version: 66.11
glider: 171
mission: 4
dive: 280
start: 4 4 113 15 28 14
data:
$ID,171
$MISSION,4
$DIVE,280
$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,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,-20871.115
$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,59
$R_STBD_OVSHOOT,30
$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
$GPS1,040413,152057,2345.502,12152.694,7,3.4,27,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-71.4
$GPS2,040413,152745,2345.847,12152.945,15,7.1,34,-3.2
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,INSHORE
$TGT_LATLONG,2353.500,12147.000
$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,327.8,17386,-10.6,-8.333,-15.41,4401
$D_GRID,3334
$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,-243.3,126,2489,833,665,0.0,0.0,0,82,0.00,0.00,-60.40,0.000,16386,0.000,0.000,126,2489,2489,2554,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,126,2489,2554,2424,4.1,-7.1,8,117,8.95,1.88,-14.38,0.000,18692,0.220,0.063,2393,3680,3376,3436,3316,0,0,0,0,0,0,25.59,26.03,26.46
$GC,246,-1.28,-243.3,2393,3678,3438,3317,70.9,-36.6,23,252,0.00,1.73,0.00,0.000,1030,0.000,0.024,2393,2480,3377,3438,3317,0,0,0,0,0,0,28.83,26.27,28.83
$GC,572,-1.28,-243.3,2393,2479,3443,3320,166.3,-27.6,39,578,0.00,2.03,0.00,0.000,516,0.000,0.030,2394,1112,3381,3443,3320,0,0,0,0,0,0,28.83,26.35,28.83
$GC,754,-1.28,-243.3,2393,1115,3443,3318,213.3,-26.3,47,762,0.00,2.12,0.00,0.000,1030,0.000,0.037,2382,2506,3382,3443,3322,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1060,-1.28,-243.3,2382,2506,3444,3321,298.4,-26.6,63,1066,0.00,1.83,0.00,0.000,260,0.000,0.052,2374,3679,3382,3444,3321,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1107,-1.28,-243.3,2373,3679,3444,3322,310.1,-26.3,65,1114,0.12,1.70,0.00,0.000,3078,0.151,0.024,2406,2491,3383,3445,3321,0,0,0,0,0,0,26.22,26.54,28.83
$GC,1434,-1.28,-243.3,2406,2490,3444,3321,386.5,-22.8,81,1441,0.00,2.03,0.00,0.000,516,0.000,0.028,2407,1113,3382,3444,3321,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1468,-1.28,-243.3,2407,1113,3444,3321,392.8,-22.9,82,1474,0.00,2.12,0.00,0.000,1030,0.000,0.037,2397,2510,3382,3444,3321,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1783,-1.28,-243.3,2397,2510,3444,3321,470.0,-23.6,98,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2510,3382,3444,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2083,-1.28,-243.3,2397,2511,3444,3320,539.2,-22.9,113,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2510,3384,3449,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2393,-1.28,-243.3,2397,2510,3444,3316,609.3,-22.2,128,2399,0.00,2.08,0.00,0.000,516,0.000,0.029,2397,1109,3380,3444,3316,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2439,-1.28,-243.3,2397,1109,3443,3314,617.2,-22.4,129,2445,0.00,2.12,0.00,0.000,1030,0.000,0.038,2386,2501,3380,3444,3316,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2764,-1.28,-243.3,2386,2501,3443,3311,692.5,-22.2,140,2770,0.00,1.83,0.00,0.000,260,0.000,0.054,2377,3671,3376,3443,3310,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2823,-1.28,-243.3,2375,3671,3443,3309,700.3,-22.2,141,2831,0.12,1.67,0.00,0.000,3078,0.154,0.027,2410,2507,3376,3444,3309,0,0,0,0,0,0,26.27,26.62,28.83
$GC,3131,-1.28,-243.3,2410,2508,3443,3305,767.1,-19.9,152,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2508,3374,3443,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3430,-1.28,-243.3,2410,2508,3441,3301,824.4,-18.8,162,3435,0.00,1.83,0.00,0.000,260,0.000,0.055,2402,3670,3371,3442,3301,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3479,-1.28,-243.3,2402,3669,3441,3301,830.8,-18.5,163,3486,0.00,1.70,0.00,0.000,1030,0.000,0.028,2402,2495,3370,3441,3300,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3799,-1.28,-243.3,2402,2495,3439,3297,897.7,-20.1,174,3805,0.00,2.05,0.00,0.000,516,0.000,0.030,2402,1109,3367,3439,3296,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3828,-1.28,-243.3,2402,1109,3439,3296,897.7,-20.1,174,3836,0.00,2.15,0.00,0.000,1030,0.000,0.040,2392,2505,3367,3439,3295,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,4071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4072,begin apogee
$GC,4079,-0.20,0.0,2391,1987,3438,3293,953.5,-20.3,183,4469,1.10,0.00,378.88,0.756,10246,0.122,0.000,2750,1985,2374,2531,2217,0,0,0,0,0,0,25.98,28.83,24.19
$STATE,4470,end apogee,CONTROL_FINISHED_OK
$STATE,4471,begin climb
$GC,4473,1.28,243.3,2750,1985,2527,2211,984.1,0.0,195,4865,1.33,2.22,378.88,0.739,10756,0.048,0.034,3247,631,1380,1493,1268,0,0,0,0,0,0,25.01,24.65,23.99
$GC,4888,1.28,243.3,3247,631,1479,1256,933.0,22.5,207,4896,0.00,2.22,0.00,0.000,1030,0.000,0.030,3247,2022,1366,1478,1254,0,0,0,0,0,0,28.83,24.96,28.83
$GC,5197,1.28,243.3,3248,2020,1465,1245,845.9,25.6,218,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2022,1355,1465,1245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5495,1.28,243.3,3247,2022,1463,1242,767.6,25.5,228,5501,0.00,2.17,0.00,0.000,260,0.000,0.046,3247,3403,1352,1463,1242,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5561,1.28,243.3,3247,3403,1462,1242,749.9,26.0,230,5567,0.00,2.08,0.00,0.000,1030,0.000,0.028,3259,2017,1352,1463,1242,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5895,1.28,243.3,3259,2016,1460,1241,665.8,24.5,241,5901,0.00,2.17,0.00,0.000,260,0.000,0.046,3259,3402,1350,1460,1241,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5919,1.28,243.3,3259,3402,1460,1241,665.8,24.5,241,5925,0.15,2.10,0.00,0.000,5126,0.175,0.029,3232,1995,1350,1459,1241,0,0,0,0,0,0,26.04,26.39,28.83
$GC,6245,1.28,243.3,3231,1994,1459,1240,585.8,22.5,253,6251,0.00,2.12,0.00,0.000,516,0.000,0.040,3242,609,1349,1458,1240,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6270,1.28,243.3,3242,609,1459,1239,579.9,22.6,254,6277,0.00,2.10,0.00,0.000,1030,0.000,0.031,3243,2003,1349,1459,1240,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6597,1.28,243.3,3243,2003,1463,1236,507.0,22.3,270,6602,0.00,2.17,0.00,0.000,260,0.000,0.046,3243,3402,1348,1459,1238,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6624,1.28,243.3,3242,3402,1458,1238,501.0,22.6,271,6631,0.00,2.08,0.00,0.000,1030,0.000,0.029,3254,2002,1348,1459,1238,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6946,1.28,243.3,3254,2003,1458,1238,424.8,24.2,287,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2003,1348,1458,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7246,1.28,243.3,3254,2003,1456,1238,353.7,23.4,302,7251,0.00,2.12,0.00,0.000,516,0.000,0.041,3265,610,1347,1456,1238,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7334,1.28,243.3,3265,610,1455,1238,333.7,22.6,306,7341,0.12,2.10,0.00,0.000,5126,0.174,0.031,3234,2007,1346,1455,1238,0,0,0,0,0,0,26.16,26.47,28.83
$GC,7661,1.28,243.3,3233,2009,1454,1236,262.6,21.4,322,7662,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2007,1346,1455,1237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7961,1.28,243.3,3233,2007,1454,1236,198.3,20.5,337,7967,0.00,2.17,0.00,0.000,260,0.000,0.046,3234,3405,1345,1453,1237,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7999,1.28,243.3,2240,3403,1428,1233,192.9,20.9,338,8008,0.00,2.10,0.00,0.000,1030,0.000,0.030,3245,1993,1345,1454,1236,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8306,1.28,243.3,3244,1993,1454,1235,128.0,21.5,354,8312,0.00,2.12,0.00,0.000,516,0.000,0.041,3256,604,1345,1454,1236,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8356,1.28,243.3,3256,604,1454,1235,119.9,19.7,356,8362,0.00,2.08,0.00,0.000,1030,0.000,0.030,3256,2000,1344,1454,1235,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8678,1.28,243.3,3256,2000,1454,1235,70.2,11.0,372,8684,0.00,2.12,0.00,0.000,516,0.000,0.040,3267,609,1343,1453,1234,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8922,1.40,278.6,3267,609,1453,1234,52.4,7.5,383,9008,0.00,2.08,73.70,0.379,9222,0.000,0.031,3265,2004,1237,1351,1123,0,0,0,0,0,0,28.83,26.49,25.51
$GC,9316,1.40,278.6,3267,2003,1337,1111,11.0,13.8,429,9324,0.00,2.17,0.00,0.000,260,0.000,0.046,3269,3400,1223,1337,1110,0,0,0,0,0,0,28.83,26.16,28.83
$STATE,9371,end climb,SURFACE_DEPTH_REACHED
$STATE,9371,begin surface coast
$FINISH,-0.1,1.022109
$STATE,9394,end surface coast,CONTROL_FINISHED_OK
$STATE,9394,begin surface
$SM_CCo,9414,60.47,0.060,0,0,747,400.08
$SM_GC,1.03,8.00,1.38,60.47,0.027,0.028,0.060,111,2493,747,-8.31,1.64,400.08,0,0,0,0,0,0,26.33,26.35,26.10
$IRIDIUM_FIX,2335.63,12206.06,040413,121230
$TT8_MAMPS,0.047936,0.047936
$HUMID,47.20
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3931040
$24V_AH,24.0,41.424
$10V_AH,10.1,27.181
$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,19.900,73.475,831.450,60.475,0.000,0.000,0.000,229.175,0.000,0.000,36.366,1763.159,5496.492,843.331,1442.233,336.338,0.000,1837.860,0.000,1143.841,0.000,0.537,0.000
$DEVICE_MAMPS,219.555,63.495,755.820,59.670,0.000,0.000,0.000,122.400,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9386.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.165,0.000,0.000,0.000
$MEM,324196
$DATA_FILE_SIZE,16771,443
$CAP_FILE_SIZE,241089,0
$CFSIZE,260034560,225935360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.309, 32.6,1
$GPS,040413,180730,2348.737,12152.896,40,1.3,41,-3.2