1.25,219.0,3237,628,1554,1356,941.7,23.3,202,4722,0.00,2.15,0.00,0.000,1030,0.000,0.031,3237,2007,1454,1553,1356,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5035,1.25,219.0,3237,2007,1549,1353,860.9,23.5,213,5041,0.00,2.15,0.00,0.000,516,0.000,0.037,3249,625,1450,1550,1351,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5101,1.25,219.0,3248,625,1549,1351,845.5,23.6,215,5107,0.00,2.10,0.00,0.000,1030,0.000,0.031,3249,2010,1450,1549,1351,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5435,1.25,219.0,3248,2010,1547,1348,764.0,24.6,226,5441,0.00,2.17,0.00,0.000,260,0.000,0.047,3248,3402,1447,1547,1348,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5474,1.25,219.0,3248,3402,1547,1348,754.9,24.9,227,5482,0.15,2.05,0.00,0.000,5126,0.176,0.028,3221,2015,1447,1547,1348,0,0,0,0,0,0,26.22,26.48,28.83
$GC,5805,1.25,219.0,3221,2013,1546,1345,676.2,23.1,238,5811,0.00,2.12,0.00,0.000,516,0.000,0.040,3233,612,1445,1546,1345,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5873,1.25,219.0,3232,612,1545,1345,661.2,23.3,240,5879,0.00,2.08,0.00,0.000,1030,0.000,0.032,3232,2002,1445,1545,1345,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6183,1.25,219.0,3232,2002,1544,1343,591.6,21.0,251,6189,0.00,2.17,0.00,0.000,260,0.000,0.046,3232,3408,1443,1544,1343,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6284,1.25,219.0,2248,3409,1513,1340,573.7,20.6,255,6292,0.00,2.08,0.00,0.000,1030,0.000,0.029,3244,2005,1443,1543,1343,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6590,1.25,219.0,3244,2005,1541,1341,506.4,22.2,271,6596,0.00,2.17,0.00,0.000,260,0.000,0.046,3244,3405,1441,1541,1341,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6670,1.25,219.0,3244,3405,1541,1341,490.2,24.1,274,6679,0.12,2.08,0.00,0.000,5126,0.174,0.030,3224,1997,1441,1541,1341,0,0,0,0,0,0,26.39,26.63,28.83
$GC,6977,1.25,219.0,3223,1997,1540,1338,426.6,18.5,290,6983,0.00,2.10,0.00,0.000,516,0.000,0.041,3234,612,1439,1540,1339,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7016,1.25,219.0,3234,612,1540,1338,422.0,18.2,291,7025,0.00,2.08,0.00,0.000,1030,0.000,0.032,3234,2006,1439,1540,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7322,1.25,219.0,3234,2006,1539,1338,361.3,19.4,307,7329,0.00,2.15,0.00,0.000,260,0.000,0.045,3234,3402,1438,1539,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7437,1.25,219.0,3234,3402,1539,1338,339.8,20.2,312,7443,0.00,2.08,0.00,0.000,1030,0.000,0.029,3246,1993,1439,1540,1338,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7751,1.25,219.0,3246,1993,1539,1337,280.0,18.0,328,7757,0.00,2.17,0.00,0.000,260,0.000,0.045,3246,3402,1437,1538,1337,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7812,1.25,219.0,3245,3402,1539,1337,271.4,18.8,330,7821,0.12,2.08,0.00,0.000,5126,0.169,0.028,3225,1989,1438,1539,1337,0,0,0,0,0,0,26.42,26.67,28.83
$GC,8118,1.25,219.0,3225,1989,1539,1337,215.0,16.3,346,8124,0.00,2.08,0.00,0.000,516,0.000,0.040,3236,610,1438,1539,1337,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8272,1.25,219.0,3236,609,1539,1337,192.7,14.3,353,8279,0.00,2.05,0.00,0.000,1030,0.000,0.031,3236,2002,1438,1539,1337,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8588,1.25,219.0,3235,2002,1539,1337,145.6,14.4,369,8594,0.00,2.15,0.00,0.000,260,0.000,0.044,3236,3408,1438,1540,1337,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8634,1.25,219.0,3236,3408,1539,1337,138.4,15.0,371,8641,0.00,2.08,0.00,0.000,1030,0.000,0.028,3247,1995,1438,1539,1337,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8960,1.25,219.0,3247,1995,1539,1337,88.1,14.7,387,8967,0.00,2.17,0.00,0.000,260,0.000,0.044,3247,3408,1438,1539,1338,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8993,1.25,219.0,3247,3408,1539,1337,84.1,14.8,388,9000,0.15,2.05,0.00,0.000,5126,0.157,0.028,3217,2006,1438,1539,1337,0,0,0,0,0,0,26.43,26.70,28.83
$GC,9308,1.25,219.0,3217,2006,1541,1337,38.9,13.4,407,9314,0.00,2.15,0.00,0.000,260,0.000,0.045,3217,3402,1439,1541,1337,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9495,1.25,219.0,2144,3400,1509,1334,13.5,12.3,432,9503,0.00,2.05,0.00,0.000,1030,0.000,0.028,3228,1990,1440,1543,1337,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,9586,end climb,SURFACE_DEPTH_REACHED
$STATE,9586,begin surface coast
$FINISH,0.5,1.023090
$STATE,9615,end surface coast,CONTROL_FINISHED_OK
$STATE,9615,begin surface
$SM_CCo,9634,81.57,0.059,0,0,748,400.08
$SM_GC,1.35,7.93,0.77,81.57,0.038,0.048,0.059,132,2492,748,-8.28,-1.44,400.08,0,0,0,0,0,0,26.69,26.65,26.48
$IRIDIUM_FIX,2138.81,12344.62,230313,060621
$TT8_MAMPS,0.048685,0.048685
$HUMID,44.88
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3964256
$24V_AH,24.2,26.023
$10V_AH,10.3,18.744
$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,19.950,90.825,548.275,81.575,0.000,0.000,0.000,377.525,0.000,0.000,33.444,1957.830,5732.474,697.345,1657.342,267.681,0.000,1819.924,0.000,1192.020,0.000,0.538,0.000
$DEVICE_MAMPS,218.790,55.080,916.470,58.905,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9615.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.008,0.000,0.000,0.000
$MEM,329700
$DATA_FILE_SIZE,16765,454
$CAP_FILE_SIZE,256897,0
$CFSIZE,260034560,235089920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,182.0,1
$GPS,230313,092635,2146.272,12341.385,12,0.9,29,-2.9