version: 66.11
glider: 171
mission: 4
dive: 177
start: 3 23 113 9 32 32
data:
$ID,171
$MISSION,4
$DIVE,177
$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,-20735.24
$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,60
$R_STBD_OVSHOOT,36
$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
$GPS1,230313,092635,2146.272,12341.385,12,0.9,29,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.0
$GPS2,230313,093206,2146.247,12341.398,15,1.4,15,-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,324.7,271810,-12.0,-8.739,-16.47,3810
$D_GRID,4810
$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,-219.0,129,2495,830,666,0.0,0.0,0,81,0.00,0.00,-60.80,0.000,16386,0.000,0.000,127,2495,2432,2496,2368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.25,-219.0,129,2495,2500,2368,3.2,-5.0,8,117,8.75,2.15,-15.82,0.000,18948,0.219,0.045,2410,1104,3278,3349,3207,0,0,0,0,0,0,25.91,26.34,26.65
$GC,259,-1.25,-219.0,2409,1103,3350,3207,54.8,-29.3,27,268,0.00,2.15,0.00,0.000,1030,0.000,0.040,2400,2502,3279,3351,3207,0,0,0,0,0,0,28.83,26.38,28.83
$GC,567,-1.25,-219.0,2400,2502,3353,3207,164.0,-35.5,43,572,0.00,1.80,0.00,0.000,260,0.000,0.051,2391,3670,3280,3354,3207,0,0,0,0,0,0,28.83,26.47,28.83
$GC,667,-1.25,-219.0,2391,3670,3354,3207,194.2,-35.8,47,675,0.00,1.67,0.00,0.000,1030,0.000,0.024,2391,2496,3280,3354,3207,0,0,0,0,0,0,28.83,26.60,28.83
$GC,972,-1.25,-219.0,2391,2494,3355,3206,291.3,-30.2,63,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2495,3281,3355,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1272,-1.25,-219.0,2391,2495,3357,3207,378.2,-29.7,78,1279,0.10,1.83,0.00,0.000,2308,0.181,0.050,2407,3672,3281,3356,3207,0,0,0,0,0,0,26.53,26.58,28.83
$GC,1317,-1.25,-219.0,1472,3671,3339,3203,391.0,-28.7,80,1324,0.00,1.67,0.00,0.000,1030,0.000,0.023,2407,2493,3282,3357,3207,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1643,-1.25,-219.0,2410,2491,3357,3208,473.4,-24.2,96,1649,0.00,1.83,0.00,0.000,260,0.000,0.052,2398,3669,3282,3356,3208,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1692,-1.25,-219.0,2397,3670,3357,3208,484.5,-24.1,98,1699,0.00,1.65,0.00,0.000,1030,0.000,0.024,2399,2504,3281,3357,3206,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2013,-1.25,-219.0,2397,2502,3357,3208,563.4,-25.2,114,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2502,3282,3357,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2322,-1.25,-219.0,2397,2501,3357,3208,634.7,-20.1,127,2328,0.00,1.83,0.00,0.000,260,0.000,0.054,2390,3676,3282,3357,3207,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2405,-1.25,-219.0,2389,3676,3356,3208,647.9,-20.1,129,2412,0.10,1.67,0.00,0.000,3078,0.163,0.024,2415,2489,3282,3356,3208,0,0,0,0,0,0,26.52,26.75,28.83
$GC,2720,-1.25,-219.0,2414,2488,3356,3208,716.8,-20.5,140,2726,0.00,2.00,0.00,0.000,516,0.000,0.029,2415,1116,3282,3356,3208,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2789,-1.25,-219.0,2414,1116,3356,3208,729.7,-20.1,142,2796,0.00,2.10,0.00,0.000,1030,0.000,0.041,2404,2498,3282,3356,3208,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3119,-1.25,-219.0,2404,2498,3356,3205,794.9,-19.0,153,3125,0.00,1.85,0.00,0.000,260,0.000,0.055,2395,3688,3280,3356,3204,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3164,-1.25,-219.0,2395,3688,3357,3204,801.4,-19.2,154,3170,0.00,1.70,0.00,0.000,1030,0.000,0.028,2395,2501,3280,3356,3204,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3488,-1.25,-219.0,2395,2499,3356,3199,871.3,-21.3,165,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2499,3277,3356,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3788,-1.25,-219.0,2395,2499,3356,3194,934.0,-20.4,175,3794,0.00,2.05,0.00,0.000,516,0.000,0.031,2395,1111,3275,3356,3194,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3816,-1.25,-219.0,2395,1110,3356,3193,934.0,-20.4,175,3825,0.12,2.12,0.00,0.000,3078,0.165,0.040,2418,2505,3274,3356,3193,0,0,0,0,0,0,26.46,26.63,28.83
$STATE,4000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4000,begin apogee
$GC,4006,-0.20,0.0,2418,1981,3356,3190,973.4,-17.8,182,4349,0.98,0.00,331.67,0.751,10246,0.112,0.000,2749,1979,2372,2532,2213,0,0,0,0,0,0,26.44,28.83,24.52
$STATE,4352,end apogee,CONTROL_FINISHED_OK
$STATE,4352,begin climb
$GC,4354,1.25,219.0,2749,1979,2530,2209,991.9,0.0,192,4591,1.27,2.20,222.85,0.915,10756,0.046,0.037,3237,628,1471,1570,1372,0,0,0,0,0,0,25.29,24.90,24.25
$GC,4644,1.25,219.0,3237,628,1557,1357,952.3,22.0,201,4650,0.00,2.17,0.00,0.000,1030,0.000,0.031,3237,2012,1457,1556,1359,0,0,0,0,0,0,28.83,25.45,28.83
$GC,4959,1.25,219.0,3237,2012,1550,1353,871.2,24.1,212,4965,0.00,2.15,0.00,0.000,516,0.000,0.038,3249,629,1451,1549,1353,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5007,1.25,219.0,3249,629,1549,1353,863.1,23.8,213,5013,0.00,2.08,0.00,0.000,1030,0.000,0.031,3249,2005,1451,1549,1353,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5327,1.25,219.0,3248,2006,1547,1350,781.2,24.8,224,5332,0.00,2.17,0.00,0.000,260,0.000,0.046,3249,3405,1448,1547,1350,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5365,1.25,219.0,3249,3405,1547,1350,772.5,24.7,225,5373,0.15,2.08,0.00,0.000,5126,0.175,0.028,3222,2011,1448,1547,1350,0,0,0,0,0,0,26.20,26.45,28.83
$GC,5696,1.25,219.0,3221,2011,1545,1347,695.9,22.1,236,5702,0.00,2.12,0.00,0.000,516,0.000,0.038,3233,612,1446,1546,1347,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5805,1.25,219.0,3232,612,1545,1346,674.0,22.8,239,5812,0.00,2.08,0.00,0.000,1030,0.000,0.032,3233,2000,1445,1545,1346,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6125,1.25,219.0,3232,2000,1544,1344,596.5,22.9,250,6131,0.00,2.17,0.00,0.000,260,0.000,0.047,3233,3408,1444,1544,1344,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6193,1.25,219.0,3232,3408,1544,1344,581.8,21.9,253,6200,0.00,2.10,0.00,0.000,1030,0.000,0.029,3244,1999,1444,1544,1344,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6519,1.25,219.0,3244,2000,1541,1342,513.3,22.4,269,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2000,1441,1541,1342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6818,1.25,219.0,3244,1999,1540,1341,445.0,22.1,284,6823,0.00,2.17,0.00,0.000,260,0.000,0.047,3244,3402,1440,1540,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6844,1.25,219.0,3244,3402,1540,1341,439.6,22.0,285,6852,0.12,2.08,0.00,0.000,5126,0.172,0.030,3224,1995,1440,1540,1341,0,0,0,0,0,0,26.39,26.65,28.83
$GC,7167,1.25,219.0,3224,1995,1539,1339,378.9,17.0,301,7172,0.00,2.20,0.00,0.000,260,0.000,0.047,3224,3411,1439,1539,1339,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7255,1.25,219.0,2240,3409,1509,1335,362.6,19.1,305,7261,0.00,2.08,0.00,0.000,1030,0.000,0.030,3235,2005,1439,1539,1339,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7576,1.25,219.0,3234,2005,1539,1338,305.3,17.4,321,7582,0.00,2.20,0.00,0.000,260,0.000,0.046,3235,3413,1438,1539,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7631,1.25,219.0,3235,3413,1539,1338,296.5,18.0,323,7637,0.00,2.10,0.00,0.000,1030,0.000,0.029,3247,1995,1438,1539,1338,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7946,1.25,219.0,3246,1995,1539,1338,238.1,18.0,339,7952,0.00,2.10,0.00,0.000,516,0.000,0.040,3258,608,1438,1539,1338,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7979,1.25,219.0,3257,607,1539,1338,233.1,18.5,340,7986,0.12,2.08,0.00,0.000,5126,0.164,0.031,3225,2009,1438,1539,1338,0,0,0,0,0,0,26.43,26.65,28.83
$GC,8295,1.25,219.0,3225,2009,1539,1338,177.4,15.4,356,8297,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2009,1438,1539,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8594,1.25,219.0,3225,2009,1539,1338,137.4,12.3,371,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2009,1438,1539,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8895,1.25,219.0,3224,2009,1539,1338,98.2,14.1,386,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2009,1438,1539,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9194,1.25,219.0,3224,2009,1539,1338,56.1,13.4,401,9201,0.00,2.12,0.00,0.000,260,0.000,0.045,3225,3403,1439,1540,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9395,1.25,219.0,3225,3403,1543,1338,26.8,14.5,418,9401,0.00,2.05,0.00,0.000,1030,0.000,0.028,3236,1992,1441,1543,1339,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,9592,end climb,SURFACE_DEPTH_REACHED
$STATE,9593,begin surface coast
$FINISH,0.6,1.010026
$STATE,9621,end surface coast,CONTROL_FINISHED_OK
$STATE,9621,begin surface
$SM_CCo,9640,81.75,0.059,0,0,747,400.08
$SM_GC,1.43,7.82,0.77,81.75,0.029,0.048,0.059,116,2496,747,-8.30,-1.39,400.08,0,0,0,0,0,0,26.70,26.65,26.48
$IRIDIUM_FIX,2136.49,12344.62,230313,060628
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.36
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3963936
$24V_AH,24.2,26.158
$10V_AH,10.3,18.821
$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,19.550,74.075,554.525,81.750,0.000,0.000,0.000,183.875,0.000,0.000,15.966,1878.277,5855.136,675.064,1385.409,254.576,0.000,1564.965,0.000,1129.445,0.000,0.538,0.000
$DEVICE_MAMPS,218.790,55.080,914.940,58.905,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9631.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.033,0.000,0.000,0.000
$MEM,329680
$DATA_FILE_SIZE,16766,459
$CAP_FILE_SIZE,244712,0
$CFSIZE,260034560,235012096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,219.3,1
$GPS,230313,121553,2147.422,12340.040,39,1.3,40,-2.9