version: 66.11
glider: 171
mission: 4
dive: 179
start: 3 23 113 15 15 10
data:
$ID,171
$MISSION,4
$DIVE,179
$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,-20737.848
$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,61
$R_STBD_OVSHOOT,30
$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
$GPS1,230313,150649,2148.845,12339.060,8,1.6,9,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-67.9
$GPS2,230313,151445,2148.911,12339.139,21,2.4,40,-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,300.0,265947,-12.0,-8.739,-16.47,3810
$D_GRID,4664
$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,-219.0,128,2489,831,665,0.0,0.0,0,81,0.00,0.00,-60.65,0.000,16386,0.000,0.000,127,2489,2457,2525,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.25,-219.0,127,2489,2533,2390,3.0,-4.2,8,116,8.82,2.08,-15.15,0.000,18948,0.221,0.043,2409,1094,3274,3344,3205,0,0,0,0,0,0,25.89,26.32,26.64
$GC,227,-1.25,-219.0,2409,1094,3347,3205,49.8,-31.0,26,234,0.00,2.17,0.00,0.000,1030,0.000,0.041,2399,2505,3276,3347,3205,0,0,0,0,0,0,28.83,26.35,28.83
$GC,543,-1.25,-219.0,2399,2506,3350,3205,155.0,-35.6,42,549,0.00,1.80,0.00,0.000,260,0.000,0.052,2390,3674,3277,3350,3205,0,0,0,0,0,0,28.83,26.46,28.83
$GC,692,-1.25,-219.0,2390,3675,3350,3205,205.6,-32.1,49,698,0.00,1.70,0.00,0.000,1030,0.000,0.024,2390,2489,3278,3350,3206,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1018,-1.25,-219.0,2390,2487,3351,3205,299.0,-28.4,65,1024,0.00,1.85,0.00,0.000,260,0.000,0.052,2381,3682,3278,3352,3205,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1144,-1.25,-219.0,2381,3683,3353,3205,335.4,-28.0,71,1152,0.15,1.70,0.00,0.000,3078,0.157,0.024,2421,2490,3278,3352,3205,0,0,0,0,0,0,26.39,26.67,28.83
$GC,1471,-1.25,-219.0,2421,2489,3354,3205,419.7,-24.0,87,1477,0.00,2.03,0.00,0.000,516,0.000,0.030,2422,1104,3280,3354,3206,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1495,-1.25,-219.0,2421,1104,3354,3206,425.6,-23.9,88,1502,0.00,2.15,0.00,0.000,1030,0.000,0.040,2412,2509,3279,3354,3205,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1821,-1.25,-219.0,2411,2510,3354,3205,499.6,-22.7,104,1827,0.00,1.80,0.00,0.000,260,0.000,0.053,2402,3678,3280,3354,3206,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1917,-1.25,-219.0,2402,3678,3354,3205,519.0,-22.3,108,1924,0.00,1.70,0.00,0.000,1030,0.000,0.024,2402,2508,3279,3354,3205,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2232,-1.25,-219.0,2402,2507,3354,3206,591.1,-21.5,124,2238,0.00,2.05,0.00,0.000,516,0.000,0.030,2402,1105,3279,3354,3205,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2260,-1.25,-219.0,2402,1105,3354,3205,596.9,-21.8,125,2266,0.00,2.12,0.00,0.000,1030,0.000,0.039,2391,2509,3279,3354,3205,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2579,-1.25,-219.0,2391,2509,3354,3205,668.7,-21.4,136,2585,0.00,1.80,0.00,0.000,260,0.000,0.054,2383,3675,3279,3354,3205,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2624,-1.25,-219.0,2382,3675,3354,3206,675.7,-21.1,137,2630,0.12,1.67,0.00,0.000,3078,0.152,0.025,2416,2488,3279,3354,3205,0,0,0,0,0,0,26.48,26.75,28.83
$GC,2949,-1.25,-219.0,2416,2487,3354,3202,737.7,-17.7,148,2954,0.00,1.83,0.00,0.000,260,0.000,0.054,2408,3672,3278,3354,3202,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2966,-1.25,-219.0,2407,3672,3354,3202,737.7,-17.7,148,2973,0.00,1.65,0.00,0.000,1030,0.000,0.025,2408,2498,3278,3354,3202,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3286,-1.25,-219.0,2407,2497,3354,3198,798.7,-18.0,159,3292,0.00,1.83,0.00,0.000,260,0.000,0.054,2399,3671,3275,3354,3197,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3320,-1.25,-219.0,2398,3671,3354,3198,804.9,-18.0,160,3326,0.00,1.67,0.00,0.000,1030,0.000,0.028,2398,2508,3275,3354,3197,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3654,-1.25,-219.0,2398,2507,3354,3192,864.8,-18.2,171,3660,0.00,2.05,0.00,0.000,516,0.000,0.030,2398,1109,3273,3354,3192,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3708,-1.25,-219.0,2398,1109,3354,3191,871.3,-18.4,172,3715,0.12,2.12,0.00,0.000,3078,0.158,0.039,2422,2508,3272,3354,3191,0,0,0,0,0,0,26.46,26.63,28.83
$GC,4023,-1.25,-219.0,2422,2508,3353,3186,929.4,-17.6,183,4029,0.00,2.08,0.00,0.000,516,0.000,0.030,2422,1104,3269,3353,3185,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4057,-1.25,-219.0,2422,1103,3354,3185,935.4,-17.7,184,4063,0.00,2.12,0.00,0.000,1030,0.000,0.040,2412,2502,3269,3353,3185,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,4269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4269,begin apogee
$GC,4275,-0.20,0.0,2410,1981,3350,3184,975.3,-18.8,191,4609,1.00,0.00,324.23,0.757,10246,0.113,0.000,2750,1979,2373,2533,2214,0,0,0,0,0,0,26.43,28.83,24.51
$STATE,4611,end apogee,CONTROL_FINISHED_OK
$STATE,4612,begin climb
$GC,4614,1.25,219.0,2750,1979,2530,2209,997.4,0.0,201,4856,1.27,2.25,227.68,0.910,10756,0.046,0.038,3239,634,1472,1572,1373,0,0,0,0,0,0,25.27,24.89,24.22
$GC,4878,1.25,219.0,3239,634,1558,1363,967.4,18.6,209,4885,0.00,2.17,0.00,0.000,1030,0.000,0.032,3237,2009,1461,1560,1362,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5198,1.25,219.0,3239,2009,1550,1355,887.0,24.3,220,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2009,1452,1550,1355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5498,1.25,219.0,3239,2009,1548,1353,817.1,23.9,230,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2009,1450,1548,1353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5799,1.25,219.0,3239,2009,1547,1350,744.8,23.9,240,5804,0.00,2.17,0.00,0.000,260,0.000,0.046,3239,3412,1448,1547,1350,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5843,1.25,219.0,3239,3412,1547,1350,736.0,24.2,241,5849,0.00,2.08,0.00,0.000,1030,0.000,0.029,3251,2016,1448,1547,1350,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6167,1.25,219.0,3250,2016,1546,1348,655.8,23.0,252,6174,0.12,2.17,0.00,0.000,4356,0.184,0.045,3213,3414,1446,1546,1347,0,0,0,0,0,0,26.34,26.51,28.83
$GC,6328,1.25,219.0,3213,3416,1544,1348,620.7,22.2,257,6335,0.00,2.10,0.00,0.000,1030,0.000,0.030,3223,2003,1446,1544,1348,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6648,1.25,219.0,3225,2003,1545,1344,552.9,20.4,271,6654,0.00,2.12,0.00,0.000,516,0.000,0.041,3236,607,1444,1545,1344,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6694,1.25,219.0,3235,608,1544,1344,542.8,21.8,273,6701,0.00,2.10,0.00,0.000,1030,0.000,0.031,3236,2007,1444,1544,1345,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7020,1.25,219.0,3236,2007,1542,1343,471.2,21.4,289,7026,0.00,2.15,0.00,0.000,260,0.000,0.046,3236,3402,1442,1542,1343,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7054,1.25,219.0,3236,3402,1542,1343,465.6,21.8,290,7060,0.00,2.08,0.00,0.000,1030,0.000,0.030,3247,1997,1442,1542,1343,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7368,1.25,219.0,3250,1997,1540,1341,398.6,20.4,306,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1997,1440,1540,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7669,1.25,219.0,3247,1997,1539,1341,340.6,20.1,321,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1997,1440,1539,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7968,1.25,219.0,3247,1997,1540,1341,278.2,20.8,336,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1997,1440,1540,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8268,1.25,219.0,3246,1996,1540,1341,221.6,17.5,351,8274,0.00,2.17,0.00,0.000,260,0.000,0.046,3247,3403,1440,1540,1341,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8357,1.25,219.0,3247,3403,1543,1341,203.8,21.0,355,8364,0.15,2.05,0.00,0.000,5126,0.162,0.029,3218,1997,1440,1540,1341,0,0,0,0,0,0,26.39,26.67,28.83
$GC,8679,1.25,219.0,3218,1997,1540,1341,154.8,13.9,371,8685,0.00,2.10,0.00,0.000,516,0.000,0.041,3229,609,1440,1540,1341,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8830,1.25,219.0,3229,609,1540,1341,134.0,14.1,378,8836,0.00,2.05,0.00,0.000,1030,0.000,0.031,3229,2002,1440,1540,1341,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9151,1.25,219.0,3229,2002,1540,1340,90.5,13.4,394,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2001,1440,1540,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9449,1.25,219.0,3229,2002,1540,1340,50.5,13.1,409,9455,0.00,2.15,0.00,0.000,260,0.000,0.044,3229,3403,1441,1541,1341,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9556,1.25,219.0,3229,3404,1543,1341,34.5,15.1,418,9562,0.00,2.05,0.00,0.000,1030,0.000,0.027,3241,1999,1441,1543,1340,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,9803,end climb,SURFACE_DEPTH_REACHED
$STATE,9803,begin surface coast
$FINISH,0.5,1.023154
$STATE,9831,end surface coast,CONTROL_FINISHED_OK
$STATE,9831,begin surface
$SM_CCo,9848,81.72,0.060,0,0,748,400.08
$SM_GC,1.45,7.90,0.77,81.72,0.034,0.050,0.060,132,2497,748,-8.31,-1.22,400.08,0,0,0,0,0,0,26.67,26.63,26.48
$IRIDIUM_FIX,2141.13,12342.69,230313,121223
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.03
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3963296
$24V_AH,24.2,26.429
$10V_AH,10.3,18.981
$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,19.675,77.450,551.900,81.725,0.000,0.000,0.000,242.200,0.000,0.000,41.994,1946.128,6015.480,669.406,1513.629,256.372,0.000,1640.610,0.000,1170.043,0.000,0.537,0.000
$DEVICE_MAMPS,221.085,54.315,909.585,59.670,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9832.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.976,0.000,0.000,0.000
$MEM,329676
$DATA_FILE_SIZE,16775,463
$CAP_FILE_SIZE,251935,0
$CFSIZE,260034560,234827776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105, 89.4,1
$GPS,230313,180200,2149.947,12338.245,39,1.9,40,-2.9