version: 66.11
glider: 171
mission: 4
dive: 263
start: 4 2 113 16 2 35
data:
$ID,171
$MISSION,4
$DIVE,263
$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,-20849.766
$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,67
$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
$GPS1,020413,155537,2309.222,12203.447,30,1.4,31,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-65.6
$GPS2,020413,160205,2309.326,12203.700,30,1.0,30,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,HEADING
$TGT_LATLONG,2309.326,12151.955
$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,273.1,20000,-10.6,-8.333,-15.41,4401
$D_GRID,4111
$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,-243.3,109,2490,852,660,0.0,0.0,0,80,0.00,0.00,-58.42,0.000,16386,0.000,0.000,109,2491,2468,2554,2383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.28,-243.3,109,2491,2556,2383,3.9,-6.4,8,114,9.12,1.92,-15.02,0.000,18692,0.225,0.067,2397,3671,3376,3435,3318,0,0,0,0,0,0,25.67,26.15,26.58
$GC,283,-1.28,-243.3,2397,3671,3438,3318,84.6,-36.7,25,289,0.00,1.67,0.00,0.000,1030,0.000,0.023,2397,2498,3378,3438,3319,0,0,0,0,0,0,28.83,26.39,28.83
$GC,609,-1.28,-243.3,2397,2497,3442,3319,187.6,-31.2,41,615,0.00,1.85,0.00,0.000,260,0.000,0.053,2389,3678,3380,3442,3319,0,0,0,0,0,0,28.83,26.33,28.83
$GC,684,-1.28,-243.3,2388,3678,3442,3319,208.7,-31.3,44,690,0.00,1.67,0.00,0.000,1030,0.000,0.024,2388,2500,3381,3442,3320,0,0,0,0,0,0,28.83,26.52,28.83
$GC,998,-1.28,-243.3,2388,2498,3443,3321,306.0,-28.9,60,1004,0.00,1.85,0.00,0.000,260,0.000,0.052,2379,3661,3382,3443,3321,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1044,-1.28,-243.3,2379,3661,3443,3321,318.7,-28.4,62,1051,0.10,1.67,0.00,0.000,3078,0.164,0.025,2405,2493,3382,3443,3321,0,0,0,0,0,0,26.31,26.58,28.83
$GC,1371,-1.28,-243.3,2405,2492,3442,3322,402.4,-25.7,78,1376,0.00,1.83,0.00,0.000,260,0.000,0.053,2397,3670,3381,3442,3321,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1417,-1.28,-243.3,2397,3670,3442,3321,414.1,-25.5,80,1423,0.00,1.73,0.00,0.000,1030,0.000,0.024,2397,2496,3382,3443,3321,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1743,-1.28,-243.3,2397,2495,3443,3321,490.1,-22.8,96,1749,0.00,2.03,0.00,0.000,516,0.000,0.028,2397,1108,3382,3443,3321,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1789,-1.28,-243.3,2397,1108,3442,3321,500.6,-22.8,98,1794,0.00,2.10,0.00,0.000,1030,0.000,0.037,2386,2499,3382,3443,3321,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2115,-1.28,-243.3,2386,2499,3443,3320,577.4,-23.4,114,2121,0.00,1.83,0.00,0.000,260,0.000,0.054,2377,3671,3381,3442,3320,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2169,-1.28,-243.3,2377,3671,3442,3320,588.4,-23.4,116,2176,0.08,1.73,0.00,0.000,3078,0.131,0.025,2404,2493,3381,3443,3320,0,0,0,0,0,0,26.35,26.65,28.83
$GC,2494,-1.28,-243.3,2404,2492,3442,3316,656.1,-19.3,128,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2492,3379,3442,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2795,-1.28,-243.3,2404,2492,3442,3311,714.0,-19.2,138,2801,0.00,1.88,0.00,0.000,260,0.000,0.054,2397,3674,3376,3443,3310,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2842,-1.28,-243.3,2396,3674,3442,3310,720.9,-19.1,139,2848,0.00,1.67,0.00,0.000,1030,0.000,0.025,2396,2496,3376,3442,3310,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3162,-1.28,-243.3,2396,2495,3442,3305,787.3,-20.3,150,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2495,3373,3443,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3462,-1.28,-243.3,2396,2495,3440,3300,847.5,-19.5,160,3467,0.00,1.85,0.00,0.000,260,0.000,0.054,2388,3673,3370,3440,3300,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3496,-1.28,-243.3,2387,3673,3440,3300,854.2,-19.2,161,3502,0.00,1.70,0.00,0.000,1030,0.000,0.026,2388,2495,3370,3440,3300,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3831,-1.28,-243.3,2387,2494,3438,3295,920.2,-20.1,172,3836,0.00,1.85,0.00,0.000,260,0.000,0.055,2379,3669,3366,3438,3294,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3880,-1.28,-243.3,2378,3672,3437,3294,927.0,-20.0,173,3886,0.12,1.67,0.00,0.000,3078,0.151,0.027,2412,2505,3365,3437,3294,0,0,0,0,0,0,26.32,26.65,28.83
$STATE,4017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4018,begin apogee
$GC,4024,-0.20,0.0,2412,1984,3437,3291,954.6,-17.5,178,4414,1.00,0.00,377.88,0.753,10246,0.115,0.000,2747,1983,2374,2532,2216,0,0,0,0,0,0,26.12,28.83,24.34
$STATE,4416,end apogee,CONTROL_FINISHED_OK
$STATE,4416,begin climb
$GC,4418,1.28,243.3,2747,1983,2527,2209,979.5,0.0,190,4790,1.33,2.28,360.58,0.750,10756,0.046,0.036,3251,626,1384,1497,1272,0,0,0,0,0,0,25.15,24.85,24.24
$GC,4849,1.28,243.3,3251,624,1475,1253,922.1,23.2,204,4855,0.00,2.15,0.00,0.000,1030,0.000,0.030,3251,2008,1364,1476,1253,0,0,0,0,0,0,28.83,25.38,28.83
$GC,5174,1.28,243.3,3251,2008,1466,1246,837.9,26.4,215,5180,0.00,2.20,0.00,0.000,260,0.000,0.046,3251,3402,1356,1466,1246,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5197,1.28,243.3,3251,3402,1466,1246,837.9,26.4,215,5204,0.12,2.10,0.00,0.000,5126,0.181,0.027,3232,2009,1356,1466,1246,0,0,0,0,0,0,25.92,26.18,28.83
$GC,5512,1.28,243.3,3232,2009,1463,1243,752.4,24.7,226,5518,0.00,2.15,0.00,0.000,516,0.000,0.038,3243,609,1353,1463,1243,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5573,1.28,243.3,3243,606,1462,1239,743.8,24.5,227,5581,0.00,2.10,0.00,0.000,1030,0.000,0.031,3244,2010,1352,1463,1242,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5881,1.28,243.3,3243,2010,1461,1241,662.7,24.7,238,5886,0.00,2.17,0.00,0.000,260,0.000,0.047,3243,3407,1351,1462,1241,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5938,1.28,243.3,3243,3407,1461,1241,653.4,24.9,239,5946,0.00,2.10,0.00,0.000,1030,0.000,0.029,3255,1994,1351,1461,1241,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6255,1.28,243.3,3255,1994,1460,1239,567.8,25.2,252,6261,0.00,2.12,0.00,0.000,516,0.000,0.039,3264,606,1350,1461,1240,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6310,1.28,243.3,3266,606,1460,1240,556.6,24.7,254,6316,0.12,2.10,0.00,0.000,5126,0.173,0.031,3234,2007,1349,1459,1239,0,0,0,0,0,0,26.20,26.47,28.83
$GC,6627,1.28,243.3,3234,2007,1459,1238,481.5,22.3,270,6633,0.00,2.17,0.00,0.000,260,0.000,0.047,3234,3400,1348,1459,1238,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6666,1.28,243.3,3234,3400,1459,1238,475.4,22.6,271,6674,0.00,2.08,0.00,0.000,1030,0.000,0.029,3245,1999,1348,1459,1238,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6972,1.28,243.3,3245,1999,1458,1236,404.9,21.3,287,6978,0.00,2.12,0.00,0.000,516,0.000,0.041,3257,611,1347,1458,1236,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7099,1.28,243.3,3256,610,1457,1236,378.1,21.1,293,7105,0.00,2.08,0.00,0.000,1030,0.000,0.031,3256,2003,1347,1458,1236,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7426,1.28,243.3,3256,2000,1456,1236,304.6,24.0,309,7431,0.00,2.15,0.00,0.000,260,0.000,0.046,3257,3399,1346,1456,1236,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7644,1.28,243.3,3257,3399,1455,1236,258.3,19.7,319,7650,0.15,2.08,0.00,0.000,5126,0.164,0.029,3228,1992,1345,1455,1236,0,0,0,0,0,0,26.20,26.55,28.83
$GC,7960,1.28,243.3,3228,1992,1455,1235,199.2,17.9,335,7966,0.00,2.10,0.00,0.000,516,0.000,0.040,3239,609,1345,1455,1235,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8009,1.28,243.3,3239,612,1455,1235,191.7,16.6,337,8015,0.00,2.05,0.00,0.000,1030,0.000,0.031,3239,1998,1345,1455,1235,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8332,1.28,243.3,3239,1998,1455,1235,141.3,14.4,353,8337,0.00,2.17,0.00,0.000,260,0.000,0.046,3240,3406,1345,1455,1235,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8459,1.28,243.3,3238,3406,1455,1235,124.2,12.8,359,8465,0.00,2.08,0.00,0.000,1030,0.000,0.028,3251,1993,1345,1455,1235,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8785,1.28,243.3,3250,1991,1455,1235,85.7,11.3,375,8791,0.00,2.10,0.00,0.000,516,0.000,0.038,3262,604,1343,1451,1236,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9024,1.28,243.3,3261,604,1455,1236,60.9,12.0,386,9031,0.10,2.05,0.00,0.000,5126,0.155,0.029,3233,2003,1345,1455,1235,0,0,0,0,0,0,26.32,26.54,28.83
$GC,9339,1.28,243.3,3232,2003,1455,1235,30.7,9.6,412,9340,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2003,1345,1456,1235,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9642,end climb,SURFACE_DEPTH_REACHED
$STATE,9642,begin surface coast
$FINISH,0.7,1.010375
$STATE,9680,end surface coast,CONTROL_FINISHED_OK
$STATE,9680,begin surface
$SM_CCo,9699,72.88,0.060,0,0,747,400.08
$SM_GC,1.77,7.90,0.75,72.88,0.034,0.047,0.060,135,2497,747,-8.29,-1.30,400.08,0,0,0,0,0,0,26.55,26.51,26.32
$IRIDIUM_FIX,2300.41,12206.53,020413,131356
$TT8_MAMPS,0.048685,0.048685
$HUMID,44.72
$INTERNAL_PRESSURE,9.66204
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,3936480
$24V_AH,24.2,38.545
$10V_AH,10.2,25.782
$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,20.150,80.675,738.450,72.875,0.000,0.000,0.000,214.475,0.000,0.000,30.962,1926.587,5531.138,772.979,1590.318,338.279,0.000,1811.902,0.000,1291.295,0.000,0.539,0.000
$DEVICE_MAMPS,224.910,67.320,752.760,59.670,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9687.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.216,0.000,0.000,0.000
$MEM,324272
$DATA_FILE_SIZE,16766,472
$CAP_FILE_SIZE,263471,0
$CFSIZE,260034560,227405824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020413,184703,2311.281,12203.843,34,4.1,54,-3.1