version: 66.11
glider: 171
mission: 4
dive: 318
start: 4 9 113 5 49 27
data:
$ID,171
$MISSION,4
$DIVE,318
$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,-20918.877
$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,64
$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
$GPS1,090413,054306,2323.391,12137.782,29,1.2,30,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-71.0
$GPS2,090413,054855,2323.597,12137.878,14,1.2,14,-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,212.7,6225,-10.6,-8.333,-15.41,4401
$D_GRID,1495
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.28,-243.3,132,2489,844,660,0.0,0.0,0,81,0.00,0.00,-59.97,0.000,16386,0.000,0.000,132,2490,2509,2563,2456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.28,-243.3,132,2490,2567,2456,4.2,-7.6,8,116,8.90,1.85,-13.95,0.000,18692,0.217,0.063,2390,3673,3377,3437,3318,0,0,0,0,0,0,25.56,26.05,26.55
$GC,350,-1.28,-243.3,2390,3673,3439,3319,100.4,-29.5,29,357,0.00,1.75,0.00,0.000,1030,0.000,0.024,2390,2487,3379,3440,3319,0,0,0,0,0,0,28.83,26.36,28.83
$GC,678,-1.28,-243.3,2390,2489,3444,3321,184.7,-26.1,45,684,0.00,1.88,0.00,0.000,260,0.000,0.052,2381,3676,3382,3444,3320,0,0,0,0,0,0,28.83,26.21,28.83
$GC,724,-1.28,-243.3,2381,3675,3444,3321,197.1,-26.2,47,730,0.00,1.67,0.00,0.000,1030,0.000,0.024,2381,2496,3382,3444,3321,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1052,-1.28,-243.3,2381,2495,3445,3321,284.5,-27.9,63,1057,0.00,1.85,0.00,0.000,260,0.000,0.053,2373,3673,3383,3446,3321,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1219,-1.28,-243.3,2372,3673,3445,3321,334.0,-29.0,71,1225,0.08,1.70,0.00,0.000,3078,0.133,0.024,2412,2510,3383,3446,3321,0,0,0,0,0,0,26.15,26.55,28.83
$GC,1546,-1.28,-243.3,2411,2510,3445,3321,411.4,-23.0,87,1552,0.00,2.05,0.00,0.000,516,0.000,0.028,2411,1109,3383,3445,3321,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1587,-1.28,-243.3,2411,1109,3445,3321,417.7,-23.3,88,1596,0.00,2.12,0.00,0.000,1030,0.000,0.037,2403,2503,3383,3445,3321,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1892,-1.28,-243.3,2402,2503,3445,3321,492.4,-22.5,104,1898,0.00,1.83,0.00,0.000,260,0.000,0.054,2393,3669,3383,3445,3321,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1926,-1.28,-243.3,2393,3670,3445,3321,498.5,-23.1,105,1932,0.00,1.67,0.00,0.000,1030,0.000,0.026,2393,2500,3383,3445,3321,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2241,-1.28,-243.3,2393,2499,3445,3319,575.2,-23.7,121,2247,0.00,2.05,0.00,0.000,516,0.000,0.030,2393,1112,3381,3445,3318,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2259,-1.28,-243.3,2393,1112,3445,3318,575.2,-23.7,121,2267,0.00,2.12,0.00,0.000,1030,0.000,0.039,2382,2501,3381,3445,3318,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2576,-1.28,-243.3,2382,2501,3445,3314,653.9,-23.8,134,2582,0.00,1.83,0.00,0.000,260,0.000,0.054,2373,3669,3379,3445,3314,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2621,-1.28,-243.3,2374,3669,3444,3313,662.3,-23.7,135,2628,0.12,1.67,0.00,0.000,3078,0.150,0.027,2407,2508,3379,3445,3313,0,0,0,0,0,0,26.22,26.58,28.83
$GC,2947,-1.28,-243.3,2406,2507,3444,3308,732.9,-20.3,146,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2507,3376,3444,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3246,-1.28,-243.3,2406,2508,3443,3304,791.7,-19.5,156,3252,0.00,2.08,0.00,0.000,516,0.000,0.029,2407,1108,3373,3442,3304,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3265,-1.28,-243.3,2407,1107,3442,3303,791.7,-19.5,156,3271,0.00,2.12,0.00,0.000,1030,0.000,0.039,2398,2500,3372,3442,3303,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3586,-1.28,-243.3,2397,2500,3441,3300,859.3,-20.1,167,3592,0.00,1.85,0.00,0.000,260,0.000,0.055,2388,3674,3370,3441,3299,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3671,-1.28,-243.3,2388,3677,3440,3300,873.7,-21.1,169,3677,0.00,1.70,0.00,0.000,1030,0.000,0.027,2389,2495,3369,3439,3300,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3988,-1.28,-243.3,2388,2495,3439,3295,939.9,-19.3,180,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2494,3367,3439,3295,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4044,begin apogee
$GC,4050,-0.20,0.0,2388,1993,3439,3294,951.5,-19.1,182,4438,1.10,0.00,372.80,0.764,10246,0.118,0.000,2748,1992,2370,2526,2214,0,0,0,0,0,0,25.83,28.83,24.12
$STATE,4439,end apogee,CONTROL_FINISHED_OK
$STATE,4439,begin climb
$GC,4442,1.28,243.3,2748,1992,2524,2211,979.1,0.0,194,4722,1.33,0.00,267.62,0.890,10758,0.044,0.000,3241,1992,1378,1489,1267,0,0,0,0,0,0,25.04,28.83,23.58
$GC,5006,1.28,243.3,3241,1992,1461,1241,876.8,24.4,214,5012,0.00,2.15,0.00,0.000,516,0.000,0.037,3252,613,1351,1462,1241,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5053,1.28,243.3,3250,613,1460,1241,867.8,24.9,215,5059,0.00,2.12,0.00,0.000,1030,0.000,0.031,3252,2008,1350,1460,1241,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5377,1.28,243.3,3252,2008,1458,1240,780.9,26.4,226,5383,0.00,2.20,0.00,0.000,260,0.000,0.045,3252,3408,1349,1459,1240,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5443,1.28,243.3,3252,3408,1457,1240,763.1,27.1,228,5450,0.12,2.10,0.00,0.000,5126,0.183,0.028,3234,2011,1349,1458,1240,0,0,0,0,0,0,25.94,26.28,28.83
$GC,5779,1.28,243.3,3233,2010,1456,1237,683.2,23.4,239,5785,0.00,2.15,0.00,0.000,516,0.000,0.037,3244,606,1347,1457,1237,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5825,1.28,243.3,3244,608,1456,1237,675.1,23.7,240,5831,0.00,2.10,0.00,0.000,1030,0.000,0.031,3244,2004,1346,1456,1237,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6140,1.28,243.3,3244,2004,1454,1237,592.6,25.5,251,6146,0.00,2.17,0.00,0.000,260,0.000,0.046,3244,3402,1345,1454,1237,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6202,1.28,243.3,3244,3402,1454,1237,580.6,25.4,253,6212,0.00,2.10,0.00,0.000,1030,0.000,0.028,3256,1994,1345,1454,1237,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6508,1.28,243.3,3255,1994,1453,1236,500.0,24.3,269,6515,0.00,2.12,0.00,0.000,516,0.000,0.039,3266,607,1344,1453,1236,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6542,1.28,243.3,3266,607,1453,1236,493.5,24.4,270,6549,0.12,2.10,0.00,0.000,5126,0.174,0.031,3234,2011,1343,1453,1234,0,0,0,0,0,0,26.07,26.40,28.83
$GC,6859,1.28,243.3,3234,2011,1453,1235,417.4,23.1,286,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2011,1344,1453,1235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7157,1.28,243.3,3234,2011,1452,1234,346.0,25.1,301,7163,0.00,2.15,0.00,0.000,516,0.000,0.040,3245,612,1343,1452,1234,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7248,1.28,243.3,3245,610,1448,1233,326.3,22.6,305,7253,0.00,2.08,0.00,0.000,1030,0.000,0.031,3245,2000,1342,1451,1233,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7569,1.28,243.3,3245,1999,1451,1233,256.5,20.7,321,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2000,1342,1451,1233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7867,1.28,243.3,3245,2000,1451,1234,197.0,18.8,336,7873,0.00,2.17,0.00,0.000,260,0.000,0.044,3245,3408,1342,1451,1233,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7971,1.28,243.3,3245,3407,1451,1233,179.6,19.6,340,7979,0.00,2.08,0.00,0.000,1030,0.000,0.029,3257,2003,1342,1451,1233,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8276,1.28,243.3,3256,2001,1450,1233,114.5,20.9,356,8282,0.00,2.15,0.00,0.000,516,0.000,0.044,3268,610,1342,1451,1233,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8516,1.28,243.3,3267,611,1450,1231,72.2,17.9,367,8523,0.15,2.08,0.00,0.000,5126,0.155,0.029,3227,2010,1340,1450,1231,0,0,0,0,0,0,26.07,26.44,28.83
$GC,8834,1.28,243.3,3227,2010,1451,1230,36.6,8.6,390,8840,0.00,2.15,0.00,0.000,516,0.000,0.039,3238,606,1340,1450,1231,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9081,1.28,243.3,2192,606,1421,1227,11.6,10.2,425,9089,0.00,2.08,0.00,0.000,1030,0.000,0.029,3238,2006,1340,1450,1230,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,9174,end climb,SURFACE_DEPTH_REACHED
$STATE,9175,begin surface coast
$FINISH,0.7,1.022264
$STATE,9204,end surface coast,CONTROL_FINISHED_OK
$STATE,9204,begin surface
$SM_CCo,9225,74.47,0.062,0,0,748,400.08
$SM_GC,1.24,7.88,0.75,74.47,0.027,0.047,0.062,130,2499,748,-8.31,-1.30,400.08,0,0,0,0,0,0,26.44,26.39,26.13
$IRIDIUM_FIX,2316.83,12138.91,090413,020244
$TT8_MAMPS,0.047187,0.047187
$HUMID,47.91
$INTERNAL_PRESSURE,9.60344
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,3918976
$24V_AH,23.6,47.634
$10V_AH,10.2,30.363
$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,19.800,73.500,640.425,74.475,0.000,0.000,0.000,183.150,0.000,0.000,15.370,1881.046,5271.925,724.132,1418.975,354.149,0.000,1652.523,0.000,1172.322,0.000,0.537,0.000
$DEVICE_MAMPS,217.260,62.730,890.460,61.965,0.000,0.000,0.000,126.225,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9195.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.181,0.000,0.000,0.000
$MEM,323276
$DATA_FILE_SIZE,16766,447
$CAP_FILE_SIZE,244542,0
$CFSIZE,260034560,222556160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.220, 19.2,1
$GPS,090413,082535,2323.482,12137.106,27,1.1,28,-3.1