version: 66.11
glider: 171
mission: 4
dive: 183
start: 3 24 113 2 53 21
data:
$ID,171
$MISSION,4
$DIVE,183
$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,-20743.92
$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,63
$R_STBD_OVSHOOT,43
$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
$GPS1,240313,024724,2152.094,12335.462,42,1.0,43,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-67.9
$GPS2,240313,025255,2152.154,12335.587,14,1.8,14,-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,298.9,257662,-12.0,-8.739,-16.47,3810
$D_GRID,4778
$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,-219.0,119,2491,831,662,0.0,0.0,0,84,0.00,0.00,-63.25,0.000,16386,0.000,0.000,119,2492,2504,2565,2444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-1.25,-219.0,119,2492,2568,2445,3.1,-4.3,8,119,8.77,2.05,-14.38,0.000,18948,0.216,0.041,2410,1102,3277,3348,3206,0,0,0,0,0,0,25.91,26.34,26.65
$GC,198,-1.25,-219.0,2410,1102,3350,3205,39.0,-30.9,22,206,0.00,2.15,0.00,0.000,1030,0.000,0.041,2400,2497,3278,3350,3206,0,0,0,0,0,0,28.83,26.34,28.83
$GC,516,-1.25,-219.0,2400,2498,3354,3205,145.9,-33.7,40,523,0.00,1.83,0.00,0.000,260,0.000,0.053,2391,3677,3280,3354,3206,0,0,0,0,0,0,28.83,26.45,28.83
$GC,612,-1.25,-219.0,2391,3677,3354,3206,175.4,-33.5,44,618,0.00,1.73,0.00,0.000,1030,0.000,0.024,2391,2496,3278,3351,3206,0,0,0,0,0,0,28.83,26.60,28.83
$GC,927,-1.25,-219.0,2389,2495,3355,3206,275.1,-30.0,60,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2495,3281,3356,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1226,-1.25,-219.0,2391,2495,3356,3207,362.5,-28.5,75,1232,0.00,1.85,0.00,0.000,260,0.000,0.053,2382,3678,3281,3356,3207,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1275,-1.25,-219.0,2385,3678,3356,3207,375.6,-29.0,77,1281,0.12,1.67,0.00,0.000,3078,0.161,0.024,2414,2490,3281,3356,3207,0,0,0,0,0,0,26.41,26.70,28.83
$GC,1596,-1.25,-219.0,2414,2489,3356,3208,461.5,-25.6,93,1602,0.00,1.83,0.00,0.000,260,0.000,0.053,2406,3671,3282,3356,3208,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1643,-1.25,-219.0,2406,3671,3356,3207,473.0,-25.1,95,1649,0.00,1.70,0.00,0.000,1030,0.000,0.024,2407,2501,3282,3356,3208,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1968,-1.25,-219.0,2406,2499,3356,3207,544.3,-21.6,111,1975,0.00,2.03,0.00,0.000,516,0.000,0.030,2405,1113,3284,3357,3211,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2034,-1.25,-219.0,2406,1112,3356,3207,559.5,-22.2,114,2041,0.00,2.12,0.00,0.000,1030,0.000,0.040,2396,2501,3281,3356,3207,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2370,-1.25,-219.0,2395,2502,3356,3207,635.4,-22.4,128,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2502,3281,3356,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2670,-1.25,-219.0,2395,2502,3356,3207,697.7,-21.1,138,2676,0.00,1.83,0.00,0.000,260,0.000,0.054,2386,3680,3281,3356,3207,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2714,-1.25,-219.0,2386,3680,3356,3208,705.1,-21.2,139,2721,0.12,1.67,0.00,0.000,3078,0.155,0.024,2420,2494,3281,3356,3207,0,0,0,0,0,0,26.48,26.76,28.83
$GC,3039,-1.25,-219.0,2419,2495,3356,3205,767.0,-17.0,150,3045,0.00,2.03,0.00,0.000,516,0.000,0.029,2420,1114,3280,3356,3204,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3140,-1.25,-219.0,2419,1114,3356,3202,783.5,-17.1,153,3146,0.00,2.10,0.00,0.000,1030,0.000,0.039,2410,2501,3279,3356,3202,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3469,-1.25,-219.0,2410,2501,3356,3198,846.1,-19.2,164,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2501,3277,3356,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3770,-1.25,-219.0,2409,2501,3356,3193,902.8,-18.6,174,3776,0.00,1.83,0.00,0.000,260,0.000,0.054,2400,3678,3274,3356,3193,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3835,-1.25,-219.0,2400,3678,3355,3192,915.2,-18.7,176,3841,0.00,1.70,0.00,0.000,1030,0.000,0.026,2401,2499,3274,3356,3192,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4137,begin apogee
$GC,4143,-0.20,0.0,2401,2002,3355,3187,972.3,-18.5,186,4488,1.05,0.00,332.30,0.753,10246,0.118,0.000,2753,1999,2373,2533,2213,0,0,0,0,0,0,26.41,28.83,24.51
$STATE,4489,end apogee,CONTROL_FINISHED_OK
$STATE,4489,begin climb
$GC,4491,1.25,219.0,2752,1999,2530,2209,991.4,0.0,196,4731,1.27,2.33,226.90,0.910,10756,0.045,0.040,3243,621,1475,1575,1375,0,0,0,0,0,0,25.28,24.87,24.18
$GC,4773,1.25,219.0,3242,621,1559,1359,955.1,20.7,205,4779,0.00,2.17,0.00,0.000,1030,0.000,0.031,3243,2008,1459,1559,1359,0,0,0,0,0,0,28.83,25.36,28.83
$GC,5097,1.25,219.0,3244,2008,1550,1354,871.9,25.1,216,5103,0.00,2.20,0.00,0.000,260,0.000,0.045,3243,3409,1452,1550,1354,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5198,1.25,219.0,3242,3409,1548,1353,846.8,26.3,219,5205,0.12,2.10,0.00,0.000,5126,0.175,0.028,3224,2006,1451,1548,1354,0,0,0,0,0,0,26.06,26.28,28.83
$GC,5528,1.25,219.0,3223,2005,1547,1348,768.6,23.1,230,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2005,1448,1547,1349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5828,1.25,219.0,3223,2004,1546,1347,704.6,20.9,240,5834,0.00,2.12,0.00,0.000,516,0.000,0.039,3234,608,1446,1546,1347,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5863,1.25,219.0,3234,608,1546,1347,697.3,20.8,241,5869,0.00,2.10,0.00,0.000,1030,0.000,0.032,3234,2006,1446,1546,1347,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6198,1.25,219.0,3234,2004,1545,1345,621.8,21.7,252,6204,0.00,2.17,0.00,0.000,260,0.000,0.047,3234,3410,1445,1545,1345,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6294,1.25,219.0,3234,3410,1544,1345,601.1,21.6,255,6300,0.00,2.10,0.00,0.000,1030,0.000,0.029,3246,1997,1444,1544,1345,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6610,1.25,219.0,3246,1996,1542,1343,533.3,20.6,270,6616,0.00,2.10,0.00,0.000,516,0.000,0.041,3257,610,1442,1542,1342,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6721,1.25,219.0,2304,610,1512,1339,510.3,21.1,275,6728,0.12,2.08,0.00,0.000,5126,0.172,0.031,3225,2011,1441,1541,1342,0,0,0,0,0,0,26.36,26.60,28.83
$GC,7042,1.25,219.0,3225,2011,1541,1341,444.1,19.9,291,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2011,1440,1540,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7342,1.25,219.0,3225,2010,1540,1341,385.9,19.0,306,7348,0.00,2.15,0.00,0.000,260,0.000,0.046,3223,3405,1440,1540,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7389,1.25,219.0,3225,3405,1540,1341,376.7,19.8,308,7394,0.00,2.08,0.00,0.000,1030,0.000,0.030,3236,2001,1440,1540,1341,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7714,1.25,219.0,3236,2001,1540,1340,315.3,18.8,324,7721,0.00,2.17,0.00,0.000,260,0.000,0.045,3236,3406,1440,1540,1340,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7785,1.25,219.0,3236,3407,1539,1339,301.2,20.3,327,7791,0.00,2.08,0.00,0.000,1030,0.000,0.030,3248,1995,1439,1539,1340,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8105,1.25,219.0,3247,1996,1540,1340,236.2,20.4,343,8111,0.00,2.10,0.00,0.000,516,0.000,0.040,3259,608,1440,1540,1340,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8180,1.25,219.0,3259,606,1539,1340,224.1,18.7,346,8187,0.15,2.05,0.00,0.000,5126,0.158,0.030,3218,2002,1439,1539,1340,0,0,0,0,0,0,26.39,26.65,28.83
$GC,8496,1.25,219.0,3218,2002,1536,1340,174.2,13.9,362,8503,0.00,2.12,0.00,0.000,516,0.000,0.039,3229,606,1440,1540,1340,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8632,1.25,219.0,3228,606,1540,1340,153.8,15.8,368,8639,0.00,2.05,0.00,0.000,1030,0.000,0.030,3229,2002,1439,1539,1340,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8948,1.25,219.0,3228,2002,1541,1340,106.8,13.9,384,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2002,1440,1540,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9247,1.25,219.0,3228,2002,1540,1340,62.7,15.7,399,9254,0.00,2.12,0.00,0.000,260,0.000,0.044,3229,3402,1440,1541,1340,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9280,1.25,219.0,3229,3401,1542,1340,58.8,15.7,400,9286,0.00,2.05,0.00,0.000,1030,0.000,0.028,3240,1991,1441,1542,1340,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9594,1.25,219.0,2224,1988,1512,1336,15.0,13.2,436,9602,0.00,2.17,0.00,0.000,260,0.000,0.044,3241,3401,1442,1545,1340,0,0,0,0,0,0,28.83,26.62,28.83
$STATE,9676,end climb,SURFACE_DEPTH_REACHED
$STATE,9677,begin surface coast
$FINISH,0.5,1.000034
$STATE,9695,end surface coast,CONTROL_FINISHED_OK
$STATE,9695,begin surface
$SM_CCo,9713,82.05,0.059,0,0,747,400.08
$SM_GC,1.37,7.72,1.35,82.05,0.021,0.029,0.059,122,2493,747,-8.29,1.78,400.08,0,0,0,0,0,0,26.69,26.72,26.47
$IRIDIUM_FIX,2141.13,12337.54,230313,232318
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.92
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3962016
$24V_AH,24.2,27.026
$10V_AH,10.3,19.301
$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,19.475,76.775,559.200,82.050,0.000,0.000,0.000,186.075,0.000,0.000,15.495,1907.316,5863.045,678.092,1410.930,264.327,0.000,1584.247,0.000,1152.682,0.000,0.537,0.000
$DEVICE_MAMPS,216.495,54.315,910.350,58.905,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9705.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.926,0.000,0.000,0.000
$MEM,329680
$DATA_FILE_SIZE,16766,454
$CAP_FILE_SIZE,246711,0
$CFSIZE,260034560,234487808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.175,111.0,1
$GPS,240313,053751,2152.715,12334.871,14,2.2,34,-2.9