version: 66.11
glider: 171
mission: 4
dive: 273
start: 4 3 113 20 4 4
data:
$ID,171
$MISSION,4
$DIVE,273
$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,-20862.324
$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,59
$R_STBD_OVSHOOT,38
$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
$GPS1,030413,195736,2330.125,12156.807,26,1.3,27,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-70.4
$GPS2,030413,200335,2330.331,12156.969,35,1.3,35,-3.2
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,HEADING
$TGT_LATLONG,2330.331,12145.192
$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,273.2,20000,-10.6,-8.333,-15.41,4401
$D_GRID,4598
$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,-243.3,120,2501,843,662,0.0,0.0,0,79,0.00,0.00,-58.00,0.000,16386,0.000,0.000,120,2501,2411,2470,2353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.28,-243.3,120,2501,2476,2353,4.0,-7.4,8,114,9.05,2.17,-15.85,0.000,18948,0.224,0.043,2400,1089,3377,3435,3319,0,0,0,0,0,0,25.67,26.23,26.56
$GC,242,-1.28,-243.3,2400,1089,3437,3319,63.9,-32.9,23,248,0.00,2.15,0.00,0.000,1030,0.000,0.037,2390,2492,3378,3437,3319,0,0,0,0,0,0,28.83,26.22,28.83
$GC,567,-1.28,-243.3,2390,2492,3442,3319,173.7,-32.6,39,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2492,3380,3442,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,866,-1.28,-243.3,2390,2492,3442,3321,260.8,-30.1,54,872,0.00,2.05,0.00,0.000,516,0.000,0.031,2391,1102,3381,3443,3320,0,0,0,0,0,0,28.83,26.47,28.83
$GC,890,-1.28,-243.3,2390,1101,3442,3321,267.4,-29.1,55,896,0.12,2.15,0.00,0.000,3078,0.168,0.038,2411,2509,3382,3443,3321,0,0,0,0,0,0,26.17,26.39,28.83
$GC,1217,-1.28,-243.3,2411,2509,3443,3321,347.8,-22.6,71,1223,0.00,1.80,0.00,0.000,260,0.000,0.052,2403,3672,3382,3443,3321,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1283,-1.28,-243.3,2403,3672,3443,3321,363.0,-22.4,74,1289,0.00,1.70,0.00,0.000,1030,0.000,0.024,2403,2478,3382,3443,3321,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1609,-1.28,-243.3,2403,2477,3443,3321,433.1,-20.6,90,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2476,3382,3443,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1908,-1.28,-243.3,2403,2476,3442,3321,494.8,-20.6,105,1914,0.00,1.88,0.00,0.000,260,0.000,0.054,2394,3673,3381,3443,3320,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1954,-1.28,-243.3,2393,3673,3442,3321,504.4,-20.6,107,1960,0.00,1.73,0.00,0.000,1030,0.000,0.025,2394,2496,3382,3443,3321,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2280,-1.28,-243.3,2394,2496,3443,3318,575.9,-23.7,123,2286,0.00,1.85,0.00,0.000,260,0.000,0.054,2385,3676,3380,3442,3318,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2313,-1.28,-243.3,2385,3677,3443,3318,582.3,-23.9,124,2319,0.00,1.67,0.00,0.000,1030,0.000,0.026,2385,2501,3379,3442,3317,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2627,-1.28,-243.3,2385,2499,3443,3312,659.6,-23.5,136,2633,0.00,2.05,0.00,0.000,516,0.000,0.029,2385,1109,3377,3443,3312,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2656,-1.28,-243.3,2385,1109,3442,3312,659.6,-23.5,136,2665,0.12,2.12,0.00,0.000,3078,0.160,0.039,2407,2503,3377,3443,3312,0,0,0,0,0,0,26.25,26.46,28.83
$GC,2965,-1.28,-243.3,2407,2503,3443,3307,732.7,-21.1,147,2971,0.00,1.83,0.00,0.000,260,0.000,0.055,2399,3672,3374,3442,3306,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3024,-1.28,-243.3,2399,3672,3442,3306,740.7,-21.4,148,3031,0.00,1.67,0.00,0.000,1030,0.000,0.026,2399,2502,3374,3442,3306,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3331,-1.28,-243.3,2399,2501,3442,3302,809.6,-20.6,159,3337,0.00,2.05,0.00,0.000,516,0.000,0.030,2399,1112,3371,3441,3301,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3399,-1.28,-243.3,2399,1111,3441,3301,823.0,-20.1,161,3405,0.00,2.12,0.00,0.000,1030,0.000,0.040,2389,2503,3371,3442,3300,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3729,-1.28,-243.3,2389,2502,3439,3296,889.1,-19.9,172,3735,0.00,1.83,0.00,0.000,260,0.000,0.056,2379,3668,3367,3439,3296,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3763,-1.28,-243.3,2379,3669,3439,3296,896.0,-20.1,173,3769,0.12,1.70,0.00,0.000,3078,0.151,0.028,2413,2495,3367,3438,3296,0,0,0,0,0,0,26.30,26.64,28.83
$STATE,4066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4066,begin apogee
$GC,4072,-0.20,0.0,2414,1993,3437,3291,950.5,-17.5,183,4453,1.00,0.00,372.17,0.757,10246,0.115,0.000,2747,1992,2379,2534,2224,0,0,0,0,0,0,26.07,28.83,24.29
$STATE,4456,end apogee,CONTROL_FINISHED_OK
$STATE,4456,begin climb
$GC,4458,1.28,243.3,2747,1992,2528,2212,972.3,0.0,195,4835,1.33,2.22,363.08,0.746,10756,0.046,0.036,3250,626,1380,1493,1268,0,0,0,0,0,0,25.09,24.80,24.12
$GC,4877,1.28,243.3,3250,626,1474,1254,915.2,23.0,208,4883,0.00,2.17,0.00,0.000,1030,0.000,0.029,3250,2009,1364,1475,1253,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5193,1.28,243.3,3250,2009,1463,1244,826.1,26.8,219,5198,0.00,2.20,0.00,0.000,260,0.000,0.046,3250,3403,1353,1463,1244,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5241,1.28,243.3,3250,3403,1463,1244,816.0,27.2,220,5247,0.12,2.10,0.00,0.000,5126,0.179,0.028,3231,2006,1353,1463,1244,0,0,0,0,0,0,25.88,26.16,28.83
$GC,5561,1.28,243.3,3231,2005,1461,1241,731.0,25.5,231,5566,0.00,2.15,0.00,0.000,516,0.000,0.038,3241,604,1351,1461,1241,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5584,1.28,243.3,3241,604,1460,1241,731.0,25.5,231,5590,0.00,2.10,0.00,0.000,1030,0.000,0.031,3241,2004,1350,1460,1241,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5900,1.28,243.3,3241,2003,1459,1240,647.1,24.3,242,5906,0.00,2.17,0.00,0.000,260,0.000,0.046,3241,3400,1349,1459,1240,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5983,1.28,243.3,3241,3400,1458,1237,629.3,25.8,244,5989,0.00,2.08,0.00,0.000,1030,0.000,0.028,3253,1998,1349,1458,1240,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6308,1.28,243.3,3254,1998,1457,1238,545.4,23.5,259,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1998,1347,1457,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6608,1.28,243.3,3252,1998,1455,1238,472.7,23.5,274,6614,0.00,2.20,0.00,0.000,260,0.000,0.046,3253,3402,1346,1455,1238,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6641,1.28,243.3,3252,3403,1455,1238,467.1,23.6,275,6648,0.12,2.08,0.00,0.000,5126,0.180,0.029,3232,2002,1348,1455,1241,0,0,0,0,0,0,26.17,26.51,28.83
$GC,6957,1.28,243.3,3233,2003,1454,1236,394.3,21.7,291,6959,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2003,1343,1454,1233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7257,1.28,243.3,3233,2002,1454,1235,327.7,22.4,306,7263,0.00,2.17,0.00,0.000,260,0.000,0.046,3233,3399,1344,1453,1235,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7296,1.28,243.3,3233,3399,1453,1235,322.2,22.2,307,7304,0.00,2.08,0.00,0.000,1030,0.000,0.029,3244,2000,1344,1454,1235,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7602,1.28,243.3,3244,1999,1453,1234,256.7,18.9,323,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1999,1343,1453,1234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7901,1.28,243.3,3244,1999,1452,1233,199.1,19.1,338,7907,0.00,2.17,0.00,0.000,260,0.000,0.045,3244,3400,1343,1453,1233,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7919,1.28,243.3,3244,3400,1452,1233,199.1,19.1,338,7927,0.00,2.10,0.00,0.000,1030,0.000,0.030,3255,1994,1342,1452,1233,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8226,1.28,243.3,3255,1994,1452,1233,136.3,18.2,354,8232,0.00,2.12,0.00,0.000,516,0.000,0.040,3267,600,1343,1453,1233,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8239,1.28,243.3,3266,600,1452,1233,136.3,18.2,354,8245,0.12,2.10,0.00,0.000,5126,0.159,0.031,3234,2008,1342,1452,1233,0,0,0,0,0,0,26.23,26.50,28.83
$GC,8556,1.28,243.3,3233,2008,1453,1232,92.6,12.9,370,8562,0.00,2.15,0.00,0.000,516,0.000,0.039,3245,603,1341,1452,1231,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8795,1.28,243.3,3244,603,1453,1231,69.2,9.1,381,8801,0.00,2.08,0.00,0.000,1030,0.000,0.029,3245,2008,1340,1450,1231,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9109,1.28,243.3,3244,2008,1453,1231,40.6,8.9,403,9115,0.00,2.15,0.00,0.000,260,0.000,0.045,3244,3402,1342,1453,1231,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9150,1.28,243.3,3244,3401,1452,1231,37.5,8.7,406,9158,0.00,2.08,0.00,0.000,1030,0.000,0.026,3256,1979,1342,1453,1231,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9463,1.28,243.3,2216,1979,1423,1229,6.9,10.4,454,9471,0.00,2.22,0.00,0.000,260,0.000,0.045,3256,3407,1342,1453,1231,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,9499,end climb,SURFACE_DEPTH_REACHED
$STATE,9499,begin surface coast
$FINISH,0.4,1.014760
$STATE,9527,end surface coast,CONTROL_FINISHED_OK
$STATE,9527,begin surface
$SM_CCo,9546,73.62,0.060,0,0,748,400.08
$SM_GC,1.45,7.95,1.35,73.62,0.031,0.027,0.060,130,2512,748,-8.29,1.98,400.08,0,0,0,0,0,0,26.58,26.61,26.28
$IRIDIUM_FIX,2319.18,12159.08,030413,171704
$TT8_MAMPS,0.048685,0.048685
$HUMID,44.60
$INTERNAL_PRESSURE,9.66204
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3933280
$24V_AH,24.1,40.235
$10V_AH,10.2,26.611
$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,20.075,81.475,735.250,73.625,0.000,0.000,0.000,180.150,0.000,0.000,35.909,1757.402,5698.242,775.948,1419.899,325.762,0.000,1721.689,0.000,1150.198,0.000,0.538,0.000
$DEVICE_MAMPS,224.145,55.845,757.350,59.670,0.000,0.000,0.000,127.755,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9524.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.228,0.000,0.000,0.000
$MEM,324272
$DATA_FILE_SIZE,16746,465
$CAP_FILE_SIZE,248315,0
$CFSIZE,260034560,226533376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030413,224535,2332.526,12156.354,30,1.0,31,-3.2