version: 66.11
glider: 171
mission: 4
dive: 281
start: 4 4 113 18 15 19
data:
$ID,171
$MISSION,4
$DIVE,281
$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,-20872.373
$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,60
$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
$GPS1,040413,180730,2348.737,12152.896,40,1.3,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.2
$GPS2,040413,181448,2349.129,12153.118,13,1.2,30,-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,266.2,13147,-10.6,-8.333,-15.41,4401
$D_GRID,3446
$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,-243.3,111,2490,846,662,0.0,0.0,0,81,0.00,0.00,-60.15,0.000,16386,0.000,0.000,108,2490,2496,2556,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.28,-243.3,111,2490,2556,2439,4.4,-9.5,8,116,9.02,1.85,-14.18,0.000,19204,0.220,0.063,2393,3664,3377,3435,3319,0,0,0,0,0,0,25.58,26.03,26.47
$GC,357,-1.28,-243.3,2393,3664,3439,3317,106.9,-33.5,27,365,0.00,1.70,0.00,0.000,1030,0.000,0.025,2394,2488,3378,3439,3317,0,0,0,0,0,0,28.83,26.34,28.83
$GC,662,-1.28,-243.3,2393,2487,3443,3320,202.6,-29.5,43,669,0.00,2.03,0.00,0.000,516,0.000,0.028,2393,1106,3381,3443,3320,0,0,0,0,0,0,28.83,26.39,28.83
$GC,820,-1.28,-243.3,2394,1105,3443,3320,242.5,-26.0,50,826,0.00,2.12,0.00,0.000,1030,0.000,0.037,2382,2494,3381,3443,3320,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1135,-1.28,-243.3,2382,2494,3443,3320,329.4,-26.2,66,1141,0.00,2.05,0.00,0.000,516,0.000,0.031,2383,1109,3382,3443,3321,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1185,-1.28,-243.3,2383,1109,3444,3320,340.9,-25.5,68,1193,0.15,2.12,0.00,0.000,3078,0.156,0.037,2412,2504,3381,3443,3320,0,0,0,0,0,0,26.14,26.39,28.83
$GC,1509,-1.28,-243.3,2412,2504,3443,3320,411.8,-21.2,84,1514,0.00,1.83,0.00,0.000,260,0.000,0.052,2404,3678,3381,3443,3320,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1536,-1.28,-243.3,2404,3678,3443,3320,417.4,-21.1,85,1542,0.00,1.70,0.00,0.000,1030,0.000,0.025,2404,2484,3381,3443,3320,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1857,-1.28,-243.3,2404,2483,3443,3320,486.7,-21.4,101,1864,0.00,2.03,0.00,0.000,516,0.000,0.030,2404,1109,3381,3443,3319,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1897,-1.28,-243.3,2404,1109,3443,3319,492.5,-21.3,102,1906,0.00,2.12,0.00,0.000,1030,0.000,0.037,2393,2504,3380,3443,3318,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2203,-1.28,-243.3,2393,2504,3443,3314,563.2,-21.9,118,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2504,3378,3443,3314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2503,-1.28,-243.3,2392,2504,3443,3310,628.9,-21.5,131,2509,0.00,1.83,0.00,0.000,260,0.000,0.054,2385,3674,3376,3443,3309,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2527,-1.28,-243.3,2384,3674,3443,3309,628.9,-21.5,131,2532,0.00,1.67,0.00,0.000,1030,0.000,0.026,2384,2500,3376,3444,3309,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2843,-1.28,-243.3,2384,2499,3442,3303,700.9,-20.9,142,2848,0.00,1.85,0.00,0.000,260,0.000,0.054,2375,3674,3373,3442,3304,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2866,-1.28,-243.3,2375,3674,3442,3304,700.9,-20.9,142,2873,0.12,1.67,0.00,0.000,3078,0.150,0.026,2409,2508,3373,3442,3304,0,0,0,0,0,0,26.29,26.62,28.83
$GC,3182,-1.28,-243.3,2409,2508,3441,3300,768.6,-19.8,153,3187,0.00,1.83,0.00,0.000,260,0.000,0.054,2401,3671,3370,3441,3300,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3228,-1.28,-243.3,2401,3671,3440,3300,775.7,-20.1,154,3234,0.00,1.70,0.00,0.000,1030,0.000,0.027,2401,2490,3370,3440,3300,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3552,-1.28,-243.3,2401,2490,3438,3295,843.6,-20.4,165,3558,0.00,1.88,0.00,0.000,260,0.000,0.055,2392,3677,3366,3438,3295,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3587,-1.28,-243.3,2391,3677,3438,3295,850.6,-20.5,166,3593,0.00,1.73,0.00,0.000,1030,0.000,0.026,2392,2489,3366,3438,3295,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3922,-1.28,-243.3,2391,2489,3437,3291,919.0,-19.7,177,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2489,3363,3437,3290,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4099,begin apogee
$GC,4105,-0.20,0.0,2391,1991,3436,3287,952.8,-18.8,183,4495,1.10,0.00,378.40,0.752,10246,0.121,0.000,2751,1988,2373,2531,2216,0,0,0,0,0,0,25.98,28.83,24.21
$STATE,4497,end apogee,CONTROL_FINISHED_OK
$STATE,4497,begin climb
$GC,4500,1.28,243.3,2751,1988,2526,2212,975.5,0.0,195,4878,1.33,2.28,363.42,0.749,10756,0.047,0.036,3250,637,1378,1490,1267,0,0,0,0,0,0,25.02,24.63,23.94
$GC,4922,1.28,243.3,3250,637,1476,1254,910.8,24.4,208,4928,0.00,2.20,0.00,0.000,1030,0.000,0.031,3251,2012,1364,1475,1254,0,0,0,0,0,0,28.83,25.11,28.83
$GC,5257,1.28,243.3,3250,2012,1466,1246,822.9,26.4,219,5258,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2012,1355,1466,1245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5558,1.28,243.3,3250,2012,1463,1243,747.5,25.5,229,5564,0.00,2.20,0.00,0.000,260,0.000,0.047,3250,3405,1352,1463,1242,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5625,1.28,243.3,3250,3405,1463,1243,729.6,26.4,231,5631,0.12,2.08,0.00,0.000,5126,0.179,0.028,3231,2016,1352,1462,1243,0,0,0,0,0,0,26.00,26.30,28.83
$GC,5961,1.28,243.3,3230,2016,1460,1241,647.1,23.9,242,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2016,1350,1460,1241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6274,1.28,243.3,3231,2016,1459,1240,573.2,23.5,254,6280,0.00,2.17,0.00,0.000,260,0.000,0.047,3231,3404,1349,1459,1240,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6299,1.28,243.3,3231,3405,1459,1240,566.7,23.3,255,6305,0.00,2.10,0.00,0.000,1030,0.000,0.029,3242,2006,1349,1459,1240,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6625,1.28,243.3,3241,2006,1458,1238,490.8,23.2,271,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2006,1348,1459,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6923,1.28,243.3,3241,2006,1458,1238,420.1,23.2,286,6929,0.00,2.15,0.00,0.000,516,0.000,0.041,3253,606,1348,1458,1239,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6993,1.28,243.3,3253,606,1458,1238,404.4,23.5,289,7000,0.00,2.10,0.00,0.000,1030,0.000,0.031,3253,2009,1347,1458,1237,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7316,1.28,243.3,3253,2009,1457,1237,333.1,21.7,305,7322,0.00,2.17,0.00,0.000,260,0.000,0.045,3254,3410,1347,1457,1237,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7341,1.28,243.3,3252,3410,1457,1237,326.6,22.3,306,7347,0.12,2.12,0.00,0.000,5126,0.184,0.030,3234,1991,1347,1457,1237,0,0,0,0,0,0,26.14,26.50,28.83
$GC,7668,1.28,243.3,3234,1990,1456,1236,259.1,20.5,322,7674,0.00,2.12,0.00,0.000,516,0.000,0.041,3245,604,1346,1456,1236,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7740,1.28,243.3,3245,605,1455,1236,244.8,20.6,325,7746,0.00,2.08,0.00,0.000,1030,0.000,0.031,3245,2001,1345,1455,1236,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8060,1.28,243.3,3245,2000,1455,1236,177.6,19.7,341,8067,0.00,2.12,0.00,0.000,516,0.000,0.040,3256,609,1345,1455,1236,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8148,1.28,243.3,3256,609,1454,1236,159.2,20.6,345,8155,0.00,2.08,0.00,0.000,1030,0.000,0.030,3256,2001,1345,1454,1236,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8475,1.28,243.3,3256,2000,1454,1236,94.9,18.5,361,8481,0.00,2.12,0.00,0.000,516,0.000,0.040,3268,607,1345,1454,1236,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8715,1.28,243.3,3268,607,1454,1236,70.2,9.4,372,8721,0.12,2.08,0.00,0.000,5126,0.156,0.029,3233,2011,1345,1454,1236,0,0,0,0,0,0,26.21,26.49,28.83
$GC,9030,1.28,243.3,3233,2011,1454,1234,44.4,8.7,391,9036,0.00,2.15,0.00,0.000,516,0.000,0.039,3244,605,1344,1454,1235,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9216,1.44,291.0,2304,604,1429,1232,31.6,7.2,408,9328,0.12,2.08,100.35,0.361,11270,0.082,0.030,3330,2005,1187,1303,1072,0,0,0,0,0,0,26.46,26.49,25.40
$STATE,9425,end climb,SURFACE_DEPTH_REACHED
$STATE,9425,begin surface coast
$FINISH,-0.0,1.022059
$STATE,9444,end surface coast,CONTROL_FINISHED_OK
$STATE,9444,begin surface
$SM_CCo,9463,54.38,0.059,0,0,748,400.08
$SM_GC,1.08,8.30,0.75,54.38,0.031,0.044,0.059,111,2492,748,-8.30,-1.44,400.08,0,0,0,0,0,0,26.13,26.03,25.94
$IRIDIUM_FIX,2337.99,12155.58,040413,151533
$TT8_MAMPS,0.047936,0.047936
$HUMID,46.22
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3930720
$24V_AH,23.9,41.600
$10V_AH,10.2,27.265
$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,20.525,73.525,842.175,54.375,0.000,0.000,0.000,261.750,0.000,0.000,30.948,1824.721,5424.881,843.027,1520.014,343.742,0.000,1893.755,0.000,1184.688,0.000,0.538,0.000
$DEVICE_MAMPS,219.555,62.730,751.995,58.905,0.000,0.000,0.000,122.400,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9438.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.191,0.000,0.000,0.000
$MEM,324148
$DATA_FILE_SIZE,16767,440
$CAP_FILE_SIZE,246642,0
$CFSIZE,260034560,225841152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.295, 29.2,1
$GPS,040413,205505,2350.603,12152.449,11,1.4,28,-3.2