version: 66.11
glider: 171
mission: 4
dive: 253
start: 4 1 113 12 19 37
data:
$ID,171
$MISSION,4
$DIVE,253
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$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,320
$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,225
$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,-20837.117
$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
$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,64
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,415
$VBD_MAX,3400
$C_VBD,2380
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0035000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$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
$GPS1,010413,121306,2301.216,12204.260,36,0.9,37,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.2
$GPS2,010413,121907,2301.302,12204.328,13,1.2,13,-3.1
$SPEED_LIMITS,0.171,0.309
$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,231.8,65723,-13.8,-9.896,-17.76,3360
$D_GRID,4711
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.32,-219.0,118,2498,837,662,0.0,0.0,0,81,0.00,0.00,-60.55,0.000,16386,0.000,0.000,118,2498,2502,2566,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.32,-219.0,118,2498,2568,2440,3.8,-6.0,8,116,8.85,2.10,-12.40,0.000,18948,0.218,0.044,2387,1090,3278,3346,3211,0,0,0,0,0,0,25.69,26.26,26.58
$GC,229,-1.32,-219.0,2386,1090,3349,3211,60.0,-34.1,22,235,0.00,2.17,0.00,0.000,1030,0.000,0.041,2377,2494,3280,3349,3211,0,0,0,0,0,0,28.83,26.22,28.83
$GC,548,-1.32,-219.0,2377,2494,3353,3211,164.8,-30.0,38,555,0.00,1.85,0.00,0.000,260,0.000,0.054,2368,3674,3282,3353,3211,0,0,0,0,0,0,28.83,26.32,28.83
$GC,761,-1.32,-219.0,2368,3674,3355,3211,228.4,-29.4,48,767,0.00,1.67,0.00,0.000,1030,0.000,0.024,2368,2497,3283,3355,3211,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1082,-1.32,-219.0,2368,2495,3355,3211,317.3,-25.4,64,1088,0.00,1.85,0.00,0.000,260,0.000,0.052,2360,3676,3283,3356,3211,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1121,-1.32,-219.0,2360,3676,3355,3211,324.0,-25.6,65,1130,0.12,1.67,0.00,0.000,3078,0.160,0.024,2391,2490,3283,3355,3211,0,0,0,0,0,0,26.27,26.60,28.83
$GC,1426,-1.32,-219.0,2391,2489,3356,3211,400.9,-23.7,81,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2489,3283,3356,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1727,-1.32,-219.0,2391,2489,3356,3211,469.0,-23.0,96,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2489,3283,3356,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2027,-1.32,-219.0,2391,2489,3356,3211,536.8,-22.5,111,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2489,3283,3356,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2326,-1.32,-219.0,2391,2489,3355,3210,595.7,-19.5,126,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2488,3283,3356,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2638,-1.32,-219.0,2391,2489,3355,3206,657.6,-19.5,137,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2489,3280,3355,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2936,-1.32,-219.0,2389,2488,3355,3203,718.7,-20.4,147,2943,0.00,1.85,0.00,0.000,260,0.000,0.054,2384,3673,3278,3355,3202,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2972,-1.32,-219.0,2383,3672,3356,3202,726.1,-20.5,148,2978,0.00,1.67,0.00,0.000,1030,0.000,0.026,2384,2496,3278,3355,3202,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3306,-1.32,-219.0,2383,2495,3355,3197,794.3,-19.8,159,3312,0.00,1.85,0.00,0.000,260,0.000,0.054,2375,3671,3275,3355,3196,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3351,-1.32,-219.0,2374,3671,3355,3197,801.3,-20.0,160,3357,0.00,1.67,0.00,0.000,1030,0.000,0.027,2374,2499,3276,3355,3197,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3675,-1.32,-219.0,2375,2498,3354,3192,865.4,-19.0,171,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2498,3273,3354,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3975,-1.32,-219.0,2375,2498,3350,3188,922.4,-18.9,181,3981,0.00,1.85,0.00,0.000,260,0.000,0.055,2366,3672,3268,3350,3187,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4089,-1.32,-219.0,2366,3673,3350,3188,941.0,-19.5,184,4096,0.00,1.67,0.00,0.000,1030,0.000,0.028,2366,2510,3268,3350,3187,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,4132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4132,begin apogee
$GC,4138,-0.20,0.0,2366,1983,3350,3186,953.5,-19.5,186,4491,1.17,0.00,340.05,0.753,10246,0.120,0.000,2752,1982,2373,2533,2213,0,0,0,0,0,0,26.10,28.83,24.37
$STATE,4493,end apogee,CONTROL_FINISHED_OK
$STATE,4493,begin climb
$GC,4496,1.32,219.0,2752,1982,2530,2207,975.2,0.0,197,4746,1.35,2.45,236.07,0.899,11012,0.045,0.047,3255,3408,1470,1574,1367,0,0,0,0,0,0,25.20,24.75,24.03
$GC,4765,1.32,219.0,3256,3408,1563,1358,943.4,20.1,206,4771,0.00,2.17,0.00,0.000,1030,0.000,0.025,3266,2018,1458,1561,1356,0,0,0,0,0,0,28.83,25.10,28.83
$GC,5084,1.32,219.0,3266,2018,1551,1346,853.9,25.3,217,5091,0.00,2.22,0.00,0.000,260,0.000,0.047,3266,3415,1448,1551,1346,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5129,1.32,219.0,3266,3415,1550,1346,844.5,25.6,218,5137,0.12,2.12,0.00,0.000,5126,0.181,0.028,3247,2000,1448,1551,1346,0,0,0,0,0,0,25.88,26.15,28.83
$GC,5456,1.32,219.0,3248,1999,1548,1344,758.9,25.9,229,5462,0.00,2.15,0.00,0.000,516,0.000,0.040,3259,606,1445,1547,1344,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5500,1.32,219.0,3258,606,1547,1344,749.8,26.0,230,5506,0.00,2.12,0.00,0.000,1030,0.000,0.031,3259,2015,1445,1547,1344,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5824,1.32,219.0,3258,2015,1547,1341,664.6,25.6,241,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2016,1444,1547,1342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6136,1.32,219.0,3258,2015,1545,1341,589.2,23.1,252,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2015,1443,1545,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6434,1.32,219.0,3258,2015,1544,1339,517.5,22.9,267,6440,0.00,2.15,0.00,0.000,516,0.000,0.040,3270,610,1441,1544,1339,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6489,1.32,219.0,3270,610,1544,1339,506.9,23.7,269,6496,0.00,2.08,0.00,0.000,1030,0.000,0.031,3270,1999,1441,1544,1339,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6805,1.32,219.0,3270,1999,1542,1338,431.7,23.3,285,6811,0.00,2.12,0.00,0.000,516,0.000,0.040,3282,610,1440,1542,1338,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6908,1.32,219.0,3281,611,1542,1338,411.3,23.0,289,6917,0.15,2.08,0.00,0.000,5126,0.167,0.031,3241,2006,1439,1542,1337,0,0,0,0,0,0,26.20,26.51,28.83
$GC,7214,1.32,219.0,3240,2006,1542,1337,343.0,20.4,305,7221,0.00,2.17,0.00,0.000,260,0.000,0.046,3242,3412,1438,1541,1336,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7286,1.32,219.0,3242,3412,1541,1336,329.5,20.1,308,7292,0.00,2.10,0.00,0.000,1030,0.000,0.029,3253,1996,1439,1542,1336,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7607,1.32,219.0,3253,1994,1540,1336,267.0,19.7,324,7613,0.00,2.12,0.00,0.000,516,0.000,0.039,3265,599,1438,1540,1336,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7758,1.32,219.0,3264,598,1541,1336,239.6,18.4,331,7765,0.00,2.10,0.00,0.000,1030,0.000,0.031,3264,2006,1438,1540,1336,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8080,1.32,219.0,3264,2008,1541,1336,177.6,18.3,347,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2008,1438,1540,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8379,1.32,219.0,3264,2008,1541,1336,124.4,17.5,362,8385,0.00,2.17,0.00,0.000,260,0.000,0.045,3264,3413,1438,1540,1336,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8419,1.32,219.0,3264,3413,1538,1336,120.4,17.4,363,8429,0.12,2.10,0.00,0.000,5126,0.167,0.028,3243,1989,1438,1541,1336,0,0,0,0,0,0,26.26,26.58,28.83
$GC,8725,1.32,219.0,3242,1987,1541,1336,79.5,11.4,379,8731,0.00,2.20,0.00,0.000,260,0.000,0.045,3243,3406,1437,1538,1336,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8965,1.32,219.0,3242,3406,1541,1336,48.2,13.8,391,8971,0.00,2.05,0.00,0.000,1030,0.000,0.028,3254,1998,1438,1541,1336,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9282,1.80,357.6,3254,1997,1541,1336,25.8,5.7,422,9439,0.35,0.00,153.45,0.359,10498,0.042,0.000,3442,1996,990,1092,888,0,0,0,0,0,0,26.66,28.83,28.83
$STATE,9440,end climb,SURFACE_DEPTH_REACHED
$STATE,9440,begin surface coast
$FINISH,0.3,1.022153
$STATE,9455,end surface coast,CONTROL_FINISHED_OK
$STATE,9455,begin surface
$SM_CCo,9474,30.75,0.057,0,0,747,400.08
$SM_GC,1.85,8.68,0.80,30.75,0.033,0.047,0.057,127,2492,747,-8.30,-1.22,400.08,0,0,0,0,0,0,25.89,25.80,25.81
$IRIDIUM_FIX,2251.04,12207.27,010413,090911
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.23
$INTERNAL_PRESSURE,9.65227
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3939616
$24V_AH,24.0,36.938
$10V_AH,10.2,24.962
$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,20.925,62.125,729.575,30.750,0.000,0.000,0.000,204.525,0.000,0.000,14.709,1780.047,5652.926,757.744,1375.844,298.297,0.000,1670.187,0.000,1106.158,0.000,0.538,0.000
$DEVICE_MAMPS,218.025,55.080,898.875,56.610,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9444.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.139,0.000,0.000,0.000
$MEM,324272
$DATA_FILE_SIZE,16744,444
$CAP_FILE_SIZE,236280,0
$CFSIZE,260034560,228298752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.402, 33.5,1
$GPS,010413,145915,2302.212,12204.009,12,4.2,32,-3.1