version: 66.11
glider: 171
mission: 4
dive: 276
start: 4 4 113 4 19 31
data:
$ID,171
$MISSION,4
$DIVE,276
$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,-20866.09
$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,53
$R_STBD_OVSHOOT,42
$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
$GPS1,040413,041300,2336.836,12155.334,41,1.1,42,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.7
$GPS2,040413,041901,2337.046,12155.465,14,1.0,14,-3.2
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,HEADING
$TGT_LATLONG,2337.046,12143.679
$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,4432
$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,-243.3,126,2501,839,661,0.0,0.0,0,79,0.00,0.00,-58.22,0.000,16386,0.000,0.000,126,2501,2428,2488,2369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.28,-243.3,126,2501,2493,2369,3.9,-6.5,8,114,8.90,1.90,-15.32,0.000,18692,0.220,0.067,2391,3664,3377,3436,3318,0,0,0,0,0,0,25.65,26.12,26.55
$GC,334,-1.28,-243.3,2391,3664,3441,3320,95.8,-32.9,27,340,0.00,1.70,0.00,0.000,1030,0.000,0.024,2391,2484,3380,3441,3320,0,0,0,0,0,0,28.83,26.38,28.83
$GC,649,-1.28,-243.3,2391,2483,3444,3324,193.6,-29.3,43,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2483,3384,3444,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,949,-1.28,-243.3,2391,2483,3446,3327,275.1,-26.0,58,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2483,3386,3446,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1248,-1.28,-243.3,2390,2483,3446,3327,352.5,-23.7,73,1254,0.00,1.85,0.00,0.000,260,0.000,0.053,2382,3669,3386,3446,3327,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1303,-1.28,-243.3,2382,3670,3446,3327,362.5,-22.5,75,1309,0.00,1.67,0.00,0.000,1030,0.000,0.024,2382,2495,3386,3446,3327,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1618,-1.28,-243.3,2382,2493,3445,3326,437.1,-23.3,91,1624,0.00,2.05,0.00,0.000,516,0.000,0.028,2382,1099,3386,3446,3327,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1646,-1.28,-243.3,2382,1098,3446,3327,443.0,-23.6,92,1653,0.15,2.12,0.00,0.000,3078,0.155,0.038,2411,2494,3386,3446,3327,0,0,0,0,0,0,26.17,26.43,28.83
$GC,1967,-1.28,-243.3,2411,2494,3446,3325,509.3,-20.5,108,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2494,3385,3446,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2267,-1.28,-243.3,2411,2494,3446,3320,569.5,-19.6,123,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2494,3382,3445,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2576,-1.28,-243.3,2412,2494,3445,3316,633.3,-20.7,136,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2494,3380,3445,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2877,-1.28,-243.3,2412,2494,3445,3311,693.7,-19.4,146,2882,0.00,1.85,0.00,0.000,260,0.000,0.056,2403,3673,3378,3447,3310,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2960,-1.28,-243.3,2403,3673,3445,3307,706.8,-19.9,148,2966,0.00,1.70,0.00,0.000,1030,0.000,0.028,2403,2495,3377,3445,3310,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3276,-1.28,-243.3,2403,2494,3443,3306,772.7,-19.7,159,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2494,3374,3443,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3575,-1.28,-243.3,2403,2494,3442,3302,827.3,-17.4,169,3581,0.00,2.05,0.00,0.000,516,0.000,0.030,2404,1106,3371,3442,3301,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3622,-1.28,-243.3,2403,1106,3442,3301,833.4,-17.3,170,3629,0.00,2.15,0.00,0.000,1030,0.000,0.040,2393,2505,3371,3442,3301,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3942,-1.28,-243.3,2393,2504,3441,3297,897.1,-20.0,181,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2504,3369,3441,3297,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4240,begin apogee
$GC,4247,-0.20,0.0,2393,1984,3439,3292,955.4,-19.2,191,4638,1.10,0.00,379.70,0.755,10246,0.122,0.000,2751,1984,2376,2532,2221,0,0,0,0,0,0,25.98,28.83,24.25
$STATE,4640,end apogee,CONTROL_FINISHED_OK
$STATE,4641,begin climb
$GC,4643,1.28,243.3,2752,1984,2527,2212,981.2,0.0,203,5040,1.33,0.00,389.02,0.728,10758,0.046,0.000,3243,1984,1389,1501,1277,0,0,0,0,0,0,25.06,28.83,24.05
$GC,5322,1.28,243.3,3242,1984,1466,1246,861.9,23.8,227,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1984,1356,1466,1246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5622,1.28,243.3,3242,1984,1462,1242,791.7,23.4,237,5628,0.00,2.08,0.00,0.000,516,0.000,0.037,3254,628,1352,1462,1242,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5671,1.28,243.3,3254,628,1462,1242,783.4,23.6,238,5677,0.00,2.10,0.00,0.000,1030,0.000,0.031,3254,2015,1352,1462,1242,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5991,1.28,243.3,3254,2015,1459,1242,697.4,26.2,249,5996,0.00,2.17,0.00,0.000,260,0.000,0.047,3254,3408,1351,1460,1242,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6013,1.28,243.3,3254,3408,1460,1242,697.4,26.2,249,6020,0.12,2.08,0.00,0.000,5126,0.182,0.029,3235,2014,1351,1460,1242,0,0,0,0,0,0,26.07,26.39,28.83
$GC,6328,1.28,243.3,3235,2014,1458,1242,612.3,25.0,260,6334,0.00,2.20,0.00,0.000,260,0.000,0.047,3234,3413,1349,1459,1240,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6424,1.28,243.3,3234,3413,1458,1240,590.2,25.6,263,6430,0.00,2.10,0.00,0.000,1030,0.000,0.029,3246,2001,1349,1458,1240,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6739,1.28,243.3,3246,2000,1456,1238,509.5,24.5,279,6745,0.00,2.12,0.00,0.000,516,0.000,0.041,3257,611,1347,1456,1238,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6850,1.28,243.3,3257,611,1456,1238,484.5,23.3,284,6856,0.00,2.10,0.00,0.000,1030,0.000,0.031,3257,2013,1348,1459,1238,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7172,1.28,243.3,3256,2012,1455,1238,406.2,24.8,300,7178,0.00,2.15,0.00,0.000,260,0.000,0.047,3258,3401,1346,1455,1238,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7223,1.28,243.3,3257,3401,1455,1238,393.9,25.2,302,7229,0.15,2.08,0.00,0.000,5126,0.172,0.029,3229,2001,1346,1455,1238,0,0,0,0,0,0,26.13,26.51,28.83
$GC,7544,1.28,243.3,3229,2001,1454,1237,320.8,23.4,318,7550,0.00,2.12,0.00,0.000,516,0.000,0.041,3240,612,1345,1454,1236,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7647,1.28,243.3,3240,612,1453,1237,301.7,21.7,322,7655,0.00,2.08,0.00,0.000,1030,0.000,0.031,3240,1999,1345,1453,1237,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7951,1.28,243.3,3240,1999,1453,1237,234.1,22.0,338,7956,0.00,2.17,0.00,0.000,260,0.000,0.046,3240,3401,1343,1450,1237,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8078,1.28,243.3,3240,3401,1453,1237,205.3,21.6,344,8084,0.00,2.08,0.00,0.000,1030,0.000,0.028,3252,1995,1345,1453,1237,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8404,1.28,243.3,3251,1995,1452,1236,139.1,18.9,360,8410,0.00,2.10,0.00,0.000,516,0.000,0.040,3263,610,1344,1453,1236,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8565,1.28,243.3,3263,610,1453,1236,114.2,16.2,367,8574,0.12,2.08,0.00,0.000,5126,0.162,0.031,3230,2003,1344,1453,1236,0,0,0,0,0,0,26.20,26.48,28.83
$GC,8872,1.28,243.3,3230,2003,1453,1236,71.2,10.4,383,8878,0.00,2.12,0.00,0.000,516,0.000,0.038,3242,609,1344,1453,1235,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9112,1.28,243.3,3241,609,1453,1235,46.1,10.2,396,9118,0.00,2.08,0.00,0.000,1030,0.000,0.030,3241,2007,1344,1453,1236,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9426,1.36,267.7,2192,2005,1422,1233,17.4,7.8,435,9441,0.00,2.20,8.73,0.070,8708,0.000,0.037,3253,609,1287,1403,1172,0,0,0,0,0,0,28.83,26.42,26.06
$GC,9570,1.36,267.7,2208,609,1410,1170,4.5,9.5,461,9579,0.00,2.08,3.47,0.047,9222,0.000,0.030,3253,2006,1286,1408,1165,0,0,0,0,0,0,28.83,26.48,26.29
$STATE,9585,end climb,SURFACE_DEPTH_REACHED
$STATE,9585,begin surface coast
$FINISH,0.2,1.022021
$STATE,9618,end surface coast,CONTROL_FINISHED_OK
$STATE,9618,begin surface
$SM_CCo,9637,67.97,0.062,0,0,748,400.08
$SM_GC,1.74,7.90,0.75,67.97,0.028,0.045,0.062,134,2502,748,-8.30,-1.22,400.08,0,0,0,0,0,0,26.53,26.46,26.27
$IRIDIUM_FIX,2326.22,12158.33,040413,010140
$TT8_MAMPS,0.047936,0.047936
$HUMID,46.69
$INTERNAL_PRESSURE,9.6425
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3932320
$24V_AH,24.0,40.723
$10V_AH,10.2,26.853
$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,19.775,62.800,780.925,67.975,0.000,0.000,0.000,201.650,0.000,0.000,15.732,1818.265,5667.213,797.738,1459.769,322.195,0.000,1755.622,0.000,1182.543,0.000,0.537,0.000
$DEVICE_MAMPS,219.555,66.555,755.055,61.965,0.000,0.000,0.000,122.400,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9624.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.135,0.000,0.000,0.000
$MEM,324276
$DATA_FILE_SIZE,16757,469
$CAP_FILE_SIZE,248378,0
$CFSIZE,260034560,226275328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040413,070227,2339.248,12154.361,10,4.3,30,-3.2