version: 66.11
glider: 171
mission: 4
dive: 247
start: 3 31 113 19 36 56
data:
$ID,171
$MISSION,4
$DIVE,247
$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,-20829.58
$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,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
$GPS1,310313,193035,2256.348,12208.379,9,1.4,26,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-68.6
$GPS2,310313,193627,2256.413,12208.438,12,3.9,31,-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,243.1,73798,-13.8,-9.896,-17.76,3360
$D_GRID,5027
$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,-219.0,109,2485,839,661,0.0,0.0,0,81,0.00,0.00,-60.28,0.000,16386,0.000,0.000,108,2486,2482,2555,2409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.32,-219.0,109,2486,2558,2408,3.8,-6.6,8,116,8.88,2.08,-13.52,0.000,18948,0.219,0.046,2384,1091,3278,3347,3209,0,0,0,0,0,0,25.75,26.28,26.60
$GC,263,-1.32,-219.0,2384,1091,3351,3209,70.3,-35.8,24,272,0.00,2.15,0.00,0.000,1030,0.000,0.038,2375,2497,3280,3351,3209,0,0,0,0,0,0,28.83,26.28,28.83
$GC,569,-1.32,-219.0,2374,2497,3356,3209,178.3,-32.7,40,575,0.00,1.83,0.00,0.000,260,0.000,0.052,2366,3673,3282,3356,3209,0,0,0,0,0,0,28.83,26.36,28.83
$GC,716,-1.32,-219.0,2366,3673,3357,3212,225.2,-32.9,47,722,0.12,1.67,0.00,0.000,3078,0.163,0.024,2397,2490,3284,3356,3212,0,0,0,0,0,0,26.22,26.55,28.83
$GC,1042,-1.32,-219.0,2397,2487,3358,3212,314.3,-26.2,63,1048,0.00,1.85,0.00,0.000,260,0.000,0.051,2388,3680,3285,3358,3212,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1076,-1.32,-219.0,2389,3680,3358,3212,321.4,-26.5,64,1082,0.00,1.67,0.00,0.000,1030,0.000,0.024,2389,2498,3285,3359,3212,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1392,-1.32,-219.0,2389,2496,3358,3213,408.2,-24.8,80,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2496,3285,3359,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1691,-1.32,-219.0,2389,2496,3358,3213,472.9,-21.2,95,1697,0.00,2.03,0.00,0.000,516,0.000,0.029,2389,1109,3285,3358,3213,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1751,-1.32,-219.0,2388,1109,3358,3213,483.2,-22.1,97,1759,0.00,2.12,0.00,0.000,1030,0.000,0.039,2378,2508,3286,3359,3213,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2058,-1.32,-219.0,2378,2508,3358,3213,555.6,-22.9,113,2064,0.00,1.80,0.00,0.000,260,0.000,0.053,2370,3673,3285,3358,3213,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2124,-1.32,-219.0,2369,3673,3358,3213,571.0,-23.2,116,2130,0.00,1.70,0.00,0.000,1030,0.000,0.024,2370,2500,3285,3358,3213,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2448,-1.32,-219.0,2369,2498,3358,3209,643.1,-21.5,129,2454,0.00,2.03,0.00,0.000,516,0.000,0.030,2370,1114,3283,3358,3209,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2497,-1.32,-219.0,2369,1114,3358,3209,650.4,-21.4,130,2504,0.12,2.10,0.00,0.000,3078,0.170,0.039,2391,2503,3283,3358,3208,0,0,0,0,0,0,26.27,26.51,28.83
$GC,2818,-1.32,-219.0,2391,2503,3359,3205,717.5,-19.8,141,2824,0.00,1.83,0.00,0.000,260,0.000,0.054,2384,3674,3281,3358,3205,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2928,-1.32,-219.0,2383,3671,3358,3204,737.7,-20.7,144,2934,0.00,1.67,0.00,0.000,1030,0.000,0.027,2384,2498,3280,3358,3203,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3248,-1.32,-219.0,2383,2496,3358,3198,804.1,-20.1,155,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2496,3278,3358,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3548,-1.32,-219.0,2383,2496,3356,3197,866.5,-21.2,165,3553,0.00,1.85,0.00,0.000,260,0.000,0.055,2375,3674,3275,3356,3194,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3582,-1.32,-219.0,2373,3674,3355,3194,874.3,-21.6,166,3588,0.00,1.70,0.00,0.000,1030,0.000,0.026,2375,2497,3274,3355,3194,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3917,-1.32,-219.0,2375,2496,3354,3190,949.6,-22.4,177,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2496,3272,3354,3190,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3944,begin apogee
$GC,3951,-0.20,0.0,2374,1998,3353,3189,956.2,-22.3,178,4299,1.12,0.00,336.77,0.759,10246,0.120,0.000,2746,1996,2375,2535,2216,0,0,0,0,0,0,26.15,28.83,24.41
$STATE,4301,end apogee,CONTROL_FINISHED_OK
$STATE,4301,begin climb
$GC,4303,1.32,219.0,2745,1997,2530,2207,983.7,0.0,188,4548,1.38,2.25,233.98,0.904,10756,0.046,0.037,3267,623,1477,1580,1374,0,0,0,0,0,0,25.18,24.72,23.96
$GC,4580,1.32,219.0,3266,624,1561,1356,948.1,21.6,197,4588,0.00,2.20,0.00,0.000,1030,0.000,0.031,3267,2005,1458,1560,1356,0,0,0,0,0,0,28.83,25.13,28.83
$GC,4911,1.32,219.0,3267,2005,1551,1347,857.8,27.1,208,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,2005,1449,1551,1347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5212,1.32,219.0,3267,2005,1549,1345,781.3,25.0,218,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,2005,1447,1549,1345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5511,1.32,219.0,3266,2005,1547,1344,708.7,23.5,228,5517,0.00,2.15,0.00,0.000,516,0.000,0.038,3279,609,1445,1547,1344,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5529,1.32,219.0,3278,609,1547,1344,708.7,23.5,228,5536,0.12,2.10,0.00,0.000,5126,0.179,0.032,3248,2009,1445,1547,1344,0,0,0,0,0,0,26.14,26.41,28.83
$GC,5850,1.32,219.0,3247,2009,1547,1341,630.3,22.6,239,5856,0.00,2.17,0.00,0.000,260,0.000,0.047,3248,3403,1444,1547,1341,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5977,1.32,219.0,3248,3403,1546,1341,598.5,25.2,243,5983,0.00,2.08,0.00,0.000,1030,0.000,0.029,3260,2011,1443,1546,1341,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6305,1.32,219.0,3259,2011,1545,1340,522.4,24.2,259,6310,0.00,2.15,0.00,0.000,516,0.000,0.039,3270,599,1442,1544,1340,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6370,1.32,219.0,2272,598,1514,1336,506.1,23.8,262,6376,0.00,2.10,0.00,0.000,1030,0.000,0.032,3270,1999,1442,1545,1340,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6696,1.32,219.0,3270,1999,1544,1338,426.2,23.7,278,6702,0.00,2.12,0.00,0.000,516,0.000,0.040,3281,608,1441,1544,1338,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6757,1.32,219.0,3281,608,1544,1338,415.8,22.7,280,6766,0.15,2.08,0.00,0.000,5126,0.165,0.032,3242,2002,1441,1544,1338,0,0,0,0,0,0,26.20,26.52,28.83
$GC,7064,1.32,219.0,3242,2002,1544,1337,353.8,18.5,296,7065,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2002,1440,1544,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7364,1.32,219.0,3242,2002,1542,1336,299.7,17.9,311,7369,0.00,2.12,0.00,0.000,516,0.000,0.039,3254,607,1439,1542,1336,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7440,1.32,219.0,3253,607,1542,1336,288.1,17.7,314,7445,0.00,2.08,0.00,0.000,1030,0.000,0.031,3254,2008,1439,1542,1336,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7754,1.32,219.0,3253,2008,1542,1335,231.6,18.3,330,7759,0.00,2.15,0.00,0.000,260,0.000,0.046,3254,3402,1439,1542,1336,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7794,1.32,219.0,3253,3402,1542,1336,226.6,19.3,331,7802,0.00,2.08,0.00,0.000,1030,0.000,0.028,3263,1995,1439,1542,1336,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8099,1.32,219.0,3265,1995,1542,1336,167.8,17.5,347,8105,0.00,2.17,0.00,0.000,260,0.000,0.045,3265,3402,1439,1543,1336,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8327,1.32,219.0,3265,3402,1542,1336,130.2,17.8,357,8337,0.12,2.05,0.00,0.000,5126,0.165,0.028,3243,1997,1439,1542,1336,0,0,0,0,0,0,26.27,26.59,28.83
$GC,8632,1.32,219.0,3243,1997,1542,1335,81.1,17.1,373,8639,0.00,2.10,0.00,0.000,516,0.000,0.040,3254,610,1439,1542,1336,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8866,1.44,253.8,3254,610,1542,1336,51.9,8.8,384,8913,0.00,2.05,39.70,0.383,9222,0.000,0.030,3254,2001,1343,1452,1234,0,0,0,0,0,0,28.83,26.56,25.79
$GC,9222,1.44,253.8,2240,2000,1397,1209,16.3,12.1,423,9230,0.00,2.17,0.00,0.000,260,0.000,0.044,3254,3408,1317,1424,1211,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,9326,end climb,SURFACE_DEPTH_REACHED
$STATE,9326,begin surface coast
$FINISH,0.4,1.022578
$STATE,9351,end surface coast,CONTROL_FINISHED_OK
$STATE,9351,begin surface
$SM_CCo,9369,68.97,0.060,0,0,748,400.08
$SM_GC,1.47,8.00,1.38,68.97,0.032,0.028,0.060,109,2490,748,-8.31,1.64,400.08,0,0,0,0,0,0,26.51,26.51,26.25
$IRIDIUM_FIX,2246.36,12209.25,310313,161626
$TT8_MAMPS,0.048685,0.048685
$HUMID,45.35
$INTERNAL_PRESSURE,9.6425
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3941536
$24V_AH,24.0,36.074
$10V_AH,10.3,24.474
$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,20.025,72.525,610.450,68.975,0.000,0.000,0.000,177.950,0.000,0.000,33.500,1905.771,5444.279,694.895,1443.165,300.255,0.000,1608.873,0.000,1178.132,0.000,0.537,0.000
$DEVICE_MAMPS,218.790,55.080,904.230,59.670,0.000,0.000,0.000,126.225,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9362.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.127,0.000,0.000,0.000
$MEM,324264
$DATA_FILE_SIZE,16786,446
$CAP_FILE_SIZE,245971,0
$CFSIZE,260034560,228814848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.211, 16.3,1
$GPS,310313,221535,2256.737,12207.244,40,1.3,41,-3.0