version: 66.11
glider: 171
mission: 4
dive: 240
start: 3 30 113 23 0 37
data:
$ID,171
$MISSION,4
$DIVE,240
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,970
$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,370
$T_MISSION,400
$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,225
$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,280
$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,-20820.775
$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,62
$R_STBD_OVSHOOT,44
$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
$GPS1,300313,225433,2240.859,12217.279,9,3.8,29,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-69.8
$GPS2,300313,230013,2240.916,12217.265,15,2.0,15,-3.0
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2242.792,12205.735
$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,283.0,20000,-12.0,-8.739,-16.47,3810
$D_GRID,4900
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.25,-219.0,143,2494,826,670,0.0,0.0,0,78,0.00,0.00,-58.20,0.000,16386,0.000,0.000,143,2494,2391,2439,2343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.25,-219.0,143,2494,2443,2343,3.5,-6.5,8,113,8.90,1.90,-15.43,0.000,18692,0.222,0.066,2400,3659,3278,3350,3207,0,0,0,0,0,0,25.67,26.07,26.46
$GC,347,-1.25,-219.0,2399,3659,3355,3208,101.2,-32.4,30,353,0.00,1.67,0.00,0.000,1030,0.000,0.025,2400,2496,3281,3355,3207,0,0,0,0,0,0,28.83,26.37,28.83
$GC,673,-1.25,-219.0,2399,2497,3358,3210,193.2,-30.0,46,679,0.00,1.83,0.00,0.000,260,0.000,0.052,2391,3656,3284,3358,3210,0,0,0,0,0,0,28.83,26.34,28.83
$GC,719,-1.25,-219.0,2391,3657,3358,3210,208.8,-32.4,48,725,0.00,1.70,0.00,0.000,1030,0.000,0.024,2391,2497,3284,3358,3210,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1044,-1.25,-219.0,2391,2495,3359,3212,302.2,-22.5,64,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2496,3285,3359,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1343,-1.25,-219.0,2391,2496,3360,3212,373.2,-25.6,79,1349,0.00,1.83,0.00,0.000,260,0.000,0.053,2382,3668,3286,3360,3212,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1439,-1.25,-219.0,2382,3668,3360,3212,395.9,-26.5,83,1445,0.12,1.67,0.00,0.000,3078,0.156,0.025,2415,2491,3286,3360,3212,0,0,0,0,0,0,26.31,26.62,28.83
$GC,1755,-1.25,-219.0,2414,2490,3361,3212,471.5,-20.7,99,1761,0.00,2.03,0.00,0.000,516,0.000,0.027,2415,1106,3286,3361,3211,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1780,-1.25,-219.0,2414,1105,3361,3212,476.5,-20.2,100,1786,0.00,2.10,0.00,0.000,1030,0.000,0.037,2404,2495,3286,3361,3212,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2106,-1.25,-219.0,2404,2495,3365,3212,545.7,-21.9,116,2112,0.00,1.83,0.00,0.000,260,0.000,0.054,2396,3671,3286,3360,3212,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2202,-1.25,-219.0,2395,3671,3360,3212,564.8,-21.7,120,2208,0.00,1.67,0.00,0.000,1030,0.000,0.026,2396,2499,3286,3360,3212,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2526,-1.25,-219.0,2395,2497,3360,3211,633.0,-20.5,134,2532,0.00,2.05,0.00,0.000,516,0.000,0.030,2395,1101,3285,3360,3210,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2554,-1.25,-219.0,2395,1100,3360,3210,633.0,-20.5,134,2563,0.12,2.12,0.00,0.000,3078,0.161,0.039,2418,2502,3285,3360,3210,0,0,0,0,0,0,26.31,26.51,28.83
$GC,2862,-1.25,-219.0,2418,2502,3360,3206,704.4,-20.5,145,2867,0.00,1.83,0.00,0.000,260,0.000,0.054,2409,3676,3283,3360,3206,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2995,-1.25,-219.0,2409,3676,3360,3205,729.8,-20.1,149,3000,0.00,1.67,0.00,0.000,1030,0.000,0.026,2409,2494,3282,3360,3204,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3319,-1.25,-219.0,2409,2494,3360,3199,791.2,-17.5,160,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2494,3278,3360,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3619,-1.25,-219.0,2409,2494,3359,3196,845.6,-18.4,170,3625,0.00,2.03,0.00,0.000,516,0.000,0.028,2409,1114,3277,3359,3195,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3658,-1.25,-219.0,2409,1114,3359,3195,852.1,-18.6,171,3664,0.00,2.12,0.00,0.000,1030,0.000,0.040,2399,2499,3276,3358,3195,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3988,-1.25,-219.0,2398,2499,3356,3191,918.7,-20.2,182,3993,0.00,1.83,0.00,0.000,260,0.000,0.057,2390,3668,3273,3356,3191,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4046,-1.25,-219.0,2390,3668,3355,3191,925.7,-20.3,183,4054,0.00,1.67,0.00,0.000,1030,0.000,0.028,2389,2511,3273,3355,3191,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,4260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4260,begin apogee
$GC,4267,-0.20,0.0,2390,1982,3355,3188,972.8,-19.2,191,4616,1.08,0.00,338.77,0.760,10246,0.119,0.000,2745,1982,2374,2533,2215,0,0,0,0,0,0,26.17,28.83,24.34
$STATE,4618,end apogee,CONTROL_FINISHED_OK
$STATE,4618,begin climb
$GC,4620,1.25,219.0,2745,1982,2529,2209,992.2,0.0,202,4865,1.30,0.00,238.77,0.891,10758,0.047,0.000,3228,1981,1482,1584,1380,0,0,0,0,0,0,25.15,28.83,23.96
$GC,5163,1.25,219.0,3227,1981,1553,1348,886.8,24.0,221,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1980,1451,1553,1349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5462,1.25,219.0,3227,1981,1551,1346,814.1,24.8,231,5468,0.00,2.25,0.00,0.000,260,0.000,0.047,3228,3412,1448,1551,1346,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5527,1.25,219.0,3227,3412,1551,1347,798.0,24.5,233,5533,0.00,2.10,0.00,0.000,1030,0.000,0.028,3239,2011,1448,1550,1346,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5861,1.25,219.0,3239,2011,1549,1343,717.0,23.7,244,5867,0.00,2.12,0.00,0.000,516,0.000,0.037,3250,610,1446,1549,1344,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5890,1.25,219.0,3250,610,1549,1344,717.0,23.7,244,5898,0.00,2.10,0.00,0.000,1030,0.000,0.031,3250,2011,1446,1549,1344,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6198,1.25,219.0,3250,2010,1547,1343,634.6,24.3,255,6203,0.00,2.17,0.00,0.000,260,0.000,0.047,3250,3412,1445,1547,1343,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6286,1.25,219.0,3250,3412,1547,1343,618.4,24.4,257,6294,0.15,2.10,0.00,0.000,5126,0.177,0.029,3223,1995,1445,1547,1343,0,0,0,0,0,0,26.16,26.50,28.83
$GC,6592,1.25,219.0,3223,1995,1547,1341,554.5,16.8,272,6598,0.00,2.12,0.00,0.000,516,0.000,0.040,3234,604,1444,1547,1341,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6679,1.25,219.0,3234,607,1546,1341,538.0,19.2,276,6685,0.00,2.10,0.00,0.000,1030,0.000,0.031,3234,2007,1443,1546,1341,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7004,1.25,219.0,3234,2007,1546,1340,464.1,22.4,292,7010,0.00,2.17,0.00,0.000,260,0.000,0.047,3234,3409,1443,1546,1341,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7243,1.25,219.0,3234,3409,1544,1341,412.3,21.3,303,7249,0.00,2.08,0.00,0.000,1030,0.000,0.029,3246,2003,1442,1544,1340,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7557,1.25,219.0,3243,2003,1544,1338,344.4,21.0,319,7563,0.00,2.17,0.00,0.000,260,0.000,0.046,3246,3401,1440,1544,1336,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7585,1.25,219.0,3245,3403,1544,1338,339.0,21.1,320,7591,0.12,2.08,0.00,0.000,5126,0.177,0.029,3226,1995,1441,1544,1338,0,0,0,0,0,0,26.25,26.57,28.83
$GC,7906,1.25,219.0,3225,1995,1544,1336,276.4,19.7,336,7912,0.00,2.20,0.00,0.000,260,0.000,0.046,3226,3409,1441,1544,1338,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8022,1.25,219.0,3226,3409,1545,1336,254.7,20.4,341,8028,0.00,2.08,0.00,0.000,1030,0.000,0.029,3237,2004,1440,1544,1336,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8336,1.25,219.0,3237,2004,1544,1336,199.2,14.8,357,8342,0.00,2.12,0.00,0.000,516,0.000,0.041,3248,608,1440,1544,1336,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8523,1.25,219.0,3248,608,1544,1336,169.9,15.7,366,8529,0.00,2.08,0.00,0.000,1030,0.000,0.030,3248,2003,1440,1544,1336,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8849,1.25,219.0,3251,2002,1544,1336,117.5,14.6,382,8855,0.00,2.12,0.00,0.000,516,0.000,0.038,3260,607,1440,1544,1336,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8909,1.25,219.0,3259,608,1545,1336,111.4,13.9,384,8918,0.15,2.08,0.00,0.000,5126,0.154,0.031,3218,2003,1440,1544,1336,0,0,0,0,0,0,26.25,26.55,28.83
$GC,9216,1.25,219.0,3218,2003,1544,1336,70.3,14.2,400,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2003,1440,1544,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9516,1.28,227.9,3218,2003,1544,1336,35.3,8.5,422,9523,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2003,1440,1545,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9833,1.67,339.0,2176,2002,1512,1333,13.6,5.7,471,9894,0.32,2.22,53.95,0.083,10500,0.044,0.044,3382,3406,995,1099,892,0,0,0,0,0,0,26.68,26.41,26.29
$STATE,9907,end climb,SURFACE_DEPTH_REACHED
$STATE,9907,begin surface coast
$FINISH,0.2,1.007577
$STATE,9924,end surface coast,CONTROL_FINISHED_OK
$STATE,9924,begin surface
$SM_CCo,9943,33.10,0.061,0,0,748,400.08
$SM_GC,1.68,8.35,1.38,33.10,0.035,0.030,0.061,111,2495,748,-8.29,1.64,400.08,0,0,0,0,0,0,26.54,26.54,26.30
$IRIDIUM_FIX,2230.01,12219.14,300313,202039
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.19
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3943776
$24V_AH,24.0,35.004
$10V_AH,10.3,23.872
$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,20.625,76.125,631.500,33.100,0.000,0.000,0.000,188.575,0.000,0.000,16.518,1944.252,5862.865,718.273,1472.091,314.846,0.000,1643.320,0.000,1225.134,0.000,0.537,0.000
$DEVICE_MAMPS,221.850,65.790,891.225,61.200,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9920.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.150,0.000,0.000,0.000
$MEM,324116
$DATA_FILE_SIZE,16846,484
$CAP_FILE_SIZE,258803,0
$CFSIZE,260034560,229445632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310313,014748,2242.980,12215.575,8,1.7,14,-3.0