version: 66.11
glider: 171
mission: 4
dive: 324
start: 4 9 113 22 17 53
data:
$ID,171
$MISSION,4
$DIVE,324
$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,-20926.416
$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,60
$R_STBD_OVSHOOT,30
$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
$GPS1,090413,221031,2323.312,12135.208,42,1.1,43,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-64.3
$GPS2,090413,221701,2323.575,12135.260,10,1.4,10,-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,207.8,2692,-10.9,-8.333,-15.68,4211
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.25,-232.6,126,2497,834,661,0.0,0.0,0,83,0.00,0.00,-61.22,0.000,16386,0.000,0.000,125,2497,2578,2640,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.25,-232.6,126,2497,2645,2516,4.6,-9.5,8,118,9.00,2.15,-11.80,0.000,18948,0.220,0.044,2399,1106,3335,3401,3270,0,0,0,0,0,0,25.48,26.09,26.45
$GC,220,-1.25,-232.6,2399,1107,3404,3270,54.2,-27.2,22,226,0.00,2.15,0.00,0.000,1030,0.000,0.036,2389,2507,3337,3404,3270,0,0,0,0,0,0,28.83,26.09,28.83
$GC,426,-1.25,-232.6,2389,2508,3407,3270,110.8,-25.2,32,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2507,3338,3407,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,605,-1.25,-232.6,2389,2507,3412,3271,162.2,-29.6,41,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2507,3342,3414,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,786,-1.25,-232.6,2389,2507,3413,3273,214.1,-28.4,50,791,0.00,1.83,0.00,0.000,260,0.000,0.052,2380,3675,3343,3413,3273,0,0,0,0,0,0,28.83,26.22,28.83
$GC,867,-1.25,-232.6,2379,3676,3412,3274,233.8,-28.5,53,876,0.00,1.73,0.00,0.000,1030,0.000,0.024,2380,2469,3343,3413,3273,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1055,-1.25,-232.6,2380,2468,3413,3274,288.7,-27.5,63,1060,0.00,1.90,0.00,0.000,260,0.000,0.054,2371,3676,3342,3412,3273,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1104,-1.25,-232.6,1424,3674,3398,3269,300.5,-27.0,65,1111,0.12,1.70,0.00,0.000,3078,0.153,0.024,2404,2483,3343,3413,3274,0,0,0,0,0,0,26.16,26.51,28.83
$GC,1427,-1.25,-232.6,2403,2483,3413,3274,377.7,-23.0,81,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2483,3343,3413,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1724,-1.25,-232.6,2403,2484,3413,3273,445.4,-21.5,96,1731,0.00,2.03,0.00,0.000,516,0.000,0.028,2404,1108,3343,3413,3273,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1781,-1.25,-232.6,2404,1108,3413,3273,455.2,-21.3,98,1787,0.00,2.12,0.00,0.000,1030,0.000,0.037,2394,2502,3343,3413,3273,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2095,-1.25,-232.6,2391,2502,3413,3273,526.9,-22.3,114,2101,0.00,1.85,0.00,0.000,260,0.000,0.053,2385,3684,3343,3413,3273,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2227,-1.25,-232.6,2385,3684,3413,3272,555.5,-22.8,120,2233,0.00,1.70,0.00,0.000,1030,0.000,0.027,2385,2509,3342,3413,3272,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2547,-1.25,-232.6,2385,2509,3413,3267,628.1,-21.6,134,2553,0.00,1.83,0.00,0.000,260,0.000,0.054,2376,3669,3338,3410,3267,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2613,-1.25,-232.6,2376,3669,3413,3266,642.0,-21.1,136,2620,0.12,1.70,0.00,0.000,3078,0.147,0.027,2410,2497,3338,3413,3264,0,0,0,0,0,0,26.24,26.58,28.83
$GC,2949,-1.25,-232.6,2410,2496,3413,3262,702.7,-17.5,147,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2497,3337,3413,3261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3249,-1.25,-232.6,2410,2497,3412,3256,757.0,-18.2,157,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2497,3334,3413,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3549,-1.25,-232.6,2410,2496,3410,3253,812.8,-18.9,167,3555,0.00,2.05,0.00,0.000,516,0.000,0.031,2410,1111,3331,3410,3253,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3595,-1.25,-232.6,2410,1111,3413,3252,819.4,-18.8,168,3602,0.00,2.15,0.00,0.000,1030,0.000,0.041,2401,2505,3330,3410,3251,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3920,-1.25,-232.6,2400,2505,3407,3250,884.0,-19.8,179,3926,0.00,1.85,0.00,0.000,260,0.000,0.055,2392,3670,3326,3404,3249,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4031,-1.25,-232.6,2391,3669,3407,3249,903.4,-20.2,182,4036,0.00,1.67,0.00,0.000,1030,0.000,0.028,2392,2512,3328,3406,3251,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,4258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4259,begin apogee
$GC,4265,-0.20,0.0,2392,1987,3405,3246,950.6,-19.1,190,4641,1.08,0.00,364.35,0.766,10244,0.118,0.000,2743,1987,2373,2530,2216,0,0,0,0,0,0,25.83,28.83,24.12
$STATE,4643,end apogee,CONTROL_FINISHED_OK
$STATE,4643,begin climb
$GC,4646,1.25,232.6,2743,1987,2527,2212,970.7,0.0,201,4916,1.33,2.20,258.88,0.892,10756,0.051,0.036,3221,631,1427,1536,1318,0,0,0,0,0,0,25.01,24.99,23.55
$GC,5076,1.25,232.6,3220,631,1502,1287,905.5,23.9,214,5085,0.00,2.17,0.00,0.000,1030,0.000,0.031,3221,2023,1394,1502,1287,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5386,1.25,232.6,3220,2023,1499,1285,825.8,23.1,225,5392,0.00,2.17,0.00,0.000,260,0.000,0.047,3221,3402,1391,1497,1285,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5626,1.25,232.6,3220,3402,1496,1285,770.5,25.6,232,5632,0.00,2.08,0.00,0.000,1030,0.000,0.028,3232,2010,1390,1496,1284,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5944,1.25,232.6,3232,2010,1496,1283,688.8,24.1,243,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2010,1389,1496,1283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6242,1.25,232.6,3232,2010,1495,1282,618.4,23.2,253,6248,0.00,2.20,0.00,0.000,260,0.000,0.046,3232,3410,1388,1495,1282,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6288,1.25,232.6,3234,3410,1495,1282,610.0,23.4,254,6295,0.12,2.12,0.00,0.000,5126,0.174,0.028,3212,1987,1388,1495,1282,0,0,0,0,0,0,26.06,26.41,28.83
$GC,6606,1.25,232.6,3212,1987,1494,1280,537.8,21.8,269,6608,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1987,1386,1494,1279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6904,1.25,232.6,3212,1987,1494,1278,470.7,22.1,284,6910,0.00,2.22,0.00,0.000,260,0.000,0.047,3212,3402,1386,1494,1278,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7011,1.25,232.6,3212,3402,1494,1278,446.7,22.0,289,7018,0.00,2.12,0.00,0.000,1030,0.000,0.030,3223,1987,1385,1493,1277,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7339,1.25,232.6,3223,1987,1492,1277,377.2,21.3,305,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1987,1384,1492,1277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7637,1.25,232.6,3222,1987,1492,1277,315.0,19.5,320,7643,0.00,2.22,0.00,0.000,260,0.000,0.046,3223,3403,1385,1493,1277,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7703,1.25,232.6,3222,3402,1492,1277,301.0,20.5,323,7709,0.00,2.12,0.00,0.000,1030,0.000,0.029,3234,1987,1384,1492,1277,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8031,1.25,232.6,3234,1986,1491,1275,233.8,20.9,339,8036,0.00,2.12,0.00,0.000,516,0.000,0.041,3245,601,1383,1491,1276,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8081,1.25,232.6,3245,601,1491,1276,223.3,21.5,341,8087,0.12,2.08,0.00,0.000,5126,0.164,0.031,3213,1990,1383,1490,1276,0,0,0,0,0,0,26.09,26.41,28.83
$GC,8283,1.25,232.6,3214,1990,1491,1276,183.1,18.6,351,8289,0.00,2.20,0.00,0.000,260,0.000,0.047,3214,3399,1383,1491,1276,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8330,1.25,232.6,2176,3399,1462,1273,173.9,19.3,353,8336,0.00,2.12,0.00,0.000,1030,0.000,0.030,3225,1980,1383,1491,1276,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8536,1.25,232.6,3225,1978,1491,1275,137.4,17.2,363,8542,0.00,2.22,0.00,0.000,260,0.000,0.046,3225,3400,1383,1491,1275,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8576,1.25,232.6,3224,3400,1491,1275,133.0,17.0,364,8585,0.00,2.10,0.00,0.000,1030,0.000,0.029,3236,1990,1383,1491,1275,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8761,1.25,232.6,3236,1989,1491,1275,96.0,19.1,374,8768,0.00,2.22,0.00,0.000,260,0.000,0.045,3236,3409,1383,1491,1275,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8795,1.25,232.6,3236,3409,1491,1275,90.8,19.3,375,8802,0.12,2.10,0.00,0.000,5126,0.166,0.029,3216,1996,1383,1491,1275,0,0,0,0,0,0,26.09,26.44,28.83
$GC,8992,1.25,232.6,3215,1994,1491,1273,60.0,12.5,385,8998,0.00,2.20,0.00,0.000,260,0.000,0.046,3216,3399,1382,1491,1273,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9169,1.40,274.0,3215,3400,1491,1273,42.2,7.3,397,9229,0.00,2.03,52.95,0.395,9222,0.000,0.028,3226,2018,1256,1373,1140,0,0,0,0,0,0,28.83,26.49,25.51
$GC,9410,1.40,274.0,2216,2014,1326,1118,21.9,12.0,422,9418,0.00,2.15,0.00,0.000,516,0.000,0.040,3237,624,1234,1348,1120,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,9565,end climb,SURFACE_DEPTH_REACHED
$STATE,9565,begin surface coast
$FINISH,0.5,1.022431
$STATE,9594,end surface coast,CONTROL_FINISHED_OK
$STATE,9594,begin surface
$SM_CCo,9616,63.33,0.061,0,0,748,400.08
$SM_GC,0.99,8.05,2.95,63.33,0.035,0.037,0.061,110,2496,748,-8.27,-1.13,400.08,0,0,0,0,0,0,26.34,26.16,26.03
$IRIDIUM_FIX,2312.13,12134.45,090413,191947
$TT8_MAMPS,0.047187,0.047187
$HUMID,47.91
$INTERNAL_PRESSURE,9.60344
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,3917056
$24V_AH,23.5,48.613
$10V_AH,10.1,30.856
$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,20.075,79.275,676.175,63.325,0.000,0.000,0.000,225.375,0.000,0.000,11.313,1984.115,5476.936,741.522,1511.880,374.309,0.000,1746.963,0.000,1220.273,0.000,0.537,0.000
$DEVICE_MAMPS,219.555,55.080,891.990,61.200,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9602.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.131,0.000,0.000,0.000
$MEM,323280
$DATA_FILE_SIZE,16787,456
$CAP_FILE_SIZE,256658,0
$CFSIZE,260034560,222015488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.275, 13.4,1
$GPS,100413,010007,2323.646,12134.896,12,1.7,13,-3.1