version: 66.11
glider: 171
mission: 4
dive: 259
start: 4 2 113 4 59 23
data:
$ID,171
$MISSION,4
$DIVE,259
$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,-20844.65
$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,54
$R_STBD_OVSHOOT,25
$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
$GPS1,020413,045248,2305.451,12201.487,12,2.0,30,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-65.3
$GPS2,020413,045851,2305.613,12201.660,13,2.1,32,-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,224.6,61152,-10.6,-8.333,-15.41,4401
$D_GRID,4316
$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,18,-1.28,-243.3,126,2481,845,656,0.0,0.0,0,80,0.00,0.00,-59.85,0.000,16386,0.000,0.000,126,2481,2460,2528,2392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.28,-243.3,126,2481,2535,2392,3.9,-6.1,8,116,8.85,2.08,-15.20,0.000,19204,0.220,0.041,2398,1078,3375,3434,3317,0,0,0,0,0,0,25.72,26.27,26.60
$GC,227,-1.28,-243.3,2398,1078,3438,3317,56.2,-34.5,23,234,0.00,2.20,0.00,0.000,1030,0.000,0.039,2388,2511,3377,3437,3317,0,0,0,0,0,0,28.83,26.24,28.83
$GC,543,-1.28,-243.3,2388,2511,3441,3318,162.2,-30.7,39,549,0.00,1.85,0.00,0.000,260,0.000,0.052,2379,3696,3380,3441,3319,0,0,0,0,0,0,28.83,26.33,28.83
$GC,646,-1.28,-243.3,2379,3695,3442,3320,190.4,-31.8,43,656,0.12,1.73,0.00,0.000,3078,0.158,0.024,2411,2484,3381,3442,3320,0,0,0,0,0,0,26.20,26.51,28.83
$GC,952,-1.28,-243.3,2411,2483,3442,3321,277.2,-27.9,59,958,0.00,1.85,0.00,0.000,260,0.000,0.051,2403,3675,3381,3442,3321,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1039,-1.28,-243.3,2402,3675,3443,3321,301.6,-28.1,63,1046,0.00,1.67,0.00,0.000,1030,0.000,0.024,2403,2492,3381,3442,3321,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1366,-1.28,-243.3,2402,2491,3443,3321,384.8,-25.3,79,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2491,3382,3443,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1664,-1.28,-243.3,2403,2491,3443,3321,456.4,-23.9,94,1670,0.00,2.03,0.00,0.000,516,0.000,0.029,2403,1105,3382,3443,3321,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1704,-1.28,-243.3,2402,1105,3443,3321,462.1,-23.8,95,1712,0.00,2.12,0.00,0.000,1030,0.000,0.038,2392,2503,3382,3443,3321,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2010,-1.28,-243.3,2392,2503,3443,3321,535.7,-22.8,111,2016,0.00,1.80,0.00,0.000,260,0.000,0.053,2383,3673,3382,3443,3321,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2034,-1.28,-243.3,2383,3673,3442,3321,541.5,-22.5,112,2040,0.00,1.67,0.00,0.000,1030,0.000,0.025,2383,2497,3382,3443,3321,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2359,-1.28,-243.3,2383,2496,3442,3320,613.3,-21.9,127,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2496,3381,3442,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2660,-1.28,-243.3,2383,2496,3442,3317,683.4,-23.6,137,2665,0.00,1.85,0.00,0.000,260,0.000,0.054,2375,3678,3379,3442,3317,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2708,-1.28,-243.3,2374,3678,3442,3316,691.8,-23.6,138,2714,0.12,1.67,0.00,0.000,3078,0.151,0.026,2408,2502,3379,3442,3316,0,0,0,0,0,0,26.34,26.66,28.83
$GC,3028,-1.28,-243.3,2407,2500,3442,3311,759.7,-20.0,149,3034,0.00,2.05,0.00,0.000,516,0.000,0.031,2408,1111,3376,3442,3310,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3076,-1.28,-243.3,2408,1111,3442,3309,766.7,-19.9,150,3083,0.00,2.12,0.00,0.000,1030,0.000,0.040,2398,2501,3375,3442,3309,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3396,-1.28,-243.3,2398,2501,3442,3301,835.5,-20.8,161,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2501,3373,3442,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3696,-1.28,-243.3,2395,2501,3440,3300,897.0,-20.0,171,3702,0.00,2.05,0.00,0.000,516,0.000,0.029,2398,1115,3370,3440,3300,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3750,-1.28,-243.3,2398,1115,3440,3299,903.9,-20.1,172,3756,0.00,2.12,0.00,0.000,1030,0.000,0.041,2388,2504,3369,3440,3299,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,3972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3972,begin apogee
$GC,3979,-0.20,0.0,2387,1996,3438,3296,953.9,-20.6,180,4364,1.10,0.00,372.30,0.752,10246,0.119,0.000,2750,1994,2373,2530,2217,0,0,0,0,0,0,26.10,28.83,24.34
$STATE,4365,end apogee,CONTROL_FINISHED_OK
$STATE,4366,begin climb
$GC,4368,1.28,243.3,2750,1994,2526,2212,978.6,0.0,192,4638,1.30,0.00,263.35,0.898,10758,0.045,0.000,3237,1994,1389,1499,1279,0,0,0,0,0,0,25.16,28.83,23.93
$GC,4935,1.28,243.3,3238,1993,1459,1243,863.4,26.4,212,4942,0.00,2.28,0.00,0.000,260,0.000,0.047,3238,3421,1351,1459,1243,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4964,1.28,243.3,3238,3421,1458,1243,863.4,26.4,212,4972,0.00,2.10,0.00,0.000,1030,0.000,0.028,3250,2025,1350,1458,1243,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5271,1.28,243.3,3250,2025,1455,1241,776.1,25.6,223,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2025,1348,1455,1241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5570,1.28,243.3,3249,2025,1453,1240,697.6,26.4,233,5576,0.00,2.17,0.00,0.000,516,0.000,0.040,3261,609,1346,1453,1240,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5649,1.28,243.3,3261,609,1452,1241,680.5,26.2,235,5656,0.12,2.12,0.00,0.000,5126,0.172,0.031,3230,2026,1346,1452,1240,0,0,0,0,0,0,26.15,26.41,28.83
$GC,5970,1.28,243.3,3229,2026,1451,1238,601.1,23.2,246,5976,0.00,2.15,0.00,0.000,260,0.000,0.047,3230,3408,1344,1451,1238,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6005,1.28,243.3,3229,3408,1451,1238,592.7,23.2,247,6012,0.00,2.10,0.00,0.000,1030,0.000,0.029,3240,1997,1344,1451,1238,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6321,1.28,243.3,3240,1997,1451,1237,514.9,24.8,263,6327,0.00,2.20,0.00,0.000,260,0.000,0.047,3240,3399,1343,1450,1237,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6371,1.28,243.3,3240,3400,1450,1237,502.8,26.3,265,6377,0.00,2.08,0.00,0.000,1030,0.000,0.030,3252,2002,1343,1450,1237,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6692,1.28,243.3,3252,2002,1453,1235,423.1,22.5,281,6699,0.00,2.15,0.00,0.000,516,0.000,0.041,3263,605,1342,1449,1235,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6773,1.28,243.3,3263,604,1449,1235,406.4,24.2,284,6782,0.12,2.08,0.00,0.000,5126,0.174,0.031,3232,2002,1342,1449,1235,0,0,0,0,0,0,26.22,26.51,28.83
$GC,7080,1.28,243.3,3231,2002,1448,1234,337.4,21.3,300,7086,0.00,2.17,0.00,0.000,260,0.000,0.045,3233,3406,1341,1448,1234,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7177,1.28,243.3,3231,3406,1448,1234,318.5,22.0,304,7183,0.00,2.10,0.00,0.000,1030,0.000,0.030,3243,1995,1340,1446,1234,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7492,1.28,243.3,3242,1995,1447,1233,251.3,23.4,320,7498,0.00,2.12,0.00,0.000,516,0.000,0.040,3254,603,1339,1446,1233,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7504,1.28,243.3,3254,603,1447,1233,251.3,23.4,320,7511,0.00,2.08,0.00,0.000,1030,0.000,0.031,3254,1998,1339,1446,1233,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7821,1.28,243.3,3253,1997,1446,1233,178.1,23.0,336,7826,0.00,2.17,0.00,0.000,260,0.000,0.045,3254,3408,1340,1447,1233,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7882,1.28,243.3,3254,3408,1445,1233,167.9,23.1,338,7891,0.12,2.08,0.00,0.000,5126,0.171,0.028,3233,1994,1340,1447,1233,0,0,0,0,0,0,26.24,26.56,28.83
$GC,8189,1.28,243.3,3233,1994,1446,1230,113.9,11.7,354,8196,0.00,2.20,0.00,0.000,260,0.000,0.046,3233,3411,1339,1446,1232,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8428,1.28,243.3,3232,3411,1446,1231,84.4,13.7,365,8434,0.00,2.08,0.00,0.000,1030,0.000,0.028,3245,1996,1338,1446,1231,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8743,1.28,243.3,3244,1995,1446,1231,38.3,12.1,385,8749,0.00,2.10,0.00,0.000,516,0.000,0.039,3256,609,1339,1447,1231,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8990,1.28,243.3,3255,609,1447,1231,12.8,11.3,419,8998,0.00,2.08,0.00,0.000,1030,0.000,0.030,3256,2012,1339,1447,1231,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,9068,end climb,SURFACE_DEPTH_REACHED
$STATE,9069,begin surface coast
$FINISH,0.3,1.022226
$STATE,9097,end surface coast,CONTROL_FINISHED_OK
$STATE,9097,begin surface
$SM_CCo,9116,73.82,0.060,0,0,748,400.08
$SM_GC,1.28,8.10,0.73,73.82,0.041,0.041,0.060,132,2504,748,-8.29,-1.36,400.08,0,0,0,0,0,0,26.60,26.54,26.32
$IRIDIUM_FIX,2255.72,12200.07,020413,020205
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.94
$INTERNAL_PRESSURE,9.65227
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3937760
$24V_AH,23.9,37.881
$10V_AH,10.2,25.445
$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,19.975,74.900,635.650,73.825,0.000,0.000,0.000,187.950,0.000,0.000,34.299,1784.795,5367.347,762.981,1346.119,293.522,0.000,1623.863,0.000,1075.372,0.000,0.538,0.000
$DEVICE_MAMPS,219.555,53.550,898.110,60.435,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9087.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.084,0.000,0.000,0.000
$MEM,324288
$DATA_FILE_SIZE,16715,438
$CAP_FILE_SIZE,232883,0
$CFSIZE,260034560,227790848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.458, 36.0,1
$GPS,020413,073424,2306.289,12201.940,70,1.2,71,-3.1