version: 66.11
glider: 171
mission: 4
dive: 329
start: 4 10 113 12 6 9
data:
$ID,171
$MISSION,4
$DIVE,329
$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,-20932.701
$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,64
$R_STBD_OVSHOOT,29
$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
$GPS1,100413,115825,2321.767,12134.111,11,1.8,11,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.8
$GPS2,100413,120536,2321.991,12134.148,44,1.4,44,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,ININSHORE2
$TGT_LATLONG,2303.150,12127.800
$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,200.6,36533,-10.6,-8.333,-15.41,4401
$D_GRID,934
$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,-243.3,126,2486,841,661,0.0,0.0,0,83,0.00,0.00,-61.40,0.000,16386,0.000,0.000,126,2486,2569,2633,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,126,2486,2636,2506,4.4,-8.5,8,118,8.90,1.92,-12.73,0.000,18692,0.216,0.067,2384,3665,3377,3436,3319,0,0,0,0,0,0,25.48,26.01,26.47
$GC,330,-1.28,-243.3,2384,3665,3440,3319,92.4,-28.0,26,336,0.00,1.70,0.00,0.000,1030,0.000,0.027,2384,2495,3380,3441,3319,0,0,0,0,0,0,28.83,26.32,28.83
$GC,537,-1.28,-243.3,2384,2494,3445,3319,150.5,-26.8,36,543,0.00,2.05,0.00,0.000,516,0.000,0.027,2384,1102,3382,3445,3320,0,0,0,0,0,0,28.83,26.32,28.83
$GC,565,-1.28,-243.3,2384,1102,3445,3320,158.3,-27.5,37,571,0.00,2.15,0.00,0.000,1030,0.000,0.039,2373,2500,3382,3445,3320,0,0,0,0,0,0,28.83,26.21,28.83
$GC,767,-1.28,-243.3,2373,2501,3445,3322,215.3,-27.8,47,773,0.00,1.83,0.00,0.000,260,0.000,0.054,2365,3669,3383,3446,3321,0,0,0,0,0,0,28.83,26.20,28.83
$GC,856,-1.28,-243.3,2364,3669,3446,3322,240.7,-28.0,51,863,0.12,1.70,0.00,0.000,3078,0.156,0.026,2397,2494,3383,3446,3321,0,0,0,0,0,0,26.11,26.48,28.83
$GC,1063,-1.28,-243.3,2396,2494,3446,3322,286.4,-21.9,61,1068,0.00,1.85,0.00,0.000,260,0.000,0.054,2389,3669,3384,3447,3322,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1193,-1.28,-243.3,1448,3669,3434,3318,315.8,-23.2,67,1199,0.00,1.65,0.00,0.000,1030,0.000,0.027,2389,2515,3383,3446,3321,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1515,-1.28,-243.3,2388,2515,3446,3321,390.1,-23.5,83,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2515,3384,3446,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1813,-1.28,-243.3,2389,2515,3446,3321,456.3,-20.8,98,1820,0.00,1.83,0.00,0.000,260,0.000,0.053,2380,3676,3383,3446,3321,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1918,-1.28,-243.3,2380,3676,3446,3321,473.9,-20.0,102,1926,0.00,1.65,0.00,0.000,1030,0.000,0.027,2380,2525,3384,3446,3322,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2221,-1.28,-243.3,2380,2525,3446,3320,537.3,-21.0,118,2227,0.00,1.80,0.00,0.000,260,0.000,0.055,2372,3666,3383,3446,3320,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2308,-1.28,-243.3,2371,3668,3447,3320,556.5,-22.1,122,2314,0.00,1.62,0.00,0.000,1030,0.000,0.028,2372,2557,3382,3446,3319,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2633,-1.28,-243.3,2372,2557,3446,3316,627.8,-21.7,136,2639,0.00,2.12,0.00,0.000,516,0.000,0.027,2372,1111,3381,3446,3316,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2667,-1.28,-243.3,1440,1110,3433,3311,635.3,-21.4,137,2674,0.15,2.22,0.00,0.000,3078,0.153,0.040,2401,2549,3381,3446,3316,0,0,0,0,0,0,26.06,26.33,28.83
$GC,3004,-1.28,-243.3,2401,2549,3446,3311,699.9,-19.2,148,3009,0.00,1.77,0.00,0.000,260,0.000,0.055,2394,3678,3378,3446,3311,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3109,-1.28,-243.3,2393,3678,3445,3309,718.3,-19.5,151,3115,0.00,1.67,0.00,0.000,1030,0.000,0.028,2394,2557,3376,3445,3308,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3434,-1.28,-243.3,2393,2558,3444,3305,782.3,-19.0,162,3440,0.00,2.12,0.00,0.000,516,0.000,0.027,2394,1111,3374,3444,3305,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3463,-1.28,-243.3,2393,1111,3444,3305,782.3,-19.0,162,3471,0.00,2.22,0.00,0.000,1030,0.000,0.041,2383,2553,3374,3444,3304,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3771,-1.28,-243.3,2382,2552,3442,3302,846.2,-19.2,173,3777,0.00,1.77,0.00,0.000,260,0.000,0.057,2374,3674,3371,3442,3301,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3855,-1.28,-243.3,2374,3674,3442,3301,859.9,-19.6,175,3862,0.00,1.62,0.00,0.000,1030,0.000,0.029,2374,2560,3371,3442,3301,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4172,-1.28,-243.3,2374,2560,3441,3298,924.9,-19.2,186,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2560,3370,3441,3299,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4228,begin apogee
$GC,4236,-0.20,0.0,2377,1987,3441,3297,936.2,-18.9,188,4632,1.12,0.00,384.88,0.755,10244,0.119,0.000,2741,1987,2374,2530,2218,0,0,0,0,0,0,25.82,28.83,24.14
$STATE,4635,end apogee,CONTROL_FINISHED_OK
$STATE,4635,begin climb
$GC,4638,1.28,243.3,2741,1987,2524,2209,958.6,0.0,200,5042,1.35,2.22,390.23,0.723,10756,0.051,0.035,3228,621,1385,1496,1274,0,0,0,0,0,0,24.99,24.98,23.86
$GC,5242,1.28,243.3,3227,621,1467,1245,868.6,21.8,219,5248,0.00,2.15,0.00,0.000,1030,0.000,0.031,3227,2011,1355,1466,1245,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5577,1.28,243.3,3227,2011,1463,1241,792.9,22.4,230,5583,0.00,2.20,0.00,0.000,260,0.000,0.045,3227,3410,1352,1463,1242,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5679,1.28,243.3,3227,3409,1462,1241,768.7,24.5,233,5685,0.00,2.10,0.00,0.000,1030,0.000,0.029,3239,2016,1351,1462,1241,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6009,1.28,243.3,3238,2016,1461,1239,688.8,23.8,244,6015,0.00,2.15,0.00,0.000,516,0.000,0.038,3250,611,1350,1461,1239,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6055,1.28,243.3,3250,610,1461,1237,680.5,23.5,245,6062,0.12,2.10,0.00,0.000,5126,0.166,0.031,3217,2004,1350,1461,1239,0,0,0,0,0,0,26.03,26.32,28.83
$GC,6381,1.28,243.3,3218,2004,1461,1237,606.8,21.9,256,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2004,1349,1461,1237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6681,1.28,243.3,3218,2004,1460,1237,543.3,21.4,270,6687,0.00,2.17,0.00,0.000,260,0.000,0.047,3218,3399,1348,1460,1236,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6729,1.28,243.3,3218,3399,1459,1237,532.6,22.6,272,6735,0.00,2.10,0.00,0.000,1030,0.000,0.030,3229,1996,1348,1460,1236,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7056,1.28,243.3,3229,1996,1459,1235,462.4,21.8,288,7063,0.00,2.20,0.00,0.000,260,0.000,0.047,3229,3399,1347,1459,1235,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7090,1.28,243.3,3229,3399,1459,1235,456.0,22.2,289,7096,0.00,2.10,0.00,0.000,1030,0.000,0.030,3240,1992,1347,1459,1235,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7405,1.28,243.3,3240,1991,1458,1235,377.7,24.5,305,7411,0.00,2.22,0.00,0.000,260,0.000,0.045,3241,3410,1346,1458,1235,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7542,1.28,243.3,3240,3410,1458,1235,344.1,26.3,311,7549,0.12,2.10,0.00,0.000,5126,0.170,0.030,3220,1997,1346,1459,1234,0,0,0,0,0,0,26.10,26.45,28.83
$GC,7861,1.28,243.3,3221,1997,1458,1233,275.6,21.1,327,7867,0.00,2.12,0.00,0.000,516,0.000,0.041,3231,611,1345,1458,1233,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7920,1.28,243.3,3231,611,1458,1233,265.7,21.0,329,7928,0.00,2.10,0.00,0.000,1030,0.000,0.031,3231,2018,1345,1458,1233,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8228,1.28,243.3,3231,2018,1457,1233,202.0,20.2,345,8229,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2018,1345,1458,1233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8407,1.28,243.3,3231,2018,1458,1233,164.9,21.0,354,8413,0.00,2.17,0.00,0.000,516,0.000,0.040,3243,606,1345,1458,1233,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8468,1.28,243.3,3242,606,1457,1233,155.0,21.1,356,8476,0.00,2.05,0.00,0.000,1030,0.000,0.029,3243,1991,1344,1457,1232,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8654,1.28,243.3,3243,1991,1457,1232,113.6,20.2,366,8660,0.00,2.12,0.00,0.000,516,0.000,0.041,3254,610,1344,1457,1232,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8735,1.28,243.3,3254,611,1457,1232,100.1,20.2,369,8744,0.12,2.03,0.00,0.000,5126,0.158,0.031,3221,1975,1344,1457,1232,0,0,0,0,0,0,26.10,26.41,28.83
$GC,8925,1.28,243.3,3221,1975,1457,1232,68.8,16.0,379,8931,0.00,2.10,0.00,0.000,516,0.000,0.041,3232,609,1344,1457,1232,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9170,1.32,256.0,3232,609,1456,1231,40.8,8.0,396,9176,0.00,2.05,0.00,0.000,1030,0.000,0.031,3232,1978,1344,1457,1231,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9364,1.51,309.2,3231,1978,1456,1231,25.1,7.1,415,9525,0.15,2.22,151.02,0.373,10756,0.072,0.037,3344,605,1113,1233,994,0,0,0,0,0,0,26.62,25.65,25.11
$STATE,9539,end climb,SURFACE_DEPTH_REACHED
$STATE,9539,begin surface coast
$FINISH,-0.1,1.002810
$STATE,9556,end surface coast,CONTROL_FINISHED_OK
$STATE,9556,begin surface
$SM_CCo,9577,48.08,0.060,0,0,748,400.08
$SM_GC,0.42,8.48,3.05,48.08,0.035,0.040,0.060,138,2479,748,-8.26,-1.33,400.08,0,0,0,0,0,0,25.84,25.68,25.75
$IRIDIUM_FIX,2314.48,12135.68,100413,090919
$TT8_MAMPS,0.047187,0.047187
$HUMID,47.99
$INTERNAL_PRESSURE,9.58391
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,3915456
$24V_AH,23.9,49.488
$10V_AH,10.1,31.284
$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,20.650,85.950,926.125,48.075,0.000,0.000,0.000,232.750,0.000,0.000,45.652,1937.763,5184.387,919.225,1629.611,386.758,0.000,2013.805,0.000,1303.985,0.000,0.536,0.000
$DEVICE_MAMPS,216.495,66.555,755.055,59.670,0.000,0.000,0.000,120.870,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9552.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.034,0.000,0.000,0.000
$MEM,323256
$DATA_FILE_SIZE,16770,440
$CAP_FILE_SIZE,262907,0
$CFSIZE,260034560,221560832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.191, 17.2,1
$GPS,100413,144756,2321.490,12133.691,38,2.0,39,-3.1