version: 66.11
glider: 171
mission: 4
dive: 291
start: 4 6 113 2 0 58
data:
$ID,171
$MISSION,4
$DIVE,291
$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,-20884.939
$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,27
$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
$GPS1,060413,015407,2351.007,12146.262,10,2.0,11,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-69.2
$GPS2,060413,020027,2351.217,12146.347,13,2.4,32,-3.2
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,INSHORE1
$TGT_LATLONG,2321.000,12139.000
$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,199.1,57339,-10.6,-8.333,-15.41,4401
$D_GRID,2490
$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,-243.3,125,2491,832,658,0.0,0.0,0,82,0.00,0.00,-60.58,0.000,16386,0.000,0.000,125,2492,2431,2493,2369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,125,2492,2498,2369,3.2,-5.4,8,117,8.90,2.17,-16.15,0.000,18948,0.216,0.042,2403,1091,3377,3437,3318,0,0,0,0,0,0,25.55,26.10,26.44
$GC,209,-1.28,-243.3,2403,1090,3443,3319,46.2,-28.1,22,215,0.00,2.17,0.00,0.000,1030,0.000,0.037,2394,2503,3381,3443,3320,0,0,0,0,0,0,28.83,26.08,28.83
$GC,523,-1.28,-243.3,2393,2503,3448,3327,136.1,-26.8,38,530,0.00,1.85,0.00,0.000,260,0.000,0.052,2385,3675,3387,3448,3327,0,0,0,0,0,0,28.83,26.18,28.83
$GC,604,-1.28,-243.3,2384,3676,3449,3327,154.7,-27.5,41,612,0.00,1.70,0.00,0.000,1030,0.000,0.024,2385,2489,3388,3449,3327,0,0,0,0,0,0,28.83,26.41,28.83
$GC,912,-1.28,-243.3,2385,2489,3451,3329,240.1,-25.2,57,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2489,3390,3451,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1211,-1.28,-243.3,2385,2489,3451,3329,315.3,-24.4,72,1217,0.00,2.03,0.00,0.000,516,0.000,0.028,2385,1109,3389,3450,3329,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1244,-1.28,-243.3,2385,1109,3450,3329,321.1,-24.2,73,1251,0.12,2.12,0.00,0.000,3078,0.162,0.037,2406,2503,3390,3451,3329,0,0,0,0,0,0,26.13,26.35,28.83
$GC,1562,-1.28,-243.3,2406,2503,3451,3329,394.1,-22.9,89,1568,0.00,1.83,0.00,0.000,260,0.000,0.053,2399,3670,3390,3451,3329,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1610,-1.28,-243.3,2398,3670,3451,3329,404.7,-22.3,91,1616,0.00,1.67,0.00,0.000,1030,0.000,0.025,2398,2496,3390,3451,3329,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1936,-1.28,-243.3,2398,2496,3450,3329,477.2,-21.9,107,1942,0.00,2.03,0.00,0.000,516,0.000,0.029,2398,1116,3388,3450,3326,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1983,-1.28,-243.3,2398,1116,3450,3329,487.6,-22.0,109,1990,0.00,2.12,0.00,0.000,1030,0.000,0.039,2388,2500,3389,3450,3329,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2309,-1.28,-243.3,2388,2500,3451,3326,561.9,-22.7,125,2315,0.00,1.83,0.00,0.000,260,0.000,0.054,2378,3670,3388,3450,3327,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2376,-1.28,-243.3,2378,3670,3450,3326,577.4,-23.0,128,2383,0.08,1.73,0.00,0.000,3078,0.127,0.027,2405,2513,3388,3450,3326,0,0,0,0,0,0,26.29,26.60,28.83
$GC,2711,-1.28,-243.3,2405,2513,3450,3321,646.3,-20.2,141,2717,0.00,2.10,0.00,0.000,516,0.000,0.030,2405,1102,3385,3450,3320,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2760,-1.28,-243.3,2405,1102,3450,3320,653.2,-19.9,142,2767,0.00,2.15,0.00,0.000,1030,0.000,0.039,2396,2504,3383,3447,3320,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3081,-1.28,-243.3,2393,2504,3450,3317,719.0,-19.4,153,3087,0.00,1.85,0.00,0.000,260,0.000,0.054,2387,3684,3383,3450,3316,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3116,-1.28,-243.3,2386,3684,3450,3316,726.3,-19.7,154,3122,0.00,1.73,0.00,0.000,1030,0.000,0.028,2387,2497,3383,3450,3316,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3450,-1.28,-243.3,2387,2498,3450,3311,796.6,-21.6,165,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2498,3380,3450,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3752,-1.28,-243.3,2386,2498,3448,3307,862.5,-21.7,175,3757,0.00,2.08,0.00,0.000,516,0.000,0.031,2387,1113,3377,3448,3307,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3790,-1.28,-243.3,2386,1111,3448,3307,869.8,-21.3,176,3798,0.12,2.15,0.00,0.000,3078,0.158,0.040,2409,2503,3377,3448,3307,0,0,0,0,0,0,26.14,26.36,28.83
$GC,4121,-1.28,-243.3,2409,2503,3446,3303,933.7,-19.4,187,4127,0.00,1.83,0.00,0.000,260,0.000,0.056,2401,3668,3374,3446,3303,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4160,-1.28,-243.3,2401,3668,3445,3303,940.5,-19.5,188,4167,0.00,1.75,0.00,0.000,1030,0.000,0.028,2401,2498,3374,3445,3303,0,0,0,0,0,0,28.83,26.59,28.83
$STATE,4220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4220,begin apogee
$GC,4226,-0.20,0.0,2401,1984,3445,3302,953.0,-19.5,190,4607,1.05,0.00,371.52,0.764,10246,0.116,0.000,2748,1984,2378,2531,2225,0,0,0,0,0,0,25.94,28.83,24.12
$STATE,4609,end apogee,CONTROL_FINISHED_OK
$STATE,4609,begin climb
$GC,4611,1.28,243.3,2747,1984,2526,2217,978.3,0.0,201,4889,1.33,2.25,266.33,0.894,10756,0.047,0.034,3245,622,1378,1488,1268,0,0,0,0,0,0,24.94,24.31,23.54
$GC,4920,1.28,243.3,3245,622,1468,1252,931.5,23.2,211,4926,0.00,2.25,0.00,0.000,1030,0.000,0.030,3245,2012,1359,1468,1251,0,0,0,0,0,0,28.83,24.75,28.83
$GC,5255,1.28,243.3,3245,2012,1458,1243,839.7,27.2,222,5261,0.00,2.22,0.00,0.000,260,0.000,0.046,3246,3412,1350,1458,1243,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5314,1.28,243.3,2304,3411,1432,1240,829.6,27.4,223,5323,0.00,2.12,0.00,0.000,1030,0.000,0.028,3257,2010,1350,1457,1243,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5622,1.28,243.3,3257,2010,1454,1241,739.6,26.3,234,5628,0.00,2.20,0.00,0.000,260,0.000,0.044,3257,3409,1347,1454,1241,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5646,1.28,243.3,3257,3408,1456,1242,739.6,26.3,234,5652,0.15,2.12,0.00,0.000,5126,0.176,0.028,3230,1986,1347,1454,1241,0,0,0,0,0,0,25.92,26.28,28.83
$GC,5961,1.28,243.3,3230,1988,1453,1238,654.7,25.0,245,5966,0.00,2.22,0.00,0.000,260,0.000,0.046,3230,3406,1345,1452,1238,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6036,1.28,243.3,3230,3406,1452,1238,637.8,25.5,247,6042,0.00,2.10,0.00,0.000,1030,0.000,0.028,3242,1998,1345,1452,1238,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6360,1.28,243.3,3241,1998,1451,1238,553.9,25.7,261,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1998,1344,1451,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6661,1.28,243.3,3241,1998,1451,1237,478.8,24.8,276,6667,0.00,2.22,0.00,0.000,260,0.000,0.046,3242,3415,1343,1451,1236,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6689,1.28,243.3,3241,3414,1451,1237,472.4,25.0,277,6695,0.00,2.10,0.00,0.000,1030,0.000,0.031,3253,2007,1343,1451,1236,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7010,1.28,243.3,3253,2007,1450,1235,388.8,25.5,293,7017,0.00,2.17,0.00,0.000,516,0.000,0.040,3264,597,1342,1450,1235,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7029,1.28,243.3,3264,597,1450,1236,388.8,25.5,293,7038,0.12,2.10,0.00,0.000,5126,0.173,0.031,3233,2007,1343,1450,1236,0,0,0,0,0,0,26.11,26.44,28.83
$GC,7335,1.28,243.3,3233,2007,1449,1235,311.8,22.4,309,7341,0.00,2.17,0.00,0.000,260,0.000,0.047,3233,3401,1342,1450,1235,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7375,1.28,243.3,3232,3401,1450,1235,306.3,22.3,310,7383,0.00,2.10,0.00,0.000,1030,0.000,0.031,3244,1997,1342,1450,1235,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7680,1.28,243.3,3244,1996,1449,1234,233.9,22.1,326,7686,0.00,2.12,0.00,0.000,516,0.000,0.041,3255,608,1341,1449,1234,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7843,1.28,243.3,3255,608,1448,1234,200.5,23.0,333,7851,0.00,2.08,0.00,0.000,1030,0.000,0.030,3255,2003,1341,1448,1234,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8148,1.28,243.3,3255,2003,1448,1234,129.1,22.9,349,8154,0.00,2.17,0.00,0.000,260,0.000,0.045,3255,3403,1344,1454,1234,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8282,1.28,243.3,3255,3404,1448,1234,99.4,22.9,355,8288,0.12,2.10,0.00,0.000,5126,0.174,0.029,3235,1989,1341,1449,1234,0,0,0,0,0,0,26.13,26.49,28.83
$GC,8592,1.28,243.3,3234,1989,1448,1233,42.6,13.9,373,8598,0.00,2.10,0.00,0.000,516,0.000,0.039,3246,607,1340,1448,1232,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8835,1.35,264.7,2208,607,1420,1228,21.1,7.8,401,8860,0.00,2.08,18.48,0.379,9222,0.000,0.030,3246,2001,1298,1413,1183,0,0,0,0,0,0,28.83,26.46,25.76
$STATE,9031,end climb,SURFACE_DEPTH_REACHED
$STATE,9031,begin surface coast
$FINISH,-0.3,1.013235
$STATE,9073,end surface coast,CONTROL_FINISHED_OK
$STATE,9073,begin surface
$SM_CCo,9092,70.75,0.062,0,0,748,400.08
$SM_GC,0.77,8.32,0.75,70.75,0.054,0.046,0.062,110,2492,748,-8.31,-1.41,400.08,0,0,0,0,0,0,26.43,26.36,26.18
$IRIDIUM_FIX,2342.70,12153.58,050413,232341
$TT8_MAMPS,0.047187,0.047187
$HUMID,49.17
$INTERNAL_PRESSURE,9.59367
$TCM_TEMP,21.90
$XPDR_PINGS,0
$SC_FREEKB,3927520
$24V_AH,23.5,43.030
$10V_AH,10.2,28.161
$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,20.325,83.375,656.325,70.750,0.000,0.000,0.000,202.875,0.000,0.000,34.625,1821.595,5242.299,740.417,1398.958,342.602,0.000,1675.223,0.000,1124.585,0.000,0.536,0.000
$DEVICE_MAMPS,215.730,55.845,893.520,61.965,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9084.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.132,0.000,0.000,0.000
$MEM,323944
$DATA_FILE_SIZE,16775,443
$CAP_FILE_SIZE,242352,0
$CFSIZE,260034560,224882688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076, 25.5,1
$GPS,060413,043653,2349.978,12145.854,151,1.2,151,-3.2