version: 66.11
glider: 171
mission: 4
dive: 266
start: 4 3 113 0 27 12
data:
$ID,171
$MISSION,4
$DIVE,266
$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,-20853.535
$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,52
$R_STBD_OVSHOOT,45
$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
$GPS1,030413,002100,2314.847,12202.835,52,1.4,53,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-69.7
$GPS2,030413,002643,2314.924,12202.907,17,1.6,17,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,HEADING
$TGT_LATLONG,2314.924,12151.153
$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,4198
$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,-243.3,126,2508,849,659,0.0,0.0,0,79,0.00,0.00,-58.12,0.000,16386,0.000,0.000,126,2508,2420,2484,2357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.28,-243.3,126,2508,2491,2357,3.9,-6.4,8,114,8.98,1.88,-15.75,0.000,18692,0.223,0.067,2396,3659,3377,3436,3319,0,0,0,0,0,0,25.71,26.16,26.60
$GC,295,-1.28,-243.3,2396,3659,3440,3319,85.5,-33.1,26,301,0.00,1.70,0.00,0.000,1030,0.000,0.024,2396,2480,3381,3444,3319,0,0,0,0,0,0,28.83,26.39,28.83
$GC,620,-1.28,-243.3,2396,2478,3443,3321,190.7,-31.5,42,626,0.00,1.88,0.00,0.000,260,0.000,0.052,2387,3672,3381,3443,3320,0,0,0,0,0,0,28.83,26.33,28.83
$GC,768,-1.28,-243.3,2387,3672,3443,3323,238.1,-30.9,49,774,0.00,1.73,0.00,0.000,1030,0.000,0.024,2387,2494,3382,3443,3322,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1094,-1.28,-243.3,2387,2493,3445,3324,327.1,-26.2,65,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2492,3384,3444,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1393,-1.28,-243.3,2387,2492,3444,3324,402.8,-24.8,80,1399,0.00,1.83,0.00,0.000,260,0.000,0.053,2377,3665,3384,3444,3324,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1452,-1.28,-243.3,2377,3665,3444,3324,413.3,-24.4,82,1461,0.12,1.67,0.00,0.000,3078,0.151,0.026,2411,2490,3384,3445,3324,0,0,0,0,0,0,26.30,26.62,28.83
$GC,1761,-1.28,-243.3,2411,2489,3444,3324,482.5,-21.5,98,1767,0.00,2.03,0.00,0.000,516,0.000,0.028,2411,1101,3384,3444,3324,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1807,-1.28,-243.3,2411,1101,3445,3324,492.0,-21.2,100,1812,0.00,2.10,0.00,0.000,1030,0.000,0.037,2402,2485,3384,3444,3324,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2133,-1.28,-243.3,2401,2485,3444,3322,559.3,-20.2,116,2139,0.00,1.85,0.00,0.000,260,0.000,0.054,2393,3671,3382,3444,3321,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2188,-1.28,-243.3,2392,3671,3443,3321,568.6,-20.4,118,2193,0.00,1.73,0.00,0.000,1030,0.000,0.025,2392,2495,3382,3444,3321,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2522,-1.28,-243.3,2392,2494,3444,3318,638.9,-20.7,132,2528,0.00,2.03,0.00,0.000,516,0.000,0.028,2393,1110,3380,3444,3317,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2580,-1.28,-243.3,2389,1110,3444,3316,646.0,-20.7,133,2588,0.00,2.12,0.00,0.000,1030,0.000,0.038,2382,2504,3381,3444,3319,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2888,-1.28,-243.3,2382,2504,3444,3311,715.3,-21.2,144,2894,0.00,1.83,0.00,0.000,260,0.000,0.054,2373,3674,3377,3444,3311,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2961,-1.28,-243.3,2373,3674,3443,3310,729.8,-21.4,146,2968,0.10,1.73,0.00,0.000,3078,0.131,0.025,2407,2501,3376,3444,3309,0,0,0,0,0,0,26.29,26.65,28.83
$GC,3286,-1.28,-243.3,2407,2499,3442,3304,793.6,-18.1,157,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2499,3373,3442,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3587,-1.28,-243.3,2407,2499,3442,3300,849.0,-19.2,167,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2499,3370,3442,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3887,-1.28,-243.3,2407,2499,3439,3296,905.9,-19.2,177,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2499,3368,3440,3296,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4125,begin apogee
$GC,4131,-0.20,0.0,2407,2009,3438,3292,951.2,-18.4,185,4517,1.02,0.00,377.08,0.750,10246,0.116,0.000,2748,2009,2380,2536,2225,0,0,0,0,0,0,26.08,28.83,24.34
$STATE,4520,end apogee,CONTROL_FINISHED_OK
$STATE,4520,begin climb
$GC,4522,1.28,243.3,2748,2009,2529,2213,974.6,0.0,197,4908,1.33,2.28,372.48,0.734,10756,0.046,0.035,3252,610,1380,1492,1268,0,0,0,0,0,0,25.11,24.84,24.18
$GC,5013,1.28,243.3,3250,610,1471,1250,894.7,25.5,213,5019,0.00,2.17,0.00,0.000,1030,0.000,0.030,3253,2015,1360,1471,1249,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5342,1.28,243.3,3252,2015,1463,1243,810.6,25.5,224,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2015,1353,1463,1243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5642,1.28,243.3,3252,2015,1460,1241,732.2,26.3,234,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2014,1350,1460,1241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5942,1.28,243.3,3252,2015,1458,1240,653.0,26.5,244,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2015,1349,1459,1240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6253,1.28,243.3,3252,2015,1457,1239,573.3,24.9,256,6259,0.00,2.15,0.00,0.000,516,0.000,0.040,3264,612,1348,1457,1239,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6320,1.28,243.3,3264,612,1456,1239,557.1,24.4,259,6327,0.12,2.10,0.00,0.000,5126,0.172,0.032,3233,2004,1347,1456,1239,0,0,0,0,0,0,26.18,26.46,28.83
$GC,6648,1.28,243.3,3232,2004,1455,1237,483.8,21.1,275,6649,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2004,1346,1455,1237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6946,1.28,243.3,3232,2004,1457,1236,417.5,22.1,290,6952,0.00,2.12,0.00,0.000,516,0.000,0.040,3244,611,1345,1454,1236,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7035,1.28,243.3,3244,611,1453,1236,398.2,22.6,294,7041,0.00,2.08,0.00,0.000,1030,0.000,0.031,3244,2003,1344,1453,1236,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7356,1.28,243.3,3244,2003,1453,1236,329.5,20.1,310,7362,0.00,2.12,0.00,0.000,516,0.000,0.039,3256,610,1344,1453,1236,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7405,1.28,243.3,3256,610,1453,1236,320.7,19.7,312,7411,0.00,2.08,0.00,0.000,1030,0.000,0.031,3256,2005,1344,1453,1236,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7728,1.28,243.3,3256,2005,1452,1236,250.3,21.4,328,7733,0.00,2.17,0.00,0.000,260,0.000,0.047,3256,3410,1344,1452,1236,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7938,1.28,243.3,3256,3410,1451,1236,203.6,23.0,338,7945,0.15,2.10,0.00,0.000,5126,0.168,0.029,3228,1993,1343,1451,1236,0,0,0,0,0,0,26.17,26.55,28.83
$GC,8265,1.28,243.3,3228,1992,1451,1234,149.6,16.1,354,8271,0.00,2.20,0.00,0.000,260,0.000,0.046,3228,3403,1342,1451,1234,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8479,1.28,243.3,3228,3404,1451,1234,110.0,17.9,364,8485,0.00,2.08,0.00,0.000,1030,0.000,0.028,3240,1991,1342,1451,1234,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8799,1.28,243.3,3239,1991,1451,1234,65.1,12.2,380,8805,0.00,2.10,0.00,0.000,516,0.000,0.039,3251,608,1343,1452,1234,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9041,1.28,243.3,3251,606,1450,1234,40.0,11.1,396,9047,0.00,2.08,0.00,0.000,1030,0.000,0.030,3251,2009,1343,1452,1234,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9358,1.28,243.3,2240,2007,1423,1231,6.0,10.9,443,9365,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2009,1343,1452,1234,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9391,end climb,SURFACE_DEPTH_REACHED
$STATE,9392,begin surface coast
$FINISH,0.4,1.022369
$STATE,9426,end surface coast,CONTROL_FINISHED_OK
$STATE,9426,begin surface
$SM_CCo,9444,74.50,0.060,0,0,747,400.08
$SM_GC,1.35,7.93,0.75,74.50,0.031,0.044,0.060,120,2505,747,-8.31,-1.05,400.08,0,0,0,0,0,0,26.57,26.51,26.31
$IRIDIUM_FIX,2302.75,12202.56,020413,212112
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.86
$INTERNAL_PRESSURE,9.65227
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3935520
$24V_AH,24.2,39.037
$10V_AH,10.2,26.032
$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,19.750,57.350,749.550,74.500,0.000,0.000,0.000,181.050,0.000,0.000,18.721,1836.233,5461.166,753.199,1490.868,317.864,0.000,1719.727,0.000,1240.798,0.000,0.537,0.000
$DEVICE_MAMPS,222.615,66.555,749.700,60.435,0.000,0.000,0.000,126.990,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9429.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.163,0.000,0.000,0.000
$MEM,324276
$DATA_FILE_SIZE,16787,455
$CAP_FILE_SIZE,249053,0
$CFSIZE,260034560,227155968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030413,030724,2316.902,12201.910,53,1.0,54,-3.1