version: 66.11
glider: 171
mission: 4
dive: 313
start: 4 8 113 16 3 57
data:
$ID,171
$MISSION,4
$DIVE,313
$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,-20912.6
$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,65
$R_STBD_OVSHOOT,35
$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
$GPS1,080413,155736,2322.314,12139.319,41,1.1,42,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.9
$GPS2,080413,160325,2322.574,12139.441,14,1.4,14,-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,209.1,39848,-10.6,-8.333,-15.41,4401
$D_GRID,1435
$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,-243.3,123,2493,851,657,0.0,0.0,0,82,0.00,0.00,-61.65,0.000,16386,0.000,0.000,121,2493,2609,2668,2550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,123,2493,2671,2553,4.9,-9.6,8,118,8.95,1.92,-11.95,0.000,18692,0.217,0.067,2391,3669,3377,3435,3320,0,0,0,0,0,0,25.57,26.08,26.55
$GC,321,-1.28,-243.3,2392,3669,3436,3320,91.5,-31.3,25,329,0.00,1.73,0.00,0.000,1030,0.000,0.025,2392,2510,3378,3436,3320,0,0,0,0,0,0,28.83,26.35,28.83
$GC,627,-1.28,-243.3,2391,2510,3444,3320,177.7,-27.5,41,633,0.00,1.83,0.00,0.000,260,0.000,0.054,2383,3666,3382,3444,3320,0,0,0,0,0,0,28.83,26.21,28.83
$GC,674,-1.28,-243.3,2383,3666,3444,3321,190.7,-28.3,43,681,0.00,1.73,0.00,0.000,1030,0.000,0.024,2383,2493,3382,3444,3321,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1000,-1.28,-243.3,2381,2491,3445,3322,280.4,-26.9,59,1007,0.00,2.05,0.00,0.000,516,0.000,0.028,2385,1102,3383,3445,3321,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1048,-1.28,-243.3,2383,1102,3442,3322,292.6,-26.7,61,1055,0.15,2.12,0.00,0.000,3078,0.155,0.038,2412,2501,3383,3445,3322,0,0,0,0,0,0,26.06,26.32,28.83
$GC,1375,-1.28,-243.3,2411,2498,3445,3319,370.6,-22.6,77,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2498,3383,3445,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1675,-1.28,-243.3,2412,2499,3445,3322,437.1,-22.2,92,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2498,3383,3445,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1975,-1.28,-243.3,2412,2498,3445,3320,500.3,-20.7,107,1980,0.00,1.83,0.00,0.000,260,0.000,0.055,2404,3665,3382,3445,3320,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2015,-1.28,-243.3,2404,3665,3444,3320,505.4,-20.6,108,2024,0.00,1.73,0.00,0.000,1030,0.000,0.026,2404,2500,3382,3445,3320,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2320,-1.28,-243.3,2404,2500,3444,3316,576.5,-23.2,124,2327,0.00,2.08,0.00,0.000,516,0.000,0.031,2404,1103,3380,3445,3316,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2361,-1.28,-243.3,2404,1102,3445,3316,582.2,-22.9,125,2370,0.00,2.15,0.00,0.000,1030,0.000,0.040,2393,2503,3380,3445,3315,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2666,-1.28,-243.3,2393,2503,3444,3311,656.6,-22.4,137,2672,0.00,1.83,0.00,0.000,260,0.000,0.055,2385,3669,3377,3444,3310,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2770,-1.28,-243.3,2384,3669,3443,3309,677.0,-21.2,140,2776,0.00,1.73,0.00,0.000,1030,0.000,0.027,2385,2507,3376,3444,3309,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3094,-1.28,-243.3,2382,2508,3442,3304,747.8,-21.6,151,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2507,3373,3442,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3394,-1.28,-243.3,2385,2507,3440,3300,813.0,-21.6,161,3400,0.00,2.08,0.00,0.000,516,0.000,0.029,2385,1107,3370,3440,3300,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3434,-1.28,-243.3,2384,1106,3438,3300,820.5,-21.7,162,3441,0.12,2.15,0.00,0.000,3078,0.159,0.041,2407,2503,3370,3440,3300,0,0,0,0,0,0,26.10,26.33,28.83
$GC,3766,-1.28,-243.3,2407,2503,3438,3295,886.7,-19.9,173,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2503,3366,3438,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4065,-1.28,-243.3,2407,2503,3437,3291,941.7,-17.7,183,4071,0.00,2.10,0.00,0.000,516,0.000,0.028,2407,1096,3363,3437,3290,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4105,-1.28,-243.3,2407,1095,3437,3291,947.7,-17.3,184,4111,0.00,2.15,0.00,0.000,1030,0.000,0.041,2397,2498,3363,3437,3290,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,4132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4132,begin apogee
$GC,4139,-0.20,0.0,2398,1986,3437,3290,953.4,-17.0,185,4527,1.08,0.00,377.77,0.764,10246,0.116,0.000,2751,1987,2377,2532,2223,0,0,0,0,0,0,25.86,28.83,24.17
$STATE,4528,end apogee,CONTROL_FINISHED_OK
$STATE,4528,begin climb
$GC,4531,1.28,243.3,2751,1987,2528,2213,973.5,0.0,197,4807,1.33,0.00,270.73,0.890,10758,0.045,0.000,3244,1987,1388,1499,1277,0,0,0,0,0,0,25.01,28.83,23.67
$GC,5094,1.28,243.3,3243,1986,1460,1241,861.0,26.1,217,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1987,1350,1460,1241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5394,1.28,243.3,3243,1987,1455,1239,788.2,23.7,227,5401,0.00,2.10,0.00,0.000,516,0.000,0.037,3254,622,1347,1455,1239,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5440,1.28,243.3,3254,622,1455,1239,780.0,23.6,228,5447,0.00,2.10,0.00,0.000,1030,0.000,0.031,3255,2013,1347,1455,1239,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5766,1.28,243.3,3254,2012,1453,1238,696.9,24.2,239,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2012,1345,1453,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6067,1.28,243.3,3254,2013,1452,1241,625.2,24.2,249,6073,0.00,2.17,0.00,0.000,260,0.000,0.047,3255,3403,1344,1453,1236,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6186,1.28,243.3,3252,3403,1451,1237,596.5,27.1,253,6195,0.12,2.08,0.00,0.000,5126,0.177,0.029,3234,2011,1344,1452,1237,0,0,0,0,0,0,26.08,26.42,28.83
$GC,6493,1.28,243.3,3234,2011,1451,1235,521.5,22.7,269,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2011,1342,1449,1235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6792,1.28,243.3,3233,2012,1450,1234,451.5,23.2,284,6798,0.00,2.15,0.00,0.000,516,0.000,0.039,3245,606,1342,1450,1235,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6817,1.28,243.3,3245,605,1450,1234,446.3,22.6,285,6822,0.00,2.10,0.00,0.000,1030,0.000,0.031,3245,2000,1342,1450,1235,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7144,1.28,243.3,3245,2000,1450,1234,370.3,24.4,301,7150,0.00,2.17,0.00,0.000,260,0.000,0.047,3245,3400,1342,1450,1234,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7184,1.28,243.3,3245,3400,1450,1237,363.9,24.1,302,7193,0.00,2.10,0.00,0.000,1030,0.000,0.030,3257,1997,1341,1449,1233,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7488,1.28,243.3,3257,1997,1449,1232,288.6,23.0,318,7495,0.00,2.12,0.00,0.000,516,0.000,0.041,3268,609,1340,1449,1232,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7560,1.28,243.3,3267,609,1448,1235,273.6,22.1,321,7566,0.15,2.08,0.00,0.000,5126,0.165,0.031,3228,1999,1340,1449,1232,0,0,0,0,0,0,26.06,26.43,28.83
$GC,7881,1.28,243.3,3228,1997,1448,1232,205.6,20.1,337,7887,0.00,2.12,0.00,0.000,516,0.000,0.039,3239,608,1340,1449,1232,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7915,1.28,243.3,3239,608,1448,1232,200.6,19.9,338,7921,0.00,2.08,0.00,0.000,1030,0.000,0.031,3239,2000,1340,1448,1232,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8230,1.28,243.3,3239,2001,1449,1232,139.1,17.8,354,8236,0.00,2.20,0.00,0.000,260,0.000,0.045,3239,3404,1339,1448,1231,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8279,1.28,243.3,3239,3405,1448,1232,130.9,17.2,356,8285,0.00,2.10,0.00,0.000,1030,0.000,0.029,3250,1993,1340,1448,1232,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8601,1.28,243.3,3250,1991,1447,1229,78.0,11.8,372,8607,0.00,2.22,0.00,0.000,260,0.000,0.045,3250,3409,1338,1447,1229,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8847,1.28,243.3,3250,3409,1448,1229,45.4,10.3,385,8854,0.12,2.10,0.00,0.000,5126,0.159,0.028,3229,1987,1338,1447,1229,0,0,0,0,0,0,26.16,26.49,28.83
$GC,9163,1.47,299.0,2152,1983,1418,1224,18.8,7.0,423,9199,0.15,2.28,24.52,0.101,10500,0.070,0.042,3334,3402,1160,1274,1046,0,0,0,0,0,0,26.64,26.28,25.89
$STATE,9273,end climb,SURFACE_DEPTH_REACHED
$STATE,9273,begin surface coast
$FINISH,0.1,1.009113
$STATE,9291,end surface coast,CONTROL_FINISHED_OK
$STATE,9291,begin surface
$SM_CCo,9311,55.17,0.060,0,0,748,400.08
$SM_GC,1.32,8.18,1.38,55.17,0.030,0.028,0.060,112,2490,748,-8.29,1.61,400.08,0,0,0,0,0,0,26.48,26.51,26.15
$IRIDIUM_FIX,2312.13,12140.91,080413,131316
$TT8_MAMPS,0.047936,0.047936
$HUMID,47.95
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3920480
$24V_AH,23.7,46.819
$10V_AH,10.2,29.964
$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,20.350,69.550,673.025,55.175,0.000,0.000,0.000,182.125,0.000,0.000,15.741,1787.946,5512.168,746.123,1331.185,338.315,0.000,1622.344,0.000,1091.452,0.000,0.537,0.000
$DEVICE_MAMPS,217.260,66.555,890.460,60.435,0.000,0.000,0.000,126.990,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9281.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.103,0.000,0.000,0.000
$MEM,323696
$DATA_FILE_SIZE,16792,444
$CAP_FILE_SIZE,234915,0
$CFSIZE,260034560,222982144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.221, 14.1,1
$GPS,080413,184129,2322.174,12138.830,39,1.0,45,-3.1