version: 66.11
glider: 171
mission: 4
dive: 30
start: 2 28 113 13 21 31
data:
$ID,171
$MISSION,4
$DIVE,30
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$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,310
$T_MISSION,350
$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,175
$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,400
$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,-20427.006
$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,2770
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,57
$R_STBD_OVSHOOT,51
$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,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$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
$GPS1,280213,131725,2300.989,12131.292,11,2.0,12,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.4
$GPS2,280213,132103,2301.043,12131.285,11,3.3,31,-3.0
$SPEED_LIMITS,0.177,0.280
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,91.6,259798,-16.4,-10.215,-20.03,2540
$D_GRID,1458
$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,-1.13,-170.3,146,2527,559,427,0.0,0.0,0,84,0.00,0.00,-65.53,0.000,16386,0.000,0.000,146,2528,2411,2480,2342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-1.13,-170.3,146,2528,2485,2342,3.6,-6.2,9,120,8.65,2.22,-16.65,0.000,18948,0.226,0.051,2400,1101,3405,3425,3386,0,0,0,0,0,0,26.24,26.44,26.72
$GC,169,-1.13,-170.3,2400,1100,3422,3389,39.1,-41.7,19,175,0.00,2.12,0.00,0.000,1030,0.000,0.046,2391,2478,3405,3422,3389,0,0,0,0,0,0,28.83,26.45,28.83
$GC,483,-1.13,-170.3,2391,2478,3422,3392,146.8,-31.3,36,489,0.00,1.90,0.00,0.000,260,0.000,0.061,2382,3678,3406,3421,3392,0,0,0,0,0,0,28.83,26.54,28.83
$GC,720,-1.13,-170.3,2381,3679,3421,3396,220.0,-31.4,47,725,0.00,1.70,0.00,0.000,1030,0.000,0.027,2382,2502,3409,3422,3396,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1033,-1.13,-170.3,2381,2501,3422,3397,317.5,-29.3,63,1039,0.00,1.85,0.00,0.000,260,0.000,0.063,2373,3674,3409,3422,3397,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1112,-1.13,-170.3,2373,3674,3422,3397,335.8,-28.7,66,1120,0.12,1.70,0.00,0.000,3078,0.168,0.027,2404,2496,3409,3421,3397,0,0,0,0,0,0,26.59,26.73,28.83
$GC,1417,-1.13,-170.3,2404,2494,3419,3397,417.4,-24.7,82,1423,0.00,2.08,0.00,0.000,516,0.000,0.037,2404,1093,3409,3423,3396,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1444,-1.13,-170.3,2404,1093,3419,3397,423.1,-24.5,83,1450,0.00,2.17,0.00,0.000,1030,0.000,0.047,2394,2504,3408,3419,3397,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1763,-1.13,-170.3,2394,2504,3417,3396,501.2,-24.0,99,1770,0.00,1.85,0.00,0.000,260,0.000,0.065,2385,3674,3406,3417,3396,0,0,0,0,0,0,28.83,26.73,28.83
$GC,1853,-1.13,-170.3,2385,3674,3416,3397,522.0,-24.2,103,1859,0.00,1.75,0.00,0.000,1030,0.000,0.028,2385,2499,3406,3416,3397,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2172,-1.13,-170.3,2385,2497,3413,3393,603.4,-24.4,119,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2497,3403,3413,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2472,-1.13,-170.3,2385,2497,3410,3390,678.8,-24.6,129,2478,0.00,1.88,0.00,0.000,260,0.000,0.066,2376,3677,3399,3410,3389,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2529,-1.13,-170.3,2376,3677,3409,3390,687.3,-25.0,130,2538,0.00,1.75,0.00,0.000,1030,0.000,0.028,2375,2499,3398,3408,3389,0,0,0,0,0,0,28.83,26.83,28.83
$GC,2836,-1.13,-170.3,2376,2497,3406,3386,766.7,-22.9,141,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2497,3396,3406,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3136,-1.13,-170.3,2376,2497,3402,3386,837.9,-24.1,151,3142,0.00,1.85,0.00,0.000,260,0.000,0.063,2368,3673,3392,3402,3382,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3203,-1.13,-170.3,2368,3673,3401,3382,852.9,-23.7,153,3210,0.12,1.70,0.00,0.000,3078,0.164,0.027,2400,2486,3391,3401,3382,0,0,0,0,0,0,26.71,26.86,28.83
$GC,3533,-1.13,-170.3,2400,2485,3398,3378,919.8,-19.6,164,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2485,3388,3398,3378,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3711,begin apogee
$GC,3716,-0.29,0.0,2400,1992,3397,3376,953.7,-18.6,170,3882,0.80,0.00,153.07,1.050,10246,0.122,0.000,2670,1990,2728,2852,2605,0,0,0,0,1,0,26.73,28.83,23.91
$STATE,3884,end apogee,CONTROL_FINISHED_OK
$STATE,3884,begin climb
$GC,3885,1.13,170.3,2670,1990,2852,2605,962.4,0.0,175,4084,1.30,0.00,191.88,0.890,11014,0.059,0.000,3136,1989,2035,2182,1888,0,0,0,0,0,0,25.03,28.83,24.14
$GC,4373,1.19,227.2,3133,1989,2140,1871,952.2,7.9,192,4466,0.00,2.30,85.57,0.702,8708,0.000,0.044,3146,619,1796,1929,1663,0,0,0,0,0,0,28.83,25.19,24.52
$GC,4493,1.22,258.1,3146,619,1914,1661,943.7,9.0,195,4544,0.00,2.20,41.67,0.756,9222,0.000,0.037,3146,2004,1671,1783,1560,0,0,0,0,0,0,28.83,25.45,24.48
$GC,4867,1.22,258.1,3146,2004,1751,1550,881.2,16.2,208,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2004,1650,1751,1550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5166,1.22,258.1,3146,2004,1748,1550,833.8,15.8,218,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2004,1649,1748,1550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5466,1.22,258.1,3146,2004,1744,1550,788.7,15.2,228,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2004,1645,1744,1547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5767,1.22,258.1,3146,2004,1741,1547,743.7,14.8,238,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2004,1645,1744,1547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6067,1.22,258.1,3146,2006,1743,1547,699.3,14.4,248,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2004,1645,1743,1547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6367,1.22,258.1,3147,2004,1741,1547,659.1,13.4,258,6372,0.00,2.12,0.00,0.000,516,0.000,0.042,3158,616,1644,1742,1547,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6418,1.22,258.1,3158,616,1741,1547,654.5,13.4,259,6425,0.00,2.10,0.00,0.000,1030,0.000,0.037,3158,2008,1644,1741,1547,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6733,1.22,258.1,3158,2009,1739,1547,608.6,14.4,270,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2010,1643,1739,1547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7043,1.22,258.1,3158,2010,1738,1547,567.4,13.0,284,7049,0.00,2.17,0.00,0.000,260,0.000,0.054,3158,3405,1642,1738,1547,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7136,1.22,258.1,3158,3405,1738,1547,555.5,14.1,288,7143,0.00,2.08,0.00,0.000,1030,0.000,0.032,3169,2011,1642,1738,1547,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7451,1.22,258.1,3169,2008,1738,1547,508.1,14.8,304,7457,0.00,2.15,0.00,0.000,516,0.000,0.043,3180,596,1643,1738,1548,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7505,1.22,258.1,3180,596,1738,1547,501.8,14.2,306,7511,0.00,2.12,0.00,0.000,1030,0.000,0.037,3180,2010,1642,1737,1547,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7818,1.22,258.1,3180,2010,1737,1547,456.4,13.9,322,7825,0.00,2.17,0.00,0.000,260,0.000,0.054,3180,3405,1642,1738,1546,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7958,1.22,258.1,3180,3405,1737,1547,436.7,15.9,328,7966,0.00,2.10,0.00,0.000,1030,0.000,0.033,3192,1993,1642,1738,1547,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8264,1.22,258.1,3191,1993,1737,1547,387.5,15.6,344,8270,0.00,2.22,0.00,0.000,260,0.000,0.054,3192,3412,1642,1738,1547,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8309,1.22,258.1,3192,3412,1738,1547,380.5,15.8,346,8316,0.15,2.10,0.00,0.000,5126,0.170,0.034,3164,1999,1642,1737,1548,0,0,0,0,0,0,26.63,26.78,28.83
$GC,8634,1.22,258.1,3163,1998,1737,1547,336.3,12.7,362,8640,0.00,2.12,0.00,0.000,516,0.000,0.044,3174,606,1642,1737,1547,0,0,0,0,0,0,28.83,26.76,28.83
$GC,8713,1.22,258.1,3173,606,1737,1547,327.9,12.9,365,8721,0.00,2.10,0.00,0.000,1030,0.000,0.036,3174,2010,1642,1737,1547,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9019,1.22,258.1,3173,2010,1736,1547,289.0,11.3,381,9025,0.00,2.17,0.00,0.000,260,0.000,0.054,3174,3410,1642,1737,1547,0,0,0,0,0,0,28.83,26.76,28.83
$GC,9115,1.22,258.1,3173,3410,1736,1547,278.3,12.3,385,9121,0.00,2.10,0.00,0.000,1030,0.000,0.033,3185,1995,1642,1737,1547,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9428,1.22,258.1,3185,1995,1737,1547,236.5,13.1,401,9435,0.00,2.20,0.00,0.000,260,0.000,0.053,3185,3405,1642,1737,1547,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9538,1.22,258.1,3185,3405,1736,1547,222.5,13.3,406,9544,0.12,2.08,0.00,0.000,5126,0.172,0.033,3165,2000,1642,1737,1547,0,0,0,0,0,0,26.66,26.80,28.83
$GC,9857,1.24,275.1,3164,1999,1736,1547,188.1,9.5,422,9881,0.00,2.28,16.15,0.461,8452,0.000,0.052,3165,3408,1603,1702,1504,0,0,0,0,0,0,28.83,26.61,26.19
$GC,10035,1.24,276.3,3165,3408,1687,1491,170.3,10.2,430,10041,0.00,2.12,0.00,0.000,1030,0.000,0.032,3175,1992,1590,1687,1494,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10349,1.24,276.3,3175,1992,1687,1491,139.5,10.9,446,10355,0.00,2.20,0.00,0.000,260,0.000,0.053,3175,3405,1589,1687,1491,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10582,1.24,276.3,3175,3404,1687,1491,113.6,10.6,457,10589,0.00,2.08,0.00,0.000,1030,0.000,0.031,3186,2000,1589,1687,1491,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10897,1.24,276.3,3186,2000,1687,1491,81.4,10.6,473,10903,0.00,2.10,0.00,0.000,516,0.000,0.044,3197,605,1589,1687,1491,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10924,1.25,288.4,3197,605,1687,1491,79.7,9.7,474,10944,0.00,2.08,15.65,0.389,9222,0.000,0.034,3197,2004,1555,1657,1453,0,0,0,0,0,0,28.83,26.75,26.21
$GC,11242,1.39,424.2,3197,2004,1638,1433,67.9,4.7,490,11442,0.00,2.28,188.32,0.378,8708,0.000,0.042,3208,609,987,1102,872,0,0,0,0,0,0,28.83,25.57,25.20
$GC,11674,1.39,424.2,2176,608,1070,854,14.3,15.1,527,11682,0.00,2.12,0.00,0.000,1030,0.000,0.036,3208,1999,969,1083,856,0,0,0,0,0,0,28.83,26.12,28.83
$STATE,11754,end climb,SURFACE_DEPTH_REACHED
$STATE,11754,begin surface coast
$FINISH,0.1,1.022384
$STATE,11776,end surface coast,CONTROL_FINISHED_OK
$STATE,11776,begin surface
$SM_CCo,11852,0.00,0.000,0,0,967,432.46
$SM_GC,1.29,7.95,0.80,0.00,0.034,0.052,0.000,140,2502,967,-8.15,-0.85,432.46,0,0,0,0,0,0,26.24,26.21,28.83
$IRIDIUM_FIX,2251.04,12129.55,280213,131348
$TT8_MAMPS,0.047936,0.047936
$HUMID,43.77
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,4010784
$24V_AH,23.9,6.101
$10V_AH,10.2,4.000
$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,19.225,83.900,692.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,33.404,2287.659,7308.052,736.119,1475.267,138.199,0.000,1568.306,0.000,1386.394,0.000,0.539,0.000
$DEVICE_MAMPS,225.675,65.790,1049.580,0.000,0.000,0.000,0.000,0.000,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11740.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.161,0.000,0.000,0.000
$MEM,323996
$DATA_FILE_SIZE,20091,546
$CAP_FILE_SIZE,304384,0
$CFSIZE,260034560,250757120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.114, 89.6,1
$GPS,280213,164006,2300.906,12133.974,27,1.4,28,-3.0