version: 66.11
glider: 171
mission: 4
dive: 296
start: 4 6 113 15 59 45
data:
$ID,171
$MISSION,4
$DIVE,296
$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,-20891.225
$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,61
$R_STBD_OVSHOOT,30
$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
$GPS1,060413,155230,2344.575,12143.929,41,1.1,42,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-65.3
$GPS2,060413,155913,2344.647,12143.918,45,1.2,45,-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,196.1,44586,-10.6,-8.333,-15.41,4401
$D_GRID,1807
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.28,-243.3,126,2489,847,656,0.0,0.0,0,75,0.00,0.00,-53.33,0.000,16386,0.000,0.000,125,2490,2245,2285,2206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-1.28,-243.3,125,2490,2288,2206,3.2,-5.2,7,119,9.10,2.12,-19.88,0.000,18948,0.224,0.045,2416,1108,3376,3439,3314,0,0,0,0,0,0,25.59,26.13,26.49
$GC,227,-1.28,-243.3,2416,1107,3442,3315,52.9,-28.3,24,233,0.00,2.15,0.00,0.000,1030,0.000,0.037,2406,2504,3378,3442,3315,0,0,0,0,0,0,28.83,26.14,28.83
$GC,553,-1.28,-243.3,2406,2504,3446,3319,141.8,-26.0,40,559,0.00,1.83,0.00,0.000,260,0.000,0.050,2397,3671,3382,3446,3319,0,0,0,0,0,0,28.83,26.22,28.83
$GC,593,-1.28,-243.3,2397,3671,3446,3319,148.8,-26.6,41,601,0.00,1.75,0.00,0.000,1030,0.000,0.024,2397,2485,3382,3446,3319,0,0,0,0,0,0,28.83,26.43,28.83
$GC,898,-1.28,-243.3,2397,2483,3448,3320,235.0,-26.0,57,904,0.00,2.03,0.00,0.000,516,0.000,0.030,2397,1112,3385,3451,3320,0,0,0,0,0,0,28.83,26.41,28.83
$GC,933,-1.28,-243.3,2397,1111,3447,3320,241.3,-25.7,58,938,0.00,2.12,0.00,0.000,1030,0.000,0.041,2386,2500,3383,3447,3320,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1247,-1.28,-243.3,2386,2500,3448,3320,326.4,-26.7,74,1254,0.00,1.85,0.00,0.000,260,0.000,0.051,2377,3681,3384,3448,3320,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1288,-1.28,-243.3,2376,3681,3447,3320,333.2,-26.6,75,1296,0.12,1.70,0.00,0.000,3078,0.150,0.024,2410,2489,3385,3448,3323,0,0,0,0,0,0,26.22,26.55,28.83
$GC,1592,-1.28,-243.3,2410,2489,3447,3320,407.6,-22.4,91,1598,0.00,1.85,0.00,0.000,260,0.000,0.050,2402,3674,3383,3447,3320,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1668,-1.28,-243.3,2402,3674,3447,3320,423.2,-23.0,94,1674,0.00,1.67,0.00,0.000,1030,0.000,0.025,2402,2495,3383,3447,3320,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1983,-1.28,-243.3,2399,2495,3447,3320,494.5,-21.8,110,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2494,3383,3447,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2283,-1.28,-243.3,2402,2494,3447,3319,560.8,-22.2,125,2289,0.00,2.03,0.00,0.000,516,0.000,0.031,2402,1127,3383,3447,3319,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2334,-1.28,-243.3,2402,1124,3446,3318,570.7,-22.0,127,2340,0.00,2.12,0.00,0.000,1030,0.000,0.043,2392,2500,3382,3447,3318,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2654,-1.28,-243.3,2391,2500,3447,3314,643.1,-22.0,140,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2500,3380,3447,3314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2953,-1.28,-243.3,2391,2500,3447,3310,708.8,-22.0,150,2959,0.00,2.05,0.00,0.000,516,0.000,0.031,2392,1124,3378,3447,3309,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2981,-1.28,-243.3,2391,1124,3447,3309,708.8,-22.0,150,2990,0.00,2.12,0.00,0.000,1030,0.000,0.041,2381,2504,3378,3447,3309,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3291,-1.28,-243.3,2381,2503,3446,3306,782.6,-21.9,161,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2504,3376,3446,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3589,-1.28,-243.3,2381,2504,3445,3302,848.1,-21.7,171,3595,0.00,1.88,0.00,0.000,260,0.000,0.054,2372,3692,3373,3444,3302,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3638,-1.28,-243.3,2372,3692,3444,3302,856.1,-21.5,172,3644,0.15,1.70,0.00,0.000,3078,0.145,0.027,2413,2512,3373,3444,3302,0,0,0,0,0,0,26.19,26.61,28.83
$GC,3958,-1.28,-243.3,2413,2512,3443,3300,919.5,-18.7,183,3964,0.00,2.08,0.00,0.000,516,0.000,0.031,2413,1111,3371,3443,3299,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4004,-1.28,-243.3,2413,1113,3442,3299,925.9,-18.8,184,4010,0.00,2.15,0.00,0.000,1030,0.000,0.046,2404,2499,3370,3443,3298,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,4116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4116,begin apogee
$GC,4123,-0.20,0.0,2404,1997,3442,3297,950.3,-19.4,188,4515,1.05,0.00,382.70,0.757,10246,0.119,0.000,2748,1995,2379,2534,2224,0,0,0,0,0,0,25.94,28.83,24.15
$STATE,4517,end apogee,CONTROL_FINISHED_OK
$STATE,4517,begin climb
$GC,4519,1.28,243.3,2749,1995,2528,2212,979.3,0.0,200,4918,1.33,2.28,386.52,0.724,10756,0.046,0.038,3249,621,1382,1496,1268,0,0,0,0,0,0,24.95,24.59,23.96
$GC,5063,1.28,243.3,3249,620,1468,1245,894.7,24.9,217,5069,0.00,2.17,0.00,0.000,1030,0.000,0.032,3249,2008,1356,1468,1245,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5398,1.28,243.3,3249,2008,1463,1240,808.7,25.5,228,5404,0.00,2.20,0.00,0.000,260,0.000,0.047,3249,3405,1351,1463,1240,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5503,1.28,243.3,3249,3405,1462,1239,782.6,26.8,231,5509,0.12,2.10,0.00,0.000,5126,0.182,0.028,3230,2010,1350,1462,1239,0,0,0,0,0,0,25.91,26.22,28.83
$GC,5830,1.28,243.3,3230,2009,1460,1238,700.4,24.0,242,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2009,1349,1460,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6129,1.28,243.3,3230,2009,1459,1236,629.7,23.4,252,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2009,1348,1459,1237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6438,1.28,243.3,3230,2009,1458,1235,557.6,22.9,265,6445,0.00,2.20,0.00,0.000,260,0.000,0.047,3230,3406,1347,1459,1235,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6472,1.28,243.3,3230,3406,1459,1235,551.6,23.3,266,6478,0.00,2.10,0.00,0.000,1030,0.000,0.029,3241,1999,1347,1459,1235,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6787,1.28,243.3,3241,1999,1458,1235,476.3,23.7,282,6793,0.00,2.15,0.00,0.000,516,0.000,0.041,3253,604,1346,1458,1235,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6836,1.28,243.3,3252,604,1458,1235,465.6,23.7,284,6843,0.00,2.10,0.00,0.000,1030,0.000,0.031,3253,2002,1346,1458,1235,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7160,1.28,243.3,3252,2002,1457,1235,391.6,22.2,300,7165,0.00,2.17,0.00,0.000,260,0.000,0.045,3253,3402,1346,1457,1235,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7241,1.28,243.3,3252,3402,1460,1235,375.0,23.5,303,7250,0.12,2.10,0.00,0.000,5126,0.181,0.029,3233,1994,1346,1457,1235,0,0,0,0,0,0,26.12,26.48,28.83
$GC,7546,1.28,243.3,3233,1994,1456,1233,308.0,19.9,319,7552,0.00,2.22,0.00,0.000,260,0.000,0.047,3233,3412,1344,1456,1233,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7575,1.28,243.3,3233,3412,1456,1233,302.9,19.9,320,7580,0.00,2.10,0.00,0.000,1030,0.000,0.030,3244,2000,1344,1456,1233,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7895,1.28,243.3,3244,2000,1455,1231,235.3,20.1,336,7902,0.00,2.12,0.00,0.000,516,0.000,0.041,3256,609,1343,1455,1232,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7926,1.28,243.3,3256,608,1455,1231,229.9,19.9,337,7932,0.00,2.08,0.00,0.000,1030,0.000,0.031,3255,2001,1344,1455,1234,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8246,1.28,243.3,3255,2002,1455,1232,160.4,20.7,353,8252,0.00,2.17,0.00,0.000,260,0.000,0.045,3256,3404,1343,1455,1231,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8271,1.28,243.3,3255,3402,1451,1231,154.7,21.2,354,8278,0.15,2.08,0.00,0.000,5126,0.169,0.029,3228,1996,1343,1455,1231,0,0,0,0,0,0,26.08,26.49,28.83
$GC,8598,1.28,243.3,3228,1995,1455,1231,95.2,16.1,370,8604,0.00,2.12,0.00,0.000,516,0.000,0.041,3239,608,1344,1456,1232,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8667,1.28,243.3,3238,608,1455,1231,84.2,16.2,373,8672,0.00,2.08,0.00,0.000,1030,0.000,0.031,3238,2002,1343,1455,1231,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8976,1.28,243.3,3239,2002,1455,1231,42.3,8.7,392,8982,0.00,2.17,0.00,0.000,260,0.000,0.046,3239,3403,1343,1454,1232,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9110,1.63,344.1,3239,3402,1455,1231,36.5,6.0,404,9343,0.25,2.08,224.95,0.363,11266,0.051,0.028,3371,1990,1009,1122,896,0,0,0,0,0,0,26.51,26.51,28.83
$STATE,9344,end climb,SURFACE_DEPTH_REACHED
$STATE,9344,begin surface coast
$FINISH,0.0,1.022472
$STATE,9362,end surface coast,CONTROL_FINISHED_OK
$STATE,9363,begin surface
$SM_CCo,9383,35.78,0.057,0,0,747,400.08
$SM_GC,0.60,8.68,0.82,35.78,0.040,0.044,0.057,141,2498,747,-8.29,-1.05,400.08,0,0,0,0,0,0,25.68,25.61,25.63
$IRIDIUM_FIX,2337.99,12147.09,060413,131307
$TT8_MAMPS,0.046438,0.046438
$HUMID,47.55
$INTERNAL_PRESSURE,9.59367
$TCM_TEMP,22.20
$XPDR_PINGS,1
$SC_FREEKB,3925920
$24V_AH,24.0,43.954
$10V_AH,10.2,28.574
$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,21.075,79.525,994.175,35.775,0.000,0.000,0.000,210.500,0.250,0.000,46.330,1678.062,5442.022,939.323,1429.427,334.029,0.000,1944.001,0.000,1125.120,0.000,0.537,0.000
$DEVICE_MAMPS,224.145,54.315,757.350,56.610,0.000,0.000,0.000,127.755,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9354.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.080,0.000,0.000,0.000
$MEM,323936
$DATA_FILE_SIZE,16775,432
$CAP_FILE_SIZE,239665,0
$CFSIZE,260034560,224456704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016,136.7,1
$GPS,060413,183830,2342.982,12143.345,64,1.7,65,-3.2