version: 66.11
glider: 171
mission: 4
dive: 250
start: 4 1 113 3 58 7
data:
$ID,171
$MISSION,4
$DIVE,250
$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,-20833.35
$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,62
$R_STBD_OVSHOOT,35
$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
$GPS1,010413,035206,2258.592,12205.251,37,0.9,38,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.4
$GPS2,010413,035737,2258.677,12205.272,11,1.3,11,-3.0
$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,235.7,67810,-13.8,-9.896,-17.76,3360
$D_GRID,4897
$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,18,-1.32,-219.0,109,2496,844,663,0.0,0.0,0,80,0.00,0.00,-59.65,0.000,16386,0.000,0.000,109,2496,2473,2550,2397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.32,-219.0,109,2496,2553,2397,3.9,-6.7,8,115,8.82,2.12,-13.68,0.000,18948,0.216,0.046,2385,1093,3277,3348,3207,0,0,0,0,0,0,25.75,26.26,26.60
$GC,227,-1.32,-219.0,2385,1093,3348,3206,55.7,-33.1,24,234,0.00,2.17,0.00,0.000,1030,0.000,0.040,2376,2499,3278,3349,3207,0,0,0,0,0,0,28.83,26.24,28.83
$GC,548,-1.32,-219.0,2375,2500,3351,3207,155.7,-30.0,40,553,0.00,1.83,0.00,0.000,260,0.000,0.053,2367,3674,3279,3351,3207,0,0,0,0,0,0,28.83,26.34,28.83
$GC,784,-1.32,-219.0,2367,3674,3355,3207,228.7,-31.5,51,791,0.00,1.67,0.00,0.000,1030,0.000,0.024,2367,2496,3281,3355,3207,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1100,-1.32,-219.0,2367,2494,3356,3207,316.9,-25.6,67,1106,0.00,1.88,0.00,0.000,260,0.000,0.054,2358,3687,3281,3356,3207,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1218,-1.32,-219.0,2358,3687,3356,3207,345.2,-26.1,72,1225,0.08,1.75,0.00,0.000,3078,0.140,0.026,2396,2497,3281,3356,3207,0,0,0,0,0,0,26.25,26.62,28.83
$GC,1534,-1.32,-219.0,2395,2496,3356,3207,425.0,-24.3,88,1541,0.00,1.83,0.00,0.000,260,0.000,0.054,2388,3673,3281,3356,3207,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1575,-1.32,-219.0,2388,3673,3356,3207,431.6,-24.4,89,1583,0.00,1.73,0.00,0.000,1030,0.000,0.024,2388,2489,3281,3356,3207,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1880,-1.32,-219.0,2388,2489,3356,3207,508.8,-22.2,105,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2489,3281,3356,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2179,-1.32,-219.0,2388,2489,3356,3207,571.3,-20.5,120,2186,0.00,1.85,0.00,0.000,260,0.000,0.054,2378,3674,3281,3356,3207,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2198,-1.32,-219.0,2378,3674,3355,3207,571.3,-20.5,120,2206,0.00,1.67,0.00,0.000,1030,0.000,0.024,2379,2489,3281,3356,3207,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2504,-1.32,-219.0,2378,2489,3356,3204,639.7,-21.6,133,2510,0.00,1.88,0.00,0.000,260,0.000,0.054,2370,3683,3279,3356,3202,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2544,-1.32,-219.0,2370,3683,3356,3204,647.2,-21.8,134,2550,0.00,1.67,0.00,0.000,1030,0.000,0.025,2371,2506,3279,3355,3204,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2873,-1.32,-219.0,2370,2505,3356,3200,724.2,-22.9,145,2880,0.00,2.05,0.00,0.000,516,0.000,0.029,2370,1114,3277,3355,3200,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2913,-1.32,-219.0,2370,1113,3356,3199,732.5,-23.0,146,2919,0.12,2.12,0.00,0.000,3078,0.164,0.039,2392,2506,3277,3355,3199,0,0,0,0,0,0,26.27,26.50,28.83
$GC,3243,-1.32,-219.0,2392,2506,3355,3195,800.6,-19.9,157,3249,0.00,1.83,0.00,0.000,260,0.000,0.055,2384,3675,3274,3355,3194,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3311,-1.32,-219.0,2384,3676,3355,3193,814.0,-20.4,159,3316,0.00,1.67,0.00,0.000,1030,0.000,0.026,2384,2500,3274,3355,3193,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3641,-1.32,-219.0,2384,2499,3353,3189,883.2,-21.1,170,3647,0.00,2.05,0.00,0.000,516,0.000,0.030,2384,1111,3271,3353,3189,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3668,-1.32,-219.0,2384,1111,3352,3188,883.2,-21.1,170,3676,0.00,2.12,0.00,0.000,1030,0.000,0.041,2375,2502,3270,3353,3188,0,0,0,0,0,0,28.83,26.47,28.83
$STATE,3974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3974,begin apogee
$GC,3981,-0.20,0.0,2374,1996,3349,3185,955.0,-21.0,181,4328,1.15,0.00,337.40,0.753,10246,0.119,0.000,2754,1994,2377,2537,2218,0,0,0,0,0,0,26.14,28.83,24.37
$STATE,4329,end apogee,CONTROL_FINISHED_OK
$STATE,4330,begin climb
$GC,4331,1.32,219.0,2753,1994,2531,2208,978.3,0.0,191,4578,1.35,2.20,234.85,0.900,10756,0.044,0.037,3266,630,1474,1578,1371,0,0,0,0,0,0,25.18,24.75,24.00
$GC,4608,1.32,219.0,3268,632,1561,1355,941.1,21.7,200,4614,0.00,2.20,0.00,0.000,1030,0.000,0.030,3268,2009,1458,1561,1355,0,0,0,0,0,0,28.83,25.15,28.83
$GC,4942,1.32,219.0,3268,2009,1550,1345,851.9,27.1,211,4948,0.00,2.15,0.00,0.000,516,0.000,0.037,3279,626,1447,1550,1345,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5012,1.32,219.0,3279,626,1549,1345,834.3,27.1,213,5019,0.15,2.10,0.00,0.000,5126,0.171,0.031,3241,2013,1447,1549,1345,0,0,0,0,0,0,25.92,26.17,28.83
$GC,5343,1.32,219.0,3240,2013,1547,1342,753.1,23.7,224,5349,0.00,2.17,0.00,0.000,260,0.000,0.047,3241,3396,1444,1547,1341,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5382,1.32,219.0,3241,3399,1547,1342,744.7,23.7,225,5388,0.00,2.05,0.00,0.000,1030,0.000,0.029,3252,2018,1444,1547,1342,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5713,1.32,219.0,3251,2017,1546,1341,665.5,23.2,236,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2017,1443,1546,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6012,1.32,219.0,3252,2017,1545,1338,595.9,23.3,246,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2017,1442,1545,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6312,1.32,219.0,3251,2017,1544,1337,523.6,24.3,261,6318,0.00,2.17,0.00,0.000,260,0.000,0.047,3252,3405,1440,1544,1337,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6461,1.32,219.0,3252,3408,1541,1337,486.2,25.7,268,6467,0.00,2.10,0.00,0.000,1030,0.000,0.029,3264,1997,1439,1542,1337,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6788,1.32,219.0,3263,1996,1541,1335,411.1,23.4,284,6794,0.00,2.12,0.00,0.000,516,0.000,0.041,3274,605,1438,1541,1335,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6855,1.32,219.0,3274,604,1540,1335,395.8,22.5,287,6862,0.12,2.08,0.00,0.000,5126,0.177,0.031,3243,1999,1438,1541,1335,0,0,0,0,0,0,26.22,26.53,28.83
$GC,7182,1.32,219.0,3242,1999,1540,1333,330.9,18.9,303,7189,0.00,2.12,0.00,0.000,516,0.000,0.040,3254,610,1437,1541,1333,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7292,1.32,219.0,2304,610,1511,1329,310.5,18.8,308,7298,0.00,2.08,0.00,0.000,1030,0.000,0.031,3254,2006,1436,1540,1333,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7615,1.32,219.0,3254,2006,1540,1333,248.9,19.9,324,7620,0.00,2.12,0.00,0.000,516,0.000,0.039,3266,610,1436,1540,1333,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7670,1.32,219.0,3264,610,1540,1333,240.2,18.8,326,7676,0.00,2.05,0.00,0.000,1030,0.000,0.031,3266,1998,1436,1540,1333,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7985,1.32,219.0,3264,1998,1540,1332,181.0,18.2,342,7990,0.00,2.12,0.00,0.000,516,0.000,0.040,3277,609,1436,1540,1333,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8055,1.32,219.0,2304,609,1508,1329,168.1,19.4,345,8061,0.12,2.05,0.00,0.000,5126,0.168,0.030,3243,2002,1436,1540,1333,0,0,0,0,0,0,26.25,26.55,28.83
$GC,8377,1.32,219.0,3244,2002,1540,1333,116.1,15.5,361,8382,0.00,2.12,0.00,0.000,516,0.000,0.038,3256,606,1436,1540,1333,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8427,1.32,219.0,3256,606,1540,1333,108.7,15.6,363,8433,0.00,2.08,0.00,0.000,1030,0.000,0.030,3256,2008,1435,1539,1332,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8747,1.32,219.0,3256,2008,1540,1333,63.2,10.9,379,8754,0.00,2.15,0.00,0.000,260,0.000,0.045,3256,3400,1436,1540,1333,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8991,1.47,262.9,3256,3400,1540,1332,38.5,8.6,396,9055,0.00,2.05,52.45,0.368,9222,0.000,0.027,3267,1989,1295,1406,1185,0,0,0,0,0,0,28.83,26.60,25.73
$STATE,9316,end climb,SURFACE_DEPTH_REACHED
$STATE,9316,begin surface coast
$FINISH,0.4,1.011408
$STATE,9341,end surface coast,CONTROL_FINISHED_OK
$STATE,9341,begin surface
$SM_CCo,9359,65.10,0.060,0,0,748,400.08
$SM_GC,1.33,7.97,0.77,65.10,0.028,0.046,0.060,119,2485,748,-8.29,-1.55,400.08,0,0,0,0,0,0,26.44,26.32,26.21
$IRIDIUM_FIX,2248.70,12209.25,010413,010119
$TT8_MAMPS,0.048685,0.048685
$HUMID,45.98
$INTERNAL_PRESSURE,9.6425
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3940576
$24V_AH,24.0,36.494
$10V_AH,10.3,24.719
$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,19.900,77.675,624.700,65.100,0.000,0.000,0.000,177.275,0.000,0.000,12.369,1923.879,5371.732,704.121,1439.931,313.576,0.000,1632.519,0.000,1200.215,0.000,0.538,0.000
$DEVICE_MAMPS,216.495,55.080,900.405,59.670,0.000,0.000,0.000,127.755,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9353.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.151,0.000,0.000,0.000
$MEM,324256
$DATA_FILE_SIZE,16760,448
$CAP_FILE_SIZE,248520,0
$CFSIZE,260034560,228552704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.370, 33.3,1
$GPS,010413,063630,2259.605,12204.902,38,1.2,39,-3.0