version: 66.11
glider: 171
mission: 4
dive: 283
start: 4 4 113 23 47 32
data:
$ID,171
$MISSION,4
$DIVE,283
$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,-20874.887
$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,53
$R_STBD_OVSHOOT,29
$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
$GPS1,040413,234105,2351.737,12151.740,36,1.1,37,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.8
$GPS2,040413,234701,2352.019,12151.899,12,1.5,12,-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,246.5,8738,-10.6,-8.333,-15.41,4401
$D_GRID,4059
$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,-243.3,125,2489,841,660,0.0,0.0,0,76,0.00,0.00,-55.58,0.000,16386,0.000,0.000,125,2489,2319,2356,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-1.28,-243.3,125,2489,2364,2282,3.2,-5.6,7,112,9.05,2.17,-17.92,0.000,18948,0.223,0.043,2399,1084,3377,3436,3318,0,0,0,0,0,0,25.61,26.17,26.51
$GC,221,-1.28,-243.3,2399,1083,3439,3319,53.4,-37.3,21,229,0.00,2.17,0.00,0.000,1030,0.000,0.037,2390,2502,3378,3439,3318,0,0,0,0,0,0,28.83,26.15,28.83
$GC,527,-1.28,-243.3,2389,2502,3443,3320,144.9,-26.8,37,533,0.00,2.10,0.00,0.000,516,0.000,0.029,2389,1093,3382,3443,3321,0,0,0,0,0,0,28.83,26.36,28.83
$GC,567,-1.28,-243.3,2389,1093,3444,3322,152.2,-28.0,38,576,0.12,2.15,0.00,0.000,3078,0.165,0.037,2410,2501,3382,3444,3321,0,0,0,0,0,0,26.06,26.28,28.83
$GC,872,-1.28,-243.3,2411,2501,3446,3323,235.9,-25.6,54,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2501,3384,3446,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1172,-1.28,-243.3,2410,2501,3446,3324,304.1,-21.2,69,1179,0.00,2.10,0.00,0.000,516,0.000,0.030,2411,1088,3384,3446,3323,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1197,-1.28,-243.3,2410,1088,3446,3323,309.5,-20.8,70,1204,0.00,2.17,0.00,0.000,1030,0.000,0.037,2400,2507,3384,3446,3322,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1525,-1.28,-243.3,2399,2507,3447,3324,382.7,-23.0,86,1530,0.00,1.80,0.00,0.000,260,0.000,0.053,2391,3669,3385,3446,3324,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1580,-1.28,-243.3,2391,3670,3446,3323,393.2,-22.8,88,1586,0.00,1.70,0.00,0.000,1030,0.000,0.024,2392,2475,3384,3446,3323,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1895,-1.28,-243.3,2391,2474,3446,3323,467.0,-22.4,104,1901,0.00,2.00,0.00,0.000,516,0.000,0.030,2391,1113,3384,3446,3323,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1940,-1.28,-243.3,2391,1113,3446,3323,477.0,-22.4,106,1946,0.00,2.10,0.00,0.000,1030,0.000,0.037,2380,2502,3384,3446,3323,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2267,-1.28,-243.3,2380,2502,3445,3319,550.9,-22.7,122,2274,0.12,1.83,0.00,0.000,2308,0.167,0.051,2411,3672,3382,3446,3319,0,0,0,0,0,0,26.35,26.39,28.83
$GC,2322,-1.28,-243.3,2412,3672,3446,3319,561.0,-22.1,124,2328,0.00,1.67,0.00,0.000,1030,0.000,0.025,2412,2495,3382,3446,3319,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2637,-1.28,-243.3,2411,2494,3446,3314,626.6,-20.2,138,2642,0.00,1.85,0.00,0.000,260,0.000,0.054,2402,3674,3379,3445,3314,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2690,-1.28,-243.3,2402,3674,3445,3313,633.8,-20.4,139,2697,0.00,1.67,0.00,0.000,1030,0.000,0.026,2402,2498,3379,3445,3313,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3007,-1.28,-243.3,2402,2497,3445,3308,702.5,-20.5,150,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2497,3376,3445,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3306,-1.28,-243.3,2402,2497,3443,3305,761.3,-19.3,160,3312,0.00,2.05,0.00,0.000,516,0.000,0.031,2402,1112,3375,3443,3308,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3340,-1.28,-243.3,2402,1112,3443,3304,767.9,-19.5,161,3347,0.00,2.12,0.00,0.000,1030,0.000,0.039,2394,2500,3373,3443,3304,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3675,-1.28,-243.3,2391,2500,3441,3300,833.6,-19.1,172,3682,0.00,1.83,0.00,0.000,260,0.000,0.056,2383,3669,3370,3441,3300,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3711,-1.28,-243.3,2383,3669,3438,3300,840.8,-19.3,173,3717,0.00,1.70,0.00,0.000,1030,0.000,0.028,2383,2507,3370,3441,3300,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4045,-1.28,-243.3,2382,2506,3439,3295,908.1,-19.6,184,4051,0.00,1.85,0.00,0.000,260,0.000,0.056,2374,3675,3367,3439,3295,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4110,-1.28,-243.3,2374,3675,3438,3295,921.1,-19.7,186,4117,0.12,1.73,0.00,0.000,3078,0.149,0.026,2408,2486,3367,3439,3295,0,0,0,0,0,0,26.27,26.61,28.83
$STATE,4294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4294,begin apogee
$GC,4300,-0.20,0.0,2408,1994,3438,3291,955.0,-18.1,192,4687,1.02,0.00,376.05,0.755,10246,0.116,0.000,2748,1992,2376,2531,2221,0,0,0,0,0,0,26.00,28.83,24.19
$STATE,4689,end apogee,CONTROL_FINISHED_OK
$STATE,4689,begin climb
$GC,4692,1.28,243.3,2748,1992,2527,2212,979.5,0.0,204,4972,1.33,0.00,272.30,0.876,10758,0.048,0.000,3237,1992,1388,1500,1276,0,0,0,0,0,0,25.03,28.83,23.70
$GC,5256,1.28,243.3,3237,1990,1462,1240,869.6,25.8,224,5262,0.00,2.28,0.00,0.000,260,0.000,0.047,3237,3410,1351,1462,1240,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5334,1.28,243.3,2304,3409,1435,1237,852.0,26.5,226,5340,0.00,2.10,0.00,0.000,1030,0.000,0.028,3248,2017,1350,1460,1240,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5654,1.28,243.3,3248,2017,1458,1238,765.6,25.4,237,5660,0.00,2.20,0.00,0.000,260,0.000,0.046,3248,3412,1347,1458,1237,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5677,1.28,243.3,3248,3413,1458,1237,765.6,25.4,237,5684,0.12,2.12,0.00,0.000,5126,0.179,0.028,3229,1991,1348,1458,1238,0,0,0,0,0,0,25.98,26.28,28.83
$GC,5992,1.28,243.3,3229,1991,1455,1236,683.9,23.2,248,5998,0.00,2.12,0.00,0.000,516,0.000,0.040,3240,608,1346,1455,1237,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6062,1.28,243.3,3240,608,1455,1236,668.6,23.2,250,6069,0.00,2.12,0.00,0.000,1030,0.000,0.031,3238,2022,1345,1455,1236,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6382,1.28,243.3,3240,2021,1454,1235,590.5,24.6,261,6388,0.00,2.17,0.00,0.000,260,0.000,0.047,3240,3406,1344,1454,1235,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6422,1.28,243.3,2256,3404,1427,1232,584.5,24.8,262,6430,0.00,2.10,0.00,0.000,1030,0.000,0.029,3252,1996,1344,1454,1235,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6727,1.28,243.3,3251,1995,1452,1234,504.6,24.7,278,6733,0.00,2.20,0.00,0.000,260,0.000,0.046,3251,3400,1343,1453,1234,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6776,1.28,243.3,3251,3400,1452,1234,493.3,24.9,280,6783,0.12,2.08,0.00,0.000,5126,0.182,0.029,3232,2001,1343,1453,1234,0,0,0,0,0,0,26.12,26.47,28.83
$GC,7099,1.28,243.3,3232,2001,1452,1232,415.7,23.7,296,7104,0.00,2.12,0.00,0.000,516,0.000,0.041,3243,612,1342,1452,1233,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7127,1.28,243.3,3242,612,1451,1233,409.5,24.1,297,7133,0.00,2.08,0.00,0.000,1030,0.000,0.031,3243,1999,1342,1451,1233,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7447,1.28,243.3,3243,1999,1448,1233,334.8,21.3,313,7449,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1999,1342,1452,1233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7747,1.28,243.3,3243,1999,1450,1233,266.9,23.2,328,7752,0.00,2.15,0.00,0.000,516,0.000,0.041,3255,606,1342,1451,1233,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7950,1.28,243.3,2272,605,1423,1230,226.8,21.3,337,7957,0.00,2.08,0.00,0.000,1030,0.000,0.031,3255,2000,1341,1450,1233,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8255,1.28,243.3,3254,2000,1450,1232,155.3,22.6,353,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2000,1341,1450,1232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8556,1.28,243.3,3255,2000,1450,1231,94.8,19.7,368,8562,0.00,2.12,0.00,0.000,516,0.000,0.040,3266,609,1340,1450,1231,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8800,1.28,243.3,3266,609,1450,1230,56.0,12.5,379,8807,0.12,2.08,0.00,0.000,5126,0.153,0.029,3233,2007,1339,1450,1229,0,0,0,0,0,0,26.21,26.49,28.83
$GC,9117,1.28,243.3,3232,2009,1450,1229,26.4,9.1,408,9122,0.00,2.15,0.00,0.000,516,0.000,0.040,3244,608,1339,1450,1229,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9363,1.48,303.0,3243,607,1450,1229,7.3,6.9,453,9397,0.15,2.08,25.33,0.068,11270,0.071,0.029,3337,2011,1140,1256,1025,0,0,0,0,0,0,26.48,26.49,26.22
$STATE,9403,end climb,SURFACE_DEPTH_REACHED
$STATE,9403,begin surface coast
$FINISH,-0.1,1.000676
$STATE,9431,end surface coast,CONTROL_FINISHED_OK
$STATE,9431,begin surface
$SM_CCo,9451,50.70,0.061,0,0,748,400.08
$SM_GC,1.02,8.15,0.73,50.70,0.029,0.047,0.061,134,2483,748,-8.28,-1.55,400.08,0,0,0,0,0,0,26.47,26.39,26.23
$IRIDIUM_FIX,2342.70,12151.58,040413,202049
$TT8_MAMPS,0.047936,0.047936
$HUMID,47.63
$INTERNAL_PRESSURE,9.61321
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3930080
$24V_AH,23.7,41.924
$10V_AH,10.2,27.428
$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,20.450,78.525,673.675,50.700,0.000,0.000,0.000,197.650,0.000,0.000,13.387,1886.046,5489.112,740.499,1396.508,345.638,0.000,1664.902,0.000,1147.736,0.000,0.538,0.000
$DEVICE_MAMPS,222.615,55.845,875.925,61.200,0.000,0.000,0.000,126.225,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9420.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.189,0.000,0.000,0.000
$MEM,324148
$DATA_FILE_SIZE,16803,463
$CAP_FILE_SIZE,247329,0
$CFSIZE,260034560,225665024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231, 43.2,1
$GPS,050413,022705,2352.226,12150.952,30,1.0,31,-3.2