version: 66.11
glider: 171
mission: 4
dive: 271
start: 4 3 113 14 32 7
data:
$ID,171
$MISSION,4
$DIVE,271
$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,-20859.809
$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,56
$R_STBD_OVSHOOT,38
$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
$GPS1,030413,142535,2325.310,12158.533,43,1.3,49,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.3
$GPS2,030413,143137,2325.482,12158.534,15,1.6,15,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,HEADING
$TGT_LATLONG,2325.482,12146.766
$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,4706
$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,-243.3,126,2501,847,661,0.0,0.0,0,79,0.00,0.00,-58.38,0.000,16386,0.000,0.000,126,2502,2487,2557,2418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.28,-243.3,126,2502,2554,2421,4.2,-7.6,8,114,8.95,1.90,-14.18,0.000,18692,0.222,0.067,2391,3668,3377,3435,3319,0,0,0,0,0,0,25.67,26.13,26.57
$GC,347,-1.28,-243.3,2391,3668,3439,3319,110.3,-36.8,28,353,0.00,1.70,0.00,0.000,1030,0.000,0.024,2391,2485,3379,3439,3319,0,0,0,0,0,0,28.83,26.40,28.83
$GC,666,-1.28,-243.3,2392,2483,3443,3321,211.7,-28.8,44,673,0.00,2.03,0.00,0.000,516,0.000,0.029,2392,1107,3381,3443,3320,0,0,0,0,0,0,28.83,26.44,28.83
$GC,691,-1.28,-243.3,2391,1108,3443,3320,218.6,-28.4,45,697,0.00,2.12,0.00,0.000,1030,0.000,0.039,2381,2495,3381,3443,3320,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1017,-1.28,-243.3,2380,2495,3444,3322,311.4,-27.3,61,1022,0.00,1.83,0.00,0.000,260,0.000,0.054,2372,3673,3383,3444,3323,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1063,-1.28,-243.3,2372,3673,3445,3322,323.5,-27.1,63,1069,0.15,1.67,0.00,0.000,3078,0.148,0.024,2413,2492,3383,3444,3322,0,0,0,0,0,0,26.22,26.57,28.83
$GC,1390,-1.28,-243.3,2411,2490,3445,3322,399.0,-22.3,79,1396,0.00,2.03,0.00,0.000,516,0.000,0.028,2413,1104,3383,3445,3322,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1450,-1.28,-243.3,2412,1104,3445,3321,409.3,-22.3,81,1457,0.00,2.12,0.00,0.000,1030,0.000,0.037,2403,2504,3383,3445,3322,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1757,-1.28,-243.3,2402,2504,3445,3322,483.5,-23.5,97,1762,0.00,2.05,0.00,0.000,516,0.000,0.028,2403,1108,3384,3445,3323,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1774,-1.28,-243.3,2402,1108,3444,3322,483.5,-23.5,97,1782,0.00,2.12,0.00,0.000,1030,0.000,0.038,2392,2507,3384,3445,3323,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2081,-1.28,-243.3,2392,2507,3444,3320,562.2,-22.9,113,2087,0.00,1.83,0.00,0.000,260,0.000,0.054,2383,3680,3382,3444,3320,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2147,-1.28,-243.3,2383,3680,3444,3320,577.5,-23.1,116,2153,0.00,1.73,0.00,0.000,1030,0.000,0.025,2383,2496,3380,3444,3317,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2462,-1.28,-243.3,2381,2495,3444,3316,649.1,-23.2,128,2467,0.00,2.03,0.00,0.000,516,0.000,0.029,2383,1114,3381,3444,3319,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2496,-1.28,-243.3,2383,1116,3444,3316,656.6,-23.0,129,2502,0.15,2.12,0.00,0.000,3078,0.155,0.039,2413,2503,3381,3444,3319,0,0,0,0,0,0,26.20,26.45,28.83
$GC,2832,-1.28,-243.3,2413,2503,3444,3312,722.0,-19.2,140,2837,0.00,1.83,0.00,0.000,260,0.000,0.054,2405,3673,3377,3444,3310,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2889,-1.28,-243.3,1504,3671,3432,3306,728.9,-19.2,141,2897,0.00,1.67,0.00,0.000,1030,0.000,0.027,2405,2497,3376,3444,3309,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3197,-1.28,-243.3,2405,2495,3443,3306,792.0,-19.5,152,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2497,3374,3443,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3496,-1.28,-243.3,2404,2497,3442,3301,849.9,-19.0,162,3502,0.00,2.05,0.00,0.000,516,0.000,0.031,2405,1110,3371,3442,3300,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3541,-1.28,-243.3,2404,1110,3441,3300,856.2,-18.7,163,3547,0.00,2.12,0.00,0.000,1030,0.000,0.041,2394,2500,3371,3442,3300,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3865,-1.28,-243.3,2394,2500,3439,3296,921.7,-20.0,174,3871,0.00,1.83,0.00,0.000,260,0.000,0.056,2386,3670,3367,3439,3296,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3930,-1.28,-243.3,2385,3669,3439,3296,935.4,-20.6,176,3936,0.00,1.70,0.00,0.000,1030,0.000,0.028,2386,2509,3367,3439,3295,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,4022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4022,begin apogee
$GC,4029,-0.20,0.0,2385,1984,3438,3292,955.5,-21.4,179,4420,1.10,0.00,378.65,0.754,10246,0.121,0.000,2747,1983,2374,2531,2217,0,0,0,0,0,0,26.04,28.83,24.28
$STATE,4422,end apogee,CONTROL_FINISHED_OK
$STATE,4422,begin climb
$GC,4424,1.28,243.3,2747,1984,2526,2208,984.8,0.0,191,4812,1.33,0.00,379.23,0.734,10758,0.047,0.000,3238,1983,1388,1500,1276,0,0,0,0,0,0,25.10,28.83,24.11
$GC,5104,1.28,243.3,3237,1983,1466,1244,860.8,25.7,215,5110,0.00,2.28,0.00,0.000,260,0.000,0.046,3236,3412,1355,1466,1244,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5172,1.28,243.3,3238,3412,1465,1244,843.0,26.5,217,5178,0.00,2.10,0.00,0.000,1030,0.000,0.027,3249,2012,1354,1465,1244,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5502,1.28,243.3,3249,2012,1462,1241,759.4,24.4,228,5508,0.00,2.15,0.00,0.000,516,0.000,0.037,3259,607,1351,1462,1241,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5587,1.28,243.3,3260,607,1461,1241,742.4,25.4,230,5594,0.12,2.12,0.00,0.000,5126,0.171,0.031,3229,2023,1351,1461,1242,0,0,0,0,0,0,26.06,26.32,28.83
$GC,5902,1.28,243.3,3229,2023,1460,1240,661.1,24.0,241,5908,0.00,2.15,0.00,0.000,260,0.000,0.046,3229,3402,1350,1460,1240,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5949,1.28,243.3,3229,3404,1460,1240,652.4,24.3,242,5955,0.00,2.08,0.00,0.000,1030,0.000,0.028,3240,2002,1351,1460,1242,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6269,1.28,243.3,3239,2002,1458,1238,570.1,24.1,255,6275,0.00,2.15,0.00,0.000,516,0.000,0.040,3251,604,1348,1459,1238,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6309,1.28,243.3,3251,604,1458,1238,564.3,23.7,256,6317,0.00,2.08,0.00,0.000,1030,0.000,0.031,3251,1997,1348,1459,1238,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6614,1.28,243.3,3250,1998,1458,1237,489.0,23.6,272,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1997,1348,1458,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6914,1.28,243.3,3250,1997,1456,1237,419.0,22.6,287,6920,0.00,2.17,0.00,0.000,260,0.000,0.046,3251,3402,1347,1457,1237,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6931,1.28,243.3,3251,3402,1455,1237,419.0,22.6,287,6940,0.12,2.08,0.00,0.000,5126,0.177,0.030,3231,1999,1347,1457,1237,0,0,0,0,0,0,26.19,26.52,28.83
$GC,7239,1.28,243.3,3231,1998,1456,1236,348.6,21.9,303,7244,0.00,2.12,0.00,0.000,516,0.000,0.041,3242,610,1346,1456,1236,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7329,1.28,243.3,3242,610,1455,1236,329.4,22.2,307,7335,0.00,2.08,0.00,0.000,1030,0.000,0.031,3242,2003,1345,1455,1236,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7650,1.28,243.3,3241,2003,1454,1236,259.0,21.1,323,7656,0.00,2.17,0.00,0.000,260,0.000,0.046,3242,3403,1345,1454,1236,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7678,1.28,243.3,3242,3403,1454,1236,253.0,21.7,324,7684,0.00,2.08,0.00,0.000,1030,0.000,0.030,3254,2000,1345,1454,1236,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7999,1.28,243.3,3253,2000,1453,1235,188.1,18.4,340,8004,0.00,2.12,0.00,0.000,516,0.000,0.040,3264,609,1344,1453,1235,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8207,1.28,243.3,3265,609,1453,1235,151.3,17.3,350,8214,0.12,2.08,0.00,0.000,5126,0.163,0.029,3232,2016,1343,1453,1233,0,0,0,0,0,0,26.23,26.52,28.83
$GC,8534,1.28,243.3,3232,2016,1453,1235,104.8,12.6,366,8540,0.00,2.15,0.00,0.000,516,0.000,0.039,3243,609,1344,1454,1235,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8757,1.28,243.3,3243,609,1453,1235,84.1,11.6,376,8765,0.00,2.05,0.00,0.000,1030,0.000,0.029,3243,1997,1343,1453,1234,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9066,1.28,243.3,3243,1997,1453,1235,47.1,10.3,393,9072,0.00,2.12,0.00,0.000,516,0.000,0.038,3255,606,1344,1453,1235,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9079,1.28,243.3,3254,606,1457,1235,45.3,10.4,394,9085,0.00,2.08,0.00,0.000,1030,0.000,0.030,3255,2003,1344,1453,1235,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9392,1.28,243.3,2224,2001,1424,1232,14.8,10.0,434,9400,0.00,2.15,0.00,0.000,260,0.000,0.044,3254,3402,1344,1454,1235,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,9495,end climb,SURFACE_DEPTH_REACHED
$STATE,9495,begin surface coast
$FINISH,0.6,1.022390
$STATE,9518,end surface coast,CONTROL_FINISHED_OK
$STATE,9518,begin surface
$SM_CCo,9537,73.85,0.059,0,0,748,400.08
$SM_GC,1.07,7.97,1.35,73.85,0.033,0.028,0.059,135,2501,748,-8.29,1.84,400.08,0,0,0,0,0,0,26.55,26.59,26.29
$IRIDIUM_FIX,2312.13,12159.83,030413,111105
$TT8_MAMPS,0.048685,0.048685
$HUMID,45.62
$INTERNAL_PRESSURE,9.6425
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3933920
$24V_AH,24.1,39.905
$10V_AH,10.2,26.451
$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,20.025,85.100,757.875,73.850,0.000,0.000,0.000,201.575,0.000,0.000,16.565,1835.333,5489.775,806.100,1507.434,333.127,0.000,1811.971,0.000,1232.057,0.000,0.538,0.000
$DEVICE_MAMPS,221.850,66.555,753.525,58.905,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9526.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.108,0.000,0.000,0.000
$MEM,324272
$DATA_FILE_SIZE,16738,457
$CAP_FILE_SIZE,256288,0
$CFSIZE,260034560,226701312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030413,171333,2327.729,12157.440,13,7.7,33,-3.1