version: 66.11
glider: 171
mission: 4
dive: 316
start: 4 9 113 0 16 38
data:
$ID,171
$MISSION,4
$DIVE,316
$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,-20916.363
$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,57
$R_STBD_OVSHOOT,33
$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
$GPS1,090413,000924,2322.801,12138.147,41,1.4,42,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.9
$GPS2,090413,001607,2323.110,12138.260,14,1.5,14,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,ININSHORE1
$TGT_LATLONG,2322.300,12134.500
$TGT_RADIUS,1500.000
$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,214.9,6566,-10.6,-8.333,-15.41,4401
$D_GRID,1539
$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,-243.3,129,2494,839,660,0.0,0.0,0,76,0.00,0.00,-54.28,0.000,16386,0.000,0.000,129,2494,2311,2345,2277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-1.28,-243.3,129,2494,2349,2278,3.1,-5.1,7,112,8.98,1.95,-18.25,0.000,18692,0.219,0.067,2392,3676,3377,3437,3317,0,0,0,0,0,0,25.53,26.01,26.48
$GC,347,-1.28,-243.3,2392,3675,3441,3317,99.0,-30.3,29,354,0.00,1.75,0.00,0.000,1030,0.000,0.024,2393,2486,3379,3441,3317,0,0,0,0,0,0,28.83,26.34,28.83
$GC,675,-1.28,-243.3,2392,2486,3445,3320,188.0,-26.2,45,680,0.00,1.88,0.00,0.000,260,0.000,0.052,2386,3672,3382,3445,3320,0,0,0,0,0,0,28.83,26.22,28.83
$GC,692,-1.28,-243.3,2383,3673,3446,3320,188.0,-26.2,45,701,0.00,1.67,0.00,0.000,1030,0.000,0.024,2383,2501,3383,3446,3320,0,0,0,0,0,0,28.83,26.45,28.83
$GC,999,-1.28,-243.3,2383,2499,3446,3321,277.9,-26.4,61,1005,0.00,2.05,0.00,0.000,516,0.000,0.030,2384,1109,3383,3445,3321,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1033,-1.28,-243.3,2384,1109,3446,3321,284.6,-26.3,62,1040,0.12,2.12,0.00,0.000,3078,0.164,0.038,2405,2498,3383,3446,3321,0,0,0,0,0,0,26.08,26.31,28.83
$GC,1350,-1.28,-243.3,2404,2499,3446,3321,361.1,-22.8,78,1356,0.00,1.83,0.00,0.000,260,0.000,0.053,2397,3670,3384,3447,3321,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1406,-1.28,-243.3,2397,3670,3446,3321,371.8,-23.0,80,1412,0.00,1.67,0.00,0.000,1030,0.000,0.025,2397,2496,3383,3446,3321,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1721,-1.28,-243.3,2397,2496,3446,3321,444.0,-22.0,96,1726,0.00,1.85,0.00,0.000,260,0.000,0.053,2388,3672,3383,3446,3321,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1769,-1.28,-243.3,1448,3673,3433,3317,454.2,-22.3,98,1775,0.00,1.67,0.00,0.000,1030,0.000,0.024,2388,2494,3384,3446,3323,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2092,-1.28,-243.3,2388,2494,3446,3319,528.3,-22.9,114,2098,0.00,2.03,0.00,0.000,516,0.000,0.028,2388,1117,3382,3446,3319,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2120,-1.28,-243.3,2388,1117,3446,3319,534.5,-22.7,115,2127,0.12,2.12,0.00,0.000,3078,0.160,0.039,2410,2505,3382,3446,3319,0,0,0,0,0,0,26.13,26.35,28.83
$GC,2443,-1.28,-243.3,2410,2504,3446,3315,600.4,-19.7,131,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2504,3380,3446,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2741,-1.28,-243.3,2409,2504,3445,3310,660.4,-19.9,141,2747,0.00,1.83,0.00,0.000,260,0.000,0.054,2402,3671,3377,3445,3309,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2764,-1.28,-243.3,2402,3671,3445,3309,660.4,-19.9,141,2770,0.00,1.67,0.00,0.000,1030,0.000,0.026,2402,2508,3377,3445,3309,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3080,-1.28,-243.3,2402,2508,3444,3305,727.6,-20.9,152,3085,0.00,1.85,0.00,0.000,260,0.000,0.055,2393,3675,3373,3443,3304,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3139,-1.28,-243.3,2393,3675,3443,3304,735.4,-21.3,153,3147,0.00,1.70,0.00,0.000,1030,0.000,0.026,2393,2496,3373,3443,3304,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3447,-1.28,-243.3,2393,2496,3443,3300,804.4,-20.3,164,3453,0.00,2.05,0.00,0.000,516,0.000,0.030,2393,1111,3371,3442,3300,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3465,-1.28,-243.3,2393,1111,3442,3300,804.4,-20.3,164,3471,0.00,2.12,0.00,0.000,1030,0.000,0.040,2383,2501,3371,3442,3300,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3785,-1.28,-243.3,2382,2501,3440,3297,869.9,-19.2,175,3792,0.00,1.85,0.00,0.000,260,0.000,0.055,2374,3674,3368,3440,3296,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3831,-1.28,-243.3,2373,3674,3439,3296,876.6,-19.1,176,3839,0.12,1.70,0.00,0.000,3078,0.152,0.027,2406,2508,3367,3439,3296,0,0,0,0,0,0,26.22,26.58,28.83
$GC,4157,-1.28,-243.3,2406,2508,3438,3291,935.4,-17.8,187,4163,0.00,1.85,0.00,0.000,260,0.000,0.055,2398,3674,3364,3438,3291,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4192,-1.28,-243.3,2398,3674,3438,3291,941.9,-18.4,188,4199,0.00,1.77,0.00,0.000,1030,0.000,0.028,2398,2489,3364,3438,3291,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,4256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4257,begin apogee
$GC,4264,-0.20,0.0,2398,1984,3438,3290,954.2,-18.8,190,4651,1.08,0.00,376.65,0.767,10246,0.116,0.000,2751,1983,2376,2531,2221,0,0,0,0,0,0,25.85,28.83,24.12
$STATE,4652,end apogee,CONTROL_FINISHED_OK
$STATE,4653,begin climb
$GC,4655,1.28,243.3,2751,1983,2526,2213,980.3,0.0,202,4939,1.30,2.45,271.67,0.890,10500,0.044,0.044,3238,3417,1375,1487,1264,0,0,0,0,0,0,25.00,24.38,23.60
$GC,5051,1.28,243.3,3238,3416,1463,1247,908.6,28.1,214,5057,0.00,2.17,0.00,0.000,1030,0.000,0.026,3250,2012,1354,1462,1246,0,0,0,0,0,0,28.83,25.43,28.83
$GC,5382,1.28,243.3,3249,2012,1456,1239,816.1,27.0,225,5388,0.00,2.22,0.00,0.000,260,0.000,0.045,3250,3415,1348,1457,1239,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5457,1.28,243.3,3250,3415,1455,1239,796.4,28.6,227,5464,0.12,2.15,0.00,0.000,5126,0.183,0.028,3231,1991,1347,1455,1239,0,0,0,0,0,0,25.85,26.17,28.83
$GC,5783,1.28,243.3,3231,1991,1453,1237,709.2,25.5,238,5788,0.00,2.12,0.00,0.000,516,0.000,0.039,3242,609,1345,1453,1237,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5810,1.28,243.3,2304,609,1427,1234,709.2,25.5,238,5818,0.00,2.12,0.00,0.000,1030,0.000,0.031,3242,2022,1345,1453,1237,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6119,1.28,243.3,3241,2022,1452,1236,623.6,25.3,249,6125,0.00,2.15,0.00,0.000,260,0.000,0.046,3242,3400,1346,1453,1239,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6185,1.28,243.3,3241,3400,1452,1235,606.5,24.7,251,6191,0.00,2.10,0.00,0.000,1030,0.000,0.029,3254,1999,1344,1452,1236,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6502,1.28,243.3,3253,1999,1451,1235,528.4,24.5,266,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1999,1343,1451,1235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6799,1.28,243.3,3253,1998,1451,1234,455.0,24.9,281,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1999,1342,1451,1234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7099,1.28,243.3,3253,1999,1450,1232,380.8,24.6,296,7105,0.00,2.12,0.00,0.000,516,0.000,0.041,3264,610,1341,1450,1233,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7149,1.28,243.3,3264,610,1450,1232,369.6,24.7,298,7156,0.12,2.08,0.00,0.000,5126,0.170,0.031,3232,1999,1341,1450,1232,0,0,0,0,0,0,26.10,26.41,28.83
$GC,7472,1.28,243.3,3232,1999,1450,1231,298.5,20.9,314,7478,0.00,2.17,0.00,0.000,260,0.000,0.045,3233,3400,1340,1450,1231,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7563,1.28,243.3,3232,3400,1450,1231,279.3,21.8,318,7569,0.00,2.08,0.00,0.000,1030,0.000,0.030,3244,1998,1340,1450,1231,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7885,1.28,243.3,3243,1998,1449,1230,215.4,19.8,334,7891,0.00,2.12,0.00,0.000,516,0.000,0.041,3254,611,1339,1449,1230,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7936,1.28,243.3,3255,611,1449,1230,206.2,19.6,336,7942,0.00,2.08,0.00,0.000,1030,0.000,0.031,3255,2001,1339,1449,1230,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8257,1.28,243.3,3254,2001,1449,1230,141.7,19.6,352,8263,0.00,2.17,0.00,0.000,260,0.000,0.045,3255,3400,1339,1448,1230,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8429,1.28,243.3,3255,3400,1449,1230,103.7,22.7,360,8436,0.12,2.08,0.00,0.000,5126,0.170,0.028,3233,1998,1338,1449,1228,0,0,0,0,0,0,26.10,26.46,28.83
$GC,8753,1.28,245.5,3233,1998,1448,1228,56.6,8.3,376,8759,0.00,2.12,0.00,0.000,516,0.000,0.040,3244,607,1338,1449,1228,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9002,1.39,277.0,3244,609,1448,1227,35.7,7.6,395,9054,0.00,2.08,38.78,0.392,9222,0.000,0.030,3244,2004,1239,1355,1123,0,0,0,0,0,0,28.83,26.44,25.60
$STATE,9329,end climb,SURFACE_DEPTH_REACHED
$STATE,9329,begin surface coast
$FINISH,0.1,1.011918
$STATE,9358,end surface coast,CONTROL_FINISHED_OK
$STATE,9358,begin surface
$SM_CCo,9377,60.40,0.061,0,0,748,400.08
$SM_GC,1.29,8.07,0.75,60.40,0.037,0.047,0.061,124,2488,748,-8.30,-1.39,400.08,0,0,0,0,0,0,26.36,26.25,26.07
$IRIDIUM_FIX,2312.13,12137.68,080413,212139
$TT8_MAMPS,0.047187,0.047187
$HUMID,47.79
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3919616
$24V_AH,23.6,47.314
$10V_AH,10.2,30.205
$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,20.175,81.050,687.100,60.400,0.000,0.000,0.000,237.200,0.000,0.000,15.393,1907.008,5326.871,746.739,1484.946,375.626,0.000,1752.252,0.000,1202.244,0.000,0.537,0.000
$DEVICE_MAMPS,218.790,66.555,889.695,61.200,0.000,0.000,0.000,121.635,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9348.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.165,0.000,0.000,0.000
$MEM,323548
$DATA_FILE_SIZE,16795,450
$CAP_FILE_SIZE,251268,0
$CFSIZE,260034560,222711808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.334, 22.4,1
$GPS,090413,025506,2323.144,12138.073,11,1.6,29,-3.1