version: 66.11
glider: 171
mission: 4
dive: 251
start: 4 1 113 6 43 18
data:
$ID,171
$MISSION,4
$DIVE,251
$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,-20834.604
$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,66
$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
$GPS1,010413,063630,2259.605,12204.902,38,1.2,39,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.0
$GPS2,010413,064248,2259.658,12205.066,17,1.2,17,-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,234.2,67240,-13.8,-9.896,-17.76,3360
$D_GRID,4811
$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,-219.0,112,2487,839,662,0.0,0.0,0,81,0.00,0.00,-61.05,0.000,16386,0.000,0.000,112,2488,2512,2582,2443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.32,-219.0,112,2488,2584,2445,4.3,-7.7,8,116,8.88,1.92,-12.57,0.000,18692,0.218,0.067,2378,3676,3278,3347,3209,0,0,0,0,0,0,25.70,26.13,26.53
$GC,352,-1.32,-219.0,2378,3675,3350,3209,104.0,-34.7,28,359,0.00,1.73,0.00,0.000,1030,0.000,0.024,2380,2496,3279,3350,3209,0,0,0,0,0,0,28.83,26.42,28.83
$GC,672,-1.32,-219.0,2378,2495,3355,3209,204.1,-29.8,44,678,0.00,1.85,0.00,0.000,260,0.000,0.053,2370,3679,3282,3355,3209,0,0,0,0,0,0,28.83,26.36,28.83
$GC,910,-1.32,-219.0,2370,3679,3355,3210,270.1,-28.4,55,917,0.00,1.67,0.00,0.000,1030,0.000,0.025,2370,2505,3283,3356,3210,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1225,-1.32,-219.0,2370,2503,3356,3210,353.7,-23.3,71,1231,0.00,1.85,0.00,0.000,260,0.000,0.054,2362,3689,3283,3356,3210,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1288,-1.32,-219.0,2362,3689,3356,3210,364.5,-23.4,73,1297,0.12,1.70,0.00,0.000,3078,0.157,0.026,2394,2494,3282,3356,3209,0,0,0,0,0,0,26.29,26.61,28.83
$GC,1593,-1.32,-219.0,2394,2494,3357,3210,433.3,-21.0,89,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2493,3283,3357,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1893,-1.32,-219.0,2393,2494,3356,3210,498.2,-22.1,104,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2494,3283,3357,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2193,-1.32,-219.0,2396,2494,3356,3210,561.7,-20.8,119,2199,0.00,2.03,0.00,0.000,516,0.000,0.028,2394,1109,3283,3356,3210,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2221,-1.32,-219.0,2394,1109,3356,3210,566.5,-20.6,120,2227,0.00,2.12,0.00,0.000,1030,0.000,0.039,2384,2506,3283,3356,3210,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2530,-1.32,-219.0,2384,2504,3356,3207,632.5,-21.3,133,2536,0.00,1.83,0.00,0.000,260,0.000,0.054,2375,3677,3281,3356,3206,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2649,-1.32,-219.0,2374,3677,3356,3205,653.6,-22.1,136,2657,0.00,1.67,0.00,0.000,1030,0.000,0.026,2376,2495,3280,3356,3205,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2956,-1.32,-219.0,2375,2494,3356,3201,724.7,-21.8,147,2963,0.00,1.85,0.00,0.000,260,0.000,0.054,2367,3675,3278,3356,3201,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3025,-1.32,-219.0,2367,3675,3356,3200,739.4,-22.0,149,3031,0.00,1.67,0.00,0.000,1030,0.000,0.026,2367,2496,3278,3356,3200,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3354,-1.32,-219.0,2367,2495,3355,3195,807.6,-19.9,160,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2495,3275,3356,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3654,-1.32,-219.0,2367,2494,3354,3192,867.0,-19.7,170,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2495,3273,3354,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3954,-1.32,-219.0,2367,2495,3351,3188,924.6,-19.3,180,3961,0.00,1.85,0.00,0.000,260,0.000,0.054,2359,3671,3269,3351,3187,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4028,-1.32,-219.0,2358,3671,3350,3188,937.9,-19.8,182,4035,0.08,1.73,0.00,0.000,3078,0.137,0.027,2396,2511,3269,3350,3188,0,0,0,0,0,0,26.27,26.67,28.83
$STATE,4113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4113,begin apogee
$GC,4119,-0.20,0.0,2396,1983,3350,3186,955.2,-19.1,185,4465,1.05,0.00,335.12,0.762,10246,0.114,0.000,2749,1982,2374,2534,2214,0,0,0,0,0,0,26.15,28.83,24.34
$STATE,4468,end apogee,CONTROL_FINISHED_OK
$STATE,4468,begin climb
$GC,4470,1.32,219.0,2748,1982,2530,2207,976.1,0.0,195,4813,1.35,2.25,327.80,0.747,10756,0.045,0.035,3263,629,1477,1581,1374,0,0,0,0,0,0,25.19,24.90,24.26
$GC,4846,1.32,219.0,3263,629,1569,1363,924.4,22.1,207,4852,0.00,2.20,0.00,0.000,1030,0.000,0.031,3263,2017,1465,1569,1362,0,0,0,0,0,0,28.83,25.28,28.83
$GC,5176,1.32,219.0,3263,2017,1558,1354,837.4,26.0,218,5182,0.00,2.20,0.00,0.000,260,0.000,0.047,3263,3408,1456,1558,1354,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5261,1.32,219.0,3262,3408,1557,1354,819.9,26.4,220,5268,0.12,2.08,0.00,0.000,5126,0.182,0.028,3244,2016,1455,1557,1354,0,0,0,0,0,0,25.94,26.22,28.83
$GC,5578,1.32,219.0,3244,2016,1555,1350,737.8,23.8,231,5584,0.00,2.15,0.00,0.000,516,0.000,0.037,3255,610,1452,1555,1350,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5596,1.32,219.0,3254,610,1554,1350,737.8,23.8,231,5602,0.00,2.10,0.00,0.000,1030,0.000,0.031,3254,2009,1452,1554,1350,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5916,1.32,219.0,3254,2008,1553,1348,658.2,22.7,242,5922,0.00,2.17,0.00,0.000,260,0.000,0.047,3255,3403,1450,1553,1348,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5965,1.32,219.0,3254,3403,1553,1348,650.3,22.4,243,5971,0.00,2.08,0.00,0.000,1030,0.000,0.028,3266,2006,1450,1553,1348,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6284,1.32,219.0,3265,2006,1552,1346,572.9,22.4,256,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,2005,1448,1552,1345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6584,1.32,219.0,3265,2006,1550,1345,498.9,25.7,271,6591,0.00,2.12,0.00,0.000,516,0.000,0.039,3277,606,1448,1551,1345,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6624,1.32,219.0,3276,606,1550,1345,492.3,26.0,272,6633,0.12,2.10,0.00,0.000,5126,0.176,0.032,3245,2004,1447,1550,1345,0,0,0,0,0,0,26.22,26.51,28.83
$GC,6930,1.32,219.0,3247,2004,1550,1343,420.6,20.7,288,6936,0.00,2.15,0.00,0.000,516,0.000,0.040,3257,601,1446,1550,1343,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7005,1.32,219.0,3257,601,1550,1340,406.4,21.1,291,7011,0.00,2.08,0.00,0.000,1030,0.000,0.031,3260,1997,1446,1550,1342,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7320,1.32,219.0,3257,1999,1549,1341,341.7,19.5,307,7326,0.00,2.17,0.00,0.000,260,0.000,0.047,3257,3403,1445,1550,1341,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7468,1.32,219.0,2240,3402,1517,1338,310.8,20.7,314,7474,0.00,2.10,0.00,0.000,1030,0.000,0.029,3268,1988,1444,1548,1341,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7794,1.32,219.0,3268,1988,1550,1340,245.6,20.8,330,7800,0.00,2.10,0.00,0.000,516,0.000,0.039,3279,606,1444,1547,1341,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7876,1.32,219.0,3279,607,1548,1340,232.9,18.7,333,7886,0.12,2.08,0.00,0.000,5126,0.168,0.031,3247,2006,1442,1545,1340,0,0,0,0,0,0,26.25,26.54,28.83
$GC,8183,1.32,219.0,3247,2006,1548,1340,177.2,17.6,349,8189,0.00,2.12,0.00,0.000,516,0.000,0.039,3259,608,1444,1548,1340,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8338,1.32,219.0,2320,608,1519,1337,154.7,15.3,356,8344,0.00,2.05,0.00,0.000,1030,0.000,0.030,3259,1999,1444,1548,1340,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8654,1.32,219.0,3258,1999,1548,1340,107.2,15.0,372,8659,0.00,2.15,0.00,0.000,260,0.000,0.044,3259,3402,1444,1548,1340,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8842,1.32,219.0,3258,3402,1548,1340,83.6,11.7,381,8848,0.00,2.05,0.00,0.000,1030,0.000,0.027,3270,1991,1444,1548,1340,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9156,1.32,219.0,3269,1991,1548,1340,41.8,11.0,399,9162,0.00,2.20,0.00,0.000,260,0.000,0.045,3270,3411,1444,1548,1340,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9399,1.47,263.8,2240,3409,1515,1337,19.0,8.5,428,9424,0.00,2.08,19.75,0.094,9222,0.000,0.027,3281,1992,1303,1415,1192,0,0,0,0,0,0,28.83,26.60,26.15
$STATE,9553,end climb,SURFACE_DEPTH_REACHED
$STATE,9553,begin surface coast
$FINISH,0.4,1.010435
$STATE,9581,end surface coast,CONTROL_FINISHED_OK
$STATE,9581,begin surface
$SM_CCo,9599,69.38,0.060,0,0,748,400.08
$SM_GC,1.51,8.02,0.77,69.38,0.031,0.047,0.060,110,2493,748,-8.31,-1.39,400.08,0,0,0,0,0,0,26.60,26.50,26.31
$IRIDIUM_FIX,2251.04,12207.27,010413,030337
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.62
$INTERNAL_PRESSURE,9.65227
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3940256
$24V_AH,24.3,36.644
$10V_AH,10.3,24.803
$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,19.875,73.750,682.675,69.375,0.000,0.000,0.000,219.875,0.000,0.000,18.281,2016.365,5396.888,748.009,1574.053,311.421,0.000,1762.141,0.000,1278.164,0.000,0.537,0.000
$DEVICE_MAMPS,218.025,66.555,761.940,60.435,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9592.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.054,0.000,0.000,0.000
$MEM,324276
$DATA_FILE_SIZE,16790,460
$CAP_FILE_SIZE,259283,0
$CFSIZE,260034560,228454400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.322, 34.4,1
$GPS,010413,092536,2300.387,12204.650,28,1.3,29,-3.0