version: 66.11
glider: 171
mission: 4
dive: 6
start: 2 25 113 13 18 15
data:
$ID,171
$MISSION,4
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$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,557.86951
$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,-20212.229
$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,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,415
$VBD_MAX,3400
$C_VBD,2730
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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
$GPS1,250213,131243,2203.056,12103.981,11,2.0,11,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-67.7
$GPS2,250213,131749,2203.023,12103.974,13,2.0,13,-2.7
$SPEED_LIMITS,0.173,0.282
$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,13.2,118214,-15.8,-10.000,-19.55,2669
$D_GRID,1229
$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,17,-0.74,-175.2,130,2313,539,374,0.0,0.0,0,87,0.00,0.00,-67.40,0.000,16386,0.000,0.000,128,2313,2353,2411,2296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.74,-175.2,129,2314,2414,2295,3.0,-4.8,9,123,9.62,2.25,-17.95,0.000,18692,0.233,0.076,2568,3673,3412,3442,3383,0,0,0,0,0,0,26.05,26.23,26.55
$GC,268,-0.56,-175.2,2568,3674,3441,3426,53.4,-23.8,30,275,0.22,2.05,0.00,0.000,3078,0.134,0.029,2632,2289,3433,3441,3426,0,0,0,0,0,0,26.28,26.41,28.83
$GC,589,-0.73,-175.2,2633,2287,3441,3428,106.2,-12.6,46,595,0.12,2.20,0.00,0.000,4356,0.083,0.060,2541,3673,3434,3441,3428,0,0,0,0,0,0,26.60,26.50,28.83
$GC,607,-0.89,-175.2,2541,3673,3441,3428,106.2,-12.6,46,616,0.00,2.05,0.00,0.000,1030,0.000,0.029,2541,2294,3434,3441,3428,0,0,0,0,0,0,28.83,26.57,28.83
$GC,913,-0.78,-175.2,2541,2292,3441,3434,157.2,-17.0,62,920,0.00,2.10,0.00,0.000,516,0.000,0.041,2541,900,3437,3441,3433,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1022,-0.78,-175.2,2544,900,3441,3435,173.8,-15.7,67,1029,0.12,2.15,0.00,0.000,3078,0.145,0.044,2566,2315,3438,3441,3435,0,0,0,0,0,0,26.57,26.65,28.83
$GC,1342,-0.82,-175.2,2566,2314,3445,3435,222.3,-14.5,83,1349,0.00,2.12,0.00,0.000,260,0.000,0.063,2557,3668,3438,3441,3435,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1569,-0.93,-175.2,2556,3668,3441,3435,244.8,-9.5,94,1576,0.10,2.00,0.00,0.000,5126,0.099,0.031,2486,2301,3438,3441,3435,0,0,0,0,0,0,26.74,26.76,28.83
$GC,1894,-0.77,-175.2,2486,2300,3441,3435,297.6,-17.9,110,1901,0.25,2.15,0.00,0.000,2308,0.126,0.061,2560,3667,3438,3441,3435,0,0,0,0,0,0,26.67,26.73,28.83
$GC,1979,-0.84,-175.2,1568,3666,3427,3432,308.4,-12.6,114,1985,0.00,2.00,0.00,0.000,1030,0.000,0.031,2560,2304,3438,3441,3435,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2304,-0.95,-175.2,2560,2302,3441,3435,346.8,-10.5,130,2310,0.12,2.17,0.00,0.000,4356,0.086,0.062,2472,3671,3438,3441,3435,0,0,0,0,0,0,26.85,26.76,28.83
$GC,2467,-0.83,-175.2,2472,3671,3440,3435,369.1,-15.8,137,2476,0.25,2.03,0.00,0.000,3078,0.122,0.031,2551,2288,3438,3441,3435,0,0,0,0,0,0,26.71,26.82,28.83
$GC,2774,-0.92,-175.2,2551,2287,3440,3435,405.6,-11.9,153,2781,0.00,2.17,0.00,0.000,260,0.000,0.063,2541,3667,3437,3440,3434,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2798,-1.03,-175.2,2541,3667,3441,3434,408.6,-12.0,154,2806,0.15,2.03,0.00,0.000,5126,0.075,0.031,2462,2287,3437,3440,3434,0,0,0,0,0,0,26.84,26.84,28.83
$GC,3125,-0.87,-175.2,2461,2286,3440,3432,464.1,-17.2,170,3127,0.25,0.00,0.00,0.000,2054,0.127,0.000,2540,2285,3435,3440,3431,0,0,0,0,0,0,26.74,28.83,28.83
$GC,3424,-0.95,-175.2,2539,2286,3438,3429,501.5,-12.7,185,3430,0.00,2.20,0.00,0.000,260,0.000,0.066,2529,3674,3433,3438,3429,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3523,-1.04,-175.2,2529,3674,3437,3426,512.3,-12.8,189,3532,0.12,2.00,0.00,0.000,5126,0.084,0.029,2461,2300,3433,3437,3429,0,0,0,0,0,0,26.86,26.86,28.83
$GC,3830,-0.90,-175.2,2459,2300,3436,3427,564.2,-15.8,205,3837,0.20,2.17,0.00,0.000,2308,0.132,0.063,2517,3673,3431,3435,3428,0,0,0,0,0,0,26.77,26.81,28.83
$GC,3994,-0.96,-175.2,2518,3673,3435,3427,582.4,-11.5,212,4003,0.00,2.03,0.00,0.000,1030,0.000,0.031,2517,2293,3430,3434,3427,0,0,0,0,0,0,28.83,26.88,28.83
$GC,4320,-0.96,-175.2,2517,2292,3434,3425,621.8,-11.4,226,4326,0.00,2.17,0.00,0.000,260,0.000,0.065,2507,3667,3428,3432,3425,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4483,-1.01,-175.2,2506,3667,3431,3424,640.4,-12.1,231,4488,0.00,2.00,0.00,0.000,1030,0.000,0.031,2507,2299,3427,3431,3424,0,0,0,0,0,0,28.83,26.89,28.83
$STATE,4625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4625,begin apogee
$GC,4629,-0.17,0.0,2507,2146,3430,3423,660.4,-13.2,236,4780,0.73,0.00,141.32,0.972,10246,0.104,0.000,2761,2144,2729,2850,2608,0,0,0,0,1,0,26.79,28.83,24.32
$STATE,4782,end apogee,CONTROL_FINISHED_OK
$STATE,4782,begin climb
$GC,4783,0.74,175.2,2761,2144,2850,2610,669.0,0.0,240,4956,0.82,2.38,154.30,0.974,10756,0.049,0.049,3084,762,2013,2162,1864,0,0,0,0,1,0,25.14,24.87,24.18
$GC,5033,0.82,509.6,3084,762,2157,1863,684.2,-2.9,248,5365,0.00,2.22,302.48,0.960,9222,0.000,0.049,3084,2146,649,753,545,0,0,0,0,3,0,28.83,25.64,24.13
$GC,5644,0.82,509.6,3083,2145,753,545,607.5,15.7,269,5650,0.00,2.22,0.00,0.000,516,0.000,0.057,3095,759,649,753,545,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5783,0.82,509.6,3095,759,753,545,586.6,16.6,274,5792,0.00,2.20,0.00,0.000,1030,0.000,0.050,3095,2154,649,753,545,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6090,0.74,509.6,3095,2154,751,543,534.0,16.4,290,6097,0.12,2.22,0.00,0.000,4612,0.157,0.054,3066,759,646,750,543,0,0,0,0,0,0,26.35,26.40,28.83
$GC,6210,0.81,509.6,3065,759,751,543,520.7,11.9,295,6217,0.00,2.15,0.00,0.000,1030,0.000,0.047,3065,2150,647,752,543,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6516,0.86,509.6,3065,2152,750,542,481.6,12.7,311,6522,0.00,2.17,0.00,0.000,516,0.000,0.054,3076,759,646,750,542,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6695,0.91,509.6,3076,759,750,542,458.6,14.4,319,6704,0.10,2.15,0.00,0.000,3078,0.100,0.046,3138,2159,646,750,542,0,0,0,0,0,0,26.61,26.60,28.83
$GC,7002,0.72,509.6,3138,2159,749,541,386.6,24.5,335,7009,0.25,2.17,0.00,0.000,4612,0.138,0.050,3067,756,645,749,541,0,0,0,0,0,0,26.56,26.63,28.83
$GC,7236,0.80,509.6,3067,756,750,541,350.0,14.8,346,7243,0.00,2.15,0.00,0.000,1030,0.000,0.047,3067,2157,645,749,541,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7552,0.87,509.6,3066,2157,749,540,304.6,13.2,362,7558,0.00,2.17,0.00,0.000,516,0.000,0.050,3077,761,644,749,540,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7755,0.93,509.6,3077,761,749,545,280.6,11.9,371,7764,0.12,2.12,0.00,0.000,3078,0.083,0.045,3149,2155,644,749,540,0,0,0,0,0,0,26.75,26.72,28.83
$GC,8061,0.74,509.6,3148,2155,749,540,219.6,19.6,387,8069,0.28,2.17,0.00,0.000,4612,0.132,0.050,3068,759,645,750,540,0,0,0,0,0,0,26.66,26.73,28.83
$GC,8229,0.86,509.6,3067,759,749,540,197.3,12.7,395,8235,0.00,2.12,0.00,0.000,1030,0.000,0.045,3067,2156,644,749,540,0,0,0,0,0,0,28.83,26.75,28.83
$GC,8554,0.95,509.6,3068,2156,748,539,157.7,12.9,411,8560,0.12,2.17,0.00,0.000,2564,0.086,0.049,3158,755,644,749,539,0,0,0,0,0,0,26.84,26.75,28.83
$GC,8751,0.81,509.6,3158,754,749,539,121.4,19.7,420,8757,0.25,2.12,0.00,0.000,5126,0.126,0.046,3079,2150,643,748,539,0,0,0,0,0,0,26.70,26.77,28.83
$GC,9066,1.17,555.0,3079,2150,748,539,92.0,8.3,436,9113,0.28,0.00,37.78,0.446,10758,0.054,0.000,3226,2150,467,562,372,0,0,0,0,1,0,26.85,28.83,26.06
$GC,9405,0.93,555.0,3227,2150,560,372,27.7,19.6,458,9412,0.30,2.15,0.00,0.000,4612,0.129,0.050,3137,763,466,560,372,0,0,0,0,0,0,26.50,26.55,28.83
$GC,9486,1.06,555.0,2080,763,559,369,15.2,14.8,472,9494,0.00,2.12,0.00,0.000,1030,0.000,0.047,3137,2150,466,560,372,0,0,0,0,0,0,28.83,26.59,28.83
$STATE,9594,end climb,SURFACE_DEPTH_REACHED
$STATE,9594,begin surface coast
$FINISH,-0.0,1.009706
$STATE,9617,end surface coast,CONTROL_FINISHED_OK
$STATE,9617,begin surface
$SM_CCo,9632,2.42,0.031,0,0,452,558.06
$SM_GC,1.28,7.70,0.22,2.42,0.039,0.080,0.031,146,2298,452,-8.28,-1.02,558.06,0,0,0,0,0,0,26.64,26.64,26.67
$IRIDIUM_FIX,2152.74,12103.41,250213,090912
$TT8_MAMPS,0.047187,0.047187
$HUMID,47.63
$INTERNAL_PRESSURE,9.58391
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,4018176
$24V_AH,24.1,2.295
$10V_AH,10.4,2.039
$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,22.625,81.700,635.875,2.425,0.000,0.000,0.000,177.375,0.000,0.000,14.689,2311.433,5060.947,702.507,1734.280,124.121,0.000,1738.285,0.000,1459.168,0.000,0.537,0.000
$DEVICE_MAMPS,233.325,79.560,973.845,31.365,0.000,0.000,0.000,130.050,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9630.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.329,0.000,0.000,0.000
$MEM,323972
$DATA_FILE_SIZE,16725,496
$CAP_FILE_SIZE,291322,0
$CFSIZE,260034560,252981248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.069,  0.5,1
$GPS,250213,160006,2204.308,12105.339,37,1.1,38,-2.8