version: 66.11
glider: 171
mission: 4
dive: 272
start: 4 3 113 17 19 30
data:
$ID,171
$MISSION,4
$DIVE,272
$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,-20861.066
$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,55
$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
$GPS1,030413,171333,2327.729,12157.440,13,7.7,33,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.6
$GPS2,030413,171901,2327.901,12157.539,14,1.9,14,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,HEADING
$TGT_LATLONG,2327.901,12145.767
$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,4608
$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,-243.3,127,2499,850,657,0.0,0.0,0,79,0.00,0.00,-58.22,0.000,16386,0.000,0.000,127,2500,2396,2444,2348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.28,-243.3,127,2500,2449,2348,3.5,-5.3,8,114,9.02,1.90,-16.62,0.000,18692,0.225,0.068,2392,3661,3378,3437,3319,0,0,0,0,0,0,25.69,26.15,26.58
$GC,327,-1.28,-243.3,2393,3661,3440,3319,99.5,-38.0,28,333,0.00,1.75,0.00,0.000,1030,0.000,0.024,2393,2490,3379,3440,3319,0,0,0,0,0,0,28.83,26.39,28.83
$GC,653,-1.28,-243.3,2392,2489,3443,3321,197.5,-26.7,44,659,0.00,2.05,0.00,0.000,516,0.000,0.028,2391,1096,3382,3443,3321,0,0,0,0,0,0,28.83,26.45,28.83
$GC,713,-1.28,-243.3,2392,1095,3444,3322,209.2,-25.8,46,721,0.00,2.12,0.00,0.000,1030,0.000,0.037,2382,2494,3383,3444,3322,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1020,-1.28,-243.3,2382,2494,3445,3324,300.0,-29.0,62,1026,0.00,1.83,0.00,0.000,260,0.000,0.053,2373,3671,3384,3445,3324,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1066,-1.28,-243.3,2373,3671,3445,3324,312.6,-28.9,64,1072,0.12,1.67,0.00,0.000,3078,0.155,0.024,2405,2487,3384,3445,3324,0,0,0,0,0,0,26.25,26.57,28.83
$GC,1392,-1.28,-243.3,2404,2487,3446,3324,392.1,-24.1,80,1398,0.00,2.03,0.00,0.000,516,0.000,0.028,2405,1106,3385,3446,3324,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1432,-1.28,-243.3,2405,1106,3446,3324,398.4,-23.9,81,1440,0.00,2.12,0.00,0.000,1030,0.000,0.038,2395,2504,3385,3446,3324,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1737,-1.28,-243.3,2395,2504,3446,3324,477.3,-25.7,97,1743,0.00,1.80,0.00,0.000,260,0.000,0.053,2386,3673,3385,3446,3324,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1813,-1.28,-243.3,2386,3672,3445,3324,494.4,-25.6,100,1819,0.00,1.67,0.00,0.000,1030,0.000,0.024,2386,2490,3385,3446,3324,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2127,-1.28,-243.3,2386,2489,3445,3323,576.0,-24.4,116,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2489,3383,3445,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2429,-1.28,-243.3,2386,2489,3445,3318,642.3,-20.3,128,2434,0.00,1.85,0.00,0.000,260,0.000,0.054,2377,3673,3381,3445,3318,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2468,-1.28,-243.3,2377,3674,3446,3318,649.7,-20.1,129,2474,0.12,1.67,0.00,0.000,3078,0.150,0.025,2411,2490,3381,3445,3318,0,0,0,0,0,0,26.32,26.65,28.83
$GC,2798,-1.28,-243.3,2410,2489,3445,3312,713.9,-18.7,140,2803,0.00,2.00,0.00,0.000,516,0.000,0.028,2411,1118,3378,3445,3312,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2842,-1.28,-243.3,2411,1118,3445,3311,720.3,-18.6,141,2848,0.00,2.12,0.00,0.000,1030,0.000,0.039,2401,2504,3378,3445,3311,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3167,-1.28,-243.3,2401,2504,3444,3307,787.1,-20.0,152,3172,0.00,1.83,0.00,0.000,260,0.000,0.055,2393,3671,3375,3444,3306,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3294,-1.28,-243.3,2392,3671,3443,3305,811.7,-19.9,156,3300,0.00,1.67,0.00,0.000,1030,0.000,0.026,2393,2502,3374,3442,3306,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3623,-1.28,-243.3,2392,2500,3442,3301,879.4,-20.3,167,3629,0.00,2.05,0.00,0.000,516,0.000,0.030,2392,1115,3371,3442,3300,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3663,-1.28,-243.3,2392,1112,3442,3300,886.4,-20.3,168,3668,0.00,2.12,0.00,0.000,1030,0.000,0.041,2382,2501,3371,3442,3300,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,3959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3960,begin apogee
$GC,3966,-0.20,0.0,2382,1996,3440,3295,951.5,-21.4,178,4357,1.12,0.00,377.00,0.754,10246,0.123,0.000,2748,1993,2373,2530,2217,0,0,0,0,0,0,26.03,28.83,24.29
$STATE,4359,end apogee,CONTROL_FINISHED_OK
$STATE,4359,begin climb
$GC,4361,1.28,243.3,2748,1993,2526,2209,974.6,0.0,190,4745,1.33,0.00,372.12,0.734,10758,0.047,0.000,3240,1993,1381,1494,1269,0,0,0,0,0,0,25.13,28.83,24.20
$GC,5043,1.28,243.3,3242,1992,1467,1245,838.7,26.9,214,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1992,1356,1467,1245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5342,1.28,243.3,3239,1992,1464,1243,760.8,25.3,224,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1992,1354,1465,1243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5642,1.28,243.3,3239,1992,1462,1242,686.4,25.6,234,5648,0.00,2.25,0.00,0.000,260,0.000,0.046,3240,3419,1352,1462,1243,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5752,1.28,243.3,3239,3420,1461,1241,661.2,26.2,237,5757,0.00,2.10,0.00,0.000,1030,0.000,0.028,3252,2010,1351,1461,1242,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6071,1.28,243.3,3251,2011,1460,1240,581.9,22.7,249,6077,0.00,2.20,0.00,0.000,260,0.000,0.045,3252,3415,1350,1460,1240,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6122,1.28,243.3,3252,3415,1460,1240,571.2,23.0,251,6128,0.12,2.10,0.00,0.000,5126,0.182,0.029,3232,1997,1350,1460,1240,0,0,0,0,0,0,26.15,26.48,28.83
$GC,6443,1.28,243.3,3232,1997,1459,1238,497.7,21.5,267,6449,0.00,2.12,0.00,0.000,516,0.000,0.041,3245,610,1348,1459,1238,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6494,1.28,243.3,3243,610,1459,1238,487.3,21.9,269,6500,0.00,2.10,0.00,0.000,1030,0.000,0.031,3243,2018,1348,1459,1238,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6815,1.28,243.3,3243,2018,1458,1238,410.1,23.8,285,6821,0.00,2.15,0.00,0.000,260,0.000,0.046,3243,3403,1348,1459,1237,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6833,1.28,243.3,3243,3403,1458,1238,410.1,23.8,285,6841,0.00,2.08,0.00,0.000,1030,0.000,0.030,3255,2005,1348,1459,1237,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7139,1.28,243.3,3254,2006,1458,1237,332.3,23.6,301,7145,0.00,2.15,0.00,0.000,516,0.000,0.041,3266,602,1347,1458,1236,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7242,1.28,243.3,3265,602,1458,1237,313.6,21.6,305,7250,0.12,2.10,0.00,0.000,5126,0.170,0.031,3234,2004,1347,1458,1237,0,0,0,0,0,0,26.20,26.50,28.83
$GC,7547,1.28,243.3,3234,2004,1458,1235,250.5,19.9,321,7552,0.00,2.17,0.00,0.000,260,0.000,0.046,3234,3408,1347,1458,1236,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7593,1.28,243.3,3233,3408,1458,1235,241.3,20.3,323,7599,0.00,2.10,0.00,0.000,1030,0.000,0.029,3245,1997,1347,1458,1236,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7919,1.28,243.3,3245,1997,1457,1235,178.1,17.7,339,7925,0.00,2.12,0.00,0.000,516,0.000,0.041,3256,607,1346,1457,1235,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8046,1.28,243.3,3256,607,1458,1235,157.8,15.9,345,8052,0.00,2.10,0.00,0.000,1030,0.000,0.030,3256,2009,1346,1458,1235,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8372,1.28,243.3,3256,2009,1457,1235,106.5,15.6,361,8378,0.00,2.15,0.00,0.000,260,0.000,0.045,3256,3400,1346,1457,1235,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8400,1.28,243.3,3256,3401,1457,1235,102.6,15.6,362,8406,0.12,2.08,0.00,0.000,5126,0.165,0.028,3234,1988,1345,1457,1234,0,0,0,0,0,0,26.22,26.55,28.83
$GC,8722,1.36,267.5,3233,1987,1457,1235,66.8,7.8,378,8772,0.00,2.15,40.25,0.383,8708,0.000,0.039,3245,610,1286,1401,1171,0,0,0,0,0,0,28.83,26.27,25.74
$GC,9009,1.36,267.5,3244,610,1383,1162,34.4,11.2,397,9015,0.00,2.08,0.00,0.000,1030,0.000,0.029,3245,2004,1272,1383,1162,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,9306,end climb,SURFACE_DEPTH_REACHED
$STATE,9306,begin surface coast
$FINISH,0.4,1.009736
$STATE,9335,end surface coast,CONTROL_FINISHED_OK
$STATE,9335,begin surface
$SM_CCo,9354,65.12,0.059,0,0,747,400.08
$SM_GC,1.37,7.95,0.75,65.12,0.031,0.045,0.059,123,2499,747,-8.30,-1.24,400.08,0,0,0,0,0,0,26.46,26.40,26.23
$IRIDIUM_FIX,2316.83,12157.83,030413,141411
$TT8_MAMPS,0.048685,0.048685
$HUMID,45.86
$INTERNAL_PRESSURE,9.66204
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,3933600
$24V_AH,24.2,40.073
$10V_AH,10.2,26.531
$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,20.050,74.025,789.375,65.125,0.000,0.000,0.000,169.675,0.000,0.000,15.275,1787.810,5375.946,809.275,1448.018,324.589,0.000,1764.976,0.000,1205.386,0.000,0.537,0.000
$DEVICE_MAMPS,224.910,68.085,753.525,58.905,0.000,0.000,0.000,128.520,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9343.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.175,0.000,0.000,0.000
$MEM,324276
$DATA_FILE_SIZE,16729,450
$CAP_FILE_SIZE,248836,0
$CFSIZE,260034560,226623488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030413,195736,2330.125,12156.807,26,1.3,27,-3.2