version: 66.11
glider: 171
mission: 4
dive: 5
start: 2 25 113 10 1 25
data:
$ID,171
$MISSION,4
$DIVE,5
$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,-20210.973
$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,30
$R_STBD_OVSHOOT,28
$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
$GPS1,250213,095143,2202.377,12103.155,12,2.0,12,-2.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.3
$GPS2,250213,100059,2202.503,12103.319,41,1.4,41,-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,2.6,119482,-15.8,-10.000,-19.55,2669
$D_GRID,1250
$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,-0.74,-175.2,126,2306,532,376,0.0,0.0,0,87,0.00,0.00,-67.90,0.000,16386,0.000,0.000,126,2306,2390,2463,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.74,-175.2,126,2306,2468,2318,3.1,-4.5,9,122,9.52,2.25,-16.95,0.000,18692,0.231,0.076,2563,3670,3412,3443,3382,0,0,0,0,0,0,26.14,26.32,26.66
$GC,338,-0.51,-175.2,2563,3670,3442,3445,67.3,-24.3,33,347,0.30,2.05,0.00,0.000,3078,0.121,0.030,2658,2283,3444,3443,3445,0,0,0,0,0,0,26.41,26.54,28.83
$GC,645,-0.82,-175.2,2657,2281,3442,3449,99.3,-6.9,49,647,0.28,0.00,0.00,0.000,4102,0.054,0.000,2515,2281,3445,3442,3449,0,0,0,0,0,0,26.70,28.83,28.83
$GC,944,-0.69,-175.2,2514,2281,3443,3451,154.7,-19.4,64,951,0.25,2.05,0.00,0.000,2564,0.125,0.037,2600,897,3447,3443,3451,0,0,0,0,0,0,26.62,26.70,28.83
$GC,969,-0.63,-175.2,2599,897,3442,3451,158.2,-17.6,65,975,0.00,2.12,0.00,0.000,1030,0.000,0.044,2591,2299,3446,3443,3450,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1294,-0.77,-175.2,2591,2299,3442,3451,193.9,-12.1,81,1300,0.00,2.15,0.00,0.000,260,0.000,0.063,2580,3670,3446,3442,3451,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1443,-0.98,-175.2,2580,3669,3442,3451,210.6,-10.3,88,1449,0.22,2.00,0.00,0.000,5126,0.058,0.031,2465,2300,3447,3443,3451,0,0,0,0,0,0,26.82,26.79,28.83
$GC,1768,-0.79,-175.2,2464,2300,3442,3451,272.2,-19.7,104,1775,0.28,2.17,0.00,0.000,2308,0.125,0.062,2549,3670,3447,3443,3451,0,0,0,0,0,0,26.71,26.76,28.83
$GC,1893,-0.88,-175.2,2549,3670,3442,3448,289.5,-12.8,110,1900,0.00,2.03,0.00,0.000,1030,0.000,0.031,2549,2294,3447,3443,3451,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2218,-0.95,-175.2,2549,2294,3442,3451,331.3,-12.1,126,2225,0.10,2.17,0.00,0.000,4356,0.102,0.063,2476,3665,3446,3442,3451,0,0,0,0,0,0,26.89,26.78,28.83
$GC,2388,-0.87,-175.2,2476,3666,3442,3451,357.7,-16.2,134,2395,0.20,2.00,0.00,0.000,3078,0.123,0.032,2537,2297,3446,3442,3451,0,0,0,0,0,0,26.74,26.85,28.83
$GC,2709,-0.94,-175.2,2539,2296,3442,3451,400.3,-12.8,150,2715,0.00,2.17,0.00,0.000,260,0.000,0.066,2529,3664,3446,3442,3450,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2766,-1.02,-175.2,2528,3664,3442,3450,406.1,-12.9,152,2775,0.10,2.03,0.00,0.000,5126,0.099,0.032,2468,2291,3446,3443,3450,0,0,0,0,0,0,26.84,26.86,28.83
$GC,3074,-0.92,-175.2,2467,2291,3442,3447,456.9,-15.3,168,3080,0.15,2.17,0.00,0.000,2308,0.138,0.064,2507,3665,3444,3442,3447,0,0,0,0,0,0,26.77,26.82,28.83
$GC,3133,-0.87,-175.2,2507,3665,3442,3447,463.0,-14.0,170,3143,0.10,2.03,0.00,0.000,3078,0.145,0.032,2537,2304,3444,3442,3446,0,0,0,0,0,0,26.78,26.87,28.83
$GC,3440,-0.96,-175.2,2536,2302,3442,3443,496.9,-10.3,186,3447,0.00,2.17,0.00,0.000,260,0.000,0.067,2526,3667,3442,3442,3442,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3519,-1.07,-175.2,2526,3667,3442,3442,504.1,-10.8,189,3528,0.15,2.03,0.00,0.000,5126,0.077,0.032,2448,2290,3442,3442,3442,0,0,0,0,0,0,26.89,26.88,28.83
$GC,3826,-0.93,-175.2,2444,2289,3437,3440,555.9,-16.7,205,3833,0.20,2.20,0.00,0.000,2308,0.134,0.066,2506,3670,3440,3441,3440,0,0,0,0,0,0,26.77,26.82,28.83
$GC,3932,-0.98,-175.2,2506,3670,3440,3439,570.3,-13.2,210,3937,0.00,2.03,0.00,0.000,1030,0.000,0.033,2506,2304,3439,3440,3439,0,0,0,0,0,0,28.83,26.88,28.83
$GC,4265,-0.98,-175.2,2506,2302,3438,3438,611.7,-11.8,225,4271,0.00,2.17,0.00,0.000,260,0.000,0.069,2496,3667,3437,3438,3437,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4484,-0.98,-175.2,2496,3667,3436,3437,640.1,-13.1,232,4491,0.00,2.03,0.00,0.000,1030,0.000,0.033,2496,2297,3436,3436,3437,0,0,0,0,0,0,28.83,26.89,28.83
$STATE,4662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4662,begin apogee
$GC,4666,-0.17,0.0,2496,2146,3435,3438,662.7,-12.3,238,4835,0.75,0.00,156.52,0.864,10246,0.103,0.000,2759,2143,2730,2849,2612,0,0,0,0,1,0,26.79,28.83,24.38
$STATE,4836,end apogee,CONTROL_FINISHED_OK
$STATE,4836,begin climb
$GC,4838,0.74,175.2,2760,2143,2848,2610,672.5,0.0,243,5007,0.82,2.33,154.05,0.975,10756,0.054,0.050,3077,758,2013,2162,1864,0,0,0,0,1,0,25.22,24.94,24.25
$GC,5237,0.59,276.9,3076,758,2152,1861,669.7,6.1,256,5341,0.22,2.22,89.10,0.946,13318,0.145,0.050,3013,2150,1600,1723,1478,0,0,0,0,1,0,26.01,26.10,24.35
$GC,5665,0.67,334.7,3012,2150,1714,1479,637.9,7.8,270,5730,0.00,2.38,52.92,0.886,8708,0.000,0.054,3023,750,1363,1487,1239,0,0,0,0,1,0,28.83,25.41,24.71
$GC,5812,0.68,342.5,3022,750,1486,1239,625.4,9.7,274,5831,0.00,2.25,11.55,0.665,9222,0.000,0.050,3023,2154,1330,1454,1206,0,0,0,0,0,0,28.83,25.84,25.20
$GC,6139,0.74,342.5,3023,2154,1446,1201,585.4,11.9,287,6141,0.10,0.00,0.00,0.000,2054,0.102,0.000,3083,2154,1323,1446,1201,0,0,0,0,0,0,26.34,28.83,28.83
$GC,6439,0.63,342.5,3083,2154,1444,1201,545.4,12.8,302,6445,0.17,2.20,0.00,0.000,4612,0.142,0.052,3036,749,1322,1444,1201,0,0,0,0,0,0,26.39,26.46,28.83
$GC,6492,0.63,342.5,3036,749,1443,1201,540.6,11.8,304,6498,0.00,2.17,0.00,0.000,1030,0.000,0.048,3036,2151,1322,1443,1201,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6805,0.63,342.5,3036,2151,1442,1201,506.7,10.9,320,6811,0.00,2.17,0.00,0.000,516,0.000,0.052,3047,746,1321,1442,1200,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6918,0.63,342.5,3047,745,1441,1200,495.0,11.5,325,6925,0.00,2.17,0.00,0.000,1030,0.000,0.047,3047,2157,1320,1441,1200,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7233,0.63,342.5,3047,2158,1440,1199,459.7,11.1,341,7239,0.00,2.25,0.00,0.000,260,0.000,0.066,3047,3557,1319,1440,1198,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7320,0.63,342.5,3046,3558,1441,1199,449.4,12.0,345,7326,0.12,2.12,0.00,0.000,5126,0.156,0.035,3023,2145,1319,1441,1198,0,0,0,0,0,0,26.59,26.69,28.83
$GC,7645,0.71,350.7,3022,2145,1440,1199,419.4,9.7,361,7662,0.00,2.20,8.75,0.599,8708,0.000,0.051,3033,759,1294,1414,1174,0,0,0,0,0,0,28.83,26.58,26.07
$GC,7805,0.79,350.7,3032,759,1415,1170,404.7,10.2,368,7813,0.12,2.15,0.00,0.000,3078,0.089,0.050,3106,2149,1293,1416,1170,0,0,0,0,0,0,26.65,26.63,28.83
$GC,8112,0.65,350.7,3106,2149,1419,1171,360.2,13.3,384,8118,0.22,2.20,0.00,0.000,4612,0.135,0.051,3042,743,1293,1415,1171,0,0,0,0,0,0,26.60,26.67,28.83
$GC,8169,0.61,350.7,2048,742,1390,1168,355.0,12.7,386,8177,0.00,2.17,0.00,0.000,1030,0.000,0.049,3041,2153,1292,1414,1171,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8477,0.67,359.4,3041,2153,1414,1170,321.9,9.7,402,8494,0.00,2.33,11.70,0.562,8452,0.000,0.068,3041,3559,1258,1381,1135,0,0,0,0,0,0,28.83,26.55,26.10
$GC,8542,0.68,364.8,3040,3559,1377,1134,315.2,9.8,405,8553,0.00,2.12,6.20,0.535,9222,0.000,0.036,3052,2151,1242,1364,1120,0,0,0,0,0,0,28.83,26.61,26.03
$GC,8867,0.68,364.8,3051,2150,1355,1113,278.8,11.6,421,8873,0.00,2.17,0.00,0.000,516,0.000,0.054,3062,750,1234,1355,1113,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8956,0.68,364.8,3062,750,1355,1113,268.5,11.8,425,8963,0.00,2.17,0.00,0.000,1030,0.000,0.051,3062,2148,1234,1355,1113,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9276,0.68,364.8,3062,2148,1355,1113,233.2,10.8,441,9282,0.00,2.17,0.00,0.000,516,0.000,0.053,3073,752,1234,1355,1113,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9309,0.68,364.8,3073,752,1355,1113,230.2,11.1,442,9315,0.12,2.17,0.00,0.000,5126,0.148,0.050,3037,2159,1233,1355,1112,0,0,0,0,0,0,26.62,26.69,28.83
$GC,9624,0.86,426.2,3036,2160,1355,1113,203.4,7.6,458,9690,0.17,2.33,52.92,0.659,10756,0.070,0.051,3144,745,991,1116,866,0,0,0,0,1,0,26.79,26.01,25.45
$GC,9716,0.74,426.2,3144,745,1116,866,191.7,13.3,462,9723,0.28,2.22,0.00,0.000,5126,0.129,0.048,3061,2155,990,1115,866,0,0,0,0,0,0,26.01,26.09,28.83
$GC,10036,0.82,426.2,3061,2156,1115,865,158.0,10.9,478,10043,0.00,2.20,0.00,0.000,516,0.000,0.051,3072,753,990,1115,865,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10116,0.92,429.1,3071,753,1114,865,151.5,9.9,481,10126,0.12,2.17,4.30,0.430,11270,0.083,0.049,3144,2150,981,1106,856,0,0,0,0,0,0,26.48,26.44,25.94
$GC,10423,0.75,429.1,3143,2150,1103,851,104.0,15.5,497,10429,0.25,2.17,0.00,0.000,4612,0.129,0.050,3071,753,977,1103,851,0,0,0,0,0,0,26.46,26.53,28.83
$GC,10603,0.89,438.3,2064,753,1090,850,87.4,9.6,505,10623,0.10,2.17,11.30,0.438,11270,0.098,0.050,3137,2157,938,1066,810,0,0,0,0,0,0,26.60,26.58,26.08
$GC,10936,1.01,533.5,3137,2159,1061,804,58.5,6.3,522,11038,0.00,2.33,88.05,0.527,8452,0.000,0.060,3137,3562,551,642,461,0,0,0,0,1,0,28.83,25.72,25.37
$GC,11094,1.01,533.5,3137,3562,640,458,39.6,14.3,532,11103,0.00,2.20,0.00,0.000,1030,0.000,0.035,3146,2147,548,639,458,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,11380,end climb,SURFACE_DEPTH_REACHED
$STATE,11381,begin surface coast
$FINISH,0.2,1.010148
$STATE,11398,end surface coast,CONTROL_FINISHED_OK
$STATE,11398,begin surface
$SM_CCo,11413,13.32,0.053,0,0,454,558.06
$SM_GC,0.44,7.80,0.28,13.32,0.037,0.073,0.053,144,2311,454,-8.30,-0.48,558.06,0,0,0,0,0,0,26.34,26.34,26.32
$IRIDIUM_FIX,2157.39,12059.42,250213,060648
$TT8_MAMPS,0.047187,0.047187
$HUMID,47.20
$INTERNAL_PRESSURE,9.58391
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,4018496
$24V_AH,24.2,2.121
$10V_AH,10.4,1.953
$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,23.250,104.450,647.375,13.325,0.000,0.000,0.000,282.450,0.000,0.000,41.999,2630.834,6443.082,752.460,2013.382,137.076,0.000,1968.766,0.000,1599.360,0.000,0.538,0.000
$DEVICE_MAMPS,231.030,75.735,975.375,52.785,0.000,0.000,0.000,127.755,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11398.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.419,0.000,0.000,0.000
$MEM,323964
$DATA_FILE_SIZE,20045,581
$CAP_FILE_SIZE,334333,0
$CFSIZE,260034560,253046784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$CURRENT,0.177,185.7,1
$GPS,250213,131243,2203.056,12103.981,11,2.0,11,-2.7