version: 66.11
glider: 171
mission: 4
dive: 323
start: 4 9 113 19 31 16
data:
$ID,171
$MISSION,4
$DIVE,323
$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,-20925.16
$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,2810
$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,49
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,090413,192405,2323.378,12135.960,35,1.0,41,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-65.7
$GPS2,090413,193026,2323.602,12136.062,14,1.0,14,-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,220.2,3587,-11.1,-8.333,-15.84,4108
$D_GRID,1287
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.24,-226.8,126,2504,844,651,0.0,0.0,0,82,0.00,0.00,-60.28,0.000,16386,0.000,0.000,126,2505,2499,2563,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.30,-243.3,126,2505,2564,2436,4.2,-7.9,8,118,8.95,1.83,-14.02,0.000,18692,0.220,0.065,2378,3658,3376,3436,3317,0,0,0,0,0,0,25.52,26.01,26.53
$GC,307,-1.30,-243.3,2377,3661,3442,3318,83.5,-30.5,25,313,0.00,1.70,0.00,0.000,1030,0.000,0.025,2378,2486,3380,3442,3318,0,0,0,0,0,0,28.83,26.32,28.83
$GC,504,-1.30,-243.3,2377,2485,3446,3322,139.4,-28.2,35,509,0.00,1.85,0.00,0.000,260,0.000,0.051,2370,3658,3384,3446,3322,0,0,0,0,0,0,28.83,26.15,28.83
$GC,571,-1.30,-243.3,2370,3658,3446,3324,161.8,-31.5,38,577,0.00,1.70,0.00,0.000,1030,0.000,0.025,2370,2510,3385,3447,3324,0,0,0,0,0,0,28.83,26.42,28.83
$GC,777,-1.30,-243.3,2370,2511,3449,3326,223.7,-28.6,48,783,0.00,2.08,0.00,0.000,516,0.000,0.026,2370,1102,3387,3449,3326,0,0,0,0,0,0,28.83,26.38,28.83
$GC,832,-1.30,-243.3,2370,1102,3449,3327,236.1,-28.2,50,840,0.12,2.15,0.00,0.000,3078,0.168,0.039,2390,2507,3387,3449,3326,0,0,0,0,0,0,26.00,26.26,28.83
$GC,1030,-1.30,-243.3,2390,2507,3449,3326,290.3,-25.9,60,1036,0.00,1.83,0.00,0.000,260,0.000,0.054,2382,3674,3387,3449,3326,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1106,-1.30,-243.3,2382,3674,3449,3326,308.5,-26.0,63,1112,0.00,1.62,0.00,0.000,1030,0.000,0.025,2382,2533,3387,3449,3326,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1421,-1.30,-243.3,2382,2533,3450,3326,389.9,-24.4,79,1427,0.00,2.08,0.00,0.000,516,0.000,0.027,2383,1111,3387,3449,3326,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1440,-1.30,-243.3,2382,1111,3448,3326,389.9,-24.4,79,1448,0.00,2.17,0.00,0.000,1030,0.000,0.038,2372,2538,3388,3449,3327,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1746,-1.30,-243.3,2372,2538,3449,3326,469.2,-24.1,95,1752,0.00,1.77,0.00,0.000,260,0.000,0.054,2363,3673,3387,3449,3326,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1824,-1.30,-243.3,2363,3672,3448,3326,485.5,-23.8,98,1830,0.12,1.62,0.00,0.000,3078,0.155,0.026,2396,2538,3387,3449,3326,0,0,0,0,0,0,26.19,26.56,28.83
$GC,2141,-1.30,-243.3,2395,2539,3449,3324,552.3,-19.5,114,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2538,3386,3448,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2459,-1.30,-243.3,2395,2538,3448,3320,616.3,-20.8,129,2465,0.00,1.80,0.00,0.000,260,0.000,0.055,2388,3675,3384,3448,3320,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2505,-1.30,-243.3,2386,3676,3448,3319,623.7,-21.1,130,2511,0.00,1.62,0.00,0.000,1030,0.000,0.027,2388,2549,3383,3448,3319,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2830,-1.30,-243.3,2388,2549,3448,3314,698.5,-22.3,141,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2546,3381,3448,3314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3130,-1.30,-243.3,2388,2549,3448,3311,768.1,-22.9,151,3136,0.00,2.15,0.00,0.000,516,0.000,0.030,2388,1101,3379,3448,3310,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3165,-1.30,-243.3,2388,1101,3448,3310,775.7,-22.7,152,3171,0.00,2.25,0.00,0.000,1030,0.000,0.041,2377,2547,3378,3447,3309,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3500,-1.30,-243.3,2376,2548,3445,3307,851.3,-23.4,163,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2548,3375,3445,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3800,-1.30,-243.3,2377,2548,3444,3303,920.0,-22.2,173,3806,0.00,1.77,0.00,0.000,260,0.000,0.056,2369,3674,3372,3443,3302,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3885,-1.30,-243.3,2368,3674,3443,3302,934.8,-22.4,175,3890,0.00,1.65,0.00,0.000,1030,0.000,0.028,2369,2534,3372,3442,3302,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,3957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3957,begin apogee
$GC,3963,-0.20,0.0,2369,1989,3442,3301,954.8,-21.5,178,4547,1.15,0.00,570.50,0.643,10244,0.122,0.000,2741,1985,2375,2530,2221,0,0,0,0,0,0,25.79,28.83,24.09
$STATE,4550,end apogee,CONTROL_FINISHED_OK
$STATE,4550,begin climb
$GC,4552,1.30,243.3,2740,1987,2527,2212,991.4,0.0,196,4831,1.38,2.20,264.35,0.913,10756,0.050,0.036,3238,629,1377,1488,1267,0,0,0,0,0,0,24.99,24.97,23.49
$GC,5035,1.30,243.3,3238,629,1460,1240,894.7,26.3,211,5041,0.00,2.12,0.00,0.000,1030,0.000,0.030,3239,2013,1350,1460,1240,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5365,1.30,243.3,3238,2013,1458,1237,806.4,26.8,222,5371,0.00,2.17,0.00,0.000,516,0.000,0.038,3249,620,1348,1459,1238,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5502,1.30,243.3,3249,621,1458,1237,774.3,25.1,226,5508,0.00,2.10,0.00,0.000,1030,0.000,0.031,3250,2010,1347,1457,1237,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5828,1.30,243.3,3249,2009,1456,1235,694.0,23.3,237,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2010,1345,1456,1235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6127,1.30,243.3,3249,2010,1455,1234,617.2,26.2,247,6133,0.00,2.17,0.00,0.000,260,0.000,0.046,3250,3402,1344,1454,1234,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6176,1.30,243.3,3249,3402,1454,1234,607.2,26.9,248,6183,0.12,2.05,0.00,0.000,5126,0.177,0.028,3229,2018,1344,1454,1234,0,0,0,0,0,0,26.06,26.41,28.83
$GC,6499,1.30,243.3,3229,2018,1453,1232,528.8,22.1,264,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2018,1342,1453,1232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6797,1.30,243.3,3229,2018,1453,1231,463.3,22.3,279,6803,0.00,2.17,0.00,0.000,260,0.000,0.047,3228,3402,1341,1452,1231,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6867,1.30,243.3,3229,3402,1453,1231,448.1,22.3,282,6874,0.00,2.05,0.00,0.000,1030,0.000,0.029,3240,2015,1341,1452,1231,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7189,1.30,243.3,3240,2015,1451,1230,378.2,22.0,298,7195,0.00,2.15,0.00,0.000,516,0.000,0.040,3251,610,1340,1451,1229,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7222,1.30,243.3,3251,610,1451,1230,372.5,22.3,299,7229,0.00,2.10,0.00,0.000,1030,0.000,0.030,3251,2016,1340,1451,1229,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7539,1.30,243.3,3248,2015,1451,1229,304.5,20.5,315,7545,0.00,2.17,0.00,0.000,516,0.000,0.040,3263,605,1339,1451,1228,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7580,1.30,243.3,3263,605,1450,1228,299.1,20.7,316,7589,0.12,2.10,0.00,0.000,5126,0.167,0.030,3231,2010,1340,1451,1229,0,0,0,0,0,0,26.10,26.42,28.83
$GC,7884,1.30,243.3,3231,2010,1450,1228,238.0,19.0,332,7891,0.00,2.17,0.00,0.000,260,0.000,0.047,3231,3406,1339,1451,1228,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7972,1.30,243.3,3231,3406,1450,1226,220.3,20.2,336,7979,0.00,2.10,0.00,0.000,1030,0.000,0.030,3242,1999,1339,1451,1228,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8181,1.30,243.3,3241,1999,1450,1228,181.9,19.0,346,8186,0.00,2.12,0.00,0.000,516,0.000,0.041,3253,610,1339,1451,1228,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8228,1.30,243.3,3252,610,1451,1228,172.9,19.1,348,8234,0.00,2.10,0.00,0.000,1030,0.000,0.031,3253,2012,1339,1451,1227,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8434,1.30,243.3,3252,2012,1450,1228,134.0,17.6,358,8440,0.00,2.15,0.00,0.000,260,0.000,0.046,3253,3400,1339,1451,1228,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8566,1.30,243.3,3253,3400,1450,1228,108.9,19.6,364,8573,0.12,2.03,0.00,0.000,5126,0.170,0.028,3231,2021,1339,1451,1228,0,0,0,0,0,0,26.10,26.47,28.83
$GC,8769,1.30,243.3,3231,2020,1451,1227,75.1,14.4,374,8775,0.00,2.12,0.00,0.000,516,0.000,0.039,3242,610,1338,1450,1227,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9010,1.30,243.3,3241,611,1451,1227,47.5,10.5,386,9016,0.00,2.08,0.00,0.000,1030,0.000,0.030,3242,2004,1339,1451,1227,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9205,1.58,325.9,3241,2004,1448,1226,31.5,6.3,405,9321,0.17,2.22,106.93,0.389,10756,0.065,0.038,3360,613,1039,1156,923,0,0,1,0,0,0,26.61,25.77,25.25
$STATE,9405,end climb,SURFACE_DEPTH_REACHED
$STATE,9405,begin surface coast
$FINISH,1.2,1.022461
$STATE,9412,end surface coast,CONTROL_FINISHED_OK
$STATE,9412,begin surface
$SM_CCo,9433,37.75,0.060,0,0,748,400.08
$SM_GC,1.04,8.40,3.00,37.75,0.031,0.034,0.060,127,2495,748,-8.26,-1.10,400.08,0,0,0,0,0,0,26.03,25.89,25.83
$IRIDIUM_FIX,2314.48,12140.91,090413,161638
$TT8_MAMPS,0.047187,0.047187
$HUMID,48.34
$INTERNAL_PRESSURE,9.58391
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,3917376
$24V_AH,23.5,48.455
$10V_AH,10.1,30.772
$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,20.675,82.075,941.775,37.750,0.000,0.000,0.000,213.475,0.000,0.000,15.656,1895.425,5155.643,899.437,1547.901,372.406,0.000,1966.888,0.000,1264.784,0.000,0.537,0.000
$DEVICE_MAMPS,220.320,65.025,912.645,59.670,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9407.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.986,0.000,0.000,0.000
$MEM,323256
$DATA_FILE_SIZE,16805,432
$CAP_FILE_SIZE,257003,0
$CFSIZE,260034560,222105600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.179, 22.1,1
$GPS,090413,221031,2323.312,12135.208,42,1.1,43,-3.1