version: 66.11
glider: 171
mission: 4
dive: 255
start: 4 1 113 18 0 5
data:
$ID,171
$MISSION,4
$DIVE,255
$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,-20839.629
$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,35
$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
$GPS1,010413,174754,2302.772,12204.057,38,1.4,39,-3.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.1
$GPS2,010413,175937,2302.893,12204.307,15,1.5,15,-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,229.2,65561,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.32,-219.0,108,2495,839,667,0.0,0.0,0,82,0.00,0.00,-60.38,0.000,16386,0.000,0.000,108,2495,2485,2564,2407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.32,-219.0,108,2495,2567,2406,4.1,-6.5,8,117,8.90,2.15,-13.05,0.000,18948,0.218,0.047,2384,1100,3278,3345,3211,0,0,0,0,0,0,25.65,26.16,26.48
$GC,178,-1.32,-219.0,2384,1099,3346,3208,44.6,-41.9,18,186,0.00,2.15,0.00,0.000,1030,0.000,0.040,2375,2494,3278,3347,3210,0,0,0,0,0,0,28.83,26.15,28.83
$GC,495,-1.32,-219.0,2375,2495,3350,3211,158.8,-33.1,35,501,0.00,1.83,0.00,0.000,260,0.000,0.051,2367,3673,3280,3350,3211,0,0,0,0,0,0,28.83,26.29,28.83
$GC,682,-1.32,-219.0,2366,3673,3352,3210,217.1,-30.5,44,688,0.00,1.73,0.00,0.000,1030,0.000,0.024,2366,2507,3282,3353,3211,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1008,-1.32,-219.0,2366,2505,3354,3211,309.6,-27.2,60,1014,0.12,2.08,0.00,0.000,2564,0.166,0.029,2406,1096,3282,3354,3211,0,0,0,0,0,0,26.32,26.51,28.83
$GC,1050,-1.32,-219.0,2403,1096,3354,3211,316.9,-27.5,61,1058,0.00,2.15,0.00,0.000,1030,0.000,0.041,2394,2505,3282,3354,3211,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1353,-1.32,-219.0,2394,2505,3354,3211,395.9,-23.2,77,1359,0.00,1.80,0.00,0.000,260,0.000,0.053,2385,3674,3282,3354,3211,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1393,-1.32,-219.0,2385,3675,3354,3211,401.5,-23.2,78,1402,0.00,1.73,0.00,0.000,1030,0.000,0.024,2385,2486,3282,3354,3211,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1698,-1.32,-219.0,2385,2486,3354,3211,473.7,-21.9,94,1705,0.00,1.85,0.00,0.000,260,0.000,0.053,2376,3674,3282,3354,3211,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1754,-1.32,-219.0,2375,3675,3354,3211,483.7,-22.2,96,1760,0.00,1.67,0.00,0.000,1030,0.000,0.024,2376,2491,3282,3354,3211,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2068,-1.32,-219.0,2376,2490,3354,3207,559.8,-23.0,112,2074,0.00,1.85,0.00,0.000,260,0.000,0.054,2368,3674,3281,3354,3209,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2118,-1.32,-219.0,2367,3674,3354,3208,569.7,-22.6,114,2124,0.00,1.67,0.00,0.000,1030,0.000,0.024,2368,2490,3280,3353,3208,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2438,-1.32,-219.0,2366,2489,3354,3204,642.9,-22.3,127,2444,0.00,2.03,0.00,0.000,516,0.000,0.028,2368,1107,3279,3354,3204,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2504,-1.32,-219.0,2367,1108,3354,3203,657.4,-22.0,129,2510,0.15,2.12,0.00,0.000,3078,0.159,0.039,2397,2503,3278,3354,3203,0,0,0,0,0,0,26.25,26.49,28.83
$GC,2839,-1.32,-219.0,2396,2503,3354,3198,728.0,-21.1,140,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2503,3276,3354,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3139,-1.32,-219.0,2397,2503,3353,3193,789.5,-20.3,150,3145,0.00,1.85,0.00,0.000,260,0.000,0.055,2389,3686,3272,3353,3192,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3188,-1.32,-219.0,2389,3686,3352,3193,796.7,-20.3,151,3194,0.00,1.70,0.00,0.000,1030,0.000,0.026,2389,2504,3272,3352,3193,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3507,-1.32,-219.0,2389,2500,3350,3188,863.6,-19.9,162,3513,0.00,1.85,0.00,0.000,260,0.000,0.056,2380,3670,3269,3350,3188,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3582,-1.32,-219.0,2380,3670,3348,3188,877.0,-20.2,164,3588,0.00,1.70,0.00,0.000,1030,0.000,0.028,2380,2495,3268,3348,3188,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3906,-1.32,-219.0,2380,2494,3345,3184,941.7,-18.9,175,3912,0.00,1.85,0.00,0.000,260,0.000,0.054,2372,3669,3265,3346,3184,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3966,-1.32,-219.0,2374,3670,3344,3186,948.0,-18.6,176,3974,0.00,1.70,0.00,0.000,1030,0.000,0.028,2372,2492,3264,3345,3184,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,4000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4000,begin apogee
$GC,4006,-0.20,0.0,2372,1986,3344,3183,959.8,-18.9,178,4620,1.15,0.00,601.42,0.594,10246,0.120,0.000,2750,1985,2380,2538,2222,0,0,0,0,0,0,26.12,28.83,24.55
$STATE,4622,end apogee,CONTROL_FINISHED_OK
$STATE,4622,begin climb
$GC,4624,1.32,219.0,2750,1985,2534,2217,998.6,0.0,197,4959,1.35,2.20,322.42,0.768,10756,0.045,0.034,3266,627,1479,1581,1377,0,0,0,0,0,0,25.26,24.88,24.21
$GC,5095,1.32,219.0,3266,627,1558,1356,925.8,25.5,211,5101,0.00,2.15,0.00,0.000,1030,0.000,0.031,3266,2018,1456,1558,1355,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5411,1.32,219.0,3266,2018,1554,1352,838.7,26.1,222,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,2018,1453,1554,1353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5709,1.32,219.0,3266,2018,1553,1350,758.9,26.3,232,5715,0.00,2.17,0.00,0.000,260,0.000,0.047,3266,3412,1451,1552,1350,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5807,1.32,219.0,3266,3412,1551,1350,732.1,27.5,235,5814,0.12,2.10,0.00,0.000,5126,0.179,0.029,3246,2011,1450,1551,1350,0,0,0,0,0,0,26.13,26.41,28.83
$GC,6143,1.32,219.0,3246,2010,1550,1347,650.2,23.9,246,6149,0.00,2.15,0.00,0.000,516,0.000,0.037,3257,600,1448,1550,1347,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6209,1.32,219.0,3257,599,1550,1347,633.9,24.2,248,6215,0.00,2.10,0.00,0.000,1030,0.000,0.032,3257,2000,1448,1550,1347,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6523,1.32,219.0,3257,2000,1549,1347,560.1,24.4,261,6529,0.00,2.12,0.00,0.000,516,0.000,0.038,3269,606,1447,1549,1345,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6693,1.32,219.0,3268,606,1547,1344,521.4,23.1,269,6700,0.00,2.08,0.00,0.000,1030,0.000,0.031,3268,2001,1445,1547,1344,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7017,1.32,219.0,3268,2001,1547,1342,445.3,24.1,285,7022,0.00,2.17,0.00,0.000,260,0.000,0.045,3268,3406,1444,1547,1342,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7147,1.32,219.0,3268,3406,1548,1342,412.1,25.1,291,7154,0.12,2.10,0.00,0.000,5126,0.174,0.029,3249,1990,1446,1551,1342,0,0,0,0,0,0,26.25,26.55,28.83
$GC,7470,1.32,219.0,3248,1990,1547,1341,339.8,21.3,307,7475,0.00,2.10,0.00,0.000,516,0.000,0.039,3260,607,1444,1547,1341,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7537,1.32,219.0,3259,607,1547,1341,325.0,21.4,310,7543,0.00,2.08,0.00,0.000,1030,0.000,0.031,3260,2000,1443,1546,1341,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7863,1.32,219.0,3259,2001,1546,1341,256.5,19.6,326,7870,0.00,2.17,0.00,0.000,260,0.000,0.044,3260,3413,1443,1546,1341,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7877,1.32,219.0,3260,3413,1546,1341,256.5,19.6,326,7883,0.00,2.10,0.00,0.000,1030,0.000,0.029,3271,1995,1443,1546,1340,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8192,1.32,219.0,3270,1995,1546,1340,188.7,18.6,342,8197,0.00,2.10,0.00,0.000,516,0.000,0.040,3281,612,1442,1546,1339,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8289,1.32,219.0,3281,612,1546,1339,172.4,18.9,346,8295,0.15,2.08,0.00,0.000,5126,0.160,0.031,3241,2013,1441,1546,1336,0,0,0,0,0,0,26.22,26.53,28.83
$GC,8607,1.32,219.0,3240,2012,1546,1340,119.9,15.1,362,8613,0.00,2.15,0.00,0.000,260,0.000,0.047,3241,3399,1443,1546,1340,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8845,1.32,219.0,3240,3399,1546,1339,87.2,14.0,373,8852,0.00,2.05,0.00,0.000,1030,0.000,0.028,3252,1994,1442,1544,1340,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9162,1.32,219.0,3252,1995,1546,1339,49.1,12.2,389,9169,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1994,1442,1546,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9472,1.75,343.2,2240,1992,1514,1336,24.0,6.1,421,9627,0.32,0.00,150.25,0.362,10754,0.044,0.000,3430,1992,1005,1110,901,0,0,0,0,0,0,26.67,28.83,28.83
$STATE,9627,end climb,SURFACE_DEPTH_REACHED
$STATE,9628,begin surface coast
$FINISH,0.3,1.006036
$STATE,9639,end surface coast,CONTROL_FINISHED_OK
$STATE,9639,begin surface
$SM_CCo,9660,32.25,0.057,0,0,747,400.08
$SM_GC,1.53,8.75,0.80,32.25,0.039,0.046,0.057,136,2488,747,-8.29,-1.27,400.08,0,0,0,0,0,0,25.87,25.79,25.81
$IRIDIUM_FIX,2253.38,12205.29,010413,171707
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.58
$INTERNAL_PRESSURE,9.65227
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3938976
$24V_AH,24.2,37.281
$10V_AH,10.3,25.131
$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,21.150,77.125,1074.100,32.250,0.000,0.000,0.000,425.575,0.000,0.000,16.572,1873.627,5398.977,996.962,1788.171,336.475,0.000,2306.108,0.000,1292.580,0.000,0.538,0.000
$DEVICE_MAMPS,218.025,55.845,768.060,57.375,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9632.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.064,0.000,0.000,0.000
$MEM,324260
$DATA_FILE_SIZE,16755,443
$CAP_FILE_SIZE,263222,0
$CFSIZE,260034560,228093952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.257, 43.3,1
$GPS,010413,204300,2303.183,12203.780,41,1.0,42,-3.1