version: 66.11
glider: 171
mission: 4
dive: 248
start: 3 31 113 22 21 56
data:
$ID,171
$MISSION,4
$DIVE,248
$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,320
$T_MISSION,350
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-20830.834
$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,64
$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
$GPS1,310313,221535,2256.737,12207.244,40,1.3,41,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.6
$GPS2,310313,222127,2256.745,12207.251,13,3.0,32,-3.0
$SPEED_LIMITS,0.171,0.309
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$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,240.3,71698,-13.8,-9.896,-17.76,3360
$D_GRID,5007
$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,18,-1.32,-219.0,108,2487,839,656,0.0,0.0,0,81,0.00,0.00,-61.00,0.000,16386,0.000,0.000,109,2487,2493,2554,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.32,-219.0,108,2487,2558,2434,4.1,-7.3,8,117,8.85,2.10,-13.12,0.000,18948,0.218,0.045,2387,1104,3279,3348,3210,0,0,0,0,0,0,25.75,26.27,26.58
$GC,202,-1.32,-219.0,2386,1104,3350,3209,51.2,-37.1,21,211,0.00,2.15,0.00,0.000,1030,0.000,0.041,2377,2484,3279,3350,3209,0,0,0,0,0,0,28.83,26.22,28.83
$GC,509,-1.32,-219.0,2377,2484,3355,3210,156.0,-33.0,37,515,0.00,1.85,0.00,0.000,260,0.000,0.052,2369,3673,3281,3355,3208,0,0,0,0,0,0,28.83,26.34,28.83
$GC,726,-1.32,-219.0,2369,3673,3357,3212,224.3,-33.4,47,733,0.00,1.67,0.00,0.000,1030,0.000,0.024,2369,2496,3284,3357,3212,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1042,-1.32,-219.0,2369,2495,3358,3212,324.7,-30.2,63,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2495,3284,3357,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1341,-1.32,-219.0,2368,2495,3358,3213,406.3,-26.2,78,1348,0.00,2.03,0.00,0.000,516,0.000,0.028,2369,1106,3285,3358,3213,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1375,-1.32,-219.0,2368,1106,3358,3213,412.2,-24.8,79,1382,0.15,2.12,0.00,0.000,3078,0.160,0.038,2397,2504,3285,3359,3212,0,0,0,0,0,0,26.24,26.48,28.83
$GC,1692,-1.32,-219.0,2397,2504,3358,3212,488.1,-22.0,95,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2504,3285,3358,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1991,-1.32,-219.0,2397,2504,3358,3215,549.9,-20.1,110,1996,0.00,1.80,0.00,0.000,260,0.000,0.053,2390,3671,3285,3358,3212,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2018,-1.32,-219.0,1456,3670,3341,3208,554.8,-20.2,111,2024,0.00,1.67,0.00,0.000,1030,0.000,0.025,2390,2489,3284,3358,3211,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2327,-1.32,-219.0,2389,2488,3358,3210,619.4,-20.6,125,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2488,3284,3358,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2628,-1.32,-219.0,2389,2488,3357,3206,679.6,-19.8,135,2634,0.00,1.85,0.00,0.000,260,0.000,0.054,2380,3673,3282,3358,3206,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2728,-1.32,-219.0,2380,3673,3358,3205,699.1,-20.0,138,2735,0.00,1.67,0.00,0.000,1030,0.000,0.025,2380,2491,3281,3358,3205,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3059,-1.32,-219.0,2380,2490,3357,3200,771.5,-21.9,149,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2490,3279,3358,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3359,-1.32,-219.0,2380,2490,3357,3195,840.5,-22.9,159,3365,0.00,2.03,0.00,0.000,516,0.000,0.028,2381,1115,3275,3356,3195,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3404,-1.32,-219.0,2380,1115,3356,3195,848.5,-22.7,160,3410,0.00,2.12,0.00,0.000,1030,0.000,0.039,2370,2505,3275,3356,3194,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3730,-1.32,-219.0,2370,2505,3354,3191,921.5,-21.2,171,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2505,3272,3354,3191,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3878,begin apogee
$GC,3884,-0.20,0.0,2371,1996,3353,3189,952.5,-20.5,176,4230,1.15,0.00,336.08,0.760,10246,0.122,0.000,2747,1994,2374,2534,2215,0,0,0,0,0,0,26.14,28.83,24.39
$STATE,4233,end apogee,CONTROL_FINISHED_OK
$STATE,4233,begin climb
$GC,4235,1.32,219.0,2747,1994,2530,2207,970.2,0.0,186,4486,1.35,2.20,238.25,0.885,10756,0.046,0.034,3262,632,1473,1577,1370,0,0,0,0,0,0,25.17,24.75,24.02
$GC,4549,1.32,219.0,3261,632,1558,1353,921.7,24.5,196,4555,0.00,2.17,0.00,0.000,1030,0.000,0.031,3262,2011,1455,1559,1352,0,0,0,0,0,0,28.83,25.35,28.83
$GC,4874,1.32,219.0,3261,2011,1550,1346,837.6,24.5,207,4879,0.00,2.15,0.00,0.000,516,0.000,0.037,3272,627,1447,1551,1343,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4932,1.32,219.0,3272,626,1550,1345,829.4,24.1,208,4941,0.00,2.08,0.00,0.000,1030,0.000,0.031,3272,2004,1447,1550,1345,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5241,1.32,219.0,3272,2003,1548,1344,750.4,24.0,219,5247,0.00,2.20,0.00,0.000,260,0.000,0.047,3273,3412,1446,1548,1344,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5280,1.32,219.0,3272,3412,1547,1344,741.4,24.2,220,5287,0.15,2.08,0.00,0.000,5126,0.177,0.028,3245,2019,1445,1547,1344,0,0,0,0,0,0,26.06,26.39,28.83
$GC,5611,1.32,219.0,3245,2019,1546,1341,664.1,22.8,231,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2019,1443,1545,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5911,1.32,219.0,3245,2019,1545,1340,606.5,15.3,241,5917,0.00,2.17,0.00,0.000,260,0.000,0.048,3245,3405,1443,1546,1341,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6046,1.32,219.0,3245,3405,1544,1341,582.7,19.2,246,6052,0.00,2.08,0.00,0.000,1030,0.000,0.029,3257,2006,1443,1545,1341,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6361,1.32,219.0,3256,2006,1544,1338,512.1,21.8,262,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,2006,1441,1544,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6661,1.32,219.0,3256,2005,1543,1337,447.7,21.2,277,6667,0.00,2.12,0.00,0.000,516,0.000,0.040,3268,607,1438,1542,1335,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6738,1.32,219.0,3267,607,1542,1337,434.0,20.4,280,6743,0.00,2.08,0.00,0.000,1030,0.000,0.031,3268,2003,1440,1543,1337,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7052,1.32,219.0,3267,2002,1541,1337,369.7,20.3,296,7058,0.00,2.17,0.00,0.000,260,0.000,0.046,3267,3407,1439,1541,1337,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7132,1.32,219.0,3267,3407,1540,1337,354.7,22.1,299,7141,0.12,2.10,0.00,0.000,5126,0.177,0.030,3248,1991,1438,1540,1337,0,0,0,0,0,0,26.23,26.56,28.83
$GC,7439,1.32,219.0,3247,1991,1540,1334,293.2,19.0,315,7445,0.00,2.10,0.00,0.000,516,0.000,0.039,3259,608,1437,1540,1334,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7536,1.32,219.0,3258,607,1540,1337,277.4,18.2,319,7542,0.00,2.08,0.00,0.000,1030,0.000,0.031,3259,2000,1437,1540,1334,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7851,1.32,219.0,3259,2000,1540,1334,214.1,19.1,335,7857,0.00,2.17,0.00,0.000,260,0.000,0.045,3259,3409,1437,1540,1334,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7999,1.32,219.0,3258,3409,1540,1334,186.5,18.4,342,8005,0.00,2.08,0.00,0.000,1030,0.000,0.029,3270,1997,1437,1540,1334,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8325,1.32,219.0,3270,1996,1540,1334,135.1,15.1,358,8331,0.00,2.10,0.00,0.000,516,0.000,0.040,3282,609,1437,1540,1334,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8402,1.32,219.0,3281,609,1540,1334,123.4,16.6,361,8409,0.15,2.08,0.00,0.000,5126,0.159,0.031,3240,2004,1437,1540,1334,0,0,0,0,0,0,26.23,26.55,28.83
$GC,8719,1.32,219.0,3240,2003,1540,1334,80.5,12.5,377,8726,0.00,2.15,0.00,0.000,260,0.000,0.045,3239,3402,1437,1540,1334,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8959,1.32,219.0,3240,3405,1540,1334,48.6,11.1,389,8965,0.00,2.05,0.00,0.000,1030,0.000,0.027,3252,1994,1435,1540,1331,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9274,1.32,219.0,2224,1991,1508,1330,17.4,10.1,426,9282,0.00,2.17,0.00,0.000,260,0.000,0.044,3252,3400,1437,1541,1334,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9312,1.33,222.0,2216,3399,1509,1330,13.4,9.8,432,9320,0.00,2.05,0.00,0.000,1030,0.000,0.027,3263,1992,1438,1542,1334,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,9432,end climb,SURFACE_DEPTH_REACHED
$STATE,9432,begin surface coast
$FINISH,0.5,1.022355
$STATE,9472,end surface coast,CONTROL_FINISHED_OK
$STATE,9472,begin surface
$SM_CCo,9490,83.78,0.060,0,0,748,400.08
$SM_GC,1.06,8.02,0.77,83.78,0.036,0.050,0.060,109,2482,748,-8.30,-1.55,400.08,0,0,0,0,0,0,26.60,26.47,26.32
$IRIDIUM_FIX,2246.36,12212.48,310313,191908
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.66
$INTERNAL_PRESSURE,9.6425
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3941216
$24V_AH,24.0,36.212
$10V_AH,10.2,24.555
$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,19.950,71.175,574.325,83.775,0.000,0.000,0.000,178.700,0.000,0.000,34.462,1950.387,5534.200,682.003,1456.691,302.325,0.000,1594.210,0.000,1188.306,0.000,0.538,0.000
$DEVICE_MAMPS,218.025,53.550,885.105,60.435,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9484.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.166,0.000,0.000,0.000
$MEM,324264
$DATA_FILE_SIZE,16785,461
$CAP_FILE_SIZE,248805,0
$CFSIZE,260034560,228728832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.313, 10.0,1
$GPS,010413,010235,2257.441,12206.095,25,1.4,25,-3.0