version: 66.11
glider: 171
mission: 4
dive: 270
start: 4 3 113 11 37 51
data:
$ID,171
$MISSION,4
$DIVE,270
$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,-20858.551
$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,61
$R_STBD_OVSHOOT,29
$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
$GPS1,030413,113127,2323.023,12159.569,10,2.4,30,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-70.7
$GPS2,030413,113721,2323.136,12159.619,12,2.5,31,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,HEADING
$TGT_LATLONG,2323.136,12147.854
$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,4747
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.28,-243.3,126,2485,844,666,0.0,0.0,0,80,0.00,0.00,-58.55,0.000,16386,0.000,0.000,126,2486,2479,2552,2407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.28,-243.3,126,2486,2556,2406,4.4,-8.2,8,115,8.93,1.95,-14.12,0.000,18692,0.220,0.067,2391,3676,3375,3434,3317,0,0,0,0,0,0,25.67,26.09,26.51
$GC,346,-1.28,-243.3,2391,3676,3435,3317,112.8,-38.7,27,352,0.00,1.70,0.00,0.000,1030,0.000,0.024,2391,2493,3376,3435,3317,0,0,0,0,0,0,28.83,26.38,28.83
$GC,665,-1.28,-243.3,2391,2491,3439,3317,215.7,-30.3,43,671,0.00,1.85,0.00,0.000,260,0.000,0.050,2383,3674,3378,3440,3317,0,0,0,0,0,0,28.83,26.33,28.83
$GC,699,-1.28,-243.3,2382,3674,3440,3317,223.1,-31.0,44,705,0.00,1.67,0.00,0.000,1030,0.000,0.024,2382,2496,3378,3440,3317,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1013,-1.28,-243.3,2382,2494,3442,3318,313.3,-28.1,60,1019,0.00,1.85,0.00,0.000,260,0.000,0.052,2373,3680,3379,3441,3318,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1155,-1.28,-243.3,2373,3682,3442,3319,349.5,-28.2,66,1164,0.10,1.73,0.00,0.000,3078,0.134,0.024,2407,2497,3379,3441,3318,0,0,0,0,0,0,26.25,26.58,28.83
$GC,1462,-1.28,-243.3,2406,2496,3442,3318,427.0,-23.7,82,1468,0.00,2.03,0.00,0.000,516,0.000,0.031,2407,1113,3380,3442,3318,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1518,-1.28,-243.3,2407,1112,3442,3318,438.0,-23.6,84,1523,0.00,2.12,0.00,0.000,1030,0.000,0.039,2397,2507,3380,3442,3318,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1832,-1.28,-243.3,2397,2507,3441,3318,515.0,-24.0,100,1838,0.00,1.80,0.00,0.000,260,0.000,0.054,2388,3673,3379,3441,3318,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1881,-1.28,-243.3,2388,3673,3441,3318,525.9,-24.3,102,1887,0.00,1.67,0.00,0.000,1030,0.000,0.025,2387,2492,3379,3441,3318,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2204,-1.28,-243.3,2388,2490,3441,3316,601.3,-22.4,118,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2490,3379,3442,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2501,-1.28,-243.3,2388,2490,3441,3312,663.2,-20.2,128,2507,0.00,1.85,0.00,0.000,260,0.000,0.054,2379,3673,3376,3441,3311,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2554,-1.28,-243.3,2379,3672,3441,3308,670.1,-20.1,129,2560,0.12,1.67,0.00,0.000,3078,0.148,0.025,2412,2494,3375,3441,3310,0,0,0,0,0,0,26.33,26.65,28.83
$GC,2869,-1.28,-243.3,2412,2493,3441,3306,728.1,-16.9,140,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2493,3373,3441,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3169,-1.28,-243.3,2413,2493,3440,3301,781.1,-18.2,150,3175,0.00,1.85,0.00,0.000,260,0.000,0.054,2404,3675,3370,3440,3300,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3248,-1.28,-243.3,2404,3671,3439,3300,793.6,-18.6,152,3254,0.00,1.73,0.00,0.000,1030,0.000,0.027,2404,2502,3368,3438,3298,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3568,-1.28,-243.3,2404,2501,3438,3295,858.1,-19.3,163,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2500,3367,3438,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3867,-1.28,-243.3,2404,2500,3436,3291,916.2,-19.5,173,3873,0.00,1.85,0.00,0.000,260,0.000,0.056,2396,3671,3363,3436,3291,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3895,-1.28,-243.3,2395,3671,3435,3291,916.2,-19.5,173,3904,0.00,1.73,0.00,0.000,1030,0.000,0.029,2396,2515,3363,3436,3291,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,4049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4049,begin apogee
$GC,4056,-0.20,0.0,2395,1976,3435,3288,952.8,-20.0,179,4737,1.08,0.00,662.72,0.598,10246,0.118,0.000,2750,1974,2377,2533,2222,0,0,0,0,0,0,26.06,28.83,24.48
$STATE,4738,end apogee,CONTROL_FINISHED_OK
$STATE,4739,begin climb
$GC,4741,1.28,243.3,2750,1975,2531,2216,1002.2,0.0,201,5133,1.30,2.20,379.45,0.738,10756,0.044,0.037,3251,628,1382,1494,1270,0,0,0,0,0,0,25.22,24.81,24.16
$GC,5228,1.28,243.3,3251,628,1470,1250,933.4,23.9,217,5236,0.00,2.17,0.00,0.000,1030,0.000,0.030,3251,2023,1359,1469,1249,0,0,0,0,0,0,28.83,25.52,28.83
$GC,5535,1.28,243.3,3251,2023,1462,1244,851.8,24.6,228,5541,0.00,2.17,0.00,0.000,260,0.000,0.047,3251,3402,1353,1463,1244,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5581,1.28,243.3,3251,3402,1463,1244,842.6,24.5,229,5587,0.12,2.08,0.00,0.000,5126,0.179,0.027,3232,2010,1353,1463,1244,0,0,0,0,0,0,25.92,26.20,28.83
$GC,5906,1.28,243.3,3231,2010,1460,1241,763.6,22.5,240,5912,0.00,2.15,0.00,0.000,516,0.000,0.037,3243,606,1350,1460,1241,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5929,1.28,243.3,3242,606,1460,1241,763.6,22.5,240,5935,0.00,2.10,0.00,0.000,1030,0.000,0.031,3243,2004,1350,1460,1241,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6246,1.28,243.3,3242,2004,1459,1240,684.3,23.8,251,6252,0.00,2.17,0.00,0.000,260,0.000,0.047,3242,3400,1349,1459,1240,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6336,1.28,243.3,3243,3400,1459,1240,666.8,25.0,253,6344,0.00,2.08,0.00,0.000,1030,0.000,0.028,3254,2004,1349,1459,1240,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6641,1.28,243.3,3254,2006,1457,1238,580.1,26.5,265,6643,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2004,1348,1458,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6941,1.28,243.3,3254,2004,1455,1238,502.0,24.9,280,6947,0.00,2.12,0.00,0.000,516,0.000,0.040,3266,608,1346,1455,1238,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7039,1.28,243.3,3265,609,1455,1238,480.5,24.6,284,7045,0.12,2.08,0.00,0.000,5126,0.174,0.031,3234,2000,1346,1455,1238,0,0,0,0,0,0,26.20,26.50,28.83
$GC,7355,1.28,243.3,3233,2001,1453,1237,405.2,23.0,300,7361,0.00,2.15,0.00,0.000,516,0.000,0.040,3245,601,1345,1454,1237,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7389,1.28,243.3,3244,601,1454,1237,399.4,22.8,301,7395,0.00,2.08,0.00,0.000,1030,0.000,0.031,3245,1999,1345,1454,1237,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7703,1.28,243.3,3244,1999,1453,1236,326.7,22.9,317,7704,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2000,1344,1452,1237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8003,1.28,243.3,3245,1999,1453,1236,263.8,20.0,332,8009,0.00,2.12,0.00,0.000,516,0.000,0.040,3256,609,1345,1453,1237,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8079,1.28,243.3,3256,609,1453,1235,250.9,19.4,335,8085,0.00,2.08,0.00,0.000,1030,0.000,0.030,3256,2009,1344,1453,1236,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8394,1.28,243.3,3256,2009,1453,1235,182.6,20.9,351,8399,0.00,2.15,0.00,0.000,260,0.000,0.046,3256,3400,1344,1453,1235,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8448,1.28,243.3,3256,3400,1452,1235,172.7,22.1,353,8455,0.15,2.08,0.00,0.000,5126,0.162,0.029,3227,1994,1343,1452,1235,0,0,0,0,0,0,26.19,26.54,28.83
$GC,8766,1.28,243.3,3227,1992,1452,1234,119.0,14.3,369,8772,0.00,2.10,0.00,0.000,516,0.000,0.040,3238,610,1343,1452,1234,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8827,1.28,243.3,3238,610,1452,1234,112.9,13.3,371,8835,0.00,2.08,0.00,0.000,1030,0.000,0.031,3238,2006,1343,1452,1234,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9133,1.28,243.3,3238,2007,1452,1234,73.0,11.2,387,9134,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2007,1343,1452,1234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9435,1.28,243.3,3238,2007,1452,1234,40.7,10.2,406,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2007,1343,1453,1234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9751,1.28,243.3,2184,2005,1422,1231,11.8,9.1,450,9759,0.00,2.12,0.00,0.000,516,0.000,0.039,3250,609,1343,1453,1234,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9804,1.28,243.3,2240,609,1424,1231,6.8,8.7,459,9812,0.00,2.05,0.00,0.000,1030,0.000,0.029,3249,2003,1343,1453,1234,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,9849,end climb,SURFACE_DEPTH_REACHED
$STATE,9849,begin surface coast
$FINISH,0.4,1.008824
$STATE,9882,end surface coast,CONTROL_FINISHED_OK
$STATE,9882,begin surface
$SM_CCo,9901,74.30,0.060,0,0,749,400.08
$SM_GC,1.55,8.02,0.75,74.30,0.037,0.046,0.060,130,2499,749,-8.31,-1.27,400.08,0,0,0,0,0,0,26.55,26.50,26.29
$IRIDIUM_FIX,2312.13,12159.83,030413,080813
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.98
$INTERNAL_PRESSURE,9.6425
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3934240
$24V_AH,24.2,39.739
$10V_AH,10.2,26.368
$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,19.950,72.875,1042.175,74.300,0.000,0.000,0.000,178.050,0.000,0.000,33.159,1778.897,5700.381,977.909,1539.288,332.059,0.000,2037.391,0.000,1272.919,0.000,0.538,0.000
$DEVICE_MAMPS,220.320,67.320,738.225,60.435,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9870.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.091,0.000,0.000,0.000
$MEM,324276
$DATA_FILE_SIZE,16802,473
$CAP_FILE_SIZE,256850,0
$CFSIZE,260034560,226791424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030413,142535,2325.310,12158.533,43,1.3,49,-3.1