version: 66.11
glider: 171
mission: 4
dive: 260
start: 4 2 113 7 43 39
data:
$ID,171
$MISSION,4
$DIVE,260
$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,-20845.998
$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,60
$R_STBD_OVSHOOT,48
$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
$GPS1,020413,073424,2306.289,12201.940,70,1.2,71,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-67.0
$GPS2,020413,074307,2306.478,12202.173,12,1.8,12,-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,223.2,62141,-10.6,-8.333,-15.41,4401
$D_GRID,4203
$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,-1.28,-243.3,125,2505,847,663,0.0,0.0,0,82,0.00,0.00,-61.15,0.000,16386,0.000,0.000,125,2506,2521,2577,2465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,125,2506,2580,2465,3.9,-6.8,8,117,8.88,1.80,-14.05,0.000,18692,0.218,0.063,2392,3654,3376,3435,3318,0,0,0,0,0,0,25.68,26.10,26.53
$GC,355,-1.28,-243.3,2391,3657,3436,3318,110.8,-37.5,28,361,0.00,1.67,0.00,0.000,1030,0.000,0.023,2391,2476,3377,3437,3318,0,0,0,0,0,0,28.83,26.41,28.83
$GC,675,-1.28,-243.3,2391,2475,3441,3318,211.7,-30.6,44,682,0.00,1.88,0.00,0.000,260,0.000,0.054,2382,3661,3379,3441,3318,0,0,0,0,0,0,28.83,26.34,28.83
$GC,872,-1.28,-243.3,2382,3661,3442,3320,271.8,-31.5,53,878,0.00,1.65,0.00,0.000,1030,0.000,0.025,2382,2511,3381,3442,3320,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1187,-1.28,-243.3,2382,2510,3442,3320,363.2,-26.3,69,1193,0.00,2.08,0.00,0.000,516,0.000,0.029,2382,1091,3381,3442,3320,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1211,-1.28,-243.3,2382,1091,3442,3320,370.4,-27.8,70,1218,0.15,2.12,0.00,0.000,3078,0.160,0.038,2411,2485,3381,3442,3320,0,0,0,0,0,0,26.20,26.45,28.83
$GC,1538,-1.28,-243.3,2411,2484,3442,3320,447.6,-23.5,86,1544,0.00,2.05,0.00,0.000,516,0.000,0.030,2412,1099,3380,3441,3320,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1557,-1.28,-243.3,2411,1099,3442,3320,447.6,-23.5,86,1565,0.00,2.12,0.00,0.000,1030,0.000,0.037,2401,2503,3379,3442,3317,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1863,-1.28,-243.3,2401,2503,3442,3320,520.7,-21.5,102,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2502,3381,3442,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2162,-1.28,-243.3,2401,2503,3442,3319,583.7,-21.5,117,2169,0.00,1.83,0.00,0.000,260,0.000,0.054,2393,3677,3380,3442,3318,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2209,-1.28,-243.3,2393,3677,3442,3318,593.5,-21.6,119,2216,0.00,1.70,0.00,0.000,1030,0.000,0.025,2392,2487,3380,3442,3318,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2524,-1.28,-243.3,2392,2488,3441,3312,663.2,-21.9,130,2530,0.00,2.03,0.00,0.000,516,0.000,0.028,2393,1114,3376,3441,3312,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2593,-1.28,-243.3,1448,1113,3428,3307,676.8,-21.4,132,2599,0.00,2.12,0.00,0.000,1030,0.000,0.040,2382,2504,3376,3442,3311,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2922,-1.28,-243.3,2382,2504,3441,3305,749.6,-22.5,143,2928,0.00,1.83,0.00,0.000,260,0.000,0.054,2373,3673,3373,3441,3305,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2976,-1.28,-243.3,2373,3673,3440,3304,757.3,-22.8,144,2984,0.08,1.73,0.00,0.000,3078,0.135,0.025,2413,2499,3372,3440,3304,0,0,0,0,0,0,26.28,26.66,28.83
$GC,3292,-1.28,-243.3,2413,2498,3439,3300,823.8,-19.7,155,3299,0.00,2.05,0.00,0.000,516,0.000,0.030,2413,1109,3369,3439,3299,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3367,-1.28,-243.3,2413,1109,3438,3299,837.3,-20.1,157,3373,0.00,2.12,0.00,0.000,1030,0.000,0.040,2407,2503,3368,3438,3298,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3691,-1.28,-243.3,2403,2503,3436,3293,906.2,-20.1,168,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2503,3364,3436,3293,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3929,begin apogee
$GC,3935,-0.20,0.0,2403,1993,3435,3290,954.3,-20.5,176,4314,1.05,0.00,369.88,0.754,10246,0.117,0.000,2751,1991,2379,2534,2224,0,0,0,0,0,0,26.12,28.83,24.35
$STATE,4316,end apogee,CONTROL_FINISHED_OK
$STATE,4316,begin climb
$GC,4318,1.28,243.3,2750,1991,2530,2213,985.2,0.0,187,4590,1.30,2.30,262.08,0.902,10756,0.045,0.037,3247,632,1380,1491,1269,0,0,0,0,0,0,25.13,24.68,23.91
$GC,4607,1.28,243.3,3247,633,1473,1252,958.6,17.8,196,4613,0.00,2.20,0.00,0.000,1030,0.000,0.030,3248,2011,1362,1472,1252,0,0,0,0,0,0,28.83,24.96,28.83
$GC,4927,1.28,243.3,3247,2011,1458,1242,874.5,25.3,207,4933,0.00,2.20,0.00,0.000,260,0.000,0.047,3250,3405,1350,1458,1242,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5032,1.28,243.3,2304,3403,1430,1240,849.2,26.2,210,5037,0.00,2.08,0.00,0.000,1030,0.000,0.028,3259,2019,1348,1455,1242,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5357,1.28,243.3,3259,2019,1452,1240,761.2,27.3,221,5363,0.00,2.17,0.00,0.000,516,0.000,0.039,3270,607,1346,1453,1240,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5402,1.28,243.3,3270,607,1452,1240,751.5,27.6,222,5408,0.15,2.10,0.00,0.000,5126,0.169,0.031,3232,2011,1347,1454,1240,0,0,0,0,0,0,26.08,26.35,28.83
$GC,5727,1.28,243.3,3231,2011,1451,1238,663.5,25.7,233,5733,0.00,2.17,0.00,0.000,260,0.000,0.047,3231,3406,1344,1451,1238,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5807,1.28,243.3,3231,3406,1451,1238,645.4,26.7,235,5813,0.00,2.08,0.00,0.000,1030,0.000,0.029,3242,2006,1344,1451,1238,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6117,1.28,243.3,3242,2005,1449,1237,561.8,27.0,248,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2005,1343,1450,1237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6416,1.28,243.3,3242,2005,1449,1235,491.2,22.2,263,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2005,1342,1449,1235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6717,1.28,243.3,3242,2005,1448,1234,426.3,22.3,278,6722,0.00,2.17,0.00,0.000,260,0.000,0.046,3242,3400,1341,1449,1234,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6783,1.28,243.3,3242,3400,1448,1234,409.8,24.5,281,6789,0.00,2.10,0.00,0.000,1030,0.000,0.029,3254,1992,1341,1448,1234,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7109,1.28,243.3,3254,1992,1446,1232,337.1,24.2,297,7115,0.00,2.20,0.00,0.000,260,0.000,0.046,3254,3405,1339,1447,1232,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7210,1.28,243.3,3254,3404,1446,1232,316.8,23.4,301,7219,0.12,2.10,0.00,0.000,5126,0.179,0.030,3234,1991,1339,1446,1232,0,0,0,0,0,0,26.22,26.55,28.83
$GC,7515,1.28,243.3,3233,1991,1446,1231,252.0,22.1,317,7521,0.00,2.10,0.00,0.000,516,0.000,0.041,3245,610,1338,1446,1231,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7598,1.28,243.3,3244,610,1446,1231,238.3,20.5,320,7606,0.00,2.05,0.00,0.000,1030,0.000,0.030,3244,1999,1338,1446,1231,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7904,1.28,243.3,3244,1998,1445,1231,175.6,20.5,336,7911,0.00,2.15,0.00,0.000,260,0.000,0.045,3245,3400,1338,1446,1231,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8032,1.28,243.3,3244,3400,1446,1231,148.4,21.3,342,8039,0.00,2.05,0.00,0.000,1030,0.000,0.028,3256,1995,1338,1445,1231,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8359,1.28,243.3,3259,1992,1445,1231,101.5,12.7,358,8365,0.00,2.10,0.00,0.000,516,0.000,0.040,3267,610,1338,1446,1231,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8392,1.28,243.3,3267,610,1445,1231,98.3,13.1,359,8399,0.12,2.05,0.00,0.000,5126,0.158,0.030,3233,2001,1338,1446,1231,0,0,0,0,0,0,26.27,26.53,28.83
$GC,8709,1.28,243.3,3235,1999,1446,1231,54.2,13.3,375,8715,0.00,2.17,0.00,0.000,260,0.000,0.045,3233,3409,1338,1446,1231,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8950,1.28,243.3,3233,3409,1446,1231,25.0,13.2,396,8959,0.00,2.08,0.00,0.000,1030,0.000,0.028,3245,1990,1338,1446,1231,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,9135,end climb,SURFACE_DEPTH_REACHED
$STATE,9135,begin surface coast
$FINISH,0.4,1.022430
$STATE,9160,end surface coast,CONTROL_FINISHED_OK
$STATE,9160,begin surface
$SM_CCo,9179,72.47,0.060,0,0,748,400.08
$SM_GC,1.52,7.95,0.77,72.47,0.034,0.045,0.060,113,2496,748,-8.30,-1.36,400.08,0,0,0,0,0,0,26.60,26.51,26.31
$IRIDIUM_FIX,2258.07,12204.55,020413,070758
$TT8_MAMPS,0.047936,0.047936
$HUMID,47.04
$INTERNAL_PRESSURE,9.65227
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3937440
$24V_AH,23.9,38.037
$10V_AH,10.3,25.527
$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,19.800,74.875,631.950,72.475,0.000,0.000,0.000,308.250,0.000,0.000,13.571,1882.850,5322.147,711.777,1554.812,305.669,0.000,1763.046,0.000,1177.234,0.000,0.538,0.000
$DEVICE_MAMPS,218.025,62.730,901.935,60.435,0.000,0.000,0.000,126.225,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9172.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.070,0.000,0.000,0.000
$MEM,324288
$DATA_FILE_SIZE,16780,434
$CAP_FILE_SIZE,244314,0
$CFSIZE,260034560,227692544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.406, 32.3,1
$GPS,020413,101906,2307.322,12202.402,35,1.9,36,-3.1