version: 66.11
glider: 171
mission: 4
dive: 252
start: 4 1 113 9 31 37
data:
$ID,171
$MISSION,4
$DIVE,252
$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,-20835.859
$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,37
$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
$GPS1,010413,092536,2300.387,12204.650,28,1.3,29,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.6
$GPS2,010413,093107,2300.420,12204.761,14,1.2,14,-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,233.1,66583,-13.8,-9.896,-17.76,3360
$D_GRID,4781
$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,16,begin dive
$GC,18,-1.32,-219.0,109,2495,836,661,0.0,0.0,0,79,0.00,0.00,-58.65,0.000,16386,0.000,0.000,109,2495,2420,2483,2358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.32,-219.0,109,2495,2487,2358,3.6,-5.8,8,114,8.82,2.08,-14.45,0.000,18948,0.216,0.044,2390,1107,3275,3346,3205,0,0,0,0,0,0,25.72,26.25,26.60
$GC,212,-1.32,-219.0,1472,1104,3333,3201,50.3,-32.2,22,218,0.00,2.12,0.00,0.000,1030,0.000,0.040,2380,2492,3278,3351,3206,0,0,0,0,0,0,28.83,26.23,28.83
$GC,526,-1.32,-219.0,2380,2492,3356,3209,150.6,-27.7,38,532,0.00,1.85,0.00,0.000,260,0.000,0.054,2371,3671,3282,3356,3209,0,0,0,0,0,0,28.83,26.32,28.83
$GC,763,-1.32,-219.0,2371,3674,3358,3213,222.0,-31.3,49,770,0.00,1.67,0.00,0.000,1030,0.000,0.024,2371,2497,3285,3358,3213,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1079,-1.32,-219.0,2371,2495,3359,3213,316.6,-28.3,65,1085,0.00,1.85,0.00,0.000,260,0.000,0.052,2363,3677,3286,3359,3214,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1271,-1.32,-219.0,2363,3677,3359,3214,368.9,-27.0,74,1277,0.12,1.67,0.00,0.000,3078,0.159,0.024,2395,2490,3286,3359,3214,0,0,0,0,0,0,26.29,26.62,28.83
$GC,1598,-1.32,-219.0,2395,2489,3360,3214,441.9,-21.0,90,1605,0.00,2.03,0.00,0.000,516,0.000,0.028,2395,1104,3287,3360,3214,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1644,-1.32,-219.0,2395,1104,3359,3214,451.5,-20.4,92,1651,0.00,2.12,0.00,0.000,1030,0.000,0.037,2385,2503,3286,3360,3213,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1971,-1.32,-219.0,2385,2503,3359,3213,520.8,-21.4,108,1977,0.00,1.80,0.00,0.000,260,0.000,0.053,2376,3671,3286,3359,3214,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2030,-1.32,-219.0,1472,3670,3344,3209,531.2,-22.0,110,2038,0.00,1.67,0.00,0.000,1030,0.000,0.024,2376,2492,3286,3359,3213,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2347,-1.32,-219.0,2376,2490,3359,3212,608.6,-22.6,126,2353,0.00,1.85,0.00,0.000,260,0.000,0.054,2368,3675,3285,3359,3212,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2451,-1.32,-219.0,2367,3676,3359,3210,630.0,-22.4,129,2457,0.00,1.67,0.00,0.000,1030,0.000,0.025,2368,2492,3284,3359,3210,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2775,-1.32,-219.0,2368,2490,3359,3206,703.5,-21.4,140,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2490,3282,3359,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3075,-1.32,-219.0,2368,2490,3359,3202,763.7,-19.8,150,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2490,3280,3359,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3375,-1.32,-219.0,2368,2490,3358,3197,821.9,-19.4,160,3382,0.00,1.85,0.00,0.000,260,0.000,0.055,2359,3669,3278,3359,3197,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3405,-1.32,-219.0,2359,3670,3358,3197,821.9,-19.4,160,3414,0.12,1.67,0.00,0.000,3078,0.157,0.026,2391,2505,3277,3358,3197,0,0,0,0,0,0,26.32,26.67,28.83
$GC,3712,-1.32,-219.0,2391,2502,3355,3193,884.8,-19.0,171,3719,0.00,1.85,0.00,0.000,260,0.000,0.056,2384,3676,3275,3356,3195,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3802,-1.32,-219.0,2383,3676,3359,3192,898.2,-19.5,173,3809,0.00,1.70,0.00,0.000,1030,0.000,0.026,2384,2494,3273,3355,3192,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,4045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4045,begin apogee
$GC,4052,-0.20,0.0,2383,1987,3354,3188,951.0,-19.5,182,4406,1.10,0.00,343.40,0.747,10246,0.117,0.000,2749,1987,2376,2535,2218,0,0,0,0,0,0,26.13,28.83,24.39
$STATE,4407,end apogee,CONTROL_FINISHED_OK
$STATE,4408,begin climb
$GC,4410,1.32,219.0,2749,1987,2530,2208,974.4,0.0,193,4661,1.35,2.15,239.25,0.890,10756,0.045,0.034,3263,631,1473,1577,1370,0,0,0,0,0,0,25.18,24.74,24.01
$GC,4706,1.32,219.0,3262,631,1561,1355,934.5,21.6,202,4712,0.00,2.17,0.00,0.000,1030,0.000,0.030,3263,2008,1458,1561,1356,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5040,1.32,219.0,3262,2008,1552,1347,851.1,24.7,213,5046,0.00,2.20,0.00,0.000,260,0.000,0.047,3263,3403,1449,1552,1347,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5155,1.32,219.0,3261,3403,1550,1347,824.9,27.1,216,5161,0.00,2.08,0.00,0.000,1030,0.000,0.028,3274,2012,1449,1551,1347,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5471,1.32,219.0,3274,2012,1549,1345,738.8,25.2,227,5478,0.12,2.12,0.00,0.000,4612,0.187,0.035,3249,610,1447,1549,1345,0,0,0,0,0,0,26.13,26.33,28.83
$GC,5508,1.32,219.0,3248,610,1549,1344,729.9,24.7,228,5514,0.00,2.10,0.00,0.000,1030,0.000,0.031,3249,2002,1447,1549,1345,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5842,1.32,219.0,3249,2002,1547,1343,652.7,22.3,239,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2000,1445,1547,1343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6144,1.32,219.0,3248,2002,1547,1341,587.2,20.5,250,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2002,1442,1547,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6443,1.32,219.0,3248,2002,1545,1340,519.5,23.8,265,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2002,1442,1546,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6742,1.32,219.0,3249,2002,1545,1338,453.2,22.0,280,6749,0.00,2.12,0.00,0.000,516,0.000,0.039,3261,612,1441,1545,1338,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6809,1.32,219.0,3260,612,1545,1338,438.9,21.7,283,6816,0.00,2.08,0.00,0.000,1030,0.000,0.031,3261,2001,1441,1545,1338,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7136,1.32,219.0,3260,2000,1543,1338,370.6,19.8,299,7141,0.00,2.17,0.00,0.000,260,0.000,0.046,3261,3406,1440,1543,1337,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7163,1.32,219.0,3260,3406,1543,1337,365.2,20.1,300,7170,0.00,2.08,0.00,0.000,1030,0.000,0.030,3272,2006,1440,1543,1337,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7484,1.32,219.0,3272,2004,1542,1336,297.6,20.0,316,7491,0.00,2.12,0.00,0.000,516,0.000,0.040,3283,609,1439,1542,1336,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7559,1.32,219.0,3283,609,1541,1336,284.0,19.9,319,7567,0.15,2.08,0.00,0.000,5126,0.165,0.031,3243,2007,1438,1541,1336,0,0,0,0,0,0,26.20,26.53,28.83
$GC,7878,1.32,219.0,3243,2007,1541,1336,226.0,17.7,335,7884,0.00,2.15,0.00,0.000,516,0.000,0.039,3255,603,1439,1542,1336,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7982,1.32,219.0,3255,603,1541,1335,209.6,18.0,339,7991,0.00,2.08,0.00,0.000,1030,0.000,0.031,3255,2002,1438,1541,1336,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8287,1.32,219.0,3255,2002,1541,1336,151.8,17.3,355,8293,0.00,2.17,0.00,0.000,260,0.000,0.044,3255,3408,1438,1541,1336,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8455,1.32,219.0,3255,3408,1541,1336,122.5,16.3,363,8462,0.00,2.08,0.00,0.000,1030,0.000,0.028,3266,1988,1439,1542,1336,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8783,1.32,219.0,3266,1988,1542,1336,77.0,13.6,379,8789,0.00,2.20,0.00,0.000,260,0.000,0.045,3266,3407,1438,1541,1336,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8811,1.32,219.0,3266,3408,1542,1336,73.0,13.9,380,8818,0.12,2.05,0.00,0.000,5126,0.164,0.028,3244,2004,1439,1542,1336,0,0,0,0,0,0,26.27,26.59,28.83
$GC,9123,1.32,219.0,3244,2003,1542,1336,33.9,11.8,402,9130,0.00,2.17,0.00,0.000,260,0.000,0.045,3244,3408,1439,1542,1336,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9207,1.32,219.0,3244,3408,1542,1336,24.0,10.7,410,9215,0.00,2.05,0.00,0.000,1030,0.000,0.027,3256,1991,1439,1542,1336,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,9462,end climb,SURFACE_DEPTH_REACHED
$STATE,9463,begin surface coast
$FINISH,0.4,0.999023
$STATE,9509,end surface coast,CONTROL_FINISHED_OK
$STATE,9509,begin surface
$SM_CCo,9527,84.07,0.062,0,0,747,400.08
$SM_GC,1.55,8.02,0.77,84.07,0.037,0.044,0.062,118,2496,747,-8.30,-1.36,400.08,0,0,0,0,0,0,26.62,26.53,26.32
$IRIDIUM_FIX,2251.04,12202.06,010413,060606
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.31
$INTERNAL_PRESSURE,9.6425
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3939936
$24V_AH,24.0,36.784
$10V_AH,10.2,24.884
$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,19.950,73.375,582.650,84.075,0.000,0.000,0.000,174.750,0.000,0.000,15.086,1984.367,5489.250,694.973,1461.283,311.542,0.000,1617.989,0.000,1218.163,0.000,0.537,0.000
$DEVICE_MAMPS,215.730,55.845,889.695,61.965,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9497.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.175,0.000,0.000,0.000
$MEM,324272
$DATA_FILE_SIZE,16782,466
$CAP_FILE_SIZE,253381,0
$CFSIZE,260034560,228372480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.338, 27.7,1
$GPS,010413,121306,2301.216,12204.260,36,0.9,37,-3.1