version: 66.11
glider: 171
mission: 4
dive: 246
start: 3 31 113 16 47 47
data:
$ID,171
$MISSION,4
$DIVE,246
$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,-20828.324
$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,58
$R_STBD_OVSHOOT,28
$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
$GPS1,310313,164054,2254.582,12209.303,41,1.2,42,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.5
$GPS2,310313,164719,2254.699,12209.264,43,1.3,43,-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,285.6,75809,-13.8,-9.896,-17.76,3360
$D_GRID,5117
$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,16,begin dive
$GC,18,-1.32,-219.0,126,2485,838,656,0.0,0.0,0,81,0.00,0.00,-60.25,0.000,16386,0.000,0.000,126,2485,2504,2568,2441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.32,-219.0,126,2485,2570,2443,4.0,-6.5,8,116,8.80,1.92,-13.02,0.000,18692,0.219,0.065,2378,3676,3277,3346,3208,0,0,0,0,0,0,25.75,26.17,26.58
$GC,350,-1.32,-219.0,2377,3676,3350,3208,110.5,-35.3,29,357,0.00,1.70,0.00,0.000,1030,0.000,0.024,2378,2484,3279,3351,3208,0,0,0,0,0,0,28.83,26.44,28.83
$GC,670,-1.32,-219.0,2378,2482,3356,3208,217.8,-30.5,45,676,0.00,1.88,0.00,0.000,260,0.000,0.052,2370,3675,3281,3355,3208,0,0,0,0,0,0,28.83,26.38,28.83
$GC,866,-1.32,-219.0,2370,3675,3356,3210,275.2,-30.5,54,873,0.00,1.67,0.00,0.000,1030,0.000,0.024,2370,2496,3283,3356,3210,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1181,-1.32,-219.0,2370,2495,3356,3210,366.7,-28.8,70,1187,0.00,1.85,0.00,0.000,260,0.000,0.054,2362,3674,3283,3356,3210,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1250,-1.32,-219.0,2361,3674,3356,3210,386.2,-28.4,73,1256,0.12,1.67,0.00,0.000,3078,0.158,0.024,2393,2487,3283,3356,3210,0,0,0,0,0,0,26.30,26.63,28.83
$GC,1576,-1.32,-219.0,2393,2484,3357,3210,465.1,-23.3,89,1583,0.00,2.00,0.00,0.000,516,0.000,0.029,2394,1114,3283,3357,3210,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1652,-1.32,-219.0,2393,1114,3357,3210,480.4,-22.7,92,1658,0.00,2.10,0.00,0.000,1030,0.000,0.038,2384,2503,3283,3357,3210,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1967,-1.32,-219.0,2384,2503,3357,3210,555.6,-24.8,108,1973,0.00,2.05,0.00,0.000,516,0.000,0.028,2384,1109,3283,3357,3210,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2028,-1.32,-219.0,2384,1109,3357,3210,567.5,-26.1,110,2036,0.00,2.12,0.00,0.000,1030,0.000,0.038,2374,2508,3283,3357,3210,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2332,-1.32,-219.0,2373,2508,3356,3208,648.3,-23.7,123,2338,0.00,1.80,0.00,0.000,260,0.000,0.054,2365,3673,3281,3356,3207,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2441,-1.32,-219.0,2365,3673,3356,3206,669.5,-22.6,126,2448,0.12,1.67,0.00,0.000,3078,0.156,0.025,2397,2492,3281,3357,3206,0,0,0,0,0,0,26.34,26.67,28.83
$GC,2762,-1.32,-219.0,2397,2490,3357,3202,730.3,-17.0,137,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2490,3279,3357,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3062,-1.32,-219.0,2397,2490,3356,3198,781.3,-17.6,147,3068,0.00,2.03,0.00,0.000,516,0.000,0.028,2398,1108,3276,3356,3197,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3090,-1.32,-219.0,2397,1106,3356,3197,781.3,-17.6,147,3099,0.00,2.12,0.00,0.000,1030,0.000,0.040,2388,2501,3276,3356,3197,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3398,-1.32,-219.0,2388,2502,3355,3193,844.9,-19.7,158,3403,0.00,1.83,0.00,0.000,260,0.000,0.055,2378,3672,3274,3355,3193,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3482,-1.32,-219.0,2378,3672,3354,3193,858.5,-20.0,160,3488,0.00,1.67,0.00,0.000,1030,0.000,0.028,2379,2505,3273,3354,3192,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3797,-1.32,-219.0,2378,2504,3351,3188,927.7,-20.9,171,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2504,3269,3351,3188,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3914,begin apogee
$GC,3920,-0.20,0.0,2378,2000,3350,3187,952.0,-20.2,175,4487,1.12,0.00,556.12,0.610,10246,0.119,0.000,2751,1998,2382,2541,2224,0,0,0,0,0,0,26.16,28.83,24.52
$STATE,4488,end apogee,CONTROL_FINISHED_OK
$STATE,4488,begin climb
$GC,4490,1.32,219.0,2750,1999,2535,2219,985.0,0.0,192,4820,1.35,2.25,318.25,0.764,10756,0.045,0.037,3265,622,1479,1581,1378,0,0,0,0,0,0,25.20,24.86,24.21
$GC,4892,1.32,219.0,3266,622,1564,1358,919.7,25.2,205,4897,0.00,2.17,0.00,0.000,1030,0.000,0.031,3266,2010,1459,1560,1359,0,0,0,0,0,0,28.83,25.45,28.83
$GC,5226,1.32,219.0,3266,2010,1553,1353,837.1,24.0,216,5232,0.00,2.20,0.00,0.000,260,0.000,0.047,3266,3403,1453,1553,1353,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5271,1.32,219.0,3266,3405,1553,1353,828.6,24.0,217,5278,0.12,2.10,0.00,0.000,5126,0.182,0.028,3247,2012,1453,1553,1353,0,0,0,0,0,0,25.95,26.22,28.83
$GC,5597,1.32,219.0,3246,2012,1552,1350,749.9,23.9,228,5603,0.00,2.15,0.00,0.000,516,0.000,0.037,3258,606,1451,1552,1350,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5631,1.32,219.0,3257,606,1551,1350,741.3,24.4,229,5637,0.00,2.10,0.00,0.000,1030,0.000,0.031,3257,2002,1451,1552,1350,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5965,1.32,219.0,3257,2002,1551,1348,658.6,24.9,240,5971,0.00,2.17,0.00,0.000,260,0.000,0.047,3258,3402,1449,1550,1348,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6076,1.32,219.0,3257,3402,1549,1348,633.1,26.2,243,6083,0.00,2.08,0.00,0.000,1030,0.000,0.029,3269,2003,1448,1549,1348,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6396,1.32,219.0,3268,2002,1548,1345,553.6,23.5,257,6403,0.00,2.20,0.00,0.000,260,0.000,0.047,3268,3411,1447,1548,1346,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6431,1.32,219.0,3268,3410,1547,1345,547.1,24.0,258,6437,0.15,2.10,0.00,0.000,5126,0.174,0.030,3239,1996,1446,1548,1345,0,0,0,0,0,0,26.19,26.52,28.83
$GC,6747,1.32,219.0,3240,1996,1547,1344,474.2,24.1,274,6753,0.00,2.12,0.00,0.000,516,0.000,0.040,3251,609,1445,1547,1344,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6827,1.32,219.0,2304,609,1518,1340,457.7,24.3,277,6835,0.00,2.08,0.00,0.000,1030,0.000,0.031,3251,2004,1445,1547,1344,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7134,1.32,219.0,3251,2004,1547,1344,390.4,18.3,293,7140,0.00,2.12,0.00,0.000,516,0.000,0.040,3263,610,1445,1546,1344,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7271,1.32,219.0,3262,610,1545,1343,365.3,18.9,299,7277,0.00,2.08,0.00,0.000,1030,0.000,0.031,3263,2007,1444,1546,1342,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7586,1.32,219.0,3263,2007,1545,1341,304.8,18.8,315,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2007,1444,1546,1342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7885,1.32,219.0,3262,2007,1545,1341,248.6,16.9,330,7892,0.00,2.15,0.00,0.000,260,0.000,0.045,3263,3404,1443,1545,1341,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7954,1.32,219.0,3262,3404,1545,1341,234.8,19.5,333,7961,0.00,2.10,0.00,0.000,1030,0.000,0.029,3274,1994,1443,1545,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8280,1.32,219.0,3274,1993,1545,1340,172.5,20.1,349,8287,0.12,2.17,0.00,0.000,4356,0.176,0.043,3237,3402,1443,1545,1341,0,0,0,0,0,0,26.34,26.48,28.83
$GC,8437,1.32,219.0,3237,3402,1545,1341,146.2,16.8,356,8443,0.00,2.08,0.00,0.000,1030,0.000,0.028,3248,1991,1443,1545,1341,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8753,1.32,219.0,3248,1991,1545,1341,96.6,15.2,372,8758,0.00,2.08,0.00,0.000,516,0.000,0.038,3260,610,1443,1545,1341,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8839,1.32,219.0,3259,612,1545,1341,83.8,14.8,376,8845,0.00,2.05,0.00,0.000,1030,0.000,0.030,3259,2002,1443,1545,1341,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9154,1.32,219.0,3259,2002,1545,1340,46.5,10.9,393,9160,0.00,2.10,0.00,0.000,516,0.000,0.037,3270,610,1443,1545,1341,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9232,1.32,219.0,3270,610,1545,1341,38.1,10.8,400,9239,0.00,2.05,0.00,0.000,1030,0.000,0.029,3270,2002,1443,1545,1341,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9555,1.36,231.8,2208,2000,1511,1337,4.7,9.5,449,9563,0.00,2.15,0.00,0.000,260,0.000,0.044,3270,3412,1443,1546,1341,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,9568,end climb,SURFACE_DEPTH_REACHED
$STATE,9569,begin surface coast
$FINISH,0.4,1.003790
$STATE,9598,end surface coast,CONTROL_FINISHED_OK
$STATE,9598,begin surface
$SM_CCo,9616,85.10,0.059,0,0,748,400.08
$SM_GC,1.40,7.97,1.38,85.10,0.030,0.028,0.059,112,2489,748,-8.31,1.61,400.08,0,0,0,0,0,0,26.62,26.63,26.33
$IRIDIUM_FIX,2241.69,12209.99,310313,131334
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.86
$INTERNAL_PRESSURE,9.6425
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3941856
$24V_AH,24.2,35.931
$10V_AH,10.3,24.395
$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,19.900,81.025,874.375,85.100,0.000,0.000,0.000,197.800,0.000,0.000,44.443,1973.974,5285.316,898.337,1608.499,315.765,0.000,1948.802,0.000,1307.154,0.000,0.538,0.000
$DEVICE_MAMPS,218.790,65.025,764.235,58.905,0.000,0.000,0.000,126.990,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9610.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.079,0.000,0.000,0.000
$MEM,324184
$DATA_FILE_SIZE,16799,456
$CAP_FILE_SIZE,262678,0
$CFSIZE,260034560,228888576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.208, 26.9,1
$GPS,310313,193035,2256.348,12208.379,9,1.4,26,-3.0