version: 66.11
glider: 171
mission: 4
dive: 312
start: 4 8 113 13 13 15
data:
$ID,171
$MISSION,4
$DIVE,312
$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,-20911.342
$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,38
$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
$GPS1,080413,130633,2321.912,12139.360,10,2.1,30,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.4
$GPS2,080413,131242,2322.210,12139.545,13,1.2,30,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,INSHORE2
$TGT_LATLONG,2302.000,12132.600
$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,214.4,39257,-10.6,-8.333,-15.41,4401
$D_GRID,1410
$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,18,-1.28,-243.3,120,2502,851,662,0.0,0.0,0,80,0.00,0.00,-59.55,0.000,16386,0.000,0.000,120,2502,2502,2559,2446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.28,-243.3,120,2503,2563,2447,4.1,-6.6,8,116,8.98,2.10,-14.10,0.000,18948,0.218,0.039,2398,1097,3377,3436,3318,0,0,0,0,0,0,25.58,26.20,26.56
$GC,144,-1.28,-243.3,2399,1097,3438,3318,29.5,-38.8,15,153,0.00,2.17,0.00,0.000,1030,0.000,0.039,2389,2499,3378,3438,3318,0,0,0,0,0,0,28.83,26.10,28.83
$GC,462,-1.28,-243.3,2389,2500,3440,3318,124.4,-24.9,34,468,0.00,1.85,0.00,0.000,260,0.000,0.052,2380,3682,3379,3440,3318,0,0,0,0,0,0,28.83,26.17,28.83
$GC,523,-1.28,-243.3,2380,3683,3442,3318,136.4,-25.3,36,532,0.12,1.70,0.00,0.000,3078,0.155,0.025,2412,2492,3380,3442,3319,0,0,0,0,0,0,26.08,26.42,28.83
$GC,829,-1.28,-243.3,2412,2490,3444,3320,216.8,-25.4,52,835,0.00,2.03,0.00,0.000,516,0.000,0.028,2412,1108,3382,3444,3320,0,0,0,0,0,0,28.83,26.42,28.83
$GC,899,-1.28,-243.3,2412,1108,3444,3320,233.4,-25.4,55,905,0.00,2.12,0.00,0.000,1030,0.000,0.038,2402,2503,3382,3444,3320,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1221,-1.28,-243.3,2402,2503,3444,3320,310.8,-22.9,71,1226,0.00,1.83,0.00,0.000,260,0.000,0.053,2393,3674,3382,3444,3320,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1325,-1.28,-243.3,2393,3674,3444,3320,332.4,-24.0,75,1333,0.00,1.67,0.00,0.000,1030,0.000,0.024,2393,2496,3382,3444,3320,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1630,-1.28,-243.3,2393,2495,3444,3320,409.7,-24.5,91,1637,0.00,2.03,0.00,0.000,516,0.000,0.028,2393,1111,3382,3444,3320,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1655,-1.28,-243.3,2393,1111,3444,3320,415.9,-24.6,92,1662,0.00,2.12,0.00,0.000,1030,0.000,0.038,2383,2502,3382,3444,3320,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1983,-1.28,-243.3,2382,2502,3444,3319,491.2,-23.7,108,1988,0.00,1.83,0.00,0.000,260,0.000,0.054,2374,3673,3381,3444,3319,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2007,-1.28,-243.3,2373,3673,3444,3319,497.4,-23.9,109,2013,0.12,1.67,0.00,0.000,3078,0.150,0.026,2407,2496,3381,3444,3319,0,0,0,0,0,0,26.24,26.58,28.83
$GC,2334,-1.28,-243.3,2406,2495,3444,3315,565.5,-20.2,125,2340,0.00,2.03,0.00,0.000,516,0.000,0.029,2407,1116,3379,3444,3314,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2381,-1.28,-243.3,2407,1116,3444,3313,574.8,-20.0,127,2387,0.00,2.12,0.00,0.000,1030,0.000,0.041,2397,2501,3378,3444,3313,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2707,-1.28,-243.3,2397,2501,3443,3308,640.9,-20.6,140,2712,0.00,1.83,0.00,0.000,260,0.000,0.055,2389,3670,3375,3443,3308,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2786,-1.28,-243.3,2388,3670,3443,3307,655.4,-21.5,142,2792,0.00,1.73,0.00,0.000,1030,0.000,0.027,2388,2510,3375,3443,3307,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3106,-1.28,-243.3,2388,2510,3442,3303,730.8,-22.6,153,3111,0.00,2.08,0.00,0.000,516,0.000,0.028,2388,1105,3371,3441,3302,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3133,-1.28,-243.3,2388,1105,3442,3302,730.8,-22.6,153,3142,0.12,2.15,0.00,0.000,3078,0.157,0.040,2411,2503,3372,3443,3302,0,0,0,0,0,0,26.13,26.34,28.83
$GC,3441,-1.28,-243.3,2410,2503,3440,3299,795.9,-18.8,164,3447,0.00,1.85,0.00,0.000,260,0.000,0.056,2402,3677,3369,3440,3298,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3487,-1.28,-243.3,2403,3676,3443,3298,802.8,-18.9,165,3492,0.00,1.70,0.00,0.000,1030,0.000,0.028,2403,2496,3368,3439,3298,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3811,-1.28,-243.3,2402,2496,3438,3293,866.6,-18.7,176,3817,0.00,2.05,0.00,0.000,516,0.000,0.031,2402,1111,3365,3438,3292,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3851,-1.28,-243.3,2402,1111,3438,3292,872.1,-17.5,177,3857,0.00,2.15,0.00,0.000,1030,0.000,0.041,2392,2502,3365,3438,3292,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4180,-1.28,-243.3,2392,2502,3435,3288,935.2,-18.3,188,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2502,3362,3436,3288,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4269,begin apogee
$GC,4275,-0.20,0.0,2392,1986,3436,3287,951.6,-18.3,191,4671,1.10,0.00,384.55,0.757,10246,0.118,0.000,2753,1985,2375,2530,2220,0,0,0,0,0,0,25.86,28.83,24.14
$STATE,4672,end apogee,CONTROL_FINISHED_OK
$STATE,4674,begin climb
$GC,4677,1.28,243.3,2751,1986,2525,2210,973.4,0.0,203,4961,1.30,0.00,272.55,0.887,10758,0.044,0.000,3237,1985,1374,1485,1263,0,0,0,0,0,0,25.04,28.83,23.63
$GC,5261,1.28,243.3,3237,1985,1459,1240,855.1,26.1,224,5267,0.00,2.30,0.00,0.000,260,0.000,0.046,3237,3422,1349,1458,1240,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5308,1.28,243.3,3237,3422,1457,1239,845.8,25.9,225,5314,0.00,2.12,0.00,0.000,1030,0.000,0.026,3249,2011,1349,1458,1240,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5633,1.28,243.3,3249,2010,1453,1237,762.9,23.2,236,5638,0.00,2.15,0.00,0.000,516,0.000,0.037,3260,609,1345,1454,1237,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5661,1.28,243.3,3262,609,1453,1237,762.9,23.2,236,5670,0.12,2.12,0.00,0.000,5126,0.171,0.031,3229,2019,1345,1453,1238,0,0,0,0,0,0,25.96,26.24,28.83
$GC,5968,1.28,243.3,3229,2019,1452,1236,688.7,22.3,247,5974,0.00,2.17,0.00,0.000,260,0.000,0.047,3229,3410,1344,1452,1236,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6004,1.28,243.3,3229,3407,1452,1236,680.2,22.7,248,6010,0.00,2.10,0.00,0.000,1030,0.000,0.029,3240,2001,1345,1452,1239,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6339,1.28,243.3,3240,2001,1451,1235,599.4,24.5,259,6345,0.00,2.22,0.00,0.000,260,0.000,0.047,3240,3408,1341,1451,1232,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6439,1.28,243.3,3240,3408,1451,1235,575.0,27.5,263,6445,0.00,2.10,0.00,0.000,1030,0.000,0.028,3249,2000,1343,1451,1235,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6754,1.28,243.3,3251,1998,1450,1234,491.2,25.3,279,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2000,1342,1450,1234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7053,1.28,243.3,3251,2000,1450,1232,417.0,24.5,294,7059,0.00,2.12,0.00,0.000,516,0.000,0.041,3263,609,1340,1449,1232,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7077,1.28,243.3,3263,610,1449,1233,410.7,24.9,295,7084,0.12,2.10,0.00,0.000,5126,0.169,0.031,3231,2001,1341,1450,1233,0,0,0,0,0,0,26.10,26.41,28.83
$GC,7404,1.28,243.3,3231,2001,1449,1231,335.5,22.4,311,7410,0.00,2.15,0.00,0.000,516,0.000,0.040,3242,606,1340,1449,1231,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7438,1.28,243.3,3241,606,1449,1231,329.8,22.2,312,7445,0.00,2.10,0.00,0.000,1030,0.000,0.031,3242,2008,1339,1448,1231,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7754,1.28,243.3,3242,2008,1448,1231,262.6,20.6,328,7760,0.00,2.17,0.00,0.000,260,0.000,0.046,3242,3402,1339,1448,1231,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7836,1.28,243.3,3242,3402,1449,1231,247.3,22.0,331,7845,0.00,2.08,0.00,0.000,1030,0.000,0.029,3254,1998,1339,1448,1231,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8143,1.28,243.3,3254,1998,1447,1230,179.0,20.4,347,8149,0.00,2.12,0.00,0.000,516,0.000,0.041,3265,611,1338,1447,1230,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8214,1.28,243.3,3265,612,1447,1230,165.6,19.8,350,8221,0.12,2.08,0.00,0.000,5126,0.166,0.031,3233,2002,1338,1447,1230,0,0,0,0,0,0,26.11,26.44,28.83
$GC,8536,1.28,243.3,3233,2002,1444,1230,105.6,17.6,366,8542,0.00,2.17,0.00,0.000,260,0.000,0.047,3233,3403,1338,1448,1229,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8776,1.28,243.3,3232,3403,1446,1230,79.5,8.7,377,8782,0.00,2.08,0.00,0.000,1030,0.000,0.028,3243,1991,1337,1445,1229,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9091,1.30,250.3,3244,1991,1446,1228,59.9,8.2,393,9097,0.00,2.10,0.00,0.000,516,0.000,0.038,3255,614,1337,1446,1228,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9336,1.30,250.3,3254,614,1446,1228,37.2,10.0,410,9343,0.00,2.05,0.00,0.000,1030,0.000,0.030,3255,2000,1337,1446,1228,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,9657,end climb,SURFACE_DEPTH_REACHED
$STATE,9658,begin surface coast
$FINISH,0.2,1.015707
$STATE,9686,end surface coast,CONTROL_FINISHED_OK
$STATE,9686,begin surface
$SM_CCo,9704,73.12,0.060,0,0,748,400.08
$SM_GC,1.14,8.00,0.75,73.12,0.034,0.047,0.060,126,2491,748,-8.28,-1.47,400.08,0,0,0,0,0,0,26.51,26.39,26.15
$IRIDIUM_FIX,2312.13,12137.68,080413,101049
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.98
$INTERNAL_PRESSURE,9.6425
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3920800
$24V_AH,23.6,46.663
$10V_AH,10.3,29.887
$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,20.125,86.900,657.100,73.125,0.000,0.000,0.000,186.525,0.000,0.000,31.149,1937.673,5623.130,763.719,1461.460,362.377,0.000,1710.547,0.000,1189.671,0.000,0.538,0.000
$DEVICE_MAMPS,218.025,55.845,886.635,60.435,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9685.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.279,0.000,0.000,0.000
$MEM,323692
$DATA_FILE_SIZE,16735,464
$CAP_FILE_SIZE,253976,0
$CFSIZE,260034560,223047680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.309, 25.9,1
$GPS,080413,155736,2322.314,12139.319,41,1.1,42,-3.1