version: 66.11
glider: 171
mission: 4
dive: 13
start: 2 26 113 15 19 11
data:
$ID,171
$MISSION,4
$DIVE,13
$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,-20309.27
$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,47
$R_STBD_OVSHOOT,31
$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
$GPS1,260213,151330,2223.114,12113.214,38,1.5,38,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.3
$GPS2,260213,151843,2223.288,12113.261,16,1.1,16,-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,61.0,77675,-15.7,-9.899,-19.44,2693
$D_GRID,504
$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,-175.2,140,2505,510,357,0.0,0.0,0,87,0.00,0.00,-67.03,0.000,16386,0.000,0.000,139,2506,2374,2438,2310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.84,-175.2,139,2506,2441,2310,3.4,-5.4,9,122,9.27,1.92,-17.58,0.000,18692,0.230,0.076,2531,3676,3410,3435,3385,0,0,0,0,0,0,26.15,26.32,26.63
$GC,353,-0.72,-175.2,2531,3676,3434,3412,80.2,-29.5,33,360,0.20,1.73,0.00,0.000,3078,0.138,0.027,2590,2467,3423,3434,3412,0,0,0,0,0,0,26.39,26.54,28.83
$GC,668,-0.72,-175.2,2589,2467,3434,3415,146.7,-20.7,49,674,0.00,1.90,0.00,0.000,260,0.000,0.061,2581,3664,3424,3434,3415,0,0,0,0,0,0,28.83,26.55,28.83
$GC,837,-0.77,-175.2,2581,3664,3434,3418,171.8,-12.9,57,843,0.00,1.65,0.00,0.000,1030,0.000,0.028,2581,2513,3426,3434,3418,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1162,-0.84,-175.2,2581,2513,3434,3420,212.8,-11.2,73,1168,0.00,1.83,0.00,0.000,260,0.000,0.061,2573,3669,3427,3434,3420,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1369,-0.93,-175.2,2573,3669,3434,3421,234.3,-9.7,83,1377,0.10,1.73,0.00,0.000,5126,0.042,0.028,2475,2493,3427,3434,3421,0,0,0,0,0,0,26.76,26.77,28.83
$GC,1695,-0.85,-175.2,2478,2493,3434,3421,296.1,-19.9,99,1701,0.17,2.05,0.00,0.000,2564,0.135,0.032,2537,1105,3427,3434,3421,0,0,0,0,0,0,26.66,26.76,28.83
$GC,1769,-0.83,-175.2,2537,1105,3433,3421,306.9,-17.4,102,1775,0.00,2.12,0.00,0.000,1030,0.000,0.045,2526,2498,3427,3434,3421,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2083,-0.83,-175.2,2526,2498,3434,3421,355.6,-14.2,118,2088,0.00,1.83,0.00,0.000,260,0.000,0.064,2517,3667,3427,3434,3420,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2121,-0.83,-175.2,2517,3667,3434,3421,358.8,-14.1,119,2129,0.08,1.70,0.00,0.000,3078,0.117,0.028,2548,2510,3427,3434,3421,0,0,0,0,0,0,26.71,26.83,28.83
$GC,2428,-0.88,-175.2,2547,2510,3434,3419,394.7,-11.1,135,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2510,3426,3434,3419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2726,-0.92,-175.2,2548,2510,3433,3415,427.4,-10.7,150,2733,0.00,2.10,0.00,0.000,516,0.000,0.035,2548,1100,3424,3433,3415,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2772,-0.97,-175.2,2548,1099,3431,3415,432.9,-11.7,152,2778,0.00,2.12,0.00,0.000,1030,0.000,0.047,2538,2501,3423,3431,3415,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3097,-1.01,-175.2,2537,2501,3429,3413,469.5,-9.5,168,3103,0.12,1.83,0.00,0.000,4356,0.086,0.063,2456,3666,3421,3429,3413,0,0,0,0,0,0,26.87,26.79,28.83
$GC,3183,-0.95,-175.2,2455,3667,3428,3413,483.4,-16.3,172,3190,0.17,1.67,0.00,0.000,3078,0.134,0.028,2508,2489,3420,3428,3413,0,0,0,0,0,0,26.74,26.86,28.83
$STATE,3326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3326,begin apogee
$GC,3331,-0.20,0.0,2508,1999,3427,3412,506.2,-15.0,179,3486,0.70,0.00,144.10,0.824,10246,0.103,0.000,2754,1998,2730,2851,2609,0,0,0,0,1,0,26.75,28.83,24.46
$STATE,3488,end apogee,CONTROL_FINISHED_OK
$STATE,3488,begin climb
$GC,3489,0.84,175.2,2754,1998,2851,2609,516.9,0.0,186,3658,0.90,2.33,154.68,0.863,10756,0.045,0.044,3116,627,2013,2160,1867,0,0,0,0,1,0,25.22,24.90,24.25
$GC,3728,0.90,401.3,3116,627,2156,1866,526.7,1.3,197,3977,0.00,2.17,239.07,0.619,9222,0.000,0.037,3116,2009,1088,1216,961,0,0,0,0,0,0,28.83,25.58,24.59
$GC,4295,0.76,401.3,3116,2009,1195,940,447.6,15.9,224,4302,0.15,2.17,0.00,0.000,4612,0.157,0.044,3079,624,1064,1190,939,0,0,0,0,0,0,26.03,26.10,28.83
$GC,4320,0.63,401.3,3079,624,1190,939,444.1,15.2,225,4328,0.20,2.15,0.00,0.000,5126,0.131,0.041,3019,2001,1064,1189,939,0,0,0,0,0,0,26.08,26.16,28.83
$GC,4646,0.63,401.3,3019,2002,1189,938,403.1,12.6,241,4652,0.00,2.25,0.00,0.000,260,0.000,0.058,3019,3409,1063,1189,938,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4674,0.63,401.3,3019,3409,1189,938,400.4,12.0,242,4681,0.00,2.08,0.00,0.000,1030,0.000,0.029,3030,2016,1063,1189,938,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4994,0.64,414.8,3029,2016,1187,937,369.4,9.4,258,5011,0.00,2.25,11.20,0.496,8708,0.000,0.047,3040,609,1036,1162,911,0,0,0,0,0,0,28.83,26.39,26.05
$GC,5038,0.68,442.9,2048,609,1144,906,365.5,8.8,260,5083,0.00,2.15,34.40,0.499,9222,0.000,0.041,3040,2004,921,1048,794,0,0,0,0,1,0,28.83,26.43,25.56
$GC,5379,0.68,442.9,3040,2004,1046,792,328.2,11.7,277,5385,0.00,2.22,0.00,0.000,260,0.000,0.057,3040,3408,919,1046,792,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5454,0.68,442.9,3040,3408,1047,792,320.0,12.1,280,5460,0.00,2.10,0.00,0.000,1030,0.000,0.030,3050,2004,919,1046,792,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5767,0.68,442.9,3049,2003,1046,792,276.6,14.1,296,5774,0.00,2.22,0.00,0.000,260,0.000,0.056,3050,3412,921,1051,792,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5795,0.68,442.9,3049,3412,1046,792,273.2,14.1,297,5801,0.00,2.10,0.00,0.000,1030,0.000,0.031,3060,2000,919,1046,792,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6114,0.65,442.9,3060,2000,1047,792,229.1,13.3,313,6120,0.00,2.15,0.00,0.000,516,0.000,0.047,3071,603,919,1046,792,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6212,0.65,442.9,2112,603,1037,791,219.7,11.0,317,6221,0.15,2.12,0.00,0.000,5126,0.133,0.039,3025,2007,918,1045,792,0,0,0,0,0,0,26.57,26.65,28.83
$GC,6520,0.74,461.4,3025,2007,1046,792,191.9,9.2,333,6558,0.00,2.28,23.60,0.448,8452,0.000,0.058,3025,3400,847,968,726,0,0,0,0,1,0,28.83,26.44,25.98
$GC,6621,0.79,461.4,3025,3400,968,725,183.0,10.1,337,6630,0.12,2.12,0.00,0.000,3078,0.085,0.031,3118,1987,847,969,725,0,0,0,0,0,0,26.52,26.53,28.83
$GC,6929,0.74,461.4,3114,1987,970,725,138.3,12.3,353,6935,0.15,2.10,0.00,0.000,4612,0.138,0.042,3073,609,847,970,725,0,0,0,0,0,0,26.53,26.59,28.83
$GC,6968,0.70,461.4,3072,609,970,725,135.5,11.7,354,6977,0.00,2.10,0.00,0.000,1030,0.000,0.040,3073,2002,847,970,725,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7275,0.81,514.4,3072,2002,972,725,108.9,7.9,370,7342,0.00,2.17,52.47,0.470,8708,0.000,0.044,3083,610,632,727,537,0,0,0,0,1,0,28.83,26.15,25.63
$GC,7414,0.91,547.8,3083,610,729,538,97.8,8.6,376,7461,0.00,2.12,32.00,0.424,9222,0.000,0.038,3083,2001,491,577,406,0,0,0,0,1,0,28.83,26.27,25.63
$GC,7774,1.03,565.7,3083,2001,586,416,68.6,9.2,394,7814,0.15,2.25,27.35,0.354,10500,0.076,0.057,3181,3406,417,501,334,0,0,0,0,1,0,26.44,26.18,25.85
$GC,7841,1.03,565.7,3181,3406,501,331,58.3,14.1,397,7848,0.15,2.12,0.00,0.000,5126,0.144,0.032,3151,1997,417,501,333,0,0,0,0,0,0,26.16,26.27,28.83
$GC,8154,1.00,565.7,2064,1994,504,335,9.6,14.7,436,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1995,420,505,335,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8202,end climb,SURFACE_DEPTH_REACHED
$STATE,8202,begin surface coast
$FINISH,0.5,1.011742
$STATE,8225,end surface coast,CONTROL_FINISHED_OK
$STATE,8225,begin surface
$SM_CCo,8301,0.00,0.000,0,0,420,566.40
$SM_GC,1.42,7.72,0.80,0.00,0.034,0.048,0.000,136,2505,420,-8.30,-0.88,566.40,0,0,0,0,0,0,26.52,26.50,28.83
$IRIDIUM_FIX,2211.35,12111.41,260213,111159
$TT8_MAMPS,0.047936,0.047936
$HUMID,42.95
$INTERNAL_PRESSURE,9.60344
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,4016032
$24V_AH,24.2,3.571
$10V_AH,10.5,2.693
$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,20.525,75.400,718.875,0.000,0.000,0.000,0.000,182.750,0.000,0.000,17.538,1833.935,4473.021,753.492,1429.697,114.842,0.000,1679.140,0.000,1158.687,0.000,0.538,0.000
$DEVICE_MAMPS,229.500,75.735,862.920,0.000,0.000,0.000,0.000,126.990,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8222.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.713,0.000,0.000,0.000
$MEM,323912
$DATA_FILE_SIZE,16783,449
$CAP_FILE_SIZE,248157,0
$CFSIZE,260034560,252272640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$CURRENT,0.324, 10.3,1
$GPS,260213,173835,2225.138,12114.826,13,1.5,29,-2.8