version: 66.11
glider: 171
mission: 4
dive: 292
start: 4 6 113 4 43 45
data:
$ID,171
$MISSION,4
$DIVE,292
$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,-20886.195
$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,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
$GPS1,060413,043653,2349.978,12145.854,151,1.2,151,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-64.5
$GPS2,060413,044314,2350.142,12145.896,17,1.5,17,-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,198.8,55230,-10.6,-8.333,-15.41,4401
$D_GRID,2686
$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,-243.3,110,2494,850,658,0.0,0.0,0,82,0.00,0.00,-60.40,0.000,16386,0.000,0.000,110,2494,2533,2596,2471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.28,-243.3,109,2494,2601,2471,4.6,-9.4,8,116,9.00,1.90,-13.15,0.000,19204,0.219,0.068,2395,3659,3378,3438,3318,0,0,0,0,0,0,25.60,26.05,26.50
$GC,126,-1.28,-243.3,2395,3659,3439,3318,25.2,-45.6,13,135,0.00,1.73,0.00,0.000,1030,0.000,0.025,2395,2483,3378,3439,3318,0,0,0,0,0,0,28.83,26.22,28.83
$GC,433,-1.28,-243.3,2395,2481,3444,3320,124.7,-28.5,32,439,0.00,2.05,0.00,0.000,516,0.000,0.028,2395,1101,3382,3445,3320,0,0,0,0,0,0,28.83,26.30,28.83
$GC,644,-1.28,-243.3,2395,1101,3445,3321,180.1,-25.9,42,650,0.00,2.12,0.00,0.000,1030,0.000,0.037,2384,2497,3383,3445,3321,0,0,0,0,0,0,28.83,26.28,28.83
$GC,970,-1.28,-243.3,2384,2497,3445,3321,269.4,-26.5,58,976,0.00,1.83,0.00,0.000,260,0.000,0.051,2375,3670,3383,3446,3321,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1051,-1.28,-243.3,2374,3670,3446,3320,287.9,-27.1,61,1060,0.12,1.70,0.00,0.000,3078,0.150,0.024,2408,2485,3383,3446,3321,0,0,0,0,0,0,26.20,26.53,28.83
$GC,1358,-1.28,-243.3,2408,2486,3446,3321,361.6,-22.5,77,1364,0.00,2.03,0.00,0.000,516,0.000,0.027,2409,1105,3383,3446,3321,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1419,-1.28,-243.3,2408,1105,3445,3321,371.9,-22.5,79,1427,0.00,2.12,0.00,0.000,1030,0.000,0.037,2399,2503,3383,3446,3321,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1726,-1.28,-243.3,2398,2503,3445,3321,447.9,-23.9,95,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2503,3383,3445,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2025,-1.28,-243.3,2398,2503,3445,3319,517.8,-23.1,110,2031,0.00,2.05,0.00,0.000,516,0.000,0.027,2398,1109,3382,3445,3319,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2059,-1.28,-243.3,2398,1110,3445,3319,523.4,-23.2,111,2065,0.00,2.12,0.00,0.000,1030,0.000,0.037,2388,2499,3382,3445,3319,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2374,-1.28,-243.3,2391,2499,3445,3315,596.0,-22.3,127,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2499,3380,3445,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2696,-1.28,-243.3,2388,2499,3445,3310,666.5,-21.5,138,2702,0.00,1.83,0.00,0.000,260,0.000,0.052,2379,3670,3377,3445,3310,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2745,-1.28,-243.3,2378,3669,3444,3309,674.2,-21.5,139,2751,0.12,1.70,0.00,0.000,3078,0.150,0.027,2412,2494,3377,3445,3309,0,0,0,0,0,0,26.26,26.60,28.83
$GC,3064,-1.28,-243.3,2412,2496,3444,3305,739.5,-19.2,150,3070,0.00,2.05,0.00,0.000,516,0.000,0.029,2413,1109,3374,3444,3305,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3104,-1.28,-243.3,2412,1109,3444,3304,746.1,-19.2,151,3110,0.00,2.12,0.00,0.000,1030,0.000,0.037,2403,2500,3374,3444,3304,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3434,-1.28,-243.3,2403,2499,3442,3301,810.2,-19.0,162,3440,0.00,1.83,0.00,0.000,260,0.000,0.053,2394,3668,3371,3442,3300,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3457,-1.28,-243.3,2394,3668,3442,3300,810.2,-19.0,162,3463,0.00,1.70,0.00,0.000,1030,0.000,0.028,2394,2506,3371,3442,3300,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3773,-1.28,-243.3,2393,2506,3441,3296,877.7,-19.8,173,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2506,3369,3441,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4071,-1.28,-243.3,2393,2506,3439,3293,936.8,-19.7,183,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2506,3366,3439,3293,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4159,begin apogee
$GC,4166,-0.20,0.0,2394,1983,3439,3291,954.1,-19.4,186,4554,1.08,0.00,378.45,0.751,10246,0.118,0.000,2747,1983,2379,2533,2225,0,0,0,0,0,0,25.92,28.83,24.10
$STATE,4555,end apogee,CONTROL_FINISHED_OK
$STATE,4556,begin climb
$GC,4558,1.28,243.3,2747,1983,2529,2214,979.0,0.0,198,4844,1.33,2.25,272.33,0.881,10756,0.045,0.034,3249,629,1376,1490,1263,0,0,0,0,0,0,24.93,24.30,23.55
$GC,4893,1.28,243.3,3249,629,1468,1246,935.1,22.7,208,4899,0.00,2.20,0.00,0.000,1030,0.000,0.030,3249,2006,1356,1468,1245,0,0,0,0,0,0,28.83,24.91,28.83
$GC,5223,1.28,243.3,3249,2006,1459,1238,850.7,25.1,219,5229,0.00,2.22,0.00,0.000,260,0.000,0.046,3249,3403,1349,1460,1238,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5273,1.28,243.3,3250,3403,1459,1238,841.5,25.2,220,5279,0.12,2.10,0.00,0.000,5126,0.185,0.028,3231,2010,1349,1460,1238,0,0,0,0,0,0,25.75,26.07,28.83
$GC,5593,1.28,243.3,3231,2010,1458,1239,758.6,24.4,231,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2010,1348,1462,1234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5894,1.28,243.3,3231,2010,1456,1236,689.8,22.7,241,5899,0.00,2.20,0.00,0.000,260,0.000,0.046,3231,3405,1345,1456,1235,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5943,1.28,243.3,3231,3405,1456,1236,681.3,23.0,242,5949,0.00,2.10,0.00,0.000,1030,0.000,0.028,3242,1997,1346,1456,1236,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6263,1.28,243.3,3242,1997,1453,1234,603.6,22.5,253,6268,0.00,2.22,0.00,0.000,260,0.000,0.047,3242,3408,1344,1453,1235,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6297,1.28,243.3,3242,3408,1453,1235,595.5,22.7,254,6303,0.00,2.10,0.00,0.000,1030,0.000,0.029,3254,2004,1345,1456,1234,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6612,1.28,243.3,3253,2004,1453,1234,520.4,24.6,270,6618,0.00,2.20,0.00,0.000,260,0.000,0.046,3254,3403,1343,1453,1234,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6646,1.28,243.3,3254,3404,1453,1234,514.2,24.5,271,6653,0.12,2.10,0.00,0.000,5126,0.184,0.030,3235,1996,1343,1453,1234,0,0,0,0,0,0,26.08,26.45,28.83
$GC,6964,1.28,243.3,3234,1995,1452,1232,439.6,22.8,287,6970,0.00,2.12,0.00,0.000,516,0.000,0.041,3245,610,1342,1452,1232,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6992,1.28,243.3,3245,610,1452,1232,433.4,23.1,288,6998,0.00,2.10,0.00,0.000,1030,0.000,0.031,3245,2014,1342,1452,1232,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7315,1.28,243.3,3245,2014,1451,1232,361.8,22.4,304,7316,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2014,1342,1452,1232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7611,1.28,243.3,3245,2014,1448,1232,293.1,22.9,319,7617,0.00,2.17,0.00,0.000,516,0.000,0.041,3257,609,1341,1451,1232,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7742,1.28,243.3,3257,609,1451,1232,264.4,22.6,325,7749,0.00,2.08,0.00,0.000,1030,0.000,0.031,3257,1999,1341,1451,1232,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8065,1.28,243.3,3257,1999,1450,1232,197.8,20.3,341,8071,0.00,2.17,0.00,0.000,260,0.000,0.045,3257,3401,1341,1450,1232,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8156,1.28,243.3,2272,3399,1423,1229,178.5,21.9,345,8162,0.15,2.08,0.00,0.000,5126,0.170,0.029,3229,1998,1341,1451,1231,0,0,0,0,0,0,26.06,26.48,28.83
$GC,8479,1.28,243.3,3229,1998,1450,1230,114.8,18.6,361,8484,0.00,2.20,0.00,0.000,260,0.000,0.046,3229,3402,1339,1449,1230,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8535,1.28,243.3,3229,3402,1450,1230,105.8,19.0,363,8540,0.00,2.08,0.00,0.000,1030,0.000,0.029,3241,2001,1340,1450,1230,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8849,1.28,243.3,3240,2000,1450,1230,53.9,13.4,379,8855,0.00,2.10,0.00,0.000,516,0.000,0.041,3252,611,1340,1450,1231,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9092,1.31,254.1,3252,610,1450,1230,33.0,8.1,400,9098,0.00,2.08,0.00,0.000,1030,0.000,0.030,3252,2001,1340,1450,1230,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9412,1.53,315.6,2208,1999,1421,1227,17.0,6.9,447,9453,0.12,2.20,32.85,0.099,10756,0.081,0.036,3353,604,1089,1205,974,0,0,0,0,0,0,26.65,26.34,26.00
$STATE,9507,end climb,SURFACE_DEPTH_REACHED
$STATE,9507,begin surface coast
$FINISH,-0.2,1.010028
$STATE,9525,end surface coast,CONTROL_FINISHED_OK
$STATE,9525,begin surface
$SM_CCo,9546,44.30,0.063,0,0,749,400.08
$SM_GC,0.87,8.23,2.95,44.30,0.031,0.037,0.063,122,2483,749,-8.28,-1.47,400.08,0,0,0,0,0,0,26.52,26.29,26.17
$IRIDIUM_FIX,2340.34,12145.09,060413,010143
$TT8_MAMPS,0.047187,0.047187
$HUMID,47.99
$INTERNAL_PRESSURE,9.60344
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,3927200
$24V_AH,23.5,43.187
$10V_AH,10.3,28.244
$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,20.400,79.625,683.625,44.300,0.000,0.000,0.000,215.125,0.000,0.000,18.531,1881.087,5592.923,721.511,1425.465,351.333,0.000,1679.628,0.000,1154.743,0.000,0.536,0.000
$DEVICE_MAMPS,218.790,68.085,881.280,63.495,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9515.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.211,0.000,0.000,0.000
$MEM,324060
$DATA_FILE_SIZE,16776,465
$CAP_FILE_SIZE,248255,0
$CFSIZE,260034560,224788480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084, 17.8,1
$GPS,060413,072553,2349.166,12145.480,74,2.2,96,-3.2