version: 66.11
glider: 171
mission: 4
dive: 279
start: 4 4 113 12 46 0
data:
$ID,171
$MISSION,4
$DIVE,279
$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,-20869.857
$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,33
$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
$GPS1,040413,123936,2343.845,12153.184,36,1.0,37,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.1
$GPS2,040413,124531,2344.124,12153.434,15,1.1,15,-3.2
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,HEADING
$TGT_LATLONG,2344.124,12141.637
$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,3852
$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,-243.3,115,2491,847,661,0.0,0.0,0,79,0.00,0.00,-58.17,0.000,16386,0.000,0.000,115,2491,2444,2508,2380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.28,-243.3,115,2491,2512,2380,3.9,-7.3,8,114,8.95,1.92,-15.10,0.000,18692,0.219,0.067,2390,3669,3377,3436,3319,0,0,0,0,0,0,25.64,26.11,26.55
$GC,317,-1.28,-243.3,2390,3670,3439,3323,90.2,-34.2,26,325,0.00,1.70,0.00,0.000,1030,0.000,0.025,2390,2488,3379,3439,3319,0,0,0,0,0,0,28.83,26.37,28.83
$GC,622,-1.28,-243.3,2390,2487,3443,3322,180.8,-26.8,42,628,0.00,2.05,0.00,0.000,516,0.000,0.029,2390,1099,3382,3443,3321,0,0,0,0,0,0,28.83,26.41,28.83
$GC,682,-1.28,-243.3,2390,1099,3443,3321,193.1,-27.0,44,691,0.12,2.12,0.00,0.000,3078,0.166,0.037,2411,2498,3383,3444,3322,0,0,0,0,0,0,26.10,26.34,28.83
$GC,989,-1.28,-243.3,2411,2498,3445,3323,274.9,-24.5,60,994,0.00,1.83,0.00,0.000,260,0.000,0.054,2402,3674,3384,3445,3323,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1064,-1.28,-243.3,2402,3674,3445,3323,291.0,-24.2,63,1070,0.00,1.67,0.00,0.000,1030,0.000,0.024,2403,2496,3384,3445,3323,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1379,-1.28,-243.3,2403,2494,3445,3322,364.9,-22.6,79,1385,0.00,2.03,0.00,0.000,516,0.000,0.029,2403,1109,3384,3445,3323,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1445,-1.28,-243.3,2403,1109,3445,3323,379.7,-22.4,82,1451,0.00,2.12,0.00,0.000,1030,0.000,0.037,2392,2503,3383,3445,3322,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1771,-1.28,-243.3,2392,2503,3445,3323,452.2,-22.6,98,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2503,3384,3445,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2069,-1.28,-243.3,2392,2502,3444,3321,519.4,-22.9,113,2075,0.00,2.05,0.00,0.000,516,0.000,0.028,2392,1109,3383,3445,3321,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2109,-1.28,-243.3,2392,1109,3445,3321,525.0,-22.9,114,2117,0.00,2.12,0.00,0.000,1030,0.000,0.037,2382,2504,3382,3445,3320,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2414,-1.28,-243.3,2379,2504,3445,3317,600.5,-23.4,130,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2504,3381,3445,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2714,-1.28,-243.3,2381,2504,3444,3312,668.4,-22.3,140,2721,0.10,2.08,0.00,0.000,2564,0.181,0.027,2406,1103,3378,3444,3312,0,0,0,0,0,0,26.48,26.53,28.83
$GC,2743,-1.28,-243.3,2404,1103,3445,3312,668.4,-22.3,140,2751,0.00,2.15,0.00,0.000,1030,0.000,0.039,2396,2506,3378,3444,3312,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3051,-1.28,-243.3,2396,2506,3444,3307,737.6,-20.8,151,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2506,3375,3444,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3350,-1.28,-243.3,2396,2505,3442,3303,797.5,-19.8,161,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2506,3372,3442,3302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3650,-1.28,-243.3,2396,2505,3440,3299,854.0,-18.1,171,3656,0.00,1.88,0.00,0.000,260,0.000,0.055,2387,3687,3370,3441,3299,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3790,-1.28,-243.3,2387,3687,3439,3298,877.0,-18.2,175,3796,0.00,1.73,0.00,0.000,1030,0.000,0.028,2387,2498,3368,3439,3297,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4109,-1.28,-243.3,2387,2497,3438,3292,938.8,-18.0,186,4115,0.00,2.08,0.00,0.000,516,0.000,0.031,2387,1102,3365,3438,3292,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4143,-1.28,-243.3,2387,1102,3438,3291,945.1,-18.1,187,4150,0.12,2.17,0.00,0.000,3078,0.163,0.041,2409,2508,3364,3438,3291,0,0,0,0,0,0,26.17,26.40,28.83
$STATE,4178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4178,begin apogee
$GC,4184,-0.20,0.0,2409,2006,3438,3291,951.3,-18.2,188,4575,1.02,0.00,379.85,0.752,10246,0.116,0.000,2749,2005,2374,2531,2218,0,0,0,0,0,0,26.01,28.83,24.23
$STATE,4578,end apogee,CONTROL_FINISHED_OK
$STATE,4578,begin climb
$GC,4580,1.28,243.3,2748,2005,2526,2212,972.4,0.0,200,4866,1.33,2.30,271.55,0.873,10756,0.047,0.036,3250,613,1376,1489,1263,0,0,0,0,0,0,25.06,24.53,23.77
$GC,4914,1.28,243.3,3250,613,1469,1247,920.7,24.4,211,4920,0.00,2.22,0.00,0.000,1030,0.000,0.029,3250,2015,1357,1468,1247,0,0,0,0,0,0,28.83,25.10,28.83
$GC,5244,1.28,243.3,3250,2015,1459,1242,834.6,25.4,222,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2015,1348,1459,1237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5544,1.28,243.3,3250,2015,1456,1238,761.3,24.2,232,5550,0.00,2.20,0.00,0.000,260,0.000,0.047,3250,3413,1347,1456,1238,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5644,1.28,243.3,3250,3413,1455,1238,736.3,25.9,235,5650,0.12,2.12,0.00,0.000,5126,0.184,0.029,3231,1995,1346,1455,1238,0,0,0,0,0,0,26.01,26.32,28.83
$GC,5975,1.28,243.3,3231,1995,1453,1235,656.8,23.9,246,5980,0.00,2.12,0.00,0.000,516,0.000,0.039,3242,609,1344,1453,1235,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6002,1.28,243.3,3242,609,1453,1235,656.8,23.9,246,6010,0.00,2.10,0.00,0.000,1030,0.000,0.031,3242,2003,1344,1453,1235,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6319,1.28,243.3,3242,2003,1452,1233,572.5,25.0,259,6325,0.00,2.15,0.00,0.000,516,0.000,0.038,3254,609,1343,1452,1234,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6347,1.28,243.3,3254,609,1452,1234,566.3,25.2,260,6353,0.00,2.10,0.00,0.000,1030,0.000,0.031,3254,2008,1342,1451,1234,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6668,1.28,243.3,3254,2008,1451,1234,484.2,25.4,276,6673,0.00,2.15,0.00,0.000,516,0.000,0.039,3265,609,1342,1451,1234,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6692,1.28,243.3,3265,609,1450,1234,478.0,24.7,277,6699,0.12,2.10,0.00,0.000,5126,0.172,0.032,3234,2002,1342,1451,1234,0,0,0,0,0,0,26.15,26.45,28.83
$GC,7019,1.28,243.3,3234,2003,1450,1232,401.7,23.1,293,7025,0.00,2.15,0.00,0.000,516,0.000,0.040,3245,604,1341,1451,1232,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7150,1.28,243.3,3245,604,1450,1231,371.6,22.8,299,7156,0.00,2.08,0.00,0.000,1030,0.000,0.031,3245,2002,1341,1452,1231,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7470,1.28,243.3,3245,2002,1450,1231,294.4,24.2,315,7476,0.00,2.15,0.00,0.000,516,0.000,0.040,3258,603,1340,1450,1231,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7568,1.28,243.3,3257,603,1449,1231,274.6,22.4,319,7574,0.00,2.08,0.00,0.000,1030,0.000,0.031,3258,2000,1339,1449,1230,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7882,1.28,243.3,3257,2000,1449,1230,201.6,23.5,335,7888,0.00,2.15,0.00,0.000,260,0.000,0.045,3258,3403,1339,1449,1230,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8003,1.28,243.3,3257,3401,1448,1230,177.4,22.1,340,8011,0.15,2.08,0.00,0.000,5126,0.168,0.028,3230,1995,1339,1448,1230,0,0,0,0,0,0,26.15,26.52,28.83
$GC,8310,1.28,243.3,3229,1993,1448,1229,119.0,16.0,356,8316,0.00,2.10,0.00,0.000,516,0.000,0.040,3241,612,1339,1449,1229,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8548,1.28,243.3,3240,612,1449,1230,78.2,17.4,367,8554,0.00,2.08,0.00,0.000,1030,0.000,0.031,3241,2003,1339,1449,1229,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8863,1.59,332.7,3241,2003,1449,1229,52.4,6.2,383,8993,0.22,2.25,119.80,0.385,10756,0.056,0.039,3370,606,1011,1122,901,0,0,1,0,0,0,26.63,25.74,25.27
$GC,9146,1.59,332.7,2400,606,1088,883,3.5,23.3,415,9155,0.15,2.12,0.00,0.000,5126,0.152,0.030,3331,2008,992,1101,884,0,0,0,0,0,0,25.75,26.03,28.83
$STATE,9161,end climb,SURFACE_DEPTH_REACHED
$STATE,9162,begin surface coast
$FINISH,-0.1,0.998946
$STATE,9175,end surface coast,CONTROL_FINISHED_OK
$STATE,9175,begin surface
$SM_CCo,9194,34.20,0.060,0,0,747,400.08
$SM_GC,1.01,8.35,0.75,34.20,0.035,0.045,0.060,130,2487,747,-8.28,-1.41,400.08,0,0,0,0,0,0,26.12,26.03,25.94
$IRIDIUM_FIX,2333.28,12154.34,040413,090914
$TT8_MAMPS,0.047187,0.047187
$HUMID,49.01
$INTERNAL_PRESSURE,9.61321
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,3931360
$24V_AH,23.8,41.248
$10V_AH,10.2,27.100
$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,20.775,75.975,771.200,34.200,0.000,0.000,0.000,193.800,0.000,0.000,15.890,1703.891,5365.244,761.002,1434.388,316.915,0.000,1729.129,0.000,1163.783,0.000,0.538,0.000
$DEVICE_MAMPS,218.790,67.320,872.865,59.670,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9184.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.045,0.000,0.000,0.000
$MEM,324272
$DATA_FILE_SIZE,16796,419
$CAP_FILE_SIZE,241209,0
$CFSIZE,260034560,226021376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,040413,152057,2345.502,12152.694,7,3.4,27,-3.2