version: 66.11
glider: 171
mission: 4
dive: 249
start: 4 1 113 1 9 5
data:
$ID,171
$MISSION,4
$DIVE,249
$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,-20832.092
$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,62
$R_STBD_OVSHOOT,27
$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
$GPS1,010413,010235,2257.441,12206.095,25,1.4,25,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-68.7
$GPS2,010413,010835,2257.520,12206.054,16,1.7,32,-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,237.3,69444,-13.8,-9.896,-17.76,3360
$D_GRID,4957
$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,-219.0,110,2484,843,657,0.0,0.0,0,80,0.00,0.00,-59.53,0.000,16386,0.000,0.000,110,2484,2462,2537,2388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.32,-219.0,109,2484,2540,2388,3.9,-6.8,8,115,8.82,2.05,-13.98,0.000,18948,0.216,0.041,2388,1097,3277,3348,3206,0,0,0,0,0,0,25.75,26.28,26.61
$GC,241,-1.32,-219.0,1448,1096,3332,3201,58.7,-30.9,25,247,0.00,2.15,0.00,0.000,1030,0.000,0.040,2379,2502,3278,3350,3206,0,0,0,0,0,0,28.83,26.25,28.83
$GC,567,-1.32,-219.0,2379,2502,3355,3205,157.0,-29.9,41,573,0.00,1.83,0.00,0.000,260,0.000,0.054,2370,3677,3280,3355,3206,0,0,0,0,0,0,28.83,26.34,28.83
$GC,805,-1.32,-219.0,2370,3677,3355,3208,228.4,-29.8,52,810,0.00,1.70,0.00,0.000,1030,0.000,0.025,2370,2481,3282,3356,3208,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1125,-1.32,-219.0,2370,2479,3356,3208,318.9,-28.0,68,1132,0.00,1.88,0.00,0.000,260,0.000,0.054,2362,3674,3280,3356,3205,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1223,-1.32,-219.0,2362,3674,3356,3208,342.9,-26.8,72,1230,0.12,1.67,0.00,0.000,3078,0.159,0.024,2393,2487,3282,3356,3208,0,0,0,0,0,0,26.29,26.63,28.83
$GC,1539,-1.32,-219.0,2392,2487,3356,3208,415.6,-20.4,88,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2487,3281,3354,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1838,-1.32,-219.0,2393,2487,3356,3208,476.9,-20.0,103,1844,0.00,1.85,0.00,0.000,260,0.000,0.053,2386,3675,3282,3356,3208,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1919,-1.32,-219.0,2385,3675,3356,3208,490.7,-21.0,106,1927,0.00,1.67,0.00,0.000,1030,0.000,0.025,2386,2490,3282,3356,3208,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2226,-1.32,-219.0,2385,2489,3356,3208,557.9,-21.7,122,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2489,3282,3356,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2545,-1.32,-219.0,2385,2489,3356,3206,626.8,-21.9,136,2551,0.00,1.85,0.00,0.000,260,0.000,0.054,2380,3674,3280,3356,3205,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2610,-1.32,-219.0,2376,3674,3356,3205,641.2,-22.2,138,2616,0.00,1.67,0.00,0.000,1030,0.000,0.026,2377,2500,3280,3356,3205,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2944,-1.32,-219.0,2376,2498,3356,3201,716.0,-22.1,149,2950,0.00,1.85,0.00,0.000,260,0.000,0.055,2369,3677,3278,3356,3201,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3012,-1.32,-219.0,2368,3677,3356,3200,730.9,-22.6,151,3019,0.00,1.67,0.00,0.000,1030,0.000,0.027,2368,2502,3278,3356,3200,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3342,-1.32,-219.0,2368,2501,3356,3195,803.1,-21.1,162,3348,0.00,1.85,0.00,0.000,260,0.000,0.056,2360,3676,3275,3356,3194,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3442,-1.32,-219.0,2360,3675,3355,3193,823.6,-21.6,165,3449,0.12,1.67,0.00,0.000,3078,0.157,0.026,2392,2506,3274,3355,3193,0,0,0,0,0,0,26.33,26.68,28.83
$GC,3774,-1.32,-219.0,2392,2506,3355,3189,885.1,-17.6,176,3779,0.00,2.05,0.00,0.000,516,0.000,0.029,2392,1109,3271,3354,3189,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3827,-1.32,-219.0,2392,1109,3353,3188,891.5,-17.7,177,3833,0.00,2.12,0.00,0.000,1030,0.000,0.040,2383,2503,3270,3353,3188,0,0,0,0,0,0,28.83,26.47,28.83
$STATE,4141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4141,begin apogee
$GC,4147,-0.20,0.0,2383,1989,3350,3185,951.4,-17.6,188,4500,1.10,0.00,339.10,0.750,10246,0.117,0.000,2748,1987,2371,2531,2212,0,0,0,0,0,0,26.14,28.83,24.39
$STATE,4502,end apogee,CONTROL_FINISHED_OK
$STATE,4502,begin climb
$GC,4504,1.32,219.0,2748,1987,2529,2206,972.8,0.0,199,4756,1.35,2.20,238.15,0.884,10756,0.047,0.035,3262,634,1471,1575,1368,0,0,0,0,0,0,25.22,24.77,24.01
$GC,4842,1.32,219.0,3262,634,1559,1353,924.8,23.2,209,4848,0.00,2.15,0.00,0.000,1030,0.000,0.031,3262,2012,1456,1559,1353,0,0,0,0,0,0,28.83,25.48,28.83
$GC,5166,1.32,219.0,3262,2015,1552,1346,841.3,25.0,220,5172,0.00,2.15,0.00,0.000,516,0.000,0.037,3273,632,1449,1552,1347,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5233,1.32,219.0,3275,632,1551,1346,824.9,24.8,222,5239,0.00,2.08,0.00,0.000,1030,0.000,0.031,3273,2003,1448,1551,1346,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5567,1.32,219.0,3273,2003,1549,1345,738.6,25.6,233,5573,0.00,2.20,0.00,0.000,260,0.000,0.047,3272,3405,1446,1549,1344,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5683,1.32,219.0,3273,3405,1548,1344,710.7,28.5,236,5690,0.15,2.08,0.00,0.000,5126,0.176,0.029,3246,2015,1446,1548,1345,0,0,0,0,0,0,26.10,26.42,28.83
$GC,5999,1.32,219.0,3245,2015,1547,1341,630.3,22.9,247,6005,0.00,2.15,0.00,0.000,516,0.000,0.038,3257,606,1444,1547,1341,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6039,1.32,219.0,3257,606,1547,1342,622.5,22.8,248,6045,0.00,2.08,0.00,0.000,1030,0.000,0.031,3257,2001,1444,1547,1341,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6358,1.32,219.0,3257,2000,1546,1337,549.8,22.1,262,6365,0.00,2.20,0.00,0.000,260,0.000,0.047,3257,3412,1443,1546,1340,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6449,1.32,219.0,3257,3411,1546,1340,529.3,23.5,266,6455,0.00,2.10,0.00,0.000,1030,0.000,0.029,3268,1997,1443,1546,1340,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6770,1.32,219.0,3268,1997,1545,1338,453.9,23.0,282,6776,0.00,2.12,0.00,0.000,516,0.000,0.041,3279,606,1442,1545,1339,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6819,1.32,219.0,3279,606,1545,1339,443.9,22.9,284,6826,0.12,2.08,0.00,0.000,5126,0.175,0.032,3247,2001,1441,1544,1339,0,0,0,0,0,0,26.22,26.51,28.83
$GC,7141,1.32,219.0,3247,2001,1544,1337,374.8,21.4,300,7147,0.00,2.15,0.00,0.000,260,0.000,0.046,3247,3402,1441,1545,1337,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7278,1.32,219.0,3248,3405,1544,1338,345.9,22.4,306,7285,0.00,2.08,0.00,0.000,1030,0.000,0.029,3259,2003,1441,1544,1338,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7594,1.32,219.0,3259,2003,1543,1336,281.5,19.1,322,7599,0.00,2.17,0.00,0.000,260,0.000,0.046,3259,3402,1439,1543,1336,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7645,1.32,219.0,3259,3402,1543,1336,272.3,19.6,324,7650,0.00,2.08,0.00,0.000,1030,0.000,0.029,3270,1996,1439,1543,1336,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7965,1.32,219.0,3270,1996,1541,1335,214.3,17.0,340,7972,0.00,2.10,0.00,0.000,516,0.000,0.039,3282,610,1439,1543,1335,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8021,1.32,219.0,3281,611,1543,1335,206.8,16.2,342,8028,0.15,2.08,0.00,0.000,5126,0.157,0.030,3240,2012,1439,1544,1335,0,0,0,0,0,0,26.22,26.54,28.83
$GC,8337,1.32,219.0,3240,2013,1540,1335,158.7,15.3,358,8343,0.00,2.15,0.00,0.000,516,0.000,0.039,3252,609,1439,1543,1335,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8404,1.32,219.0,3252,609,1543,1335,148.1,15.8,361,8410,0.00,2.05,0.00,0.000,1030,0.000,0.030,3252,1999,1439,1543,1335,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8730,1.32,219.0,3252,1999,1543,1335,97.1,14.1,377,8736,0.00,2.17,0.00,0.000,260,0.000,0.045,3252,3409,1439,1543,1335,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8759,1.32,219.0,3252,3409,1542,1335,93.7,13.3,378,8765,0.00,2.08,0.00,0.000,1030,0.000,0.028,3264,1990,1439,1543,1335,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9080,1.32,219.0,3264,1990,1543,1335,52.7,11.3,394,9086,0.00,2.20,0.00,0.000,260,0.000,0.045,3264,3412,1439,1543,1335,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9235,1.32,219.0,3264,3412,1544,1335,33.3,12.3,407,9244,0.12,2.08,0.00,0.000,5126,0.163,0.028,3241,1996,1439,1544,1335,0,0,0,0,0,0,26.29,26.59,28.83
$GC,9555,1.45,256.1,2208,1993,1513,1332,3.4,8.8,461,9566,0.12,0.00,7.75,0.049,10754,0.078,0.000,3340,1995,1389,1501,1277,0,0,0,0,0,0,26.71,28.83,28.83
$STATE,9567,end climb,SURFACE_DEPTH_REACHED
$STATE,9567,begin surface coast
$FINISH,0.4,1.010271
$STATE,9605,end surface coast,CONTROL_FINISHED_OK
$STATE,9605,begin surface
$SM_CCo,9624,77.72,0.060,0,0,748,400.08
$SM_GC,1.07,8.20,0.77,77.72,0.033,0.047,0.060,109,2493,748,-8.31,-1.30,400.08,0,0,0,0,0,0,26.63,26.50,26.32
$IRIDIUM_FIX,2248.70,12209.25,310313,222208
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.95
$INTERNAL_PRESSURE,9.6425
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3940896
$24V_AH,24.0,36.351
$10V_AH,10.2,24.639
$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,20.400,81.975,585.000,77.725,0.000,0.000,0.000,186.075,0.000,0.000,33.581,2064.562,5427.127,692.011,1549.981,327.676,0.000,1658.771,0.000,1271.792,0.000,0.537,0.000
$DEVICE_MAMPS,216.495,55.845,884.340,60.435,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9594.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.216,0.000,0.000,0.000
$MEM,324312
$DATA_FILE_SIZE,16741,469
$CAP_FILE_SIZE,262359,0
$CFSIZE,260034560,228622336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.334, 18.4,1
$GPS,010413,035206,2258.592,12205.251,37,0.9,38,-3.0