version: 66.11
glider: 171
mission: 4
dive: 330
start: 4 10 113 14 55 18
data:
$ID,171
$MISSION,4
$DIVE,330
$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,-20933.957
$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,56
$R_STBD_OVSHOOT,22
$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
$GPS1,100413,144756,2321.490,12133.691,38,2.0,39,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.1
$GPS2,100413,145445,2321.753,12133.730,13,2.1,32,-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,200.0,35905,-10.6,-8.333,-15.41,4401
$D_GRID,544
$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,-243.3,126,2481,838,660,0.0,0.0,0,82,0.00,0.00,-60.90,0.000,16386,0.000,0.000,126,2481,2520,2578,2462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,126,2481,2582,2462,3.7,-6.4,8,117,8.98,2.08,-13.80,0.000,18948,0.220,0.040,2392,1090,3376,3436,3316,0,0,0,0,0,0,25.47,26.09,26.45
$GC,197,-1.28,-243.3,2392,1090,3440,3317,46.1,-29.8,20,203,0.00,2.17,0.00,0.000,1030,0.000,0.036,2382,2506,3378,3440,3316,0,0,0,0,0,0,28.83,26.06,28.83
$GC,393,-1.28,-243.3,2382,2508,3443,3317,100.2,-27.7,30,400,0.00,1.83,0.00,0.000,260,0.000,0.053,2373,3674,3380,3443,3317,0,0,0,0,0,0,28.83,26.10,28.83
$GC,460,-1.28,-243.3,2373,3674,3443,3319,119.4,-28.0,33,467,0.00,1.75,0.00,0.000,1030,0.000,0.024,2374,2495,3381,3443,3319,0,0,0,0,0,0,28.83,26.36,28.83
$GC,668,-1.28,-243.3,2373,2495,3446,3321,175.4,-27.8,43,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2495,3384,3448,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,846,-1.28,-243.3,2373,2495,3444,3321,224.6,-27.1,52,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2495,3383,3446,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1026,-1.28,-243.3,2373,2495,3447,3321,273.9,-26.8,61,1032,0.00,1.85,0.00,0.000,260,0.000,0.053,2366,3671,3384,3447,3321,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1102,-1.28,-243.3,2365,3671,3446,3321,292.3,-27.3,64,1109,0.08,1.73,0.00,0.000,3078,0.132,0.025,2403,2504,3383,3446,3321,0,0,0,0,0,0,26.11,26.51,28.83
$GC,1420,-1.28,-243.3,2403,2502,3446,3321,366.1,-21.7,80,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2503,3384,3447,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1718,-1.28,-243.3,2403,2502,3446,3321,430.8,-22.3,95,1724,0.00,1.85,0.00,0.000,260,0.000,0.054,2395,3674,3383,3446,3321,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1837,-1.28,-243.3,2395,3673,3446,3321,455.5,-22.9,100,1842,0.00,1.67,0.00,0.000,1030,0.000,0.026,2396,2508,3383,3446,3321,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2151,-1.28,-243.3,2395,2508,3446,3319,521.5,-20.7,116,2158,0.00,1.83,0.00,0.000,260,0.000,0.054,2386,3672,3382,3446,3319,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2185,-1.28,-243.3,2386,3672,3446,3319,527.1,-21.0,117,2191,0.00,1.67,0.00,0.000,1030,0.000,0.028,2386,2513,3382,3446,3319,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,2261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2261,begin apogee
$GC,2268,-0.20,0.0,2386,1987,3446,3318,546.0,-22.8,121,2632,1.08,0.00,356.10,0.606,10244,0.119,0.000,2739,1985,2379,2535,2224,0,0,0,0,0,0,25.91,28.83,24.51
$STATE,2634,end apogee,CONTROL_FINISHED_OK
$STATE,2634,begin climb
$GC,2636,1.28,243.3,2738,1986,2529,2212,576.7,0.0,137,3001,1.35,2.15,350.80,0.591,10756,0.054,0.035,3225,627,1381,1493,1269,0,0,0,0,0,0,25.25,25.25,24.44
$GC,3062,1.28,243.3,3224,627,1472,1248,529.4,21.8,156,3068,0.00,2.15,0.00,0.000,1030,0.000,0.028,3225,2016,1360,1473,1247,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3389,1.28,243.3,3225,2016,1465,1241,456.0,21.3,172,3395,0.00,2.17,0.00,0.000,260,0.000,0.045,3225,3400,1353,1466,1241,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3599,1.28,243.3,3225,3400,1463,1239,404.5,23.0,182,3606,0.00,2.08,0.00,0.000,1030,0.000,0.028,3236,2016,1351,1463,1239,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3927,1.28,243.3,3235,2016,1461,1237,327.0,23.4,198,3933,0.00,2.17,0.00,0.000,260,0.000,0.044,3236,3404,1349,1461,1237,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4029,1.28,243.3,3236,3404,1460,1237,305.7,24.2,202,4037,0.00,2.08,0.00,0.000,1030,0.000,0.028,3248,2011,1348,1460,1237,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4334,1.28,243.3,3247,2011,1459,1234,236.0,19.7,218,4340,0.00,2.15,0.00,0.000,516,0.000,0.038,3259,604,1346,1459,1234,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4394,1.28,243.3,3259,604,1458,1233,226.9,20.8,220,4403,0.15,2.10,0.00,0.000,5126,0.157,0.029,3219,2016,1346,1458,1234,0,0,0,0,0,0,26.08,26.41,28.83
$GC,4582,1.28,243.3,3219,2015,1458,1232,190.1,16.8,230,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2015,1345,1458,1232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4760,1.28,243.3,3218,2016,1458,1231,158.6,17.5,239,4767,0.00,2.17,0.00,0.000,516,0.000,0.040,3230,599,1344,1458,1231,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4833,1.28,243.3,3230,599,1457,1230,146.4,18.0,242,4839,0.00,2.10,0.00,0.000,1030,0.000,0.029,3229,2010,1344,1457,1231,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5035,1.28,243.3,3230,2010,1457,1231,109.2,17.8,252,5041,0.00,2.15,0.00,0.000,260,0.000,0.045,3230,3400,1344,1457,1231,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5108,1.28,243.3,3230,3400,1457,1231,95.9,18.3,255,5114,0.00,2.03,0.00,0.000,1030,0.000,0.028,3241,2029,1343,1456,1231,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5311,1.28,243.3,3241,2029,1456,1229,58.2,17.4,265,5317,0.00,2.15,0.00,0.000,516,0.000,0.039,3252,610,1342,1456,1229,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5556,1.28,243.3,3252,610,1454,1229,30.8,8.5,285,5563,0.12,2.08,0.00,0.000,5126,0.151,0.029,3219,2013,1341,1454,1228,0,0,0,0,0,0,26.18,26.46,28.83
$GC,5755,1.28,243.3,2144,2010,1425,1225,16.3,8.9,314,5763,0.00,2.15,0.00,0.000,516,0.000,0.039,3230,606,1341,1454,1228,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,5912,end climb,SURFACE_DEPTH_REACHED
$STATE,5912,begin surface coast
$FINISH,0.2,1.022640
$STATE,5946,end surface coast,CONTROL_FINISHED_OK
$STATE,5946,begin surface
$SM_CCo,5967,74.45,0.061,0,0,748,400.08
$SM_GC,1.22,7.95,2.92,74.45,0.034,0.035,0.061,133,2480,748,-8.27,-1.53,400.08,0,0,0,0,0,0,26.49,26.35,26.17
$IRIDIUM_FIX,2312.13,12131.22,100413,121220
$TT8_MAMPS,0.047187,0.047187
$HUMID,47.83
$INTERNAL_PRESSURE,9.61321
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,3915136
$24V_AH,24.4,49.615
$10V_AH,10.2,31.351
$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,19.700,53.950,706.900,74.450,0.000,0.000,0.000,220.325,0.000,0.000,34.099,1411.731,2786.249,737.267,1217.945,298.567,0.000,1582.781,0.000,926.936,0.000,0.536,0.000
$DEVICE_MAMPS,219.555,54.315,605.880,61.200,0.000,0.000,0.000,122.400,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5951.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.181,0.000,0.000,0.000
$MEM,323280
$DATA_FILE_SIZE,13413,349
$CAP_FILE_SIZE,192789,0
$CFSIZE,260034560,221548544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.311, 18.9,1
$GPS,100413,163735,2321.959,12133.789,49,1.7,54,-3.1