version: 66.11
glider: 171
mission: 4
dive: 265
start: 4 2 113 21 38 54
data:
$ID,171
$MISSION,4
$DIVE,265
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,270
$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,-20852.279
$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,31
$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
$GPS1,020413,213235,2313.024,12203.666,19,1.2,35,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-65.1
$GPS2,020413,213825,2313.126,12203.794,14,1.4,14,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,HEADING
$TGT_LATLONG,2313.126,12152.043
$TGT_RADIUS,1852.000
$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,273.1,20000,-10.6,-8.333,-15.41,4401
$D_GRID,4198
$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,-243.3,126,2486,844,658,0.0,0.0,0,79,0.00,0.00,-58.05,0.000,16386,0.000,0.000,126,2486,2453,2521,2385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.28,-243.3,126,2486,2525,2385,4.5,-7.9,8,114,8.98,1.92,-14.62,0.000,18692,0.223,0.064,2390,3673,3378,3436,3320,0,0,0,0,0,0,25.70,26.16,26.58
$GC,347,-1.28,-243.3,2392,3673,3439,3320,109.0,-37.5,28,353,0.00,1.70,0.00,0.000,1030,0.000,0.023,2392,2483,3380,3440,3320,0,0,0,0,0,0,28.83,26.42,28.83
$GC,666,-1.28,-243.3,2394,2482,3443,3322,210.0,-30.1,44,672,0.00,1.88,0.00,0.000,260,0.000,0.051,2383,3678,3382,3443,3321,0,0,0,0,0,0,28.83,26.35,28.83
$GC,782,-1.28,-243.3,2383,3678,3444,3323,241.4,-29.7,49,788,0.00,1.73,0.00,0.000,1030,0.000,0.024,2383,2501,3383,3444,3323,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1096,-1.28,-243.3,2383,2499,3445,3325,333.3,-28.8,65,1102,0.00,1.83,0.00,0.000,260,0.000,0.054,2374,3671,3385,3445,3325,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1172,-1.28,-243.3,2374,3671,3445,3325,353.5,-30.1,68,1178,0.12,1.67,0.00,0.000,3078,0.152,0.024,2407,2496,3385,3445,3325,0,0,0,0,0,0,26.28,26.60,28.83
$GC,1490,-1.28,-243.3,2407,2494,3445,3325,433.8,-23.5,84,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2494,3385,3445,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1787,-1.28,-243.3,2407,2494,3445,3325,500.0,-21.4,99,1793,0.00,2.05,0.00,0.000,516,0.000,0.029,2407,1099,3384,3444,3325,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1842,-1.28,-243.3,2407,1099,3445,3325,509.7,-21.7,101,1848,0.00,2.12,0.00,0.000,1030,0.000,0.038,2397,2500,3385,3445,3325,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2156,-1.28,-243.3,2397,2500,3445,3322,582.2,-23.2,117,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2498,3383,3445,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2478,-1.28,-243.3,2397,2501,3444,3318,652.5,-21.4,129,2483,0.00,1.83,0.00,0.000,260,0.000,0.054,2389,3674,3381,3445,3318,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2531,-1.28,-243.3,2388,3674,3444,3318,660.3,-21.4,130,2537,0.00,1.67,0.00,0.000,1030,0.000,0.025,2388,2494,3381,3445,3318,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2848,-1.28,-243.3,2388,2494,3444,3312,731.9,-21.4,141,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2494,3378,3445,3312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3146,-1.28,-243.3,2388,2494,3444,3307,791.1,-19.2,151,3152,0.00,1.88,0.00,0.000,260,0.000,0.054,2379,3681,3373,3440,3307,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3191,-1.28,-243.3,2379,3681,3443,3307,797.7,-19.1,152,3198,0.12,1.70,0.00,0.000,3078,0.148,0.027,2413,2505,3375,3443,3307,0,0,0,0,0,0,26.34,26.65,28.83
$GC,3516,-1.28,-243.3,2413,2505,3442,3302,855.4,-17.2,163,3522,0.00,2.08,0.00,0.000,516,0.000,0.029,2413,1105,3372,3442,3302,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3561,-1.28,-243.3,2413,1105,3442,3301,861.4,-17.3,164,3567,0.00,2.15,0.00,0.000,1030,0.000,0.040,2403,2506,3371,3442,3301,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3885,-1.28,-243.3,2403,2506,3440,3297,921.6,-18.1,175,3891,0.00,1.88,0.00,0.000,260,0.000,0.056,2395,3695,3368,3440,3297,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3925,-1.28,-243.3,2394,3695,3439,3297,928.1,-18.3,176,3930,0.00,1.73,0.00,0.000,1030,0.000,0.027,2394,2496,3367,3439,3296,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,4042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4042,begin apogee
$GC,4048,-0.20,0.0,2394,1990,3439,3294,951.0,-18.5,180,4435,1.08,0.00,376.35,0.757,10246,0.119,0.000,2748,1988,2376,2533,2220,0,0,0,0,0,0,26.08,28.83,24.30
$STATE,4438,end apogee,CONTROL_FINISHED_OK
$STATE,4438,begin climb
$GC,4440,1.28,243.3,2748,1988,2527,2208,979.2,0.0,192,4827,1.33,2.20,373.52,0.738,10756,0.047,0.034,3252,628,1380,1493,1267,0,0,0,0,0,0,25.14,24.87,24.20
$GC,4850,1.28,243.3,3251,628,1478,1255,930.9,22.2,205,4856,0.00,2.20,0.00,0.000,1030,0.000,0.030,3252,2022,1366,1478,1254,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5170,1.28,243.3,3252,2022,1463,1244,846.5,25.4,216,5176,0.00,2.17,0.00,0.000,260,0.000,0.046,3252,3402,1354,1464,1244,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5204,1.28,243.3,3252,3402,1463,1244,837.6,25.5,217,5211,0.15,2.10,0.00,0.000,5126,0.176,0.027,3225,2010,1353,1463,1244,0,0,0,0,0,0,25.86,26.15,28.83
$GC,5540,1.28,243.3,3225,2009,1460,1241,757.4,23.4,228,5545,0.00,2.15,0.00,0.000,516,0.000,0.037,3236,606,1350,1460,1241,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5593,1.28,243.3,3236,606,1459,1241,748.9,23.8,229,5599,0.00,2.10,0.00,0.000,1030,0.000,0.031,3236,2002,1350,1460,1241,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5910,1.28,243.3,3236,2002,1458,1240,666.7,24.9,240,5916,0.00,2.17,0.00,0.000,260,0.000,0.047,3236,3402,1349,1458,1240,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5963,1.28,243.3,3236,3402,1458,1240,657.0,25.4,241,5969,0.00,2.08,0.00,0.000,1030,0.000,0.028,3247,2002,1349,1458,1240,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6287,1.28,243.3,3247,2001,1455,1238,571.5,24.3,254,6293,0.00,2.12,0.00,0.000,516,0.000,0.041,3259,609,1346,1455,1238,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6354,1.28,243.3,3258,611,1455,1238,555.3,24.1,257,6360,0.00,2.10,0.00,0.000,1030,0.000,0.031,3259,2011,1346,1455,1238,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6679,1.28,243.3,3258,2011,1453,1237,478.3,22.8,273,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2011,1345,1453,1237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6979,1.28,243.3,3258,2013,1453,1236,404.8,24.2,288,6985,0.12,2.15,0.00,0.000,4612,0.181,0.039,3232,608,1344,1453,1236,0,0,0,0,0,0,26.27,26.46,28.83
$GC,7177,1.28,243.3,3232,607,1452,1236,362.8,20.8,297,7183,0.00,2.08,0.00,0.000,1030,0.000,0.031,3232,2001,1344,1453,1236,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7491,1.28,243.3,3232,2001,1452,1235,294.8,21.5,313,7497,0.00,2.17,0.00,0.000,260,0.000,0.046,3232,3405,1344,1453,1236,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7646,1.28,243.3,3232,3404,1452,1236,262.7,21.7,320,7652,0.00,2.10,0.00,0.000,1030,0.000,0.029,3244,1992,1343,1452,1235,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7961,1.28,243.3,3243,1992,1451,1234,204.6,16.9,336,7967,0.00,2.10,0.00,0.000,516,0.000,0.040,3254,609,1342,1451,1234,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8077,1.28,243.3,3254,609,1451,1234,185.0,18.5,341,8083,0.00,2.08,0.00,0.000,1030,0.000,0.031,3254,2005,1342,1451,1234,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8392,1.28,243.3,3254,2005,1451,1233,130.6,16.6,357,8397,0.00,2.15,0.00,0.000,260,0.000,0.045,3255,3402,1342,1451,1234,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8630,1.28,243.3,3254,3402,1451,1234,95.7,13.5,368,8637,0.12,2.08,0.00,0.000,5126,0.168,0.028,3233,1986,1342,1451,1234,0,0,0,0,0,0,26.25,26.58,28.83
$GC,8946,1.28,243.3,3233,1985,1451,1234,62.3,11.0,384,8952,0.00,2.08,0.00,0.000,516,0.000,0.037,3244,612,1342,1451,1233,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9147,1.28,243.3,3244,612,1451,1234,38.9,11.1,398,9153,0.00,2.05,0.00,0.000,1030,0.000,0.029,3244,2003,1342,1451,1234,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9464,1.28,243.3,3244,2002,1452,1233,7.3,10.0,445,9472,0.00,2.15,0.00,0.000,260,0.000,0.044,3244,3403,1343,1453,1233,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,9506,end climb,SURFACE_DEPTH_REACHED
$STATE,9507,begin surface coast
$FINISH,0.7,1.022377
$STATE,9540,end surface coast,CONTROL_FINISHED_OK
$STATE,9540,begin surface
$SM_CCo,9559,73.62,0.060,0,0,748,400.08
$SM_GC,1.64,7.97,1.35,73.62,0.035,0.027,0.060,137,2508,748,-8.29,1.87,400.08,0,0,0,0,0,0,26.54,26.63,26.30
$IRIDIUM_FIX,2302.75,12202.56,020413,181842
$TT8_MAMPS,0.049434,0.049434
$HUMID,44.99
$INTERNAL_PRESSURE,9.66204
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,3935840
$24V_AH,24.2,38.873
$10V_AH,10.3,25.950
$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,20.000,76.425,749.875,73.625,0.000,0.000,0.000,191.350,0.000,0.000,15.682,1912.345,5405.110,770.130,1559.112,334.034,0.000,1785.972,0.000,1296.859,0.000,0.538,0.000
$DEVICE_MAMPS,222.615,64.260,756.585,59.670,0.000,0.000,0.000,126.225,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9542.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.081,0.000,0.000,0.000
$MEM,324272
$DATA_FILE_SIZE,16767,458
$CAP_FILE_SIZE,260369,0
$CFSIZE,260034560,227233792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030413,002100,2314.847,12202.835,52,1.4,53,-3.1