version: 66.11
glider: 171
mission: 4
dive: 282
start: 4 4 113 21 2 7
data:
$ID,171
$MISSION,4
$DIVE,282
$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,-20873.631
$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,52
$R_STBD_OVSHOOT,36
$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
$GPS1,040413,205505,2350.603,12152.449,11,1.4,28,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-71.1
$GPS2,040413,210136,2350.940,12152.616,11,1.4,16,-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,254.7,10626,-10.6,-8.333,-15.41,4401
$D_GRID,3753
$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,-1.28,-243.3,110,2494,840,662,0.0,0.0,0,83,0.00,0.00,-61.85,0.000,16386,0.000,0.000,111,2497,2553,2610,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,111,2495,2614,2496,4.7,-9.6,8,117,9.05,2.15,-12.80,0.000,18948,0.221,0.045,2399,1098,3378,3436,3321,0,0,0,0,0,0,25.56,26.11,26.44
$GC,132,-1.28,-243.3,1448,1097,3423,3317,28.8,-47.0,14,138,0.00,2.17,0.00,0.000,1030,0.000,0.036,2389,2504,3379,3437,3321,0,0,0,0,0,0,28.83,26.05,28.83
$GC,457,-1.28,-243.3,2389,2504,3443,3320,130.6,-27.9,33,463,0.00,2.10,0.00,0.000,516,0.000,0.029,2389,1096,3381,3443,3320,0,0,0,0,0,0,28.83,26.31,28.83
$GC,533,-1.28,-243.3,2388,1096,3443,3322,150.0,-28.3,36,540,0.12,2.15,0.00,0.000,3078,0.170,0.035,2409,2503,3382,3443,3322,0,0,0,0,0,0,26.03,26.26,28.83
$GC,849,-1.28,-243.3,2409,2502,3446,3324,234.9,-25.7,52,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2502,3385,3446,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1149,-1.28,-243.3,2409,2502,3446,3324,305.8,-21.9,67,1155,0.00,2.10,0.00,0.000,516,0.000,0.029,2409,1086,3385,3446,3324,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1195,-1.28,-243.3,2409,1086,3446,3326,315.0,-20.9,69,1201,0.00,2.15,0.00,0.000,1030,0.000,0.036,2399,2501,3385,3446,3324,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1522,-1.28,-243.3,2399,2501,3446,3324,391.5,-23.4,85,1528,0.00,1.83,0.00,0.000,260,0.000,0.054,2390,3674,3385,3446,3324,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1602,-1.28,-243.3,2390,3674,3446,3325,407.5,-23.6,88,1610,0.00,1.70,0.00,0.000,1030,0.000,0.024,2390,2474,3385,3446,3324,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1909,-1.28,-243.3,2390,2472,3446,3324,483.9,-23.9,104,1915,0.00,1.98,0.00,0.000,516,0.000,0.028,2390,1120,3385,3446,3324,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1970,-1.28,-243.3,2390,1120,3445,3323,495.1,-23.9,106,1980,0.12,2.10,0.00,0.000,3078,0.163,0.038,2412,2501,3384,3446,3322,0,0,0,0,0,0,26.20,26.42,28.83
$GC,2277,-1.28,-243.3,2411,2501,3445,3319,563.0,-20.9,122,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2501,3382,3446,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2596,-1.28,-243.3,2412,2501,3446,3314,629.4,-21.4,136,2602,0.00,1.83,0.00,0.000,260,0.000,0.054,2404,3671,3379,3445,3314,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2644,-1.28,-243.3,2404,3671,3445,3314,636.6,-21.5,137,2650,0.00,1.67,0.00,0.000,1030,0.000,0.026,2404,2501,3379,3445,3313,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2963,-1.28,-243.3,2403,2500,3445,3308,708.7,-21.9,148,2970,0.00,2.05,0.00,0.000,516,0.000,0.030,2404,1111,3376,3445,3308,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2999,-1.28,-243.3,2403,1111,3444,3308,716.3,-21.8,149,3005,0.00,2.15,0.00,0.000,1030,0.000,0.040,2393,2504,3376,3445,3308,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3333,-1.28,-243.3,2393,2504,3442,3304,789.8,-21.6,160,3339,0.00,1.83,0.00,0.000,260,0.000,0.055,2384,3672,3372,3442,3303,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3378,-1.28,-243.3,2384,3673,3442,3303,797.3,-21.6,161,3384,0.00,1.67,0.00,0.000,1030,0.000,0.027,2384,2505,3372,3442,3303,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3703,-1.28,-243.3,2384,2505,3441,3300,868.0,-21.2,172,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2505,3370,3441,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4003,-1.28,-243.3,2384,2505,3444,3295,931.8,-21.4,182,4008,0.00,1.85,0.00,0.000,260,0.000,0.057,2375,3674,3367,3439,3295,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4072,-1.28,-243.3,2375,3674,3438,3295,946.0,-21.4,184,4078,0.12,1.70,0.00,0.000,3078,0.151,0.026,2409,2494,3366,3439,3294,0,0,0,0,0,0,26.27,26.63,28.83
$STATE,4100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4100,begin apogee
$GC,4108,-0.20,0.0,2409,1986,3438,3294,953.4,-21.6,185,4495,1.02,0.00,375.20,0.756,10246,0.117,0.000,2748,1985,2374,2531,2218,0,0,0,0,0,0,26.01,28.83,24.19
$STATE,4496,end apogee,CONTROL_FINISHED_OK
$STATE,4496,begin climb
$GC,4499,1.28,243.3,2748,1985,2526,2212,981.5,0.0,197,4890,1.33,2.42,379.27,0.732,11012,0.049,0.046,3234,3415,1381,1493,1270,0,0,0,0,0,0,25.03,24.68,24.03
$GC,4918,1.28,243.3,3234,3415,1478,1260,919.8,23.4,212,4925,0.00,2.20,0.00,0.000,1030,0.000,0.026,3246,2016,1367,1477,1258,0,0,0,0,0,0,28.83,25.08,28.83
$GC,5254,1.28,243.3,3245,2016,1466,1248,832.0,26.7,223,5260,0.00,2.22,0.00,0.000,260,0.000,0.046,3246,3415,1357,1467,1248,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5339,1.28,243.3,3246,3415,1466,1248,813.9,27.3,225,5346,0.00,2.12,0.00,0.000,1030,0.000,0.028,3258,2004,1357,1466,1248,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5657,1.28,243.3,3257,2004,1464,1245,726.0,26.0,236,5664,0.00,2.22,0.00,0.000,260,0.000,0.046,3258,3416,1354,1464,1245,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5676,1.28,243.3,3257,3416,1463,1245,726.0,26.0,236,5682,0.15,2.12,0.00,0.000,5126,0.175,0.029,3231,1997,1355,1465,1245,0,0,0,0,0,0,25.98,26.32,28.83
$GC,5996,1.28,243.3,3230,1997,1466,1242,643.7,23.5,247,6002,0.00,2.12,0.00,0.000,516,0.000,0.041,3241,610,1353,1463,1243,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6065,1.28,243.3,3241,610,1458,1241,628.2,23.6,249,6071,0.00,2.10,0.00,0.000,1030,0.000,0.031,3241,2014,1352,1462,1242,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6385,1.28,243.3,3241,2014,1461,1241,552.9,23.0,263,6391,0.00,2.17,0.00,0.000,260,0.000,0.047,3241,3400,1351,1461,1241,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6419,1.28,243.3,3241,3400,1461,1241,546.8,23.2,264,6425,0.00,2.08,0.00,0.000,1030,0.000,0.029,3252,2003,1351,1461,1241,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6734,1.28,243.3,3252,2001,1459,1241,471.1,23.5,280,6740,0.00,2.15,0.00,0.000,516,0.000,0.041,3264,603,1350,1460,1241,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6767,1.28,243.3,3263,603,1459,1240,464.9,23.8,281,6774,0.12,2.10,0.00,0.000,5126,0.174,0.031,3232,2007,1350,1460,1241,0,0,0,0,0,0,26.15,26.45,28.83
$GC,7087,1.28,243.3,3231,2005,1459,1239,389.2,22.8,297,7093,0.00,2.17,0.00,0.000,260,0.000,0.046,3232,3402,1348,1459,1238,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7169,1.28,243.3,3232,3402,1459,1239,371.7,24.4,300,7178,0.00,2.10,0.00,0.000,1030,0.000,0.029,3243,1995,1349,1459,1239,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7475,1.28,243.3,3243,1995,1459,1238,297.7,23.2,316,7482,0.00,2.12,0.00,0.000,516,0.000,0.041,3254,607,1348,1459,1238,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7686,1.28,243.3,3255,607,1458,1238,251.7,21.6,326,7693,0.00,2.08,0.00,0.000,1030,0.000,0.030,3254,2000,1348,1458,1238,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8013,1.28,243.3,3254,2000,1458,1238,178.6,22.7,342,8019,0.00,2.12,0.00,0.000,516,0.000,0.040,3267,609,1348,1458,1238,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8089,1.28,243.3,3266,609,1457,1238,164.6,20.6,345,8096,0.12,2.08,0.00,0.000,5126,0.166,0.031,3234,2000,1347,1457,1238,0,0,0,0,0,0,26.18,26.48,28.83
$GC,8406,1.28,243.3,3234,2000,1457,1238,101.6,19.0,361,8412,0.00,2.12,0.00,0.000,516,0.000,0.040,3245,608,1347,1457,1238,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8643,1.28,243.3,3245,608,1457,1237,72.6,10.7,372,8649,0.00,2.08,0.00,0.000,1030,0.000,0.030,3245,2008,1347,1457,1237,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8958,1.29,247.2,3245,2008,1457,1237,39.4,8.2,394,8964,0.00,2.15,0.00,0.000,516,0.000,0.039,3257,605,1347,1457,1237,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9068,1.35,265.2,3256,605,1457,1237,30.4,7.9,404,9107,0.00,2.08,33.05,0.366,9222,0.000,0.030,3257,2003,1296,1411,1182,0,0,0,0,0,0,28.83,26.49,25.75
$STATE,9346,end climb,SURFACE_DEPTH_REACHED
$STATE,9346,begin surface coast
$FINISH,-0.1,1.022051
$STATE,9375,end surface coast,CONTROL_FINISHED_OK
$STATE,9375,begin surface
$SM_CCo,9393,66.30,0.061,0,0,748,400.08
$SM_GC,1.07,7.97,0.75,66.30,0.029,0.045,0.061,126,2486,748,-8.30,-1.36,400.08,0,0,0,0,0,0,26.42,26.32,26.17
$IRIDIUM_FIX,2337.99,12155.58,040413,181816
$TT8_MAMPS,0.047936,0.047936
$HUMID,46.14
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3930400
$24V_AH,24.0,41.769
$10V_AH,10.3,27.348
$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,20.150,83.775,787.525,66.300,0.000,0.000,0.000,228.500,0.000,0.000,17.614,1904.605,5261.495,910.587,1430.787,344.582,0.000,1852.513,0.000,1155.944,0.000,0.538,0.000
$DEVICE_MAMPS,221.085,56.610,755.820,61.200,0.000,0.000,0.000,122.400,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9388.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.161,0.000,0.000,0.000
$MEM,324196
$DATA_FILE_SIZE,16816,455
$CAP_FILE_SIZE,246881,0
$CFSIZE,260034560,225751040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.296, 34.2,1
$GPS,040413,234105,2351.737,12151.740,36,1.1,37,-3.2