version: 66.11
glider: 171
mission: 4
dive: 254
start: 4 1 113 15 5 45
data:
$ID,171
$MISSION,4
$DIVE,254
$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,-20838.375
$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,30
$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
$GPS1,010413,145915,2302.212,12204.009,12,4.2,32,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-70.1
$GPS2,010413,150515,2302.252,12204.192,14,4.9,33,-3.1
$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,230.3,65401,-13.8,-9.896,-17.76,3360
$D_GRID,4635
$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,-219.0,126,2495,830,669,0.0,0.0,0,74,0.00,0.00,-54.00,0.000,16386,0.000,0.000,126,2495,2268,2300,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-1.32,-219.0,126,2494,2304,2239,3.1,-5.1,7,110,8.80,2.17,-18.27,0.000,18948,0.217,0.045,2389,1098,3277,3348,3207,0,0,0,0,0,0,25.70,26.17,26.49
$GC,165,-1.32,-219.0,2388,1098,3350,3207,36.3,-37.6,18,174,0.00,2.20,0.00,0.000,1030,0.000,0.043,2379,2503,3278,3351,3206,0,0,0,0,0,0,28.83,26.13,28.83
$GC,484,-1.32,-219.0,2378,2504,3355,3207,148.0,-32.2,36,489,0.00,1.83,0.00,0.000,260,0.000,0.052,2370,3673,3281,3355,3208,0,0,0,0,0,0,28.83,26.29,28.83
$GC,720,-1.32,-219.0,2370,3676,3356,3210,215.5,-28.3,47,727,0.00,1.70,0.00,0.000,1030,0.000,0.024,2370,2485,3281,3353,3210,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1036,-1.32,-219.0,2369,2483,3358,3210,306.4,-27.0,63,1043,0.00,1.88,0.00,0.000,260,0.000,0.052,2362,3686,3284,3358,3211,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1061,-1.32,-219.0,2361,3685,3357,3210,313.2,-26.5,64,1068,0.10,1.75,0.00,0.000,3078,0.138,0.025,2406,2499,3283,3357,3210,0,0,0,0,0,0,26.20,26.58,28.83
$GC,1388,-1.32,-219.0,2406,2497,3358,3211,388.4,-22.7,80,1395,0.00,1.85,0.00,0.000,260,0.000,0.054,2398,3680,3284,3358,3211,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1438,-1.32,-219.0,2398,3680,3358,3210,399.3,-23.1,82,1444,0.00,1.67,0.00,0.000,1030,0.000,0.025,2398,2493,3284,3358,3210,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1759,-1.32,-219.0,2398,2492,3358,3210,470.3,-22.1,98,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2491,3284,3358,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2057,-1.32,-219.0,2398,2492,3358,3210,534.8,-21.3,113,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2492,3284,3358,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2358,-1.32,-219.0,2398,2492,3358,3205,597.7,-21.4,128,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2492,3283,3358,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2679,-1.32,-219.0,2398,2492,3358,3205,666.1,-20.6,139,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2492,3281,3358,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2978,-1.32,-219.0,2398,2492,3358,3202,726.7,-20.0,149,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2492,3279,3358,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3278,-1.32,-219.0,2398,2492,3357,3197,787.8,-20.1,159,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2492,3277,3357,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3578,-1.32,-219.0,2398,2491,3356,3193,844.3,-18.3,169,3584,0.00,1.88,0.00,0.000,260,0.000,0.055,2389,3680,3274,3356,3193,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3622,-1.32,-219.0,2389,3680,3355,3192,850.8,-18.3,170,3628,0.00,1.70,0.00,0.000,1030,0.000,0.028,2390,2507,3273,3355,3192,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3946,-1.32,-219.0,2389,2507,3353,3189,911.9,-17.9,181,3953,0.00,1.85,0.00,0.000,260,0.000,0.057,2380,3678,3270,3353,3188,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3986,-1.32,-219.0,2380,3676,3352,3188,918.5,-18.0,182,3992,0.00,1.75,0.00,0.000,1030,0.000,0.027,2381,2496,3270,3352,3188,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,4164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4164,begin apogee
$GC,4171,-0.20,0.0,2380,1990,3351,3185,953.2,-18.9,188,4517,1.12,0.00,337.65,0.754,10246,0.119,0.000,2752,1988,2378,2537,2220,0,0,0,0,0,0,26.11,28.83,24.40
$STATE,4521,end apogee,CONTROL_FINISHED_OK
$STATE,4521,begin climb
$GC,4523,1.32,219.0,2752,1988,2530,2212,975.6,0.0,198,4770,1.35,2.30,235.90,0.897,10756,0.046,0.036,3265,625,1479,1581,1377,0,0,0,0,0,0,25.18,24.75,24.01
$GC,4849,1.32,219.0,3265,625,1558,1355,930.8,23.6,208,4855,0.00,2.17,0.00,0.000,1030,0.000,0.031,3265,2015,1456,1557,1355,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5165,1.32,219.0,3265,2015,1555,1347,845.5,25.2,219,5171,0.00,2.20,0.00,0.000,260,0.000,0.047,3265,3406,1449,1550,1348,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5212,1.32,219.0,3265,3406,1549,1348,835.5,25.8,220,5219,0.12,2.10,0.00,0.000,5126,0.181,0.028,3246,2010,1448,1550,1347,0,0,0,0,0,0,25.93,26.20,28.83
$GC,5537,1.32,219.0,3245,2010,1547,1345,752.6,24.2,231,5543,0.00,2.15,0.00,0.000,516,0.000,0.037,3257,604,1446,1547,1345,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5591,1.32,219.0,3257,604,1547,1344,744.2,24.2,232,5597,0.00,2.10,0.00,0.000,1030,0.000,0.031,3257,2002,1445,1547,1344,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5908,1.32,219.0,3256,2002,1546,1343,664.7,23.7,243,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,2002,1445,1547,1343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6206,1.32,219.0,3256,2002,1545,1345,596.3,22.1,253,6212,0.00,2.15,0.00,0.000,516,0.000,0.038,3268,597,1443,1545,1341,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6277,1.32,219.0,3267,597,1545,1341,581.4,21.7,256,6284,0.00,2.10,0.00,0.000,1030,0.000,0.031,3268,1999,1443,1545,1341,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6599,1.32,219.0,3268,1999,1544,1343,506.2,21.9,272,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2000,1442,1544,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6898,1.32,219.0,3268,1999,1542,1339,437.8,23.3,287,6904,0.00,2.20,0.00,0.000,260,0.000,0.046,3268,3406,1441,1543,1339,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7016,1.32,219.0,3268,3407,1541,1339,412.3,23.2,292,7023,0.12,2.10,0.00,0.000,5126,0.176,0.029,3248,1990,1439,1541,1338,0,0,0,0,0,0,26.23,26.55,28.83
$GC,7332,1.32,219.0,3248,1990,1541,1336,349.3,17.6,308,7339,0.00,2.12,0.00,0.000,516,0.000,0.039,3258,604,1438,1541,1336,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7430,1.32,219.0,3259,604,1541,1337,332.8,18.4,312,7436,0.00,2.08,0.00,0.000,1030,0.000,0.031,3259,2002,1438,1541,1336,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7745,1.32,219.0,3258,2002,1540,1336,270.6,19.6,328,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2001,1438,1540,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8044,1.32,219.0,3259,2002,1540,1336,215.4,17.2,343,8050,0.00,2.12,0.00,0.000,516,0.000,0.038,3270,607,1438,1540,1337,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8099,1.32,219.0,3270,608,1540,1336,207.7,17.2,345,8106,0.00,2.08,0.00,0.000,1030,0.000,0.031,3270,2004,1438,1541,1336,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8415,1.32,219.0,3270,2003,1540,1336,149.3,18.7,361,8421,0.00,2.15,0.00,0.000,260,0.000,0.045,3270,3401,1437,1539,1336,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8471,1.32,219.0,3270,3401,1540,1337,141.1,17.6,363,8478,0.15,2.08,0.00,0.000,5126,0.161,0.028,3240,1988,1438,1540,1336,0,0,0,0,0,0,26.22,26.58,28.83
$GC,8788,1.32,219.0,3240,1988,1540,1336,96.1,10.4,379,8794,0.00,2.08,0.00,0.000,516,0.000,0.038,3251,612,1438,1540,1336,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8863,1.32,219.0,3251,612,1540,1337,88.9,10.2,382,8869,0.00,2.05,0.00,0.000,1030,0.000,0.031,3251,1999,1438,1540,1337,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9179,1.51,273.1,3251,1999,1540,1336,54.1,8.2,398,9253,0.12,2.22,65.30,0.377,10500,0.080,0.044,3349,3398,1256,1364,1148,0,0,0,0,0,0,26.70,26.13,25.63
$GC,9449,1.51,273.1,3349,3398,1343,1138,17.1,17.0,423,9458,0.20,2.08,0.00,0.000,5126,0.155,0.026,3305,1994,1240,1343,1138,0,0,0,0,0,0,25.94,26.32,28.83
$STATE,9549,end climb,SURFACE_DEPTH_REACHED
$STATE,9549,begin surface coast
$FINISH,0.5,0.998972
$STATE,9571,end surface coast,CONTROL_FINISHED_OK
$STATE,9571,begin surface
$SM_CCo,9589,60.90,0.059,0,0,748,400.08
$SM_GC,1.44,8.18,0.77,60.90,0.033,0.041,0.059,109,2492,748,-8.31,-1.33,400.08,0,0,0,0,0,0,26.41,26.32,26.17
$IRIDIUM_FIX,2253.38,12203.30,010413,121243
$TT8_MAMPS,0.047936,0.047936
$HUMID,46.25
$INTERNAL_PRESSURE,9.65227
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3939296
$24V_AH,24.0,37.083
$10V_AH,10.3,25.040
$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,20.275,66.325,638.850,60.900,0.000,0.000,0.000,184.725,0.000,0.000,35.360,1811.658,5829.249,688.794,1377.492,303.246,0.000,1581.409,0.000,1105.790,0.000,0.537,0.000
$DEVICE_MAMPS,217.260,56.610,896.580,58.905,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9582.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.068,0.000,0.000,0.000
$MEM,324288
$DATA_FILE_SIZE,16818,444
$CAP_FILE_SIZE,237381,0
$CFSIZE,260034560,228212736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.371, 39.6,1
$GPS,010413,174754,2302.772,12204.057,38,1.4,39,-3.1