version: 66.11
glider: 171
mission: 4
dive: 275
start: 4 4 113 1 35 31
data:
$ID,171
$MISSION,4
$DIVE,275
$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,-20864.836
$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,64
$R_STBD_OVSHOOT,40
$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
$GPS1,040413,012907,2334.535,12155.755,15,1.6,16,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.8
$GPS2,040413,013501,2334.745,12155.887,12,1.9,12,-3.2
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,HEADING
$TGT_LATLONG,2334.745,12144.104
$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,4375
$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,-243.3,126,2498,839,663,0.0,0.0,0,79,0.00,0.00,-58.35,0.000,16386,0.000,0.000,126,2498,2449,2514,2384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.28,-243.3,127,2498,2519,2384,3.9,-6.9,8,114,8.93,1.90,-15.02,0.000,18692,0.220,0.067,2393,3662,3376,3435,3318,0,0,0,0,0,0,25.65,26.11,26.55
$GC,304,-1.28,-243.3,2392,3662,3438,3318,89.0,-31.1,26,310,0.00,1.67,0.00,0.000,1030,0.000,0.024,2393,2503,3378,3439,3318,0,0,0,0,0,0,28.83,26.37,28.83
$GC,629,-1.28,-243.3,2392,2502,3443,3321,186.4,-27.5,42,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2502,3382,3443,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,928,-1.28,-243.3,2393,2502,3444,3323,270.0,-24.9,57,934,0.00,2.05,0.00,0.000,516,0.000,0.030,2393,1104,3383,3444,3323,0,0,0,0,0,0,28.83,26.47,28.83
$GC,997,-1.28,-243.3,2392,1104,3444,3323,286.6,-25.0,60,1003,0.00,2.12,0.00,0.000,1030,0.000,0.038,2382,2501,3383,3444,3323,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1319,-1.28,-243.3,2382,2501,3444,3323,369.8,-25.8,76,1325,0.00,1.83,0.00,0.000,260,0.000,0.054,2373,3673,3383,3443,3323,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1440,-1.28,-243.3,2373,3672,3444,3323,396.8,-25.1,81,1449,0.12,1.67,0.00,0.000,3078,0.154,0.024,2406,2483,3383,3444,3323,0,0,0,0,0,0,26.28,26.61,28.83
$GC,1747,-1.28,-243.3,2405,2483,3443,3323,465.4,-20.8,97,1753,0.00,2.00,0.00,0.000,516,0.000,0.028,2406,1114,3383,3444,3323,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1796,-1.28,-243.3,2406,1114,3443,3324,475.0,-20.9,99,1802,0.00,2.10,0.00,0.000,1030,0.000,0.038,2396,2500,3383,3444,3323,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2117,-1.28,-243.3,2396,2501,3443,3320,542.4,-21.6,115,2123,0.00,1.85,0.00,0.000,260,0.000,0.054,2386,3661,3382,3444,3320,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2187,-1.28,-243.3,2387,3661,3443,3323,558.0,-22.6,118,2193,0.00,1.65,0.00,0.000,1030,0.000,0.026,2387,2507,3382,3444,3320,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2507,-1.28,-243.3,2387,2505,3443,3316,629.7,-22.3,132,2512,0.00,2.05,0.00,0.000,516,0.000,0.029,2387,1110,3379,3444,3315,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2541,-1.28,-243.3,2387,1110,3443,3315,637.2,-22.3,133,2547,0.12,2.12,0.00,0.000,3078,0.164,0.038,2409,2501,3379,3444,3314,0,0,0,0,0,0,26.22,26.45,28.83
$GC,2876,-1.28,-243.3,2409,2501,3444,3309,704.4,-20.0,144,2882,0.00,1.83,0.00,0.000,260,0.000,0.055,2401,3671,3376,3443,3309,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2915,-1.28,-243.3,2401,3671,3443,3309,711.2,-20.2,145,2920,0.00,1.67,0.00,0.000,1030,0.000,0.026,2401,2505,3376,3443,3309,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3245,-1.28,-243.3,2401,2504,3442,3304,776.6,-19.4,156,3250,0.00,1.85,0.00,0.000,260,0.000,0.056,2392,3675,3373,3442,3304,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3283,-1.28,-243.3,2392,3675,3442,3304,783.4,-19.4,157,3289,0.00,1.70,0.00,0.000,1030,0.000,0.026,2392,2494,3373,3442,3304,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3613,-1.28,-243.3,2392,2492,3441,3300,846.4,-19.5,168,3618,0.00,2.05,0.00,0.000,516,0.000,0.028,2392,1099,3370,3441,3300,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3641,-1.28,-243.3,2392,1100,3440,3299,846.4,-19.5,168,3650,0.00,2.15,0.00,0.000,1030,0.000,0.040,2381,2502,3369,3440,3299,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3949,-1.28,-243.3,2381,2502,3438,3295,915.1,-20.9,179,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2502,3366,3438,3295,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4125,begin apogee
$GC,4132,-0.20,0.0,2381,1984,3438,3292,951.6,-20.2,185,4518,1.12,0.00,374.33,0.759,10246,0.122,0.000,2749,1983,2374,2531,2217,0,0,0,0,0,0,26.01,28.83,24.29
$STATE,4521,end apogee,CONTROL_FINISHED_OK
$STATE,4521,begin climb
$GC,4523,1.28,243.3,2748,1983,2526,2210,974.9,0.0,197,4807,1.33,2.28,268.38,0.879,10756,0.047,0.035,3251,629,1373,1485,1262,0,0,0,0,0,0,25.10,24.60,23.84
$GC,4923,1.28,243.3,3250,629,1464,1244,905.3,26.9,210,4929,0.00,2.15,0.00,0.000,1030,0.000,0.029,3251,2014,1354,1464,1244,0,0,0,0,0,0,28.83,25.52,28.83
$GC,5252,1.28,243.3,3250,2014,1458,1241,814.1,26.6,221,5258,0.00,2.20,0.00,0.000,260,0.000,0.046,3251,3403,1349,1458,1241,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5275,1.28,243.3,3250,3405,1458,1241,814.1,26.6,221,5282,0.12,2.10,0.00,0.000,5126,0.181,0.028,3232,2014,1349,1458,1240,0,0,0,0,0,0,25.89,26.19,28.83
$GC,5591,1.28,243.3,3232,2014,1455,1239,728.5,24.8,232,5597,0.00,2.15,0.00,0.000,516,0.000,0.038,3242,611,1346,1454,1239,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5636,1.28,243.3,3240,610,1454,1239,719.6,25.2,233,5642,0.00,2.10,0.00,0.000,1030,0.000,0.031,3242,2000,1346,1454,1238,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5960,1.28,243.3,3243,2001,1453,1237,635.1,25.8,244,5966,0.00,2.20,0.00,0.000,260,0.000,0.046,3243,3413,1345,1453,1238,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5988,1.28,243.3,3242,3413,1453,1238,635.1,25.8,244,5996,0.00,2.10,0.00,0.000,1030,0.000,0.028,3254,2004,1345,1453,1238,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6295,1.28,243.3,3254,2004,1451,1236,547.8,26.4,258,6300,0.00,2.15,0.00,0.000,516,0.000,0.040,3265,600,1344,1452,1236,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6341,1.28,243.3,3265,600,1451,1236,536.0,26.0,260,6348,0.12,2.12,0.00,0.000,5126,0.173,0.031,3234,2009,1342,1451,1234,0,0,0,0,0,0,26.15,26.44,28.83
$GC,6667,1.28,243.3,3234,2009,1450,1235,460.0,22.7,276,6673,0.00,2.17,0.00,0.000,260,0.000,0.046,3234,3406,1343,1451,1235,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6728,1.28,243.3,3233,3406,1451,1235,449.0,23.3,278,6736,0.00,2.10,0.00,0.000,1030,0.000,0.030,3245,1995,1343,1451,1235,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7035,1.28,243.3,3244,1994,1450,1234,372.8,22.3,294,7041,0.00,2.12,0.00,0.000,516,0.000,0.041,3256,607,1342,1450,1234,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7175,1.28,243.3,3256,607,1450,1234,345.0,21.8,300,7183,0.00,2.08,0.00,0.000,1030,0.000,0.031,3256,1999,1342,1450,1234,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7482,1.28,243.3,3253,1999,1449,1233,275.0,22.6,316,7488,0.00,2.17,0.00,0.000,260,0.000,0.046,3256,3407,1341,1449,1233,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7658,1.28,243.3,3256,3407,1449,1233,231.4,26.4,324,7665,0.15,2.10,0.00,0.000,5126,0.166,0.029,3228,1993,1341,1449,1233,0,0,0,0,0,0,26.15,26.52,28.83
$GC,7977,1.28,243.3,3228,1991,1449,1231,166.9,20.4,340,7982,0.00,2.20,0.00,0.000,260,0.000,0.046,3228,3402,1340,1449,1231,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8064,1.28,243.3,3228,3402,1449,1231,148.0,21.0,344,8069,0.00,2.10,0.00,0.000,1030,0.000,0.028,3239,1991,1338,1446,1231,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8390,1.28,243.3,3239,1991,1449,1230,95.8,14.6,360,8396,0.00,2.12,0.00,0.000,516,0.000,0.040,3251,604,1339,1449,1230,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8628,1.28,243.3,3251,603,1449,1229,66.6,9.9,371,8634,0.00,2.08,0.00,0.000,1030,0.000,0.029,3251,2010,1339,1449,1230,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8945,1.28,243.3,3250,2010,1447,1230,31.7,9.9,395,8950,0.00,2.15,0.00,0.000,516,0.000,0.039,3262,603,1339,1449,1230,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9188,1.28,243.3,2224,603,1420,1227,7.5,9.1,435,9197,0.12,2.05,0.00,0.000,5126,0.150,0.029,3228,2000,1338,1449,1228,0,0,0,0,0,0,26.25,26.51,28.83
$STATE,9239,end climb,SURFACE_DEPTH_REACHED
$STATE,9239,begin surface coast
$FINISH,0.2,1.022047
$STATE,9272,end surface coast,CONTROL_FINISHED_OK
$STATE,9273,begin surface
$SM_CCo,9292,73.70,0.061,0,0,748,400.08
$SM_GC,1.37,7.93,0.75,73.70,0.034,0.044,0.061,136,2499,748,-8.30,-1.33,400.08,0,0,0,0,0,0,26.52,26.48,26.26
$IRIDIUM_FIX,2323.87,12155.09,030413,222214
$TT8_MAMPS,0.047936,0.047936
$HUMID,47.36
$INTERNAL_PRESSURE,9.6425
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3932640
$24V_AH,23.8,40.555
$10V_AH,10.2,26.772
$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,20.075,82.750,642.700,73.700,0.000,0.000,0.000,196.575,0.000,0.000,13.798,1868.041,5293.074,717.819,1503.417,337.622,0.000,1697.218,0.000,1240.676,0.000,0.538,0.000
$DEVICE_MAMPS,220.320,67.320,878.985,61.200,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9276.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.153,0.000,0.000,0.000
$MEM,324272
$DATA_FILE_SIZE,16730,450
$CAP_FILE_SIZE,254173,0
$CFSIZE,260034560,226357248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040413,041300,2336.836,12155.334,41,1.1,42,-3.2