version: 66.11
glider: 171
mission: 4
dive: 258
start: 4 2 113 2 18 38
data:
$ID,171
$MISSION,4
$DIVE,258
$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,-20843.396
$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,64
$R_STBD_OVSHOOT,32
$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
$GPS1,020413,021229,2304.246,12201.684,37,1.1,43,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-66.8
$GPS2,020413,021806,2304.389,12201.724,16,1.2,16,-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,226.7,61164,-10.6,-8.333,-15.41,4401
$D_GRID,4336
$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,19,-1.28,-243.3,109,2487,844,658,0.0,0.0,0,76,0.00,0.00,-54.58,0.000,16386,0.000,0.000,109,2488,2308,2341,2275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-1.28,-243.3,110,2488,2346,2275,3.1,-5.0,7,119,8.90,2.12,-19.08,0.000,19204,0.216,0.046,2401,1104,3378,3438,3319,0,0,0,0,0,0,25.74,26.27,26.60
$GC,236,-1.28,-243.3,2401,1104,3439,3319,59.7,-36.4,23,242,0.00,2.12,0.00,0.000,1030,0.000,0.037,2392,2500,3379,3439,3319,0,0,0,0,0,0,28.83,26.25,28.83
$GC,550,-1.28,-243.3,2392,2500,3442,3320,172.5,-33.3,39,556,0.00,1.83,0.00,0.000,260,0.000,0.054,2383,3672,3381,3442,3320,0,0,0,0,0,0,28.83,26.33,28.83
$GC,638,-1.28,-243.3,2382,3673,3443,3322,201.9,-34.2,43,644,0.00,1.67,0.00,0.000,1030,0.000,0.024,2383,2498,3382,3443,3321,0,0,0,0,0,0,28.83,26.52,28.83
$GC,959,-1.28,-243.3,2382,2496,3443,3324,301.1,-30.1,59,965,0.00,1.85,0.00,0.000,260,0.000,0.054,2374,3677,3383,3443,3324,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1083,-1.28,-243.3,2374,3677,3444,3324,331.1,-27.3,64,1092,0.12,1.67,0.00,0.000,3078,0.158,0.023,2406,2491,3384,3444,3324,0,0,0,0,0,0,26.28,26.60,28.83
$GC,1388,-1.28,-243.3,2406,2490,3444,3324,408.3,-22.5,80,1395,0.00,2.03,0.00,0.000,516,0.000,0.028,2406,1104,3384,3444,3324,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1435,-1.28,-243.3,2406,1103,3444,3324,418.7,-22.3,82,1442,0.00,2.12,0.00,0.000,1030,0.000,0.038,2397,2504,3384,3444,3324,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1762,-1.28,-243.3,2396,2504,3444,3323,496.3,-24.3,98,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2504,3384,3444,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2061,-1.28,-243.3,2396,2504,3444,3323,567.9,-23.7,113,2066,0.00,1.80,0.00,0.000,260,0.000,0.053,2388,3672,3383,3443,3324,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2094,-1.28,-243.3,2387,3672,3444,3321,573.5,-23.7,114,2101,0.00,1.67,0.00,0.000,1030,0.000,0.025,2387,2491,3383,3443,3323,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2419,-1.28,-243.3,2387,2490,3443,3320,651.1,-23.5,127,2425,0.00,1.85,0.00,0.000,260,0.000,0.054,2378,3673,3381,3443,3319,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2473,-1.28,-243.3,2378,3673,3443,3319,659.2,-23.7,128,2480,0.12,1.67,0.00,0.000,3078,0.148,0.025,2412,2492,3381,3443,3319,0,0,0,0,0,0,26.36,26.67,28.83
$GC,2790,-1.28,-243.3,2412,2490,3443,3314,730.9,-21.1,139,2797,0.00,2.00,0.00,0.000,516,0.000,0.029,2413,1119,3378,3443,3313,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2859,-1.28,-243.3,2412,1119,3443,3312,744.8,-20.9,141,2865,0.00,2.12,0.00,0.000,1030,0.000,0.040,2403,2504,3377,3443,3312,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3189,-1.28,-243.3,2402,2504,3443,3306,816.7,-21.9,152,3195,0.00,1.83,0.00,0.000,260,0.000,0.054,2394,3674,3374,3443,3306,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3278,-1.28,-243.3,2394,3674,3442,3306,830.9,-22.0,154,3286,0.00,1.67,0.00,0.000,1030,0.000,0.026,2394,2498,3373,3442,3305,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3586,-1.28,-243.3,2393,2497,3441,3301,900.1,-20.6,165,3592,0.00,2.05,0.00,0.000,516,0.000,0.031,2394,1110,3370,3441,3300,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3665,-1.28,-243.3,2394,1110,3441,3300,913.7,-20.3,167,3671,0.00,2.12,0.00,0.000,1030,0.000,0.039,2383,2500,3370,3441,3299,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,3832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3833,begin apogee
$GC,3839,-0.20,0.0,2383,2000,3440,3297,952.1,-20.9,173,4218,1.10,0.00,367.48,0.761,10246,0.120,0.000,2746,1998,2375,2531,2220,0,0,0,0,0,0,26.11,28.83,24.32
$STATE,4219,end apogee,CONTROL_FINISHED_OK
$STATE,4220,begin climb
$GC,4222,1.28,243.3,2745,1998,2527,2212,977.9,0.0,184,4496,1.33,2.33,262.88,0.893,10756,0.046,0.038,3250,628,1378,1488,1268,0,0,0,0,0,0,25.15,24.69,23.97
$GC,4533,1.28,243.3,3250,628,1468,1252,934.9,22.3,194,4539,0.00,2.20,0.00,0.000,1030,0.000,0.030,3250,2017,1359,1468,1251,0,0,0,0,0,0,28.83,25.15,28.83
$GC,4863,1.28,243.3,3249,2018,1458,1243,849.1,25.5,205,4869,0.00,2.17,0.00,0.000,516,0.000,0.037,3261,627,1350,1457,1243,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4938,1.28,243.3,3261,626,1456,1242,831.9,25.7,207,4945,0.12,2.08,0.00,0.000,5126,0.169,0.031,3230,2007,1349,1455,1243,0,0,0,0,0,0,25.94,26.17,28.83
$GC,5264,1.28,243.3,3230,2006,1453,1241,750.8,24.1,218,5270,0.00,2.17,0.00,0.000,260,0.000,0.046,3230,3399,1347,1453,1241,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5330,1.28,243.3,3230,3399,1452,1241,733.7,24.8,220,5336,0.00,2.08,0.00,0.000,1030,0.000,0.028,3241,2012,1346,1452,1241,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5666,1.28,243.3,3240,2011,1451,1238,651.0,24.4,231,5672,0.00,2.15,0.00,0.000,516,0.000,0.038,3252,604,1344,1451,1238,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5745,1.28,243.3,3252,604,1451,1235,634.3,24.8,233,5752,0.00,2.10,0.00,0.000,1030,0.000,0.031,3252,2002,1344,1451,1238,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6066,1.28,243.3,3252,2002,1450,1237,549.3,25.7,247,6073,0.00,2.17,0.00,0.000,260,0.000,0.045,3252,3402,1343,1450,1237,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6143,1.28,243.3,3252,3402,1449,1237,531.6,26.1,250,6149,0.12,2.08,0.00,0.000,5126,0.177,0.029,3232,2000,1343,1449,1237,0,0,0,0,0,0,26.20,26.52,28.83
$GC,6461,1.28,243.3,3232,1999,1448,1235,455.6,22.7,266,6467,0.00,2.12,0.00,0.000,516,0.000,0.040,3243,609,1341,1448,1235,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6501,1.28,243.3,3243,609,1448,1235,449.7,22.3,267,6509,0.00,2.08,0.00,0.000,1030,0.000,0.031,3243,2004,1341,1448,1235,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6805,1.28,243.3,3243,2004,1448,1235,380.8,20.5,283,6811,0.00,2.12,0.00,0.000,516,0.000,0.039,3254,610,1341,1447,1235,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6954,1.28,243.3,3254,610,1443,1235,349.3,21.8,290,6960,0.00,2.08,0.00,0.000,1030,0.000,0.031,3255,2001,1340,1446,1235,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7280,1.28,243.3,3254,2001,1446,1233,283.5,19.3,306,7286,0.00,2.15,0.00,0.000,260,0.000,0.044,3254,3402,1341,1446,1237,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7293,1.28,243.3,3254,3402,1446,1233,283.5,19.3,306,7299,0.12,2.08,0.00,0.000,5126,0.174,0.029,3233,2000,1339,1446,1233,0,0,0,0,0,0,26.23,26.55,28.83
$GC,7610,1.28,243.3,3233,1999,1446,1231,222.1,18.4,322,7617,0.00,2.17,0.00,0.000,260,0.000,0.047,3234,3403,1338,1446,1231,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7680,1.28,243.3,3233,3403,1446,1231,207.9,20.2,325,7687,0.00,2.08,0.00,0.000,1030,0.000,0.029,3245,2002,1338,1446,1231,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8001,1.28,243.3,3245,2001,1446,1231,147.8,17.8,341,8007,0.00,2.17,0.00,0.000,260,0.000,0.045,3245,3403,1338,1446,1231,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8051,1.28,243.3,3245,3403,1446,1231,138.6,19.0,343,8057,0.00,2.08,0.00,0.000,1030,0.000,0.028,3256,1996,1338,1445,1231,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8372,1.28,243.3,3256,1995,1446,1231,87.0,12.7,359,8378,0.00,2.10,0.00,0.000,516,0.000,0.040,3267,608,1338,1446,1231,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8610,1.28,243.3,3267,608,1446,1231,52.0,15.5,370,8617,0.12,2.05,0.00,0.000,5126,0.154,0.029,3233,2003,1338,1446,1231,0,0,0,0,0,0,26.29,26.55,28.83
$GC,8925,1.28,243.3,2176,2001,1418,1229,16.6,10.2,408,8933,0.00,2.12,0.00,0.000,516,0.000,0.037,3245,601,1338,1446,1231,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,9063,end climb,SURFACE_DEPTH_REACHED
$STATE,9063,begin surface coast
$FINISH,0.4,1.022278
$STATE,9086,end surface coast,CONTROL_FINISHED_OK
$STATE,9086,begin surface
$SM_CCo,9107,72.32,0.060,0,0,747,400.08
$SM_GC,1.48,8.10,2.92,72.32,0.044,0.037,0.060,140,2479,747,-8.30,-1.58,400.08,0,0,0,0,0,0,26.55,26.41,26.32
$IRIDIUM_FIX,2253.38,12205.29,010413,232335
$TT8_MAMPS,0.047936,0.047936
$HUMID,46.22
$INTERNAL_PRESSURE,9.6425
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3938080
$24V_AH,24.0,37.728
$10V_AH,10.2,25.368
$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,20.175,86.775,630.350,72.325,0.000,0.000,0.000,177.300,0.000,0.000,16.930,1911.154,5108.123,731.104,1450.085,316.403,0.000,1667.665,0.000,1206.430,0.000,0.537,0.000
$DEVICE_MAMPS,216.495,54.315,892.755,60.435,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9099.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.076,0.000,0.000,0.000
$MEM,324272
$DATA_FILE_SIZE,16810,437
$CAP_FILE_SIZE,248553,0
$CFSIZE,260034560,227860480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.431, 27.9,1
$GPS,020413,045248,2305.451,12201.487,12,2.0,30,-3.1