version: 66.11
glider: 171
mission: 4
dive: 299
start: 4 7 113 0 23 32
data:
$ID,171
$MISSION,4
$DIVE,299
$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,-20894.992
$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,58
$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
$GPS1,070413,001630,2340.186,12142.571,84,1.7,85,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-65.0
$GPS2,070413,002300,2340.230,12142.650,10,1.5,16,-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,199.1,36151,-10.6,-8.333,-15.41,4401
$D_GRID,1922
$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,-243.3,126,2495,854,657,0.0,0.0,0,82,0.00,0.00,-60.60,0.000,16386,0.000,0.000,126,2496,2519,2593,2445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,126,2496,2593,2448,4.3,-8.3,8,117,9.00,2.12,-13.73,0.000,19204,0.222,0.041,2407,1091,3376,3437,3316,0,0,0,0,0,0,25.60,26.16,26.51
$GC,277,-1.28,-243.3,2407,1090,3439,3317,69.6,-29.5,24,283,0.00,2.17,0.00,0.000,1030,0.000,0.039,2397,2501,3378,3440,3316,0,0,0,0,0,0,28.83,26.15,28.83
$GC,592,-1.28,-243.3,2396,2502,3443,3318,160.2,-26.8,40,598,0.00,1.83,0.00,0.000,260,0.000,0.052,2388,3671,3380,3443,3318,0,0,0,0,0,0,28.83,26.22,28.83
$GC,722,-1.28,-243.3,2388,3671,3444,3322,194.5,-27.6,46,728,0.00,1.73,0.00,0.000,1030,0.000,0.024,2388,2497,3381,3443,3319,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1044,-1.28,-243.3,2388,2495,3445,3320,283.0,-27.6,62,1050,0.00,1.85,0.00,0.000,260,0.000,0.054,2379,3671,3382,3445,3320,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1078,-1.28,-243.3,2378,3673,3445,3320,290.0,-27.2,63,1084,0.12,1.67,0.00,0.000,3078,0.153,0.024,2412,2491,3382,3445,3320,0,0,0,0,0,0,26.20,26.53,28.83
$GC,1396,-1.28,-243.3,2412,2490,3445,3320,366.5,-24.2,79,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2490,3382,3445,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1693,-1.28,-243.3,2412,2489,3445,3320,436.0,-23.6,94,1699,0.00,2.03,0.00,0.000,516,0.000,0.028,2412,1109,3382,3444,3320,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1711,-1.28,-243.3,2412,1109,3445,3320,436.0,-23.6,94,1718,0.00,2.12,0.00,0.000,1030,0.000,0.036,2402,2505,3382,3444,3320,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2018,-1.28,-243.3,2402,2505,3445,3320,517.1,-25.8,110,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2505,3382,3445,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2318,-1.28,-243.3,2402,2505,3442,3318,589.0,-23.1,125,2323,0.00,1.83,0.00,0.000,260,0.000,0.053,2393,3676,3381,3444,3318,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2343,-1.28,-243.3,2393,3675,3444,3318,594.6,-22.8,126,2349,0.00,1.67,0.00,0.000,1030,0.000,0.024,2393,2500,3381,3444,3318,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2667,-1.28,-243.3,2393,2498,3444,3314,668.0,-22.2,137,2673,0.00,2.05,0.00,0.000,516,0.000,0.030,2393,1114,3378,3444,3313,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2702,-1.28,-243.3,2393,1114,3444,3313,675.6,-22.4,138,2708,0.00,2.12,0.00,0.000,1030,0.000,0.038,2382,2503,3377,3444,3310,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3037,-1.28,-243.3,2382,2503,3444,3308,750.9,-22.3,149,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2503,3376,3444,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3336,-1.28,-243.3,2382,2503,3443,3305,818.8,-22.8,159,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2503,3373,3443,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3637,-1.28,-243.3,2382,2503,3442,3301,885.7,-22.0,169,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2503,3371,3442,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3937,-1.28,-243.3,2382,2501,3441,3297,949.3,-20.7,179,3943,0.00,1.83,0.00,0.000,260,0.000,0.054,2374,3670,3369,3441,3297,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,3969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3969,begin apogee
$GC,3978,-0.20,0.0,2373,2011,3440,3297,956.4,-20.7,180,4577,1.15,0.00,583.55,0.642,10246,0.123,0.000,2748,2009,2378,2533,2224,0,0,0,0,0,0,25.91,28.83,24.31
$STATE,4578,end apogee,CONTROL_FINISHED_OK
$STATE,4578,begin climb
$GC,4580,1.28,243.3,2748,2009,2530,2215,1000.0,0.0,198,4992,1.33,2.35,397.33,0.721,10756,0.044,0.034,3253,619,1383,1496,1271,0,0,0,0,0,0,25.08,24.63,23.94
$GC,5084,1.28,243.3,3253,619,1469,1248,938.8,22.4,216,5090,0.00,2.17,0.00,0.000,1030,0.000,0.030,3253,2008,1358,1469,1248,0,0,0,0,0,0,28.83,25.39,28.83
$GC,5408,1.28,243.3,3253,2008,1464,1243,854.9,26.0,227,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2008,1353,1464,1243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5708,1.28,243.3,3253,2008,1463,1241,776.0,26.0,237,5714,0.00,2.15,0.00,0.000,516,0.000,0.037,3265,615,1352,1463,1241,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5757,1.28,243.3,3265,615,1462,1241,767.3,25.8,238,5764,0.12,2.10,0.00,0.000,5126,0.177,0.031,3234,2004,1351,1462,1241,0,0,0,0,0,0,26.00,26.28,28.83
$GC,6078,1.28,243.3,3233,2004,1462,1240,688.1,23.3,249,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2005,1350,1461,1240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6378,1.28,243.3,3233,2004,1460,1238,620.4,22.5,259,6384,0.00,2.17,0.00,0.000,260,0.000,0.046,3234,3402,1349,1460,1238,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6397,1.28,243.3,3233,3402,1460,1239,620.4,22.5,259,6403,0.00,2.08,0.00,0.000,1030,0.000,0.028,3245,2007,1349,1460,1238,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6717,1.28,243.3,3244,2007,1459,1238,539.2,24.3,274,6723,0.00,2.20,0.00,0.000,260,0.000,0.046,3245,3412,1348,1459,1238,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6766,1.28,243.3,3245,3412,1460,1238,528.2,24.3,276,6773,0.00,2.10,0.00,0.000,1030,0.000,0.029,3256,1997,1348,1459,1238,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7090,1.28,243.3,3256,1997,1458,1237,454.5,22.3,292,7096,0.00,2.12,0.00,0.000,516,0.000,0.041,3267,609,1348,1459,1237,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7118,1.28,243.3,3267,609,1459,1237,448.1,22.5,293,7124,0.15,2.08,0.00,0.000,5126,0.168,0.031,3228,2001,1347,1458,1237,0,0,0,0,0,0,26.09,26.45,28.83
$GC,7440,1.28,243.3,3227,2001,1458,1234,380.5,21.1,309,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2001,1345,1458,1233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7738,1.28,243.3,3227,2001,1458,1235,317.3,21.7,324,7744,0.00,2.12,0.00,0.000,516,0.000,0.039,3239,611,1346,1458,1235,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7763,1.28,243.3,3238,610,1458,1235,311.9,21.8,325,7770,0.00,2.08,0.00,0.000,1030,0.000,0.031,3239,2000,1346,1458,1235,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8090,1.28,243.3,3239,2000,1458,1235,245.7,19.6,341,8096,0.00,2.17,0.00,0.000,260,0.000,0.046,3239,3406,1346,1458,1235,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8170,1.28,243.3,3239,3406,1458,1235,231.5,20.6,344,8179,0.00,2.08,0.00,0.000,1030,0.000,0.029,3250,2002,1346,1458,1235,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8477,1.28,243.3,3250,2000,1457,1235,167.5,20.8,360,8483,0.00,2.20,0.00,0.000,260,0.000,0.045,3249,3402,1346,1457,1236,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8505,1.28,243.3,3250,3402,1457,1235,162.5,20.8,361,8511,0.12,2.08,0.00,0.000,5126,0.175,0.029,3231,1995,1346,1457,1235,0,0,0,0,0,0,26.14,26.52,28.83
$GC,8828,1.28,243.3,3230,1996,1458,1235,99.6,18.9,377,8833,0.00,2.20,0.00,0.000,260,0.000,0.045,3230,3403,1346,1458,1235,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8876,1.28,243.3,3230,3403,1457,1235,90.3,19.4,379,8882,0.00,2.08,0.00,0.000,1030,0.000,0.029,3241,1997,1346,1457,1235,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9193,1.28,243.3,3241,1996,1457,1235,44.6,10.9,396,9199,0.00,2.20,0.00,0.000,260,0.000,0.046,3242,3402,1346,1458,1235,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9244,1.28,243.3,3241,3402,1458,1235,38.3,12.7,400,9252,0.00,2.08,0.00,0.000,1030,0.000,0.028,3253,1990,1346,1457,1235,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9559,1.28,243.3,2240,1987,1430,1233,8.3,12.4,448,9567,0.00,2.10,0.00,0.000,516,0.000,0.038,3264,610,1346,1458,1235,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,9605,end climb,SURFACE_DEPTH_REACHED
$STATE,9605,begin surface coast
$FINISH,-0.0,0.999832
$STATE,9629,end surface coast,CONTROL_FINISHED_OK
$STATE,9629,begin surface
$SM_CCo,9650,76.43,0.061,0,0,748,400.08
$SM_GC,0.78,8.07,2.95,76.43,0.037,0.037,0.061,138,2495,748,-8.29,-1.07,400.08,0,0,0,0,0,0,26.49,26.38,26.19
$IRIDIUM_FIX,2333.28,12143.85,060413,212112
$TT8_MAMPS,0.047187,0.047187
$HUMID,48.38
$INTERNAL_PRESSURE,9.59367
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,3924960
$24V_AH,23.9,44.519
$10V_AH,10.1,28.820
$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,20.075,75.375,980.875,76.425,0.000,0.000,0.000,228.050,0.000,0.000,17.009,1742.133,5647.329,932.962,1463.623,333.447,0.000,1982.751,0.000,1168.986,0.000,0.537,0.000
$DEVICE_MAMPS,221.850,53.550,721.395,61.200,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9635.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.038,0.000,0.000,0.000
$MEM,323948
$DATA_FILE_SIZE,16760,460
$CAP_FILE_SIZE,240638,0
$CFSIZE,260034560,224210944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,179.2,1
$GPS,070413,030654,2338.110,12141.858,13,3.4,33,-3.2