version: 66.11
glider: 171
mission: 4
dive: 178
start: 3 23 113 12 22 15
data:
$ID,171
$MISSION,4
$DIVE,178
$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,-20736.594
$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,59
$R_STBD_OVSHOOT,38
$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
$GPS1,230313,121553,2147.422,12340.040,39,1.3,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.2
$GPS2,230313,122149,2147.427,12340.037,18,1.3,18,-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,320.0,268688,-12.0,-8.739,-16.47,3810
$D_GRID,4708
$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,-219.0,115,2497,830,668,0.0,0.0,0,87,0.00,0.00,-66.97,0.000,16386,0.000,0.000,116,2498,2667,2732,2602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-1.25,-219.0,116,2498,2733,2602,4.2,-6.8,9,116,8.88,2.17,-10.27,0.000,19204,0.220,0.047,2412,1093,3277,3343,3212,0,0,0,0,0,0,25.89,26.33,26.64
$GC,289,-1.25,-219.0,2411,1093,3347,3212,73.6,-31.0,27,296,0.00,2.15,0.00,0.000,1030,0.000,0.040,2405,2497,3279,3347,3212,0,0,0,0,0,0,28.83,26.39,28.83
$GC,609,-1.25,-219.0,2401,2497,3349,3212,180.6,-34.2,43,615,0.00,1.85,0.00,0.000,260,0.000,0.054,2393,3661,3280,3349,3212,0,0,0,0,0,0,28.83,26.48,28.83
$GC,697,-1.25,-219.0,1456,3660,3331,3207,207.4,-31.8,47,703,0.00,1.73,0.00,0.000,1030,0.000,0.025,2395,2492,3280,3349,3212,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1018,-1.25,-219.0,2393,2489,3351,3212,301.6,-29.7,63,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2490,3281,3351,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1316,-1.25,-219.0,2393,2490,3352,3212,388.3,-28.7,78,1323,0.00,1.83,0.00,0.000,260,0.000,0.053,2384,3671,3282,3352,3212,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1403,-1.25,-219.0,2383,3671,3352,3212,413.6,-29.1,82,1411,0.12,1.67,0.00,0.000,3078,0.163,0.024,2416,2484,3282,3352,3212,0,0,0,0,0,0,26.43,26.70,28.83
$GC,1731,-1.25,-219.0,2415,2485,3354,3212,489.8,-21.9,98,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2485,3283,3354,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2029,-1.25,-219.0,2415,2485,3355,3212,556.2,-22.6,113,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2485,3283,3355,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2349,-1.25,-219.0,2416,2485,3354,3212,623.9,-19.8,127,2355,0.00,1.85,0.00,0.000,260,0.000,0.054,2408,3676,3283,3355,3212,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2463,-1.25,-219.0,2407,3676,3354,3212,644.1,-20.7,130,2468,0.00,1.67,0.00,0.000,1030,0.000,0.024,2407,2490,3283,3354,3212,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2778,-1.25,-219.0,2407,2489,3354,3210,715.0,-20.6,141,2784,0.00,2.00,0.00,0.000,516,0.000,0.029,2407,1114,3281,3354,3209,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2861,-1.25,-219.0,2405,1114,3355,3208,728.3,-20.4,143,2866,0.00,2.10,0.00,0.000,1030,0.000,0.041,2397,2501,3281,3354,3208,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3176,-1.25,-219.0,2396,2501,3354,3205,796.5,-20.7,154,3182,0.00,1.80,0.00,0.000,260,0.000,0.054,2388,3671,3279,3354,3204,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3228,-1.25,-219.0,2387,3671,3354,3204,804.0,-20.9,155,3236,0.12,1.67,0.00,0.000,3078,0.154,0.026,2422,2495,3278,3354,3203,0,0,0,0,0,0,26.49,26.77,28.83
$GC,3544,-1.25,-219.0,2421,2494,3354,3199,867.5,-18.2,166,3550,0.00,1.83,0.00,0.000,260,0.000,0.054,2413,3670,3276,3354,3198,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3573,-1.25,-219.0,2413,3670,3354,3198,867.5,-18.2,166,3581,0.00,1.67,0.00,0.000,1030,0.000,0.027,2413,2505,3276,3354,3198,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3880,-1.25,-219.0,2413,2505,3354,3193,929.7,-17.9,177,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2505,3273,3354,3193,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4117,begin apogee
$GC,4123,-0.20,0.0,2413,1984,3354,3189,971.1,-17.1,185,4457,1.00,0.00,324.05,0.758,10246,0.116,0.000,2751,1983,2374,2533,2215,0,0,0,0,0,0,26.42,28.83,24.53
$STATE,4459,end apogee,CONTROL_FINISHED_OK
$STATE,4460,begin climb
$GC,4462,1.25,219.0,2750,1983,2530,2209,986.5,0.0,195,4699,1.27,2.38,224.88,0.913,10500,0.046,0.046,3227,3409,1475,1575,1375,0,0,0,0,0,0,25.28,24.89,24.19
$GC,4716,1.25,219.0,3226,3409,1560,1368,954.7,19.0,204,4723,0.00,2.17,0.00,0.000,1030,0.000,0.026,3239,2017,1461,1559,1363,0,0,0,0,0,0,28.83,25.22,28.83
$GC,5041,1.25,219.0,3238,2016,1549,1352,873.0,23.9,215,5047,0.00,2.20,0.00,0.000,516,0.000,0.038,3250,599,1450,1550,1350,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5120,1.25,219.0,3250,599,1548,1352,857.7,23.6,217,5126,0.00,2.15,0.00,0.000,1030,0.000,0.031,3250,2018,1450,1548,1352,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5439,1.25,219.0,3250,2018,1547,1349,780.1,23.6,228,5445,0.00,2.15,0.00,0.000,260,0.000,0.046,3250,3402,1448,1547,1350,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5478,1.25,219.0,3249,3402,1547,1349,771.5,24.2,229,5485,0.15,2.10,0.00,0.000,5126,0.174,0.028,3223,1988,1447,1546,1349,0,0,0,0,0,0,26.20,26.45,28.83
$GC,5808,1.25,219.0,3223,1988,1546,1346,696.1,21.7,240,5814,0.00,2.10,0.00,0.000,516,0.000,0.038,3234,607,1445,1545,1346,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5912,1.25,219.0,3234,607,1545,1346,676.5,20.7,243,5918,0.00,2.08,0.00,0.000,1030,0.000,0.032,3234,2000,1447,1548,1346,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6236,1.25,219.0,3234,2000,1544,1345,605.9,20.8,254,6242,0.00,2.17,0.00,0.000,260,0.000,0.046,3234,3402,1445,1545,1345,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6271,1.25,219.0,3234,3402,1544,1345,598.5,20.9,255,6277,0.00,2.08,0.00,0.000,1030,0.000,0.029,3245,1999,1445,1544,1346,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6586,1.25,219.0,3245,1998,1541,1343,529.3,21.8,271,6592,0.00,2.17,0.00,0.000,260,0.000,0.046,3246,3401,1441,1541,1342,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6635,1.25,219.0,3245,3402,1541,1343,518.1,23.4,273,6642,0.12,2.08,0.00,0.000,5126,0.174,0.029,3226,1995,1442,1541,1343,0,0,0,0,0,0,26.38,26.63,28.83
$GC,6957,1.25,219.0,3225,1995,1540,1340,450.3,19.7,289,6963,0.00,2.10,0.00,0.000,516,0.000,0.041,3236,610,1440,1540,1341,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6986,1.25,219.0,3236,610,1540,1340,445.0,19.9,290,6992,0.00,2.08,0.00,0.000,1030,0.000,0.031,3236,2006,1440,1540,1340,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7307,1.25,219.0,3236,2006,1539,1340,383.1,19.7,306,7312,0.00,2.12,0.00,0.000,516,0.000,0.040,3247,610,1439,1539,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7340,1.25,219.0,3247,610,1539,1340,378.2,19.7,307,7346,0.00,2.08,0.00,0.000,1030,0.000,0.031,3247,2009,1439,1539,1339,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7654,1.25,219.0,3246,2009,1539,1339,312.6,19.3,323,7660,0.00,2.15,0.00,0.000,516,0.000,0.041,3259,607,1439,1539,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7708,1.25,219.0,3256,607,1539,1339,303.9,19.3,325,7715,0.12,2.08,0.00,0.000,5126,0.164,0.031,3225,2003,1439,1539,1339,0,0,0,0,0,0,26.41,26.64,28.83
$GC,8025,1.25,219.0,3225,2003,1540,1339,248.7,16.7,341,8031,0.00,2.10,0.00,0.000,516,0.000,0.039,3236,611,1439,1539,1339,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8064,1.25,219.0,3236,610,1539,1340,244.2,17.1,342,8073,0.00,2.08,0.00,0.000,1030,0.000,0.031,3236,2005,1440,1539,1341,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8371,1.25,219.0,3237,2005,1539,1339,185.9,17.8,358,8377,0.00,2.15,0.00,0.000,260,0.000,0.045,3236,3405,1439,1539,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8458,1.25,219.0,3236,3405,1539,1339,170.3,18.0,362,8464,0.00,2.05,0.00,0.000,1030,0.000,0.029,3247,1999,1439,1539,1339,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8783,1.25,219.0,3247,2000,1539,1339,124.9,14.2,378,8789,0.00,2.10,0.00,0.000,516,0.000,0.040,3258,610,1439,1539,1339,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8873,1.25,219.0,3258,610,1539,1339,111.7,15.2,382,8880,0.12,2.05,0.00,0.000,5126,0.159,0.031,3226,2000,1439,1539,1339,0,0,0,0,0,0,26.44,26.65,28.83
$GC,9194,1.25,219.0,3224,2000,1539,1339,66.2,13.8,398,9200,0.00,2.12,0.00,0.000,260,0.000,0.045,3224,3401,1439,1539,1339,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9343,1.25,219.0,3224,3401,1540,1339,43.8,14.5,407,9348,0.00,2.05,0.00,0.000,1030,0.000,0.028,3236,1989,1439,1539,1339,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9658,1.25,219.0,3235,1988,1541,1339,6.0,9.0,454,9667,0.00,2.08,0.00,0.000,516,0.000,0.039,3247,612,1440,1541,1339,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,9689,end climb,SURFACE_DEPTH_REACHED
$STATE,9689,begin surface coast
$FINISH,0.6,1.010974
$STATE,9724,end surface coast,CONTROL_FINISHED_OK
$STATE,9724,begin surface
$SM_CCo,9743,81.65,0.059,0,0,748,400.08
$SM_GC,1.41,7.93,2.90,81.65,0.034,0.037,0.059,133,2487,748,-8.30,-1.53,400.08,0,0,0,0,0,0,26.68,26.62,26.48
$IRIDIUM_FIX,2138.81,12339.47,230313,090901
$TT8_MAMPS,0.048685,0.048685
$HUMID,45.23
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3963616
$24V_AH,24.2,26.293
$10V_AH,10.3,18.901
$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,19.850,86.825,548.925,81.650,0.000,0.000,0.000,207.825,0.000,0.000,19.565,1950.684,5809.898,691.149,1461.493,265.924,0.000,1628.858,0.000,1177.744,0.000,0.537,0.000
$DEVICE_MAMPS,219.555,54.315,912.645,58.905,0.000,0.000,0.000,120.870,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9724.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.031,0.000,0.000,0.000
$MEM,329720
$DATA_FILE_SIZE,16758,465
$CAP_FILE_SIZE,253022,0
$CFSIZE,260034560,234917888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.037, 85.1,1
$GPS,230313,150649,2148.845,12339.060,8,1.6,9,-2.9