version: 66.11
glider: 171
mission: 4
dive: 256
start: 4 1 113 20 48 57
data:
$ID,171
$MISSION,4
$DIVE,256
$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,380
$T_MISSION,410
$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,250
$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,-20840.885
$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,63
$R_STBD_OVSHOOT,29
$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
$GPS1,010413,204300,2303.183,12203.780,41,1.0,42,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.0
$GPS2,010413,204825,2303.202,12203.800,11,1.8,11,-3.1
$SPEED_LIMITS,0.144,0.302
$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,235.0,64689,-10.6,-8.333,-15.41,4401
$D_GRID,4542
$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,17,begin dive
$GC,19,-1.28,-243.3,130,2491,830,670,0.0,0.0,0,82,0.00,0.00,-60.22,0.000,16386,0.000,0.000,130,2492,2522,2582,2462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,130,2492,2586,2462,4.3,-7.5,8,117,8.95,1.85,-13.62,0.000,18692,0.222,0.064,2395,3672,3376,3434,3319,0,0,0,0,0,0,25.67,26.08,26.47
$GC,352,-1.28,-243.3,2394,3672,3435,3319,108.5,-37.6,28,359,0.00,1.73,0.00,0.000,1030,0.000,0.024,2395,2502,3377,3435,3320,0,0,0,0,0,0,28.83,26.39,28.83
$GC,673,-1.28,-243.3,2394,2501,3440,3321,210.6,-29.6,44,678,0.00,1.83,0.00,0.000,260,0.000,0.053,2386,3674,3380,3440,3320,0,0,0,0,0,0,28.83,26.34,28.83
$GC,799,-1.28,-243.3,2385,3674,3441,3321,246.7,-27.9,50,805,0.00,1.73,0.00,0.000,1030,0.000,0.024,2386,2496,3381,3441,3321,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1125,-1.28,-243.3,2386,2494,3442,3323,336.5,-27.6,66,1131,0.00,1.85,0.00,0.000,260,0.000,0.053,2377,3679,3381,3441,3322,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1207,-1.28,-243.3,2376,3679,3441,3322,355.2,-27.4,69,1216,0.12,1.67,0.00,0.000,3078,0.156,0.024,2410,2490,3382,3442,3322,0,0,0,0,0,0,26.29,26.60,28.83
$GC,1514,-1.28,-243.3,2409,2488,3441,3322,430.4,-23.5,85,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2488,3382,3442,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1813,-1.28,-243.3,2410,2488,3442,3322,499.1,-22.9,100,1819,0.00,1.85,0.00,0.000,260,0.000,0.054,2402,3674,3383,3444,3322,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1879,-1.28,-243.3,2401,3674,3441,3322,514.5,-23.4,103,1886,0.00,1.73,0.00,0.000,1030,0.000,0.024,2401,2493,3381,3441,3322,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2206,-1.28,-243.3,2401,2492,3441,3321,582.5,-20.4,119,2211,0.00,2.03,0.00,0.000,516,0.000,0.028,2402,1108,3381,3441,3321,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2296,-1.28,-243.3,1448,1107,3428,3316,600.0,-20.4,123,2304,0.00,2.12,0.00,0.000,1030,0.000,0.038,2391,2505,3380,3441,3320,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2603,-1.28,-243.3,2391,2505,3441,3316,666.5,-21.9,134,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2505,3379,3441,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2902,-1.28,-243.3,2391,2505,3441,3311,734.4,-22.2,144,2908,0.00,2.05,0.00,0.000,516,0.000,0.028,2391,1113,3376,3441,3311,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2946,-1.28,-243.3,2391,1113,3441,3310,742.1,-22.1,145,2954,0.12,2.12,0.00,0.000,3078,0.160,0.040,2413,2505,3375,3441,3310,0,0,0,0,0,0,26.29,26.48,28.83
$GC,3273,-1.28,-243.3,2413,2505,3441,3305,808.4,-19.1,156,3278,0.00,1.83,0.00,0.000,260,0.000,0.055,2405,3673,3372,3440,3304,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3369,-1.28,-243.3,2405,3673,3439,3303,826.8,-19.2,159,3376,0.00,1.73,0.00,0.000,1030,0.000,0.026,2405,2508,3371,3439,3303,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3704,-1.28,-243.3,2405,2508,3438,3299,891.5,-18.9,170,3711,0.00,2.05,0.00,0.000,516,0.000,0.028,2405,1109,3368,3438,3299,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3814,-1.28,-243.3,2405,1109,3437,3297,909.7,-19.0,173,3820,0.00,2.12,0.00,0.000,1030,0.000,0.040,2395,2503,3367,3437,3297,0,0,0,0,0,0,28.83,26.47,28.83
$STATE,4041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4041,begin apogee
$GC,4048,-0.20,0.0,2395,1990,3435,3293,955.2,-18.5,181,4340,1.08,0.00,281.17,0.882,10246,0.117,0.000,2751,1988,2374,2531,2217,0,0,0,0,0,0,26.14,28.83,24.18
$STATE,4341,end apogee,CONTROL_FINISHED_OK
$STATE,4341,begin climb
$GC,4344,1.28,243.3,2750,1988,2523,2205,971.7,0.0,190,4617,1.30,2.20,261.98,0.892,10756,0.045,0.034,3248,634,1376,1485,1268,0,0,0,0,0,0,25.10,24.68,23.94
$GC,4676,1.28,243.3,3248,634,1465,1250,918.8,24.4,200,4683,0.00,2.17,0.00,0.000,1030,0.000,0.030,3247,2011,1357,1465,1250,0,0,0,0,0,0,28.83,25.28,28.83
$GC,5006,1.28,243.3,3248,2010,1455,1244,830.6,26.4,211,5012,0.00,2.15,0.00,0.000,516,0.000,0.037,3260,628,1349,1455,1243,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5052,1.28,243.3,3257,628,1454,1243,821.3,26.6,212,5059,0.12,2.08,0.00,0.000,5126,0.168,0.031,3228,2003,1348,1454,1243,0,0,0,0,0,0,25.93,26.15,28.83
$GC,5377,1.28,243.3,3228,2003,1453,1241,736.0,25.0,223,5383,0.00,2.20,0.00,0.000,260,0.000,0.047,3228,3408,1346,1452,1241,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5452,1.28,243.3,3228,3408,1451,1241,718.3,25.9,225,5458,0.00,2.08,0.00,0.000,1030,0.000,0.028,3239,2012,1346,1451,1241,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5777,1.28,243.3,3239,2012,1450,1239,631.7,25.6,236,5782,0.00,2.15,0.00,0.000,516,0.000,0.038,3250,605,1344,1450,1239,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5805,1.28,243.3,3250,605,1450,1239,631.7,25.6,236,5814,0.00,2.08,0.00,0.000,1030,0.000,0.031,3250,2000,1344,1450,1239,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6121,1.28,243.3,3250,2000,1449,1238,543.2,25.3,251,6127,0.00,2.12,0.00,0.000,516,0.000,0.039,3263,606,1343,1449,1238,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6269,1.28,243.3,3262,606,1449,1238,508.4,22.8,258,6276,0.12,2.10,0.00,0.000,5126,0.168,0.031,3231,2012,1343,1448,1238,0,0,0,0,0,0,26.22,26.50,28.83
$GC,6596,1.28,243.3,3230,2012,1448,1235,436.3,21.9,274,6602,0.00,2.15,0.00,0.000,260,0.000,0.047,3231,3400,1342,1448,1236,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6643,1.28,243.3,2208,3399,1420,1233,425.7,22.6,276,6649,0.00,2.08,0.00,0.000,1030,0.000,0.030,3241,2006,1342,1448,1236,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6969,1.28,243.3,3241,2006,1446,1235,355.6,21.0,292,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2006,1340,1446,1235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7267,1.28,243.3,3241,2006,1442,1234,294.8,21.8,307,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2006,1339,1445,1234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7567,1.28,243.3,3239,2005,1445,1234,232.5,21.1,322,7573,0.00,2.17,0.00,0.000,260,0.000,0.045,3241,3402,1339,1445,1233,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7694,1.28,243.3,3241,3402,1445,1234,203.3,23.3,328,7700,0.00,2.10,0.00,0.000,1030,0.000,0.029,3253,1994,1339,1445,1234,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8021,1.28,243.3,3253,1994,1445,1233,141.2,17.9,344,8026,0.00,2.17,0.00,0.000,260,0.000,0.045,3253,3400,1339,1445,1234,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8069,1.28,243.3,2272,3399,1419,1231,132.4,18.6,346,8075,0.12,2.08,0.00,0.000,5126,0.167,0.028,3232,1991,1339,1445,1234,0,0,0,0,0,0,26.26,26.57,28.83
$GC,8392,1.28,243.3,3231,1990,1445,1233,82.5,15.0,362,8398,0.00,2.10,0.00,0.000,516,0.000,0.039,3243,606,1339,1445,1234,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8581,1.28,243.3,3242,606,1445,1233,57.6,14.1,371,8587,0.00,2.05,0.00,0.000,1030,0.000,0.029,3243,2001,1339,1445,1233,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8889,1.28,243.3,3243,2001,1445,1233,22.6,11.4,401,8893,0.00,2.15,0.00,0.000,260,0.000,0.044,3243,3403,1339,1445,1233,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8951,1.28,243.3,3242,3403,1445,1233,17.1,9.1,413,8957,0.00,2.05,0.00,0.000,1030,0.000,0.027,3254,1995,1339,1446,1233,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,9129,end climb,SURFACE_DEPTH_REACHED
$STATE,9129,begin surface coast
$FINISH,0.4,0.000000
$STATE,9158,end surface coast,CONTROL_FINISHED_OK
$STATE,9158,begin surface
$SM_CCo,9176,72.47,0.062,0,0,747,400.08
$SM_GC,1.58,7.88,0.77,72.47,0.028,0.047,0.062,112,2488,747,-8.29,-1.36,400.08,0,0,0,0,0,0,26.60,26.48,26.32
$IRIDIUM_FIX,2253.38,12205.29,010413,171720
$TT8_MAMPS,0.047936,0.047936
$HUMID,46.49
$INTERNAL_PRESSURE,9.65227
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3938720
$24V_AH,23.9,37.424
$10V_AH,10.3,25.206
$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,19.825,74.175,543.150,72.475,0.000,0.000,0.000,170.400,0.000,0.000,12.709,1736.471,5444.002,641.934,1451.718,300.295,0.000,1551.372,0.000,1216.357,0.000,0.537,0.000
$DEVICE_MAMPS,221.850,64.260,891.990,61.965,0.000,0.000,0.000,127.755,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9145.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.393,0.000,0.000,0.000
$MEM,324276
$DATA_FILE_SIZE,16774,455
$CAP_FILE_SIZE,229944,0
$CFSIZE,260034560,228040704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.229,  9.4,1
$GPS,010413,232415,2303.625,12202.550,8,3.5,28,-3.1