version: 66.11
glider: 171
mission: 4
dive: 11
start: 2 26 113 9 17 0
data:
$ID,171
$MISSION,4
$DIVE,11
$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,-20306.758
$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,23
$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
$GPS1,260213,091106,2218.124,12112.259,41,0.9,41,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.5
$GPS2,260213,091630,2218.379,12112.441,10,1.4,10,-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,18.4,86805,-15.7,-9.899,-19.44,2693
$D_GRID,685
$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,17,-0.84,-175.2,133,2502,568,413,0.0,0.0,0,86,0.00,0.00,-66.78,0.000,16386,0.000,0.000,131,2502,2442,2525,2360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.84,-175.2,132,2502,2530,2360,4.0,-7.6,9,121,9.43,1.95,-15.55,0.000,18692,0.232,0.079,2531,3676,3413,3435,3392,0,0,0,0,0,0,26.03,26.20,26.52
$GC,351,-0.69,-175.2,2531,3676,3434,3417,88.7,-29.8,30,358,0.22,1.73,0.00,0.000,3078,0.133,0.027,2598,2479,3425,3434,3416,0,0,0,0,0,0,26.32,26.45,28.83
$GC,667,-0.72,-175.2,2598,2477,3434,3421,143.7,-12.3,46,673,0.00,1.92,0.00,0.000,260,0.000,0.063,2590,3679,3427,3434,3421,0,0,0,0,0,0,28.83,26.51,28.83
$GC,899,-0.82,-175.2,2589,3678,3434,3423,170.4,-10.8,57,906,0.10,1.70,0.00,0.000,5126,0.100,0.027,2512,2493,3429,3435,3424,0,0,0,0,0,0,26.60,26.65,28.83
$GC,1224,-0.77,-175.2,2512,2492,3434,3425,226.2,-17.8,73,1231,0.17,1.88,0.00,0.000,2308,0.136,0.061,2561,3679,3429,3434,3425,0,0,0,0,0,0,26.59,26.63,28.83
$GC,1380,-0.84,-175.2,2560,3679,3434,3425,245.6,-12.7,80,1385,0.00,1.67,0.00,0.000,1030,0.000,0.027,2561,2507,3430,3435,3425,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1694,-0.90,-175.2,2560,2506,3434,3425,288.6,-11.0,96,1700,0.00,2.08,0.00,0.000,516,0.000,0.035,2561,1111,3429,3434,3425,0,0,0,0,0,0,28.83,26.73,28.83
$GC,1799,-0.98,-175.2,2560,1111,3434,3425,299.9,-10.8,101,1805,0.12,2.12,0.00,0.000,5126,0.083,0.047,2479,2503,3429,3434,3425,0,0,0,0,0,0,26.75,26.72,28.83
$GC,2124,-0.92,-175.2,2479,2503,3434,3425,356.5,-17.4,117,2130,0.12,1.83,0.00,0.000,2308,0.145,0.060,2511,3671,3429,3434,3425,0,0,0,0,0,0,26.70,26.74,28.83
$GC,2188,-0.89,-175.2,1536,3670,3420,3421,365.9,-15.0,120,2194,0.00,1.67,0.00,0.000,1030,0.000,0.027,2511,2493,3429,3434,3425,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2512,-0.89,-175.2,2511,2494,3434,3422,408.9,-13.9,136,2518,0.00,2.05,0.00,0.000,516,0.000,0.039,2511,1117,3427,3433,3421,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2566,-0.89,-175.2,2511,1117,3433,3421,415.5,-14.6,138,2573,0.12,2.12,0.00,0.000,3078,0.149,0.049,2537,2502,3427,3433,3421,0,0,0,0,0,0,26.71,26.77,28.83
$GC,2882,-0.93,-175.2,2534,2504,3431,3419,461.4,-14.9,154,2888,0.00,1.83,0.00,0.000,260,0.000,0.064,2528,3671,3425,3431,3419,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2909,-0.97,-175.2,2528,3671,3430,3419,464.9,-14.7,155,2915,0.00,1.67,0.00,0.000,1030,0.000,0.028,2528,2509,3424,3430,3419,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3229,-1.01,-175.2,2528,2509,3429,3417,511.0,-13.4,171,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2509,3423,3429,3417,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3467,end dive,NO_VERTICAL_VELOCITY
$STATE,3467,begin apogee
$GC,3472,-0.20,0.0,2528,2006,3428,3414,515.8,0.0,183,3628,0.60,0.00,143.62,0.832,10246,0.070,0.000,2759,2005,2729,2850,2609,0,0,0,0,1,0,26.81,28.83,24.46
$STATE,3630,end apogee,CONTROL_FINISHED_OK
$STATE,3630,begin climb
$GC,3631,0.84,175.2,2759,2005,2850,2610,515.4,0.0,190,3801,0.93,2.38,153.55,0.861,10500,0.067,0.054,3090,3414,2013,2166,1861,0,0,0,0,1,0,25.18,24.89,24.25
$GC,3854,0.95,396.8,3089,3414,2164,1861,513.7,1.4,201,4101,0.00,2.20,233.00,0.623,9222,0.000,0.031,3101,2009,1110,1240,981,0,0,0,0,1,0,28.83,25.49,24.37
$GC,4414,0.84,396.8,3101,2009,1247,981,437.1,21.0,228,4420,0.00,2.22,0.00,0.000,516,0.000,0.050,3113,596,1113,1246,981,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4648,0.73,396.8,3112,596,1248,982,398.6,16.3,239,4655,0.20,2.17,0.00,0.000,5126,0.137,0.044,3053,2008,1115,1249,981,0,0,0,0,0,0,26.22,26.32,28.83
$GC,4964,0.70,396.8,3053,2008,1249,982,358.6,10.7,255,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2008,1115,1250,981,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5263,0.67,396.8,3053,2008,1250,981,326.6,11.1,270,5270,0.00,2.17,0.00,0.000,516,0.000,0.048,3065,598,1117,1254,981,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5318,0.64,396.8,3064,598,1249,981,321.4,11.6,272,5324,0.12,2.15,0.00,0.000,5126,0.143,0.042,3029,2007,1115,1249,981,0,0,0,0,0,0,26.49,26.57,28.83
$GC,5632,0.64,396.8,3028,2006,1249,981,288.5,10.1,288,5638,0.00,2.20,0.00,0.000,260,0.000,0.057,3029,3404,1115,1249,981,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5706,0.64,396.8,3028,3404,1249,981,281.6,10.4,291,5712,0.00,2.10,0.00,0.000,1030,0.000,0.031,3038,1990,1115,1250,981,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6019,0.64,396.8,3037,1990,1249,981,251.1,10.1,307,6025,0.00,2.12,0.00,0.000,516,0.000,0.048,3048,597,1115,1249,981,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6138,0.64,396.8,3048,597,1249,981,238.9,12.1,312,6146,0.00,2.12,0.00,0.000,1030,0.000,0.042,3048,2001,1115,1249,981,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6445,0.68,430.6,3048,2001,1249,981,206.4,8.6,328,6491,0.00,2.30,32.38,0.560,8452,0.000,0.057,3049,3403,974,1104,844,0,0,0,0,1,0,28.83,26.32,25.78
$GC,6576,0.69,435.3,3048,3404,1110,844,194.3,9.7,334,6592,0.00,2.10,10.70,0.482,9222,0.000,0.031,3058,2001,953,1085,822,0,0,0,0,0,0,28.83,26.44,25.89
$GC,6899,0.69,435.3,3058,2002,1075,813,159.3,10.9,350,6906,0.00,2.25,0.00,0.000,260,0.000,0.057,3058,3414,944,1075,813,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6979,0.69,435.3,3058,3415,1074,813,152.4,10.7,353,6987,0.00,2.12,0.00,0.000,1030,0.000,0.031,3069,1991,946,1078,814,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7286,0.80,508.4,3068,1991,1073,813,124.4,7.1,369,7376,0.00,2.20,76.28,0.532,8708,0.000,0.047,3079,606,653,752,555,0,0,0,0,1,0,28.83,25.82,25.37
$GC,7463,0.86,514.6,3079,606,751,556,109.2,9.7,377,7482,0.00,2.17,11.10,0.406,9222,0.000,0.041,3079,2005,625,722,529,0,0,0,0,0,0,28.83,26.07,25.63
$GC,7780,1.05,582.4,3079,2005,713,522,87.7,7.3,393,7843,0.20,2.28,49.05,0.393,10756,0.064,0.047,3209,605,412,500,324,0,0,0,0,1,0,26.41,25.98,25.65
$GC,7874,1.00,582.4,3208,605,501,325,72.5,16.9,397,7881,0.22,2.17,0.00,0.000,5126,0.134,0.039,3143,2007,414,503,326,0,0,0,0,0,0,25.98,26.07,28.83
$GC,8184,1.00,582.4,3143,2008,516,339,32.4,12.7,419,8215,0.00,2.20,19.20,0.314,8708,0.000,0.047,3154,600,414,501,327,0,0,0,0,1,0,28.83,26.25,25.91
$GC,8306,1.00,582.4,2112,600,505,331,17.2,12.7,436,8314,0.00,2.15,2.58,0.036,9222,0.000,0.039,3154,2006,417,503,331,0,0,0,0,0,0,28.83,26.34,26.37
$STATE,8417,end climb,SURFACE_DEPTH_REACHED
$STATE,8417,begin surface coast
$FINISH,0.5,1.001333
$STATE,8439,end surface coast,CONTROL_FINISHED_OK
$STATE,8439,begin surface
$SM_CCo,8515,0.00,0.000,0,0,421,566.40
$SM_GC,1.51,7.75,0.77,0.00,0.034,0.058,0.000,134,2496,421,-8.31,-1.10,566.40,0,0,0,0,0,0,26.45,26.41,28.83
$IRIDIUM_FIX,2204.37,12109.00,260213,050555
$TT8_MAMPS,0.047936,0.047936
$HUMID,41.84
$INTERNAL_PRESSURE,9.60344
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,4016672
$24V_AH,24.2,3.245
$10V_AH,10.3,2.521
$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,20.325,71.525,731.450,0.000,0.000,0.000,0.000,200.850,0.000,0.000,10.832,1938.081,4512.245,752.935,1510.718,119.072,0.000,1717.258,0.000,1226.156,0.000,0.538,0.000
$DEVICE_MAMPS,231.795,78.795,860.625,0.000,0.000,0.000,0.000,126.990,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8441.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.697,0.000,0.000,0.000
$MEM,323952
$DATA_FILE_SIZE,16750,461
$CAP_FILE_SIZE,255061,0
$CFSIZE,260034560,252469248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$CURRENT,0.240, 15.1,1
$GPS,260213,114000,2220.240,12113.341,13,1.2,31,-2.8