version: 66.11
glider: 171
mission: 4
dive: 319
start: 4 9 113 8 32 32
data:
$ID,171
$MISSION,4
$DIVE,319
$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,-20920.135
$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,53
$R_STBD_OVSHOOT,40
$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
$GPS1,090413,082535,2323.482,12137.106,27,1.1,28,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.2
$GPS2,090413,083200,2323.769,12137.212,15,1.1,15,-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,214.4,5354,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.28,-243.3,126,2500,840,658,0.0,0.0,0,75,0.00,0.00,-54.35,0.000,16386,0.000,0.000,126,2501,2299,2332,2267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-1.28,-243.3,127,2501,2336,2267,3.0,-5.1,7,119,8.90,2.15,-18.80,0.000,18948,0.216,0.043,2398,1099,3377,3437,3317,0,0,0,0,0,0,25.54,26.15,26.53
$GC,232,-1.28,-243.3,2398,1099,3442,3317,53.4,-28.2,24,239,0.00,2.15,0.00,0.000,1030,0.000,0.038,2390,2498,3379,3441,3317,0,0,0,0,0,0,28.83,26.11,28.83
$GC,553,-1.28,-243.3,2389,2498,3446,3320,148.4,-28.3,40,559,0.00,2.10,0.00,0.000,516,0.000,0.028,2389,1088,3383,3446,3321,0,0,0,0,0,0,28.83,26.32,28.83
$GC,594,-1.28,-243.3,2389,1088,3446,3321,155.8,-28.5,41,603,0.12,2.17,0.00,0.000,3078,0.163,0.037,2410,2505,3383,3446,3321,0,0,0,0,0,0,25.99,26.23,28.83
$GC,899,-1.28,-243.3,2410,2504,3448,3322,240.0,-24.7,57,904,0.00,1.83,0.00,0.000,260,0.000,0.052,2402,3676,3385,3448,3322,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1032,-1.28,-243.3,2402,3675,3448,3322,272.8,-24.6,63,1039,0.00,1.75,0.00,0.000,1030,0.000,0.024,2402,2480,3383,3445,3322,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1353,-1.28,-243.3,2402,2478,3448,3322,352.4,-23.8,79,1360,0.00,2.00,0.00,0.000,516,0.000,0.029,2402,1112,3385,3448,3322,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1401,-1.28,-243.3,2401,1113,3448,3322,362.6,-22.7,81,1408,0.00,2.12,0.00,0.000,1030,0.000,0.037,2391,2503,3385,3448,3322,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1729,-1.28,-243.3,2390,2506,3448,3322,438.2,-23.1,97,1734,0.00,2.05,0.00,0.000,516,0.000,0.028,2391,1111,3385,3448,3322,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1753,-1.28,-243.3,2391,1111,3447,3322,444.5,-23.2,98,1759,0.00,2.12,0.00,0.000,1030,0.000,0.037,2380,2501,3385,3448,3322,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2079,-1.28,-243.3,2380,2501,3448,3322,520.4,-23.0,114,2086,0.12,1.83,0.00,0.000,2308,0.163,0.051,2412,3672,3384,3448,3321,0,0,0,0,0,0,26.32,26.29,28.83
$GC,2107,-1.28,-243.3,2411,3672,3447,3322,526.5,-22.5,115,2113,0.00,1.67,0.00,0.000,1030,0.000,0.027,2412,2504,3384,3447,3321,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2431,-1.28,-243.3,2411,2504,3448,3318,590.7,-20.4,131,2436,0.00,2.05,0.00,0.000,516,0.000,0.029,2412,1109,3382,3447,3318,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2482,-1.28,-243.3,2411,1109,3447,3318,600.9,-20.8,133,2488,0.00,2.12,0.00,0.000,1030,0.000,0.037,2401,2505,3382,3447,3318,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2802,-1.28,-243.3,2401,2505,3447,3313,670.4,-20.8,144,2807,0.00,1.83,0.00,0.000,260,0.000,0.054,2392,3674,3379,3447,3312,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2851,-1.28,-243.3,2392,3674,3447,3312,677.6,-20.8,145,2857,0.00,1.70,0.00,0.000,1030,0.000,0.027,2392,2490,3379,3447,3312,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3171,-1.28,-243.3,2391,2490,3446,3307,743.8,-20.0,156,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2490,3376,3446,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3471,-1.28,-243.3,2392,2489,3445,3304,803.0,-19.4,166,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2490,3374,3444,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3772,-1.28,-243.3,2392,2490,3443,3301,860.3,-19.7,176,3777,0.00,1.88,0.00,0.000,260,0.000,0.054,2383,3674,3372,3443,3301,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3806,-1.28,-243.3,2383,3675,3442,3301,867.1,-19.6,177,3812,0.00,1.70,0.00,0.000,1030,0.000,0.028,2383,2509,3371,3443,3300,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4141,-1.28,-243.3,2383,2509,3442,3297,932.0,-19.4,188,4147,0.00,2.08,0.00,0.000,516,0.000,0.029,2383,1106,3369,3441,3297,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4164,-1.28,-243.3,2383,1105,3441,3297,932.0,-19.4,188,4171,0.15,2.15,0.00,0.000,3078,0.150,0.040,2413,2505,3369,3441,3297,0,0,0,0,0,0,26.03,26.30,28.83
$STATE,4239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4239,begin apogee
$GC,4246,-0.20,0.0,2413,1986,3441,3295,950.1,-18.7,191,4632,1.02,0.00,376.48,0.758,10246,0.112,0.000,2754,1985,2377,2531,2223,0,0,0,0,0,0,25.85,28.83,24.15
$STATE,4634,end apogee,CONTROL_FINISHED_OK
$STATE,4634,begin climb
$GC,4636,1.28,243.3,2754,1986,2526,2212,975.5,0.0,203,4914,1.30,2.22,267.52,0.893,10756,0.043,0.033,3252,631,1378,1490,1267,0,0,0,0,0,0,24.99,24.36,23.55
$GC,4938,1.28,243.3,3251,631,1473,1250,935.4,21.6,212,4945,0.00,2.22,0.00,0.000,1030,0.000,0.030,3252,2012,1359,1469,1249,0,0,0,0,0,0,28.83,24.74,28.83
$GC,5269,1.28,243.3,3251,2012,1458,1239,844.9,27.4,223,5275,0.00,2.20,0.00,0.000,260,0.000,0.046,3252,3405,1348,1458,1239,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5325,1.28,243.3,3252,3405,1457,1239,835.3,27.0,224,5331,0.12,2.10,0.00,0.000,5126,0.181,0.028,3232,2009,1348,1457,1239,0,0,0,0,0,0,25.77,26.09,28.83
$GC,5640,1.28,243.3,3232,2009,1454,1238,747.4,25.5,235,5646,0.00,2.20,0.00,0.000,260,0.000,0.045,3233,3406,1345,1454,1237,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5695,1.28,243.3,3232,3406,1454,1237,737.8,26.1,236,5701,0.00,2.10,0.00,0.000,1030,0.000,0.028,3244,1997,1345,1454,1237,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6012,1.28,243.3,3244,1996,1453,1236,650.7,25.5,247,6017,0.00,2.12,0.00,0.000,516,0.000,0.039,3255,609,1344,1452,1236,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6057,1.28,243.3,3255,609,1453,1236,640.8,25.9,248,6063,0.00,2.10,0.00,0.000,1030,0.000,0.031,3256,2012,1344,1453,1236,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6382,1.28,243.3,3255,2011,1452,1235,550.2,26.8,262,6388,0.00,2.17,0.00,0.000,260,0.000,0.046,3255,3403,1343,1452,1235,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6410,1.28,243.3,3255,3403,1452,1235,543.5,26.8,263,6417,0.15,2.08,0.00,0.000,5126,0.171,0.030,3227,2005,1343,1452,1235,0,0,0,0,0,0,26.02,26.41,28.83
$GC,6733,1.28,243.3,3227,2005,1450,1234,467.7,22.1,279,6739,0.00,2.15,0.00,0.000,516,0.000,0.040,3238,601,1342,1450,1234,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6809,1.28,243.3,3238,601,1451,1233,452.9,21.5,282,6815,0.00,2.10,0.00,0.000,1030,0.000,0.031,3238,1999,1341,1450,1233,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7124,1.28,243.3,3238,1999,1450,1233,380.8,22.3,298,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1999,1341,1450,1233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7425,1.28,243.3,3238,1999,1450,1230,314.9,21.9,313,7431,0.00,2.20,0.00,0.000,260,0.000,0.046,3238,3406,1339,1447,1231,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7454,1.28,243.3,3238,3406,1450,1231,308.9,22.6,314,7460,0.00,2.10,0.00,0.000,1030,0.000,0.030,3250,1994,1340,1450,1231,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7775,1.28,243.3,3250,1995,1449,1230,234.8,22.6,330,7782,0.00,2.20,0.00,0.000,260,0.000,0.045,3250,3407,1339,1449,1230,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7892,1.28,243.3,3249,3407,1449,1231,209.6,23.2,335,7899,0.12,2.10,0.00,0.000,5126,0.174,0.029,3229,1992,1340,1449,1231,0,0,0,0,0,0,26.09,26.46,28.83
$GC,8209,1.28,243.3,3229,1992,1449,1230,140.1,20.9,351,8215,0.00,2.12,0.00,0.000,516,0.000,0.039,3240,606,1339,1449,1230,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8276,1.28,243.3,3240,606,1448,1230,125.4,21.2,354,8282,0.00,2.08,0.00,0.000,1030,0.000,0.030,3240,2006,1339,1449,1230,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8604,1.28,243.3,3240,2006,1449,1231,68.9,11.3,370,8610,0.00,2.15,0.00,0.000,516,0.000,0.039,3251,603,1339,1448,1230,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8842,1.28,243.3,3251,603,1449,1229,42.4,9.1,385,8849,0.00,2.08,0.00,0.000,1030,0.000,0.029,3251,2008,1339,1449,1229,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9161,1.28,243.3,3251,2007,1448,1229,12.4,9.0,428,9170,0.00,2.15,0.00,0.000,516,0.000,0.039,3263,600,1339,1449,1229,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,9266,end climb,SURFACE_DEPTH_REACHED
$STATE,9266,begin surface coast
$FINISH,0.6,1.022293
$STATE,9289,end surface coast,CONTROL_FINISHED_OK
$STATE,9289,begin surface
$SM_CCo,9310,74.18,0.063,0,0,748,400.08
$SM_GC,1.20,8.02,2.92,74.18,0.033,0.035,0.063,135,2482,748,-8.29,-1.64,400.08,0,0,0,0,0,0,26.45,26.29,26.13
$IRIDIUM_FIX,2316.83,12138.91,090413,050549
$TT8_MAMPS,0.047187,0.047187
$HUMID,47.59
$INTERNAL_PRESSURE,9.61321
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,3918656
$24V_AH,23.5,47.789
$10V_AH,10.2,30.443
$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,20.050,88.050,644.000,74.175,0.000,0.000,0.000,216.800,0.000,0.000,15.890,1868.863,5377.988,732.643,1430.850,360.063,0.000,1690.722,0.000,1148.156,0.000,0.537,0.000
$DEVICE_MAMPS,215.730,54.315,892.755,62.730,0.000,0.000,0.000,121.635,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9280.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.209,0.000,0.000,0.000
$MEM,323276
$DATA_FILE_SIZE,16783,451
$CAP_FILE_SIZE,246176,0
$CFSIZE,260034560,222461952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.277, 16.7,1
$GPS,090413,111035,2323.850,12136.601,46,1.2,57,-3.1