version: 66.11
glider: 171
mission: 4
dive: 262
start: 4 2 113 13 11 10
data:
$ID,171
$MISSION,4
$DIVE,262
$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,-20848.512
$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,37
$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
$GPS1,020413,130423,2308.265,12202.656,39,1.3,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-66.2
$GPS2,020413,131038,2308.428,12202.818,11,2.3,30,-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,220.0,63643,-10.6,-8.333,-15.41,4401
$D_GRID,4068
$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,-243.3,125,2504,847,657,0.0,0.0,0,80,0.00,0.00,-59.20,0.000,16386,0.000,0.000,126,2504,2475,2547,2404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.28,-243.3,126,2504,2552,2404,3.9,-6.0,8,115,8.98,2.10,-14.65,0.000,18948,0.223,0.041,2401,1094,3376,3435,3317,0,0,0,0,0,0,25.72,26.24,26.59
$GC,248,-1.28,-243.3,2399,1092,3437,3317,68.8,-36.5,23,254,0.00,2.15,0.00,0.000,1030,0.000,0.038,2390,2498,3377,3438,3317,0,0,0,0,0,0,28.83,26.23,28.83
$GC,568,-1.28,-243.3,2390,2497,3442,3318,173.3,-33.3,39,574,0.00,1.85,0.00,0.000,260,0.000,0.054,2381,3677,3380,3442,3318,0,0,0,0,0,0,28.83,26.31,28.83
$GC,709,-1.28,-243.3,2380,3677,3442,3320,212.8,-31.0,45,717,0.00,1.67,0.00,0.000,1030,0.000,0.023,2380,2492,3381,3442,3320,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1015,-1.28,-243.3,2380,2492,3442,3320,313.6,-30.3,61,1022,0.10,1.83,0.00,0.000,2308,0.170,0.048,2398,3673,3381,3442,3320,0,0,0,0,0,0,26.44,26.41,28.83
$GC,1034,-1.28,-243.3,2397,3673,3442,3320,313.6,-30.3,61,1043,0.00,1.67,0.00,0.000,1030,0.000,0.024,2398,2490,3379,3439,3320,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1340,-1.28,-243.3,2397,2489,3443,3321,400.0,-27.1,77,1347,0.00,1.85,0.00,0.000,260,0.000,0.051,2389,3679,3383,3443,3323,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1428,-1.28,-243.3,2388,3678,3442,3321,423.1,-26.3,81,1434,0.00,1.67,0.00,0.000,1030,0.000,0.023,2389,2498,3382,3443,3322,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1755,-1.28,-243.3,2388,2496,3442,3321,500.9,-24.2,97,1760,0.00,1.83,0.00,0.000,260,0.000,0.052,2379,3671,3381,3442,3321,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1824,-1.28,-243.3,2379,3671,3442,3321,517.4,-24.4,100,1832,0.08,1.70,0.00,0.000,3078,0.132,0.024,2406,2504,3381,3442,3321,0,0,0,0,0,0,26.34,26.64,28.83
$GC,2146,-1.28,-243.3,2405,2502,3442,3321,583.4,-18.5,116,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2502,3381,3442,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2456,-1.28,-243.3,2405,2504,3442,3318,642.3,-18.6,128,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2502,3380,3443,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2755,-1.28,-243.3,2405,2501,3442,3314,700.1,-19.6,138,2762,0.00,2.05,0.00,0.000,516,0.000,0.030,2406,1110,3378,3442,3314,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2779,-1.28,-243.3,2405,1110,3442,3313,700.1,-19.6,138,2786,0.00,2.12,0.00,0.000,1030,0.000,0.038,2396,2506,3377,3442,3313,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3096,-1.28,-243.3,2396,2506,3442,3305,770.2,-21.3,149,3103,0.00,1.83,0.00,0.000,260,0.000,0.054,2387,3677,3375,3442,3308,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3186,-1.28,-243.3,2387,3677,3442,3307,784.8,-21.1,151,3194,0.00,1.67,0.00,0.000,1030,0.000,0.026,2387,2498,3374,3442,3306,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3493,-1.28,-243.3,2387,2497,3441,3302,855.1,-21.5,162,3500,0.00,2.05,0.00,0.000,516,0.000,0.030,2387,1108,3371,3441,3302,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3512,-1.28,-243.3,2387,1108,3441,3302,855.1,-21.5,162,3518,0.12,2.12,0.00,0.000,3078,0.163,0.040,2409,2503,3370,3439,3302,0,0,0,0,0,0,26.23,26.45,28.83
$GC,3832,-1.28,-243.3,2409,2503,3439,3298,923.0,-19.8,173,3838,0.00,1.83,0.00,0.000,260,0.000,0.055,2401,3672,3368,3439,3298,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3901,-1.28,-243.3,2401,3671,3438,3297,935.7,-19.6,175,3907,0.00,1.67,0.00,0.000,1030,0.000,0.028,2401,2509,3367,3438,3297,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,3990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3990,begin apogee
$GC,3996,-0.20,0.0,2401,1983,3438,3295,953.2,-18.9,178,4607,1.05,0.00,595.85,0.619,10246,0.116,0.000,2750,1982,2377,2532,2223,0,0,0,0,0,0,26.10,28.83,24.51
$STATE,4608,end apogee,CONTROL_FINISHED_OK
$STATE,4608,begin climb
$GC,4611,1.28,243.3,2750,1982,2530,2219,996.5,0.0,197,4997,1.30,2.42,372.85,0.750,11012,0.046,0.047,3241,3402,1377,1489,1265,0,0,0,0,0,0,25.20,24.81,24.14
$GC,5010,1.28,243.3,3238,3402,1479,1259,945.9,22.2,211,5018,0.00,2.17,0.00,0.000,1030,0.000,0.025,3249,2013,1367,1478,1256,0,0,0,0,0,0,28.83,25.10,28.83
$GC,5318,1.28,243.3,3249,2013,1465,1245,854.8,27.6,222,5324,0.00,2.22,0.00,0.000,260,0.000,0.046,3249,3412,1354,1464,1245,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5352,1.28,243.3,3249,3412,1464,1245,844.5,27.9,223,5360,0.12,2.15,0.00,0.000,5126,0.181,0.028,3231,1988,1354,1464,1244,0,0,0,0,0,0,25.84,26.12,28.83
$GC,5688,1.28,243.3,3230,1988,1462,1241,759.4,24.9,234,5695,0.00,2.10,0.00,0.000,516,0.000,0.037,3241,610,1351,1462,1241,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5743,1.28,243.3,3241,610,1461,1241,750.5,24.7,235,5749,0.00,2.10,0.00,0.000,1030,0.000,0.031,3241,2011,1351,1461,1241,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6059,1.28,243.3,3241,2011,1460,1240,668.2,24.8,246,6065,0.00,2.17,0.00,0.000,260,0.000,0.047,3241,3405,1350,1460,1240,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6104,1.28,243.3,3241,3405,1460,1240,659.0,25.2,247,6110,0.00,2.10,0.00,0.000,1030,0.000,0.029,3253,1994,1350,1460,1241,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6418,1.28,243.3,3252,1994,1458,1238,577.4,24.4,259,6425,0.00,2.12,0.00,0.000,516,0.000,0.040,3264,609,1348,1458,1238,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6469,1.28,243.3,3264,609,1458,1239,566.1,24.1,261,6475,0.12,2.08,0.00,0.000,5126,0.175,0.031,3232,2001,1348,1458,1238,0,0,0,0,0,0,26.20,26.47,28.83
$GC,6790,1.28,243.3,3232,2001,1457,1237,490.4,23.6,277,6797,0.00,2.17,0.00,0.000,260,0.000,0.047,3233,3402,1347,1457,1237,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6841,1.28,243.3,3233,3402,1456,1237,479.4,23.2,279,6847,0.00,2.08,0.00,0.000,1030,0.000,0.029,3243,2000,1346,1456,1237,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7161,1.28,243.3,3243,2000,1455,1235,406.0,20.2,295,7167,0.00,2.12,0.00,0.000,516,0.000,0.041,3255,604,1345,1455,1236,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7237,1.28,243.3,3254,604,1454,1234,391.9,20.8,298,7243,0.00,2.08,0.00,0.000,1030,0.000,0.031,3255,2001,1344,1454,1235,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7552,1.28,243.3,3255,2001,1453,1235,320.3,23.4,314,7558,0.00,2.17,0.00,0.000,260,0.000,0.046,3255,3406,1344,1453,1235,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7743,1.28,243.3,3254,3406,1452,1235,276.5,23.0,323,7750,0.12,2.10,0.00,0.000,5126,0.174,0.029,3234,1992,1344,1453,1235,0,0,0,0,0,0,26.23,26.55,28.83
$GC,8065,1.28,243.3,3233,1991,1452,1234,212.6,19.2,339,8071,0.00,2.10,0.00,0.000,516,0.000,0.040,3245,609,1343,1452,1234,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8090,1.28,243.3,3245,609,1452,1234,207.9,18.5,340,8096,0.00,2.08,0.00,0.000,1030,0.000,0.031,3245,2009,1343,1452,1234,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8416,1.28,243.3,3245,2009,1452,1234,155.3,12.4,356,8422,0.00,2.15,0.00,0.000,260,0.000,0.045,3245,3403,1343,1453,1234,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8655,1.28,243.3,3245,3403,1452,1234,118.2,15.9,367,8661,0.00,2.08,0.00,0.000,1030,0.000,0.028,3257,1989,1343,1452,1234,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8969,1.28,243.3,3257,1988,1452,1234,80.8,9.2,383,8975,0.00,2.20,0.00,0.000,260,0.000,0.044,3257,3409,1343,1452,1234,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9208,1.28,243.3,3256,3409,1453,1234,54.1,11.5,394,9215,0.15,2.08,0.00,0.000,5126,0.158,0.028,3227,1988,1343,1453,1234,0,0,0,0,0,0,26.23,26.58,28.83
$GC,9519,1.28,243.3,2176,1985,1423,1231,22.5,10.3,425,9527,0.00,2.20,0.00,0.000,260,0.000,0.045,3227,3402,1343,1453,1234,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9604,1.28,243.3,3227,3402,1454,1234,12.1,13.3,440,9613,0.00,2.05,0.00,0.000,1030,0.000,0.026,3238,1989,1344,1455,1234,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,9678,end climb,SURFACE_DEPTH_REACHED
$STATE,9678,begin surface coast
$FINISH,0.6,1.022301
$STATE,9702,end surface coast,CONTROL_FINISHED_OK
$STATE,9702,begin surface
$SM_CCo,9720,74.82,0.059,0,0,748,400.08
$SM_GC,1.56,7.93,0.77,74.82,0.033,0.045,0.059,110,2489,748,-8.30,-1.41,400.08,0,0,0,0,0,0,26.58,26.49,26.31
$IRIDIUM_FIX,2300.41,12201.32,020413,101041
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.56
$INTERNAL_PRESSURE,9.66204
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3936800
$24V_AH,24.1,38.381
$10V_AH,10.3,25.697
$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,20.075,86.475,968.700,74.825,0.000,0.000,0.000,201.025,0.000,0.000,31.876,1942.738,5317.251,1034.121,1546.842,330.711,0.000,2052.422,0.000,1257.108,0.000,0.538,0.000
$DEVICE_MAMPS,223.380,55.080,750.465,58.905,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9691.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.070,0.000,0.000,0.000
$MEM,324276
$DATA_FILE_SIZE,16758,457
$CAP_FILE_SIZE,259486,0
$CFSIZE,260034560,227500032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.505, 41.0,1
$GPS,020413,155537,2309.222,12203.447,30,1.4,31,-3.1