version: 66.11
glider: 171
mission: 4
dive: 278
start: 4 4 113 10 0 7
data:
$ID,171
$MISSION,4
$DIVE,278
$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,-20868.602
$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,56
$R_STBD_OVSHOOT,32
$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
$GPS1,040413,095336,2341.928,12153.630,34,1.0,35,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.5
$GPS2,040413,095937,2342.250,12153.776,15,1.2,15,-3.2
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,HEADING
$TGT_LATLONG,2342.250,12141.982
$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,3857
$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,-243.3,126,2492,836,668,0.0,0.0,0,79,0.00,0.00,-57.90,0.000,16386,0.000,0.000,126,2492,2417,2475,2360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.28,-243.3,126,2492,2481,2360,3.9,-7.2,8,114,8.93,1.92,-15.60,0.000,18692,0.219,0.067,2396,3671,3378,3437,3319,0,0,0,0,0,0,25.59,26.02,26.44
$GC,324,-1.28,-243.3,2396,3671,3441,3319,96.5,-33.5,27,330,0.00,1.75,0.00,0.000,1030,0.000,0.025,2396,2497,3380,3441,3319,0,0,0,0,0,0,28.83,26.32,28.83
$GC,650,-1.28,-243.3,2396,2496,3444,3322,186.9,-27.6,43,656,0.00,2.05,0.00,0.000,516,0.000,0.029,2396,1104,3383,3444,3322,0,0,0,0,0,0,28.83,26.39,28.83
$GC,705,-1.28,-243.3,2396,1104,3444,3324,199.9,-28.1,45,711,0.00,2.12,0.00,0.000,1030,0.000,0.039,2385,2498,3384,3444,3324,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1019,-1.28,-243.3,2385,2498,3446,3325,287.6,-27.3,61,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2498,3385,3446,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1320,-1.28,-243.3,2385,2499,3446,3325,363.4,-24.4,76,1325,0.00,2.08,0.00,0.000,516,0.000,0.029,2385,1095,3385,3445,3325,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1374,-1.28,-243.3,2385,1094,3446,3325,374.7,-24.6,78,1381,0.12,2.15,0.00,0.000,3078,0.165,0.037,2406,2506,3385,3446,3325,0,0,0,0,0,0,26.19,26.41,28.83
$GC,1691,-1.28,-243.3,2406,2506,3445,3325,448.8,-22.2,94,1697,0.00,1.83,0.00,0.000,260,0.000,0.053,2399,3673,3385,3445,3325,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1709,-1.28,-243.3,2398,3674,3445,3325,448.8,-22.2,94,1717,0.00,1.70,0.00,0.000,1030,0.000,0.025,2399,2479,3385,3445,3325,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2016,-1.28,-243.3,2398,2478,3444,3324,521.2,-22.3,110,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2478,3383,3445,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2315,-1.28,-243.3,2398,2478,3445,3320,587.6,-21.8,125,2321,0.00,2.00,0.00,0.000,516,0.000,0.030,2398,1117,3382,3445,3319,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2343,-1.28,-243.3,2398,1117,3445,3319,592.7,-21.4,126,2349,0.00,2.12,0.00,0.000,1030,0.000,0.039,2388,2505,3382,3445,3319,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2654,-1.28,-243.3,2388,2505,3445,3315,662.8,-22.0,137,2660,0.00,1.83,0.00,0.000,260,0.000,0.054,2378,3674,3380,3445,3315,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2722,-1.28,-243.3,2378,3675,3445,3314,677.5,-22.2,139,2729,0.12,1.67,0.00,0.000,3078,0.151,0.026,2412,2496,3379,3445,3314,0,0,0,0,0,0,26.30,26.63,28.83
$GC,3052,-1.28,-243.3,2412,2495,3444,3311,742.5,-19.2,150,3058,0.00,2.03,0.00,0.000,516,0.000,0.029,2412,1120,3376,3445,3308,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3099,-1.28,-243.3,2412,1120,3444,3307,749.2,-19.4,151,3106,0.00,2.12,0.00,0.000,1030,0.000,0.038,2402,2503,3375,3444,3307,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3420,-1.28,-243.3,2402,2503,3442,3303,814.6,-19.9,162,3426,0.00,1.83,0.00,0.000,260,0.000,0.055,2394,3670,3374,3445,3303,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3519,-1.28,-243.3,2393,3670,3442,3302,834.2,-20.3,165,3525,0.00,1.67,0.00,0.000,1030,0.000,0.027,2394,2508,3372,3442,3302,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3849,-1.28,-243.3,2393,2509,3441,3298,905.9,-21.3,176,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2509,3369,3441,3298,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4057,begin apogee
$GC,4064,-0.20,0.0,2393,1983,3439,3294,950.2,-21.1,183,4449,1.08,0.00,377.02,0.758,10246,0.120,0.000,2747,1982,2379,2534,2224,0,0,0,0,0,0,26.03,28.83,24.23
$STATE,4452,end apogee,CONTROL_FINISHED_OK
$STATE,4452,begin climb
$GC,4454,1.28,243.3,2746,1983,2527,2213,979.1,0.0,195,4837,1.35,2.28,372.25,0.739,10756,0.047,0.035,3254,631,1383,1496,1271,0,0,0,0,0,0,25.04,24.72,24.06
$GC,4856,1.28,243.3,3254,631,1479,1257,928.0,22.3,209,4862,0.00,2.20,0.00,0.000,1030,0.000,0.029,3255,2010,1367,1478,1256,0,0,0,0,0,0,28.83,25.01,28.83
$GC,5181,1.28,243.3,3254,2009,1465,1246,839.0,26.2,220,5187,0.00,2.22,0.00,0.000,260,0.000,0.046,3255,3405,1355,1465,1246,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5225,1.28,243.3,3254,3405,1464,1246,829.7,26.4,221,5232,0.12,2.10,0.00,0.000,5126,0.181,0.028,3235,2010,1355,1464,1246,0,0,0,0,0,0,25.83,26.11,28.83
$GC,5551,1.28,243.3,3235,2010,1462,1242,743.2,25.2,232,5557,0.00,2.20,0.00,0.000,260,0.000,0.046,3235,3405,1352,1462,1242,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5599,1.28,243.3,3237,3405,1462,1243,733.8,25.5,233,5605,0.00,2.10,0.00,0.000,1030,0.000,0.028,3246,1997,1352,1462,1242,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5919,1.28,243.3,3246,1996,1459,1241,649.3,24.9,244,5924,0.00,2.12,0.00,0.000,516,0.000,0.039,3257,609,1350,1460,1241,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5965,1.28,243.3,3257,609,1459,1241,640.7,24.9,245,5971,0.00,2.10,0.00,0.000,1030,0.000,0.031,3257,2007,1350,1459,1241,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6279,1.28,243.3,3257,2006,1459,1240,560.0,25.1,258,6285,0.00,2.15,0.00,0.000,516,0.000,0.039,3268,609,1349,1459,1240,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6304,1.28,243.3,3268,609,1458,1240,554.0,25.2,259,6311,0.15,2.10,0.00,0.000,5126,0.169,0.032,3229,2002,1349,1458,1240,0,0,0,0,0,0,26.11,26.44,28.83
$GC,6631,1.28,243.3,3229,2002,1458,1238,478.3,24.0,275,6637,0.00,2.15,0.00,0.000,516,0.000,0.039,3240,606,1348,1458,1238,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6680,1.28,243.3,3240,606,1457,1238,467.1,24.2,277,6686,0.00,2.08,0.00,0.000,1030,0.000,0.031,3240,2000,1347,1457,1238,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7000,1.28,243.3,3241,2001,1455,1238,390.5,23.5,293,7007,0.00,2.17,0.00,0.000,260,0.000,0.046,3240,3405,1346,1455,1238,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7025,1.28,243.3,3240,3404,1455,1238,384.7,23.1,294,7032,0.00,2.10,0.00,0.000,1030,0.000,0.030,3252,2005,1346,1455,1238,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7351,1.28,243.3,3252,2005,1453,1237,310.3,22.3,310,7357,0.00,2.12,0.00,0.000,516,0.000,0.040,3263,609,1345,1454,1237,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7472,1.28,243.3,3263,609,1453,1235,287.4,21.2,315,7481,0.12,2.08,0.00,0.000,5126,0.168,0.031,3231,2000,1345,1453,1237,0,0,0,0,0,0,26.19,26.48,28.83
$GC,7778,1.28,243.3,3231,2000,1453,1237,222.2,19.9,331,7784,0.00,2.17,0.00,0.000,260,0.000,0.047,3231,3407,1343,1453,1234,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8002,1.28,243.3,3231,3408,1453,1237,173.9,21.7,341,8010,0.00,2.10,0.00,0.000,1030,0.000,0.029,3242,1991,1345,1453,1237,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8309,1.28,243.3,3242,1988,1453,1236,113.7,16.1,357,8315,0.00,2.10,0.00,0.000,516,0.000,0.040,3253,609,1344,1453,1236,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8549,1.28,243.3,3253,609,1453,1236,80.8,12.0,368,8554,0.00,2.08,0.00,0.000,1030,0.000,0.031,3253,2003,1344,1453,1236,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8865,1.30,249.8,3253,2003,1453,1237,44.8,8.2,386,8871,0.00,2.12,0.00,0.000,516,0.000,0.039,3265,607,1344,1453,1235,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9109,1.30,250.5,3264,607,1453,1236,25.0,8.3,409,9117,0.00,2.10,0.00,0.000,1030,0.000,0.030,3265,2011,1344,1453,1235,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,9365,end climb,SURFACE_DEPTH_REACHED
$STATE,9365,begin surface coast
$FINISH,0.2,0.998520
$STATE,9399,end surface coast,CONTROL_FINISHED_OK
$STATE,9399,begin surface
$SM_CCo,9418,73.97,0.060,0,0,747,400.08
$SM_GC,0.98,8.00,0.73,73.97,0.032,0.047,0.060,118,2488,747,-8.31,-1.53,400.08,0,0,0,0,0,0,26.56,26.47,26.26
$IRIDIUM_FIX,2330.93,12156.33,040413,070742
$TT8_MAMPS,0.047936,0.047936
$HUMID,46.02
$INTERNAL_PRESSURE,9.6425
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3931680
$24V_AH,24.1,41.082
$10V_AH,10.2,27.022
$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,20.000,79.275,749.275,73.975,0.000,0.000,0.000,202.175,0.000,0.000,15.982,1878.292,5319.946,804.851,1513.672,337.028,0.000,1790.029,0.000,1243.078,0.000,0.537,0.000
$DEVICE_MAMPS,218.790,67.320,758.115,59.670,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9401.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.267,0.000,0.000,0.000
$MEM,324276
$DATA_FILE_SIZE,16746,463
$CAP_FILE_SIZE,255210,0
$CFSIZE,260034560,226095104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040413,123936,2343.845,12153.184,36,1.0,37,-3.2