version: 66.11
glider: 171
mission: 4
dive: 268
start: 4 3 113 6 0 3
data:
$ID,171
$MISSION,4
$DIVE,268
$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,-20856.035
$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,65
$R_STBD_OVSHOOT,43
$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
$GPS1,030413,055315,2319.007,12201.060,6,3.0,26,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-69.3
$GPS2,030413,055933,2319.221,12201.199,13,3.0,32,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,HEADING
$TGT_LATLONG,2319.221,12149.439
$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,4748
$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,-243.3,126,2490,847,654,0.0,0.0,0,80,0.00,0.00,-58.50,0.000,16386,0.000,0.000,126,2490,2431,2494,2368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.28,-243.3,126,2490,2498,2368,3.8,-6.9,8,114,8.85,1.90,-15.57,0.000,18692,0.217,0.065,2394,3659,3378,3437,3320,0,0,0,0,0,0,25.70,26.15,26.58
$GC,348,-1.28,-243.3,2397,3659,3443,3323,105.0,-34.6,29,354,0.00,1.67,0.00,0.000,1030,0.000,0.024,2394,2500,3382,3442,3323,0,0,0,0,0,0,28.83,26.41,28.83
$GC,674,-1.28,-243.3,2394,2499,3447,3329,204.7,-31.2,45,680,0.00,1.85,0.00,0.000,260,0.000,0.051,2385,3677,3388,3447,3329,0,0,0,0,0,0,28.83,26.34,28.83
$GC,728,-1.28,-243.3,2385,3677,3448,3330,218.8,-31.1,47,734,0.00,1.73,0.00,0.000,1030,0.000,0.024,2386,2496,3389,3448,3330,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1044,-1.28,-243.3,2385,2495,3450,3331,308.8,-27.7,63,1050,0.00,1.83,0.00,0.000,260,0.000,0.052,2376,3668,3390,3450,3331,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1124,-1.28,-243.3,2376,3668,3451,3331,327.6,-27.4,66,1133,0.08,1.70,0.00,0.000,3078,0.131,0.024,2404,2508,3390,3450,3331,0,0,0,0,0,0,26.30,26.58,28.83
$GC,1431,-1.28,-243.3,2403,2506,3451,3331,403.2,-23.2,82,1436,0.00,2.05,0.00,0.000,516,0.000,0.029,2404,1105,3391,3451,3331,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1477,-1.28,-243.3,2404,1103,3451,3331,413.1,-22.2,84,1483,0.00,2.12,0.00,0.000,1030,0.000,0.038,2394,2486,3391,3451,3331,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1803,-1.28,-243.3,2394,2487,3450,3331,489.4,-23.0,100,1808,0.00,1.85,0.00,0.000,260,0.000,0.053,2385,3679,3390,3450,3331,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1883,-1.28,-243.3,2385,3679,3451,3331,505.5,-23.8,103,1891,0.00,1.70,0.00,0.000,1030,0.000,0.025,2385,2482,3391,3451,3331,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2190,-1.28,-243.3,2385,2480,3451,3327,578.6,-22.1,119,2196,0.00,2.00,0.00,0.000,516,0.000,0.030,2386,1115,3389,3451,3327,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2229,-1.28,-243.3,2385,1115,3450,3327,583.9,-21.9,120,2238,0.12,2.12,0.00,0.000,3078,0.162,0.039,2407,2505,3389,3451,3327,0,0,0,0,0,0,26.25,26.46,28.83
$GC,2534,-1.28,-243.3,2407,2505,3451,3322,649.9,-20.0,132,2540,0.00,1.80,0.00,0.000,260,0.000,0.054,2399,3673,3385,3450,3321,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2579,-1.28,-243.3,2399,3673,3450,3320,656.8,-20.0,133,2585,0.00,1.70,0.00,0.000,1030,0.000,0.025,2399,2505,3385,3450,3321,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2903,-1.28,-243.3,2399,2503,3450,3317,724.7,-20.2,144,2909,0.00,2.05,0.00,0.000,516,0.000,0.030,2399,1110,3383,3450,3317,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2938,-1.28,-243.3,2399,1109,3450,3316,731.5,-20.0,145,2944,0.00,2.12,0.00,0.000,1030,0.000,0.038,2389,2503,3383,3451,3316,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3272,-1.28,-243.3,2388,2503,3450,3311,800.3,-20.4,156,3278,0.00,1.83,0.00,0.000,260,0.000,0.055,2380,3673,3380,3450,3310,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3361,-1.28,-243.3,2379,3673,3449,3310,813.9,-20.5,158,3370,0.12,1.67,0.00,0.000,3078,0.148,0.026,2413,2500,3378,3448,3309,0,0,0,0,0,0,26.32,26.65,28.83
$GC,3668,-1.28,-243.3,2413,2500,3448,3305,875.2,-17.8,169,3674,0.00,2.05,0.00,0.000,516,0.000,0.030,2414,1112,3375,3447,3304,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3691,-1.28,-243.3,2413,1112,3448,3303,875.2,-17.8,169,3697,0.00,2.12,0.00,0.000,1030,0.000,0.040,2404,2501,3376,3448,3304,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4007,-1.28,-243.3,2403,2501,3446,3301,937.2,-18.7,180,4013,0.00,1.83,0.00,0.000,260,0.000,0.055,2395,3669,3373,3446,3301,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4041,-1.28,-243.3,2395,3670,3445,3304,943.9,-18.8,181,4047,0.00,1.70,0.00,0.000,1030,0.000,0.028,2395,2503,3372,3445,3300,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,4073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4073,begin apogee
$GC,4080,-0.20,0.0,2395,1983,3445,3300,950.6,-18.8,182,4471,1.08,0.00,379.00,0.752,10246,0.118,0.000,2750,1983,2376,2532,2220,0,0,0,0,0,0,26.07,28.83,24.34
$STATE,4473,end apogee,CONTROL_FINISHED_OK
$STATE,4473,begin climb
$GC,4475,1.28,243.3,2750,1984,2526,2210,978.8,0.0,194,4862,1.33,2.20,372.80,0.735,10756,0.044,0.034,3256,625,1379,1491,1267,0,0,0,0,0,0,25.13,24.84,24.18
$GC,4963,1.28,243.3,3256,624,1467,1248,908.3,24.8,210,4969,0.00,2.15,0.00,0.000,1030,0.000,0.030,3256,2009,1357,1468,1247,0,0,0,0,0,0,28.83,25.57,28.83
$GC,5292,1.28,243.3,3255,2009,1463,1244,823.1,25.6,221,5298,0.00,2.20,0.00,0.000,260,0.000,0.046,3256,3406,1354,1464,1244,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5327,1.28,243.3,3256,3406,1463,1244,814.2,25.6,222,5334,0.15,2.10,0.00,0.000,5126,0.172,0.028,3229,2010,1353,1463,1244,0,0,0,0,0,0,25.92,26.22,28.83
$GC,5662,1.28,243.3,3229,2010,1461,1241,735.4,23.7,233,5668,0.00,2.20,0.00,0.000,260,0.000,0.046,3229,3411,1351,1461,1241,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5730,1.28,243.3,3228,3410,1461,1241,719.0,24.4,235,5736,0.00,2.10,0.00,0.000,1030,0.000,0.028,3240,1997,1351,1461,1241,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6060,1.28,243.3,3240,1997,1459,1240,639.9,23.8,246,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1996,1349,1459,1239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6361,1.28,243.3,3240,1997,1458,1239,567.0,24.4,258,6367,0.00,2.20,0.00,0.000,260,0.000,0.047,3240,3401,1348,1458,1238,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6421,1.28,243.3,3240,3401,1458,1238,555.5,24.5,260,6430,0.00,2.08,0.00,0.000,1030,0.000,0.029,3252,2002,1347,1458,1236,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6727,1.28,243.3,3251,2001,1457,1238,478.9,23.2,276,6733,0.00,2.12,0.00,0.000,516,0.000,0.041,3263,609,1347,1457,1238,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6788,1.28,243.3,3262,609,1457,1237,468.2,23.3,278,6796,0.12,2.08,0.00,0.000,5126,0.171,0.031,3231,2002,1347,1457,1237,0,0,0,0,0,0,26.20,26.48,28.83
$GC,7094,1.28,243.3,3231,2002,1456,1237,396.4,22.7,294,7100,0.00,2.12,0.00,0.000,516,0.000,0.039,3242,609,1346,1456,1237,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7119,1.28,243.3,3242,609,1455,1237,390.8,22.9,295,7125,0.00,2.08,0.00,0.000,1030,0.000,0.031,3242,2000,1346,1455,1237,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7444,1.28,243.3,3242,2001,1454,1237,320.4,20.6,311,7450,0.00,2.12,0.00,0.000,516,0.000,0.040,3254,606,1345,1454,1236,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7556,1.28,243.3,2272,606,1426,1234,297.3,21.7,316,7562,0.00,2.08,0.00,0.000,1030,0.000,0.031,3253,2004,1345,1454,1237,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7878,1.28,243.3,3253,2002,1454,1235,230.5,20.2,332,7884,0.00,2.17,0.00,0.000,260,0.000,0.046,3253,3408,1344,1454,1235,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8116,1.28,243.3,3253,3408,1453,1235,179.6,20.8,343,8122,0.12,2.08,0.00,0.000,5126,0.175,0.029,3233,1995,1344,1453,1235,0,0,0,0,0,0,26.21,26.55,28.83
$GC,8432,1.28,243.3,3232,1995,1453,1234,129.6,15.3,359,8438,0.00,2.10,0.00,0.000,516,0.000,0.040,3244,611,1343,1453,1234,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8670,1.28,243.3,3244,612,1453,1234,99.1,11.3,370,8676,0.00,2.05,0.00,0.000,1030,0.000,0.030,3244,2002,1343,1453,1234,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8985,1.28,243.3,3244,2002,1453,1234,60.8,11.2,386,8991,0.00,2.15,0.00,0.000,260,0.000,0.045,3244,3400,1343,1453,1234,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9045,1.28,243.3,3244,3400,1453,1234,55.7,11.1,388,9053,0.00,2.05,0.00,0.000,1030,0.000,0.027,3255,1994,1343,1453,1234,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9353,1.28,243.3,3255,1994,1453,1234,22.2,10.4,419,9361,0.00,2.17,0.00,0.000,260,0.000,0.045,3255,3400,1344,1454,1234,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,9545,end climb,SURFACE_DEPTH_REACHED
$STATE,9545,begin surface coast
$FINISH,0.4,0.999956
$STATE,9574,end surface coast,CONTROL_FINISHED_OK
$STATE,9574,begin surface
$SM_CCo,9593,74.53,0.061,0,0,747,400.08
$SM_GC,1.68,8.05,1.35,74.53,0.037,0.027,0.061,111,2488,747,-8.31,1.72,400.08,0,0,0,0,0,0,26.55,26.62,26.29
$IRIDIUM_FIX,2305.10,12202.56,030413,030300
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.92
$INTERNAL_PRESSURE,9.66204
$TCM_TEMP,24.10
$XPDR_PINGS,0
$SC_FREEKB,3934880
$24V_AH,24.2,39.366
$10V_AH,10.2,26.199
$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,20.025,88.075,751.800,74.525,0.000,0.000,0.000,200.225,0.000,0.000,34.356,1922.218,5383.654,804.647,1600.431,334.286,0.000,1845.609,0.000,1310.711,0.000,0.538,0.000
$DEVICE_MAMPS,217.260,65.025,751.995,61.200,0.000,0.000,0.000,122.400,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9581.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.152,0.000,0.000,0.000
$MEM,324276
$DATA_FILE_SIZE,16802,460
$CAP_FILE_SIZE,265347,0
$CFSIZE,260034560,226963456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030413,084235,2321.070,12200.456,37,1.1,43,-3.1