version: 66.11
glider: 171
mission: 4
dive: 277
start: 4 4 113 7 16 34
data:
$ID,171
$MISSION,4
$DIVE,277
$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,-20867.346
$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,57
$R_STBD_OVSHOOT,40
$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
$GPS1,040413,070227,2339.248,12154.361,10,4.3,30,-3.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-68.0
$GPS2,040413,071605,2339.880,12154.655,13,1.6,29,-3.2
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,HEADING
$TGT_LATLONG,2339.880,12142.864
$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,4137
$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,-243.3,126,2504,860,666,0.0,0.0,0,79,0.00,0.00,-58.38,0.000,16386,0.000,0.000,126,2504,2494,2568,2420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.28,-243.3,126,2504,2568,2423,4.4,-8.8,8,113,8.98,1.90,-14.30,0.000,18692,0.221,0.067,2394,3662,3377,3435,3319,0,0,0,0,0,0,25.60,26.06,26.51
$GC,286,-1.28,-243.3,2394,3662,3436,3319,82.3,-33.6,25,292,0.00,1.70,0.00,0.000,1030,0.000,0.025,2394,2489,3377,3436,3318,0,0,0,0,0,0,28.83,26.33,28.83
$GC,607,-1.28,-243.3,2394,2487,3442,3319,174.0,-27.1,41,613,0.00,2.05,0.00,0.000,516,0.000,0.031,2394,1102,3380,3442,3319,0,0,0,0,0,0,28.83,26.39,28.83
$GC,653,-1.28,-243.3,2394,1102,3441,3319,186.3,-27.7,43,659,0.00,2.12,0.00,0.000,1030,0.000,0.039,2383,2494,3380,3442,3319,0,0,0,0,0,0,28.83,26.34,28.83
$GC,979,-1.28,-243.3,2383,2494,3442,3320,278.9,-26.6,59,985,0.00,1.83,0.00,0.000,260,0.000,0.054,2375,3671,3381,3442,3320,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1090,-1.28,-243.3,1440,3670,3429,3316,308.3,-27.4,64,1096,0.12,1.67,0.00,0.000,3078,0.156,0.024,2406,2494,3381,3443,3320,0,0,0,0,0,0,26.22,26.55,28.83
$GC,1412,-1.28,-243.3,2406,2493,3442,3320,386.3,-22.4,80,1417,0.00,2.05,0.00,0.000,516,0.000,0.031,2406,1099,3381,3442,3320,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1457,-1.28,-243.3,2406,1098,3442,3320,396.8,-22.5,82,1463,0.00,2.15,0.00,0.000,1030,0.000,0.039,2397,2501,3381,3442,3320,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1783,-1.28,-243.3,2397,2502,3442,3319,471.7,-23.6,98,1790,0.00,2.08,0.00,0.000,516,0.000,0.029,2397,1099,3380,3442,3319,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1811,-1.28,-243.3,2396,1099,3442,3319,477.8,-23.6,99,1817,0.00,2.15,0.00,0.000,1030,0.000,0.038,2386,2503,3380,3442,3318,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2132,-1.28,-243.3,2383,2503,3441,3314,554.3,-23.0,115,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2503,3377,3441,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2450,-1.28,-243.3,2386,2501,3441,3308,628.7,-23.1,129,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2503,3375,3442,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2750,-1.28,-243.3,2386,2503,3441,3303,693.7,-21.6,139,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2503,3372,3441,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3051,-1.28,-243.3,2386,2503,3438,3300,759.8,-21.8,149,3057,0.00,1.83,0.00,0.000,260,0.000,0.054,2377,3671,3368,3438,3299,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3099,-1.28,-243.3,2376,3671,3438,3299,767.5,-21.6,150,3106,0.08,1.73,0.00,0.000,3078,0.138,0.026,2403,2502,3368,3438,3299,0,0,0,0,0,0,26.31,26.63,28.83
$GC,3419,-1.28,-243.3,2403,2501,3436,3293,834.9,-19.8,161,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2501,3364,3436,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3720,-1.28,-243.3,2403,2500,3435,3288,894.3,-19.7,171,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2500,3361,3435,3287,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4017,begin apogee
$GC,4024,-0.20,0.0,2404,2007,3432,3283,950.9,-18.9,181,4474,1.05,0.00,439.02,0.701,10246,0.119,0.000,2750,2005,2376,2533,2220,0,0,0,0,0,0,26.03,28.83,24.24
$STATE,4478,end apogee,CONTROL_FINISHED_OK
$STATE,4478,begin climb
$GC,4480,1.28,243.3,2749,2006,2526,2209,979.9,0.0,195,4879,1.33,2.30,381.67,0.731,10756,0.046,0.035,3252,625,1378,1489,1268,0,0,0,0,0,0,25.08,24.79,24.11
$GC,4957,1.28,243.3,2304,625,1446,1250,911.8,24.6,210,4965,0.00,2.17,0.00,0.000,1030,0.000,0.030,3252,2017,1362,1472,1253,0,0,0,0,0,0,28.83,25.45,28.83
$GC,5265,1.28,243.3,3251,2017,1464,1246,823.9,26.6,221,5271,0.00,2.20,0.00,0.000,260,0.000,0.046,3252,3411,1355,1464,1246,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5333,1.28,243.3,3252,3411,1463,1246,805.5,27.0,223,5340,0.12,2.12,0.00,0.000,5126,0.183,0.028,3233,1998,1354,1462,1246,0,0,0,0,0,0,25.89,26.19,28.83
$GC,5664,1.28,243.3,3233,1998,1461,1242,721.9,25.6,234,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1998,1351,1461,1242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5964,1.28,243.3,3233,1998,1460,1241,647.5,25.0,244,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1998,1348,1456,1241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6275,1.28,243.3,3232,1998,1458,1240,571.9,23.7,256,6281,0.00,2.22,0.00,0.000,260,0.000,0.047,3233,3403,1349,1458,1240,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6314,1.28,243.3,3233,3403,1458,1240,565.8,23.6,257,6322,0.00,2.10,0.00,0.000,1030,0.000,0.030,3244,1995,1349,1458,1240,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6620,1.28,243.3,3244,1995,1456,1238,487.6,25.1,273,6626,0.00,2.12,0.00,0.000,516,0.000,0.041,3255,609,1347,1456,1238,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6707,1.28,243.3,3254,609,1455,1238,466.2,24.6,277,6713,0.00,2.10,0.00,0.000,1030,0.000,0.031,3255,2004,1346,1455,1238,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7033,1.28,243.3,3253,2004,1454,1238,385.5,25.8,293,7038,0.00,2.15,0.00,0.000,516,0.000,0.040,3267,606,1346,1454,1238,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7088,1.28,243.3,3267,606,1453,1238,373.7,25.6,295,7095,0.12,2.08,0.00,0.000,5126,0.171,0.031,3234,1999,1345,1453,1238,0,0,0,0,0,0,26.17,26.48,28.83
$GC,7404,1.28,243.3,3234,2000,1453,1237,299.4,22.5,311,7410,0.00,2.12,0.00,0.000,516,0.000,0.040,3245,609,1347,1453,1241,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7480,1.28,243.3,3245,609,1453,1237,285.0,21.5,314,7486,0.00,2.08,0.00,0.000,1030,0.000,0.031,3245,2002,1345,1453,1237,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7795,1.28,243.3,3245,2002,1453,1237,217.8,20.9,330,7800,0.00,2.17,0.00,0.000,260,0.000,0.045,3245,3406,1345,1453,1237,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7972,1.28,243.3,3245,3406,1453,1237,179.9,21.9,338,7978,0.00,2.08,0.00,0.000,1030,0.000,0.029,3257,1998,1345,1453,1237,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8286,1.28,243.3,3257,1998,1452,1236,119.6,14.5,354,8292,0.00,2.12,0.00,0.000,516,0.000,0.041,3268,610,1344,1452,1236,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8525,1.28,243.3,3267,610,1452,1235,87.5,14.1,365,8531,0.12,2.08,0.00,0.000,5126,0.161,0.031,3233,2003,1343,1452,1235,0,0,0,0,0,0,26.21,26.50,28.83
$GC,8841,1.28,243.3,3233,2004,1452,1235,50.4,11.3,381,8847,0.00,2.15,0.00,0.000,516,0.000,0.039,3244,606,1343,1452,1235,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9082,1.54,317.7,3245,606,1452,1235,27.7,6.6,403,9259,0.20,2.08,165.57,0.361,11270,0.058,0.030,3350,2004,1080,1190,970,0,0,0,0,0,0,26.53,26.51,25.18
$STATE,9267,end climb,SURFACE_DEPTH_REACHED
$STATE,9267,begin surface coast
$FINISH,0.2,1.022071
$STATE,9283,end surface coast,CONTROL_FINISHED_OK
$STATE,9284,begin surface
$SM_CCo,9304,42.42,0.059,0,0,748,400.08
$SM_GC,0.83,8.52,0.77,42.42,0.037,0.053,0.059,137,2489,748,-8.31,-1.39,400.08,0,0,0,0,0,0,25.82,25.77,25.76
$IRIDIUM_FIX,2316.83,11254.35,040413,070720
$TT8_MAMPS,0.047936,0.047936
$HUMID,46.77
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3932000
$24V_AH,24.1,40.916
$10V_AH,10.2,26.938
$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,20.650,63.175,986.275,42.425,0.000,0.000,0.000,400.250,0.000,0.000,30.610,1649.289,5623.302,898.312,1671.774,320.708,0.000,2110.469,0.000,1181.588,0.000,0.538,0.000
$DEVICE_MAMPS,221.085,67.320,730.575,58.905,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9292.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.109,0.000,0.000,0.000
$MEM,324272
$DATA_FILE_SIZE,16716,429
$CAP_FILE_SIZE,243310,0
$CFSIZE,260034560,226193408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040413,095336,2341.928,12153.630,34,1.0,35,-3.2