version: 66.11
glider: 171
mission: 4
dive: 10
start: 2 26 113 5 40 54
data:
$ID,171
$MISSION,4
$DIVE,10
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,980
$D_ABORT,1020
$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,330
$T_MISSION,360
$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,-20305.496
$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,0.02
$PITCH_ADJ_DBAND,1
$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,43
$R_STBD_OVSHOOT,25
$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,3
$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
$GPS1,260213,053430,2214.559,12110.904,40,1.0,40,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-69.4
$GPS2,260213,054025,2214.800,12111.040,14,1.1,14,-2.8
$SPEED_LIMITS,0.171,0.281
$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,13.8,93831,-15.7,-9.899,-19.44,2693
$D_GRID,739
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-0.84,-175.2,127,2495,527,357,0.0,0.0,0,86,0.00,0.00,-67.57,0.000,16386,0.000,0.000,126,2496,2403,2480,2327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.84,-175.2,126,2496,2484,2327,3.5,-6.0,9,122,9.43,1.95,-16.77,0.000,18692,0.230,0.079,2535,3671,3412,3436,3389,0,0,0,0,0,0,26.02,26.18,26.50
$GC,351,-0.72,-175.2,2535,3671,3435,3419,83.3,-28.8,32,359,0.17,1.73,0.00,0.000,3078,0.137,0.028,2586,2487,3427,3435,3419,0,0,0,0,0,0,26.29,26.41,28.83
$GC,667,-0.72,-175.2,2586,2488,3435,3421,139.5,-12.1,48,673,0.00,1.90,0.00,0.000,260,0.000,0.064,2578,3674,3428,3435,3421,0,0,0,0,0,0,28.83,26.48,28.83
$GC,908,-0.79,-175.2,2578,3674,3435,3423,173.6,-14.6,59,914,0.00,1.70,0.00,0.000,1030,0.000,0.028,2579,2495,3429,3435,3423,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1222,-0.84,-175.2,2578,2495,3435,3424,206.7,-8.6,75,1229,0.00,2.08,0.00,0.000,516,0.000,0.037,2578,1106,3429,3435,3424,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1247,-0.90,-175.2,2578,1106,3435,3424,208.9,-8.6,76,1255,0.12,2.15,0.00,0.000,5126,0.085,0.047,2488,2501,3429,3435,3424,0,0,0,0,0,0,26.67,26.63,28.83
$GC,1573,-0.85,-175.2,2488,2501,3435,3424,269.1,-19.2,92,1579,0.17,1.85,0.00,0.000,2308,0.133,0.062,2538,3677,3429,3435,3424,0,0,0,0,0,0,26.62,26.66,28.83
$GC,1809,-0.90,-175.2,2538,3677,3435,3424,300.6,-13.7,103,1815,0.00,1.70,0.00,0.000,1030,0.000,0.027,2538,2488,3429,3435,3424,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2123,-0.92,-175.2,2538,2488,3435,3424,344.2,-13.2,119,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2488,3429,3435,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2423,-0.96,-175.2,2537,2488,3435,3420,381.4,-11.4,134,2429,0.00,2.05,0.00,0.000,516,0.000,0.037,2538,1109,3427,3435,3419,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2448,-0.99,-175.2,2538,1109,3434,3419,384.1,-11.3,135,2453,0.00,2.12,0.00,0.000,1030,0.000,0.047,2527,2501,3426,3434,3419,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2772,-1.02,-175.2,2527,2501,3430,3418,425.5,-12.7,151,2779,0.10,2.08,0.00,0.000,4612,0.099,0.038,2468,1118,3424,3430,3418,0,0,0,0,0,0,26.84,26.79,28.83
$GC,2797,-1.02,-175.2,2468,1118,3430,3418,429.3,-13.3,152,2805,0.12,2.12,0.00,0.000,3078,0.155,0.049,2491,2500,3423,3429,3418,0,0,0,0,0,0,26.70,26.77,28.83
$GC,3123,-0.99,-175.2,2491,2500,3428,3415,481.6,-16.9,168,3129,0.00,1.85,0.00,0.000,260,0.000,0.063,2483,3674,3422,3429,3415,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3157,-0.97,-175.2,2482,3674,3428,3415,486.0,-17.4,169,3162,0.00,1.67,0.00,0.000,1030,0.000,0.028,2482,2511,3421,3428,3415,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3471,-0.94,-175.2,2482,2511,3426,3413,547.9,-19.5,185,3473,0.12,0.00,0.00,0.000,2054,0.148,0.000,2519,2510,3419,3426,3413,0,0,0,0,0,0,26.74,28.83,28.83
$GC,3771,-0.97,-175.2,2515,2510,3423,3412,593.4,-13.8,200,3777,0.00,2.10,0.00,0.000,516,0.000,0.040,2519,1108,3416,3422,3411,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3804,-1.00,-175.2,2518,1108,3422,3411,596.4,-13.4,201,3809,0.00,2.15,0.00,0.000,1030,0.000,0.049,2509,2506,3416,3422,3411,0,0,0,0,0,0,28.83,26.80,28.83
$GC,4137,-1.00,-175.2,2508,2506,3421,3409,637.1,-11.6,213,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2506,3415,3421,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4437,-1.00,-175.2,2508,2506,3419,3408,674.4,-12.2,223,4443,0.00,2.12,0.00,0.000,516,0.000,0.042,2509,1099,3413,3419,3407,0,0,0,0,0,0,28.83,26.83,28.83
$GC,4494,-1.00,-175.2,2508,1099,3419,3407,678.6,-12.2,224,4502,0.00,2.17,0.00,0.000,1030,0.000,0.052,2499,2505,3413,3419,3407,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4801,-1.00,-175.2,2498,2506,3417,3405,719.6,-10.9,235,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2506,3410,3417,3404,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4980,begin apogee
$GC,4984,-0.20,0.0,2499,2002,3416,3403,740.5,-12.6,241,5143,0.73,0.00,145.98,0.975,10246,0.105,0.000,2752,2000,2730,2851,2609,0,0,0,0,1,0,26.78,28.83,24.18
$STATE,5145,end apogee,CONTROL_FINISHED_OK
$STATE,5145,begin climb
$GC,5146,0.84,175.2,2751,2000,2851,2610,749.9,0.0,246,5324,0.93,2.42,159.95,1.024,10756,0.052,0.052,3106,604,2012,2160,1865,0,0,0,0,1,0,25.04,24.71,23.99
$GC,5554,0.76,267.5,3106,604,2150,1864,749.7,6.4,259,5667,0.15,2.20,105.40,0.755,13318,0.157,0.044,3066,2008,1638,1755,1522,0,0,0,0,0,0,25.83,25.94,24.46
$GC,5982,0.65,267.5,3066,2008,1721,1508,712.0,11.0,273,5988,0.12,2.28,0.00,0.000,4356,0.161,0.055,3026,3420,1614,1721,1508,0,0,0,0,0,0,25.99,26.06,28.83
$GC,6036,0.54,267.5,3026,3417,1720,1508,707.6,11.9,274,6042,0.15,2.17,0.00,0.000,5126,0.145,0.032,2996,1988,1614,1720,1509,0,0,0,0,0,0,26.06,26.15,28.83
$GC,6351,0.59,305.5,2996,1991,1716,1508,677.0,8.4,285,6391,0.00,0.00,33.00,0.770,8198,0.000,0.000,2996,1990,1482,1600,1365,0,0,0,0,1,0,28.83,28.83,25.13
$GC,6681,0.66,367.6,2996,1990,1600,1364,650.8,7.5,296,6753,0.12,2.28,61.35,0.911,10756,0.083,0.049,3071,609,1228,1351,1106,0,0,0,0,1,0,26.30,25.26,24.57
$GC,6777,0.62,371.9,3071,609,1349,1106,640.8,9.7,299,6794,0.17,2.22,7.65,0.661,13318,0.138,0.042,3023,1998,1208,1330,1086,0,0,0,0,0,0,25.39,25.46,24.87
$GC,7112,0.63,378.7,3022,1998,1324,1082,605.8,9.6,310,7122,0.00,0.00,7.93,0.668,8198,0.000,0.000,3022,1998,1185,1307,1064,0,0,0,0,0,0,28.83,28.83,25.50
$GC,7412,0.63,378.7,3022,1998,1298,1056,573.3,11.2,324,7413,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1998,1176,1298,1054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7712,0.63,378.7,3022,1998,1297,1053,540.0,11.0,339,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1998,1174,1296,1053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8012,0.63,378.7,3022,1998,1296,1053,502.7,13.2,354,8018,0.00,2.17,0.00,0.000,516,0.000,0.049,3032,606,1174,1296,1052,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8040,0.63,378.7,2000,605,1276,1051,499.7,13.0,355,8046,0.00,2.15,0.00,0.000,1030,0.000,0.041,3032,2012,1173,1295,1052,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8359,0.63,378.7,3033,2012,1295,1052,459.7,11.8,371,8360,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2013,1174,1296,1052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8658,0.63,378.7,3033,2013,1295,1052,425.3,12.3,386,8665,0.00,2.20,0.00,0.000,260,0.000,0.058,3033,3408,1173,1295,1052,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8691,0.63,378.7,3033,3408,1295,1052,422.2,12.4,387,8697,0.00,2.10,0.00,0.000,1030,0.000,0.033,3043,2003,1173,1295,1052,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9005,0.60,378.7,3043,2005,1295,1057,379.2,13.5,403,9011,0.00,2.17,0.00,0.000,516,0.000,0.050,3054,596,1173,1295,1052,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9059,0.58,378.7,3050,595,1295,1052,373.4,13.3,405,9065,0.15,2.12,0.00,0.000,5126,0.137,0.041,3010,2001,1173,1295,1051,0,0,0,0,0,0,26.60,26.68,28.83
$GC,9374,0.66,417.6,3010,2001,1294,1052,343.4,8.4,421,9425,0.00,0.00,48.58,0.563,8198,0.000,0.000,3010,2001,1027,1153,901,0,0,0,0,0,0,28.83,28.83,25.70
$GC,9714,0.70,417.6,3010,2001,1136,884,309.3,10.4,438,9716,0.10,0.00,0.00,0.000,2054,0.101,0.000,3067,2001,1010,1136,885,0,0,0,0,0,0,26.44,28.83,28.83
$GC,10014,0.66,417.6,3067,2001,1135,885,273.2,10.5,453,10020,0.12,2.17,0.00,0.000,4612,0.144,0.047,3036,597,1010,1135,885,0,0,0,0,0,0,26.44,26.50,28.83
$GC,10058,0.68,429.0,2048,597,1122,884,269.0,9.5,455,10074,0.00,2.15,10.88,0.529,9222,0.000,0.042,3036,2000,979,1105,854,0,0,0,0,0,0,28.83,26.52,25.95
$GC,10383,0.70,429.0,3036,2001,1094,841,233.5,12.9,471,10389,0.00,2.17,0.00,0.000,516,0.000,0.048,3047,603,967,1094,841,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10417,0.73,429.0,3046,602,1093,841,230.3,12.8,472,10423,0.00,2.12,0.00,0.000,1030,0.000,0.042,3047,1999,967,1094,840,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10731,0.73,429.0,3047,1999,1093,840,191.5,11.1,488,10737,0.00,2.22,0.00,0.000,260,0.000,0.058,3046,3409,966,1093,840,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10860,0.73,429.0,3046,3409,1093,840,176.3,12.2,494,10866,0.00,2.12,0.00,0.000,1030,0.000,0.032,3057,1995,966,1093,840,0,0,0,0,0,0,28.83,26.64,28.83
$GC,11180,0.80,462.3,3056,1994,1093,840,143.8,8.6,510,11226,0.00,0.00,44.53,0.461,8454,0.000,0.000,3057,1994,846,970,723,0,0,0,0,0,0,28.83,28.83,25.86
$GC,11545,0.86,462.3,3056,1994,955,707,111.0,10.6,528,11552,0.12,2.15,0.00,0.000,2564,0.083,0.048,3149,606,831,955,707,0,0,0,0,0,0,26.51,26.43,28.83
$GC,11631,0.83,462.3,3149,606,955,708,100.8,11.8,532,11639,0.20,2.12,0.00,0.000,5126,0.122,0.041,3087,2001,829,952,707,0,0,0,0,0,0,26.41,26.48,28.83
$GC,11957,1.01,550.7,3086,2005,954,705,81.9,6.5,548,12038,0.17,0.00,69.43,0.461,10246,0.065,0.000,3183,2002,480,568,393,0,0,0,0,1,0,26.63,28.83,25.56
$GC,12338,0.94,550.7,2128,2000,573,400,19.1,12.6,580,12346,0.17,2.17,0.00,0.000,4612,0.131,0.045,3135,605,487,575,400,0,0,0,0,0,0,26.24,26.29,28.83
$GC,12401,0.97,550.7,2080,605,573,398,12.0,10.5,591,12409,0.00,2.12,0.00,0.000,1030,0.000,0.041,3135,2001,488,575,402,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,12482,end climb,SURFACE_DEPTH_REACHED
$STATE,12482,begin surface coast
$FINISH,0.4,1.022503
$STATE,12510,end surface coast,CONTROL_FINISHED_OK
$STATE,12510,begin surface
$SM_CCo,12526,7.05,0.040,0,0,454,558.06
$SM_GC,1.39,7.72,0.80,7.05,0.037,0.059,0.040,141,2499,454,-8.28,-0.82,558.06,0,0,0,0,0,0,26.43,26.39,26.39
$IRIDIUM_FIX,2202.04,12116.18,260213,000058
$TT8_MAMPS,0.047936,0.047936
$HUMID,43.22
$INTERNAL_PRESSURE,9.58391
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,4016992
$24V_AH,24.0,3.100
$10V_AH,10.4,2.442
$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,21.400,85.100,694.650,7.050,0.000,0.000,0.000,213.300,0.000,0.000,15.373,2491.042,7702.392,803.213,1726.258,151.349,0.000,1845.283,0.000,1414.108,0.000,0.537,0.000
$DEVICE_MAMPS,229.500,78.795,1023.570,39.780,0.000,0.000,0.000,130.050,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12503.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.101,0.000,0.000,0.000
$MEM,323924
$DATA_FILE_SIZE,23438,611
$CAP_FILE_SIZE,317569,0
$CFSIZE,260034560,252506112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.249, 14.8,1
$GPS,260213,091106,2218.124,12112.259,41,0.9,41,-2.8