version: 66.11
glider: 171
mission: 4
dive: 269
start: 4 3 113 8 49 1
data:
$ID,171
$MISSION,4
$DIVE,269
$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,-20857.293
$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,69
$R_STBD_OVSHOOT,45
$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
$GPS1,030413,084235,2321.070,12200.456,37,1.1,43,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-71.1
$GPS2,030413,084831,2321.186,12200.603,12,2.0,12,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,HEADING
$TGT_LATLONG,2321.186,12148.840
$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,4698
$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,-243.3,110,2486,847,661,0.0,0.0,0,79,0.00,0.00,-58.15,0.000,16386,0.000,0.000,110,2486,2430,2494,2367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.28,-243.3,110,2486,2499,2368,4.3,-7.7,8,114,8.98,1.90,-15.23,0.000,19204,0.218,0.063,2395,3658,3377,3436,3319,0,0,0,0,0,0,25.69,26.15,26.58
$GC,346,-1.28,-243.3,2394,3658,3439,3320,98.8,-33.1,28,352,0.00,1.65,0.00,0.000,1030,0.000,0.024,2395,2505,3379,3439,3319,0,0,0,0,0,0,28.83,26.41,28.83
$GC,660,-1.28,-243.3,2394,2504,3442,3320,192.8,-26.7,44,666,0.00,2.08,0.00,0.000,516,0.000,0.031,2394,1106,3381,3442,3320,0,0,0,0,0,0,28.83,26.43,28.83
$GC,767,-1.28,-243.3,1424,1105,3429,3316,221.0,-26.3,49,773,0.00,2.10,0.00,0.000,1030,0.000,0.037,2384,2492,3380,3440,3320,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1093,-1.28,-243.3,2384,2492,3444,3322,314.7,-29.1,65,1098,0.00,1.83,0.00,0.000,260,0.000,0.054,2375,3670,3383,3444,3322,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1248,-1.28,-243.3,2374,3669,3444,3322,356.0,-27.0,72,1255,0.12,1.67,0.00,0.000,3078,0.152,0.024,2408,2493,3383,3444,3322,0,0,0,0,0,0,26.28,26.59,28.83
$GC,1565,-1.28,-243.3,2407,2493,3444,3322,429.6,-22.0,88,1571,0.00,2.05,0.00,0.000,516,0.000,0.029,2408,1102,3383,3444,3322,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1599,-1.28,-243.3,2407,1102,3444,3322,435.3,-21.9,89,1604,0.00,2.12,0.00,0.000,1030,0.000,0.038,2398,2503,3383,3444,3322,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1913,-1.28,-243.3,2398,2502,3444,3322,507.4,-22.2,105,1918,0.00,1.83,0.00,0.000,260,0.000,0.053,2389,3679,3384,3444,3325,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1999,-1.28,-243.3,2389,3679,3444,3322,525.8,-21.5,109,2005,0.00,1.67,0.00,0.000,1030,0.000,0.025,2389,2495,3383,3444,3322,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2326,-1.28,-243.3,2389,2494,3445,3319,591.8,-19.7,125,2331,0.00,2.03,0.00,0.000,516,0.000,0.028,2387,1109,3381,3444,3318,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2381,-1.28,-243.3,2388,1109,3444,3318,601.3,-20.1,127,2388,0.12,2.12,0.00,0.000,3078,0.161,0.037,2411,2507,3381,3444,3318,0,0,0,0,0,0,26.26,26.46,28.83
$GC,2696,-1.28,-243.3,2411,2507,3444,3313,663.7,-19.6,138,2702,0.00,1.83,0.00,0.000,260,0.000,0.054,2404,3679,3378,3444,3312,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2780,-1.28,-243.3,2403,3678,3444,3312,676.1,-19.3,140,2786,0.00,1.67,0.00,0.000,1030,0.000,0.026,2403,2501,3378,3444,3312,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3096,-1.28,-243.3,2403,2499,3443,3307,740.9,-19.6,151,3102,0.00,2.05,0.00,0.000,516,0.000,0.031,2404,1111,3374,3443,3306,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3130,-1.28,-243.3,2403,1111,3443,3306,748.0,-19.7,152,3136,0.00,2.12,0.00,0.000,1030,0.000,0.039,2393,2502,3374,3443,3306,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3465,-1.28,-243.3,2392,2502,3441,3301,817.8,-21.2,163,3471,0.00,1.83,0.00,0.000,260,0.000,0.055,2384,3672,3371,3442,3301,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3512,-1.28,-243.3,2384,3672,3441,3301,825.0,-20.9,164,3518,0.00,1.73,0.00,0.000,1030,0.000,0.027,2384,2505,3371,3441,3301,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3832,-1.28,-243.3,2384,2503,3440,3297,896.7,-21.9,175,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2503,3368,3439,3297,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4100,begin apogee
$GC,4106,-0.20,0.0,2385,2000,3438,3290,953.4,-20.6,184,4491,1.10,0.00,374.40,0.756,10246,0.120,0.000,2746,1998,2376,2532,2220,0,0,0,0,0,0,26.06,28.83,24.33
$STATE,4494,end apogee,CONTROL_FINISHED_OK
$STATE,4494,begin climb
$GC,4496,1.28,243.3,2746,1997,2528,2208,980.9,0.0,196,4890,1.33,2.33,379.38,0.728,10756,0.047,0.037,3250,616,1382,1494,1270,0,0,0,0,0,0,25.14,24.86,24.20
$GC,4942,1.28,243.3,3250,616,1474,1254,922.8,22.9,210,4948,0.00,2.20,0.00,0.000,1030,0.000,0.031,3249,2021,1364,1474,1254,0,0,0,0,0,0,28.83,25.36,28.83
$GC,5258,1.28,243.3,3249,2021,1464,1247,835.4,26.6,221,5264,0.00,2.17,0.00,0.000,260,0.000,0.046,3250,3403,1355,1464,1247,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5292,1.28,243.3,3250,3404,1463,1247,825.5,26.5,222,5299,0.12,2.10,0.00,0.000,5126,0.179,0.028,3230,2011,1355,1463,1247,0,0,0,0,0,0,25.90,26.17,28.83
$GC,5628,1.28,243.3,3230,2010,1460,1243,740.6,24.7,233,5633,0.00,2.20,0.00,0.000,260,0.000,0.047,3230,3406,1351,1460,1243,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5667,1.28,243.3,3230,3406,1460,1243,731.6,25.0,234,5673,0.00,2.10,0.00,0.000,1030,0.000,0.028,3241,1997,1351,1460,1243,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5997,1.28,243.3,3241,1996,1458,1241,649.7,22.8,245,6003,0.00,2.12,0.00,0.000,516,0.000,0.039,3253,607,1349,1458,1241,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6014,1.28,243.3,3252,607,1459,1241,649.7,22.8,245,6021,0.00,2.10,0.00,0.000,1030,0.000,0.032,3252,1998,1349,1458,1241,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6324,1.28,243.3,3252,2000,1456,1241,574.6,24.1,257,6330,0.00,2.17,0.00,0.000,260,0.000,0.045,3253,3410,1348,1456,1241,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6373,1.28,243.3,3252,3407,1456,1241,564.0,24.1,259,6380,0.12,2.10,0.00,0.000,5126,0.181,0.029,3233,1994,1348,1455,1241,0,0,0,0,0,0,26.17,26.49,28.83
$GC,6695,1.28,243.3,3232,1994,1454,1239,490.8,22.6,275,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1994,1346,1454,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6994,1.28,243.3,3232,1994,1453,1238,422.5,22.3,290,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1994,1345,1453,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7293,1.28,243.3,3233,1994,1453,1238,358.0,22.4,305,7299,0.00,2.12,0.00,0.000,516,0.000,0.041,3244,609,1345,1453,1238,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7454,1.28,243.3,3241,608,1452,1235,329.0,18.9,312,7463,0.00,2.08,0.00,0.000,1030,0.000,0.031,3243,2005,1345,1452,1238,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7761,1.28,243.3,3244,2005,1452,1238,266.9,20.1,328,7767,0.00,2.17,0.00,0.000,260,0.000,0.045,3244,3410,1345,1452,1238,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7811,1.28,243.3,3243,3410,1452,1238,257.6,21.0,330,7816,0.00,2.08,0.00,0.000,1030,0.000,0.029,3255,2000,1345,1452,1238,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8133,1.28,243.3,3255,1999,1451,1238,191.9,18.0,346,8134,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1999,1344,1451,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8430,1.28,243.3,3255,1999,1451,1237,135.8,18.2,361,8436,0.00,2.12,0.00,0.000,516,0.000,0.041,3266,610,1344,1451,1237,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8505,1.28,243.3,3266,613,1451,1236,125.5,16.2,364,8512,0.12,2.08,0.00,0.000,5126,0.162,0.030,3233,2009,1343,1451,1236,0,0,0,0,0,0,26.23,26.52,28.83
$GC,8821,1.28,243.3,3233,2010,1450,1237,85.4,11.5,380,8828,0.00,2.17,0.00,0.000,260,0.000,0.047,3233,3408,1343,1451,1236,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9060,1.28,243.3,3233,3408,1452,1237,59.8,11.0,391,9066,0.00,2.08,0.00,0.000,1030,0.000,0.028,3245,1989,1344,1451,1237,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9375,1.46,295.0,3244,1989,1451,1236,29.5,7.1,418,9498,0.12,2.20,115.68,0.356,10756,0.085,0.037,3344,609,1173,1283,1063,0,0,0,0,0,0,26.66,25.87,25.40
$GC,9543,1.46,295.0,2336,610,1249,1050,8.8,17.0,440,9552,0.20,2.12,0.00,0.000,5126,0.145,0.028,3289,2009,1160,1269,1052,0,0,0,0,0,0,25.71,25.98,28.83
$STATE,9580,end climb,SURFACE_DEPTH_REACHED
$STATE,9580,begin surface coast
$FINISH,0.4,1.013356
$STATE,9603,end surface coast,CONTROL_FINISHED_OK
$STATE,9603,begin surface
$SM_CCo,9622,52.25,0.059,0,0,747,400.08
$SM_GC,1.28,8.23,0.75,52.25,0.034,0.049,0.059,128,2483,747,-8.30,-1.44,400.08,0,0,0,0,0,0,26.08,26.01,25.96
$IRIDIUM_FIX,2312.13,12201.82,030413,050553
$TT8_MAMPS,0.048685,0.048685
$HUMID,45.74
$INTERNAL_PRESSURE,9.65227
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3934560
$24V_AH,24.2,39.542
$10V_AH,10.2,26.282
$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,20.575,78.550,869.450,52.250,0.000,0.000,0.000,198.450,0.000,0.000,13.367,1802.078,5534.665,843.459,1515.763,332.906,0.000,1868.956,0.000,1239.386,0.000,0.537,0.000
$DEVICE_MAMPS,218.025,63.495,755.820,58.905,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9603.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.100,0.000,0.000,0.000
$MEM,324272
$DATA_FILE_SIZE,16752,450
$CAP_FILE_SIZE,255440,0
$CFSIZE,260034560,226881536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030413,113127,2323.023,12159.569,10,2.4,30,-3.1