version: 66.11
glider: 171
mission: 4
dive: 331
start: 4 10 113 16 45 47
data:
$ID,171
$MISSION,4
$DIVE,331
$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,-20935.213
$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,57
$R_STBD_OVSHOOT,28
$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
$GPS1,100413,163735,2321.959,12133.789,49,1.7,54,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-67.1
$GPS2,100413,164515,2322.194,12133.849,9,2.3,28,-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,202.1,36744,-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,-243.3,126,2482,847,664,0.0,0.0,0,83,0.00,0.00,-61.67,0.000,16386,0.000,0.000,126,2482,2555,2616,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.28,-243.3,126,2482,2619,2495,4.5,-8.8,8,118,8.93,2.12,-13.00,0.000,18948,0.220,0.042,2391,1094,3377,3437,3318,0,0,0,0,0,0,25.56,26.21,26.56
$GC,180,-1.28,-243.3,2390,1094,3438,3318,40.7,-28.5,18,186,0.00,2.17,0.00,0.000,1030,0.000,0.038,2380,2502,3378,3439,3318,0,0,0,0,0,0,28.83,26.13,28.83
$GC,377,-1.28,-243.3,2381,2504,3442,3318,95.4,-28.2,29,383,0.00,2.10,0.00,0.000,516,0.000,0.027,2381,1086,3379,3441,3318,0,0,0,0,0,0,28.83,26.32,28.83
$GC,423,-1.28,-243.3,2381,1086,3442,3318,108.7,-28.7,31,429,0.00,2.15,0.00,0.000,1030,0.000,0.037,2371,2486,3380,3442,3318,0,0,0,0,0,0,28.83,26.23,28.83
$GC,629,-1.28,-243.3,2370,2486,3446,3319,166.2,-29.0,41,635,0.12,1.85,0.00,0.000,2308,0.168,0.050,2400,3673,3381,3444,3319,0,0,0,0,0,0,26.20,26.23,28.83
$GC,694,-1.28,-243.3,2400,3672,3444,3319,185.4,-29.1,44,701,0.00,1.77,0.00,0.000,1030,0.000,0.024,2400,2469,3381,3444,3319,0,0,0,0,0,0,28.83,26.48,28.83
$GC,901,-1.28,-243.3,2399,2468,3445,3319,239.3,-26.1,54,908,0.00,1.90,0.00,0.000,260,0.000,0.054,2391,3675,3382,3445,3319,0,0,0,0,0,0,28.83,26.27,28.83
$GC,957,-1.28,-243.3,2391,3676,3444,3319,251.9,-26.1,56,963,0.00,1.75,0.00,0.000,1030,0.000,0.025,2391,2485,3382,3445,3319,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1272,-1.28,-243.3,2391,2483,3445,3319,328.8,-22.6,72,1278,0.00,2.03,0.00,0.000,516,0.000,0.027,2391,1096,3381,3444,3319,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1297,-1.28,-243.3,2391,1096,3444,3319,334.3,-22.5,73,1303,0.00,2.15,0.00,0.000,1030,0.000,0.037,2380,2505,3382,3445,3319,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1623,-1.28,-243.3,2379,2504,3444,3319,409.3,-22.7,89,1629,0.00,1.85,0.00,0.000,260,0.000,0.053,2371,3689,3381,3444,3319,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1685,-1.28,-243.3,2371,3689,3444,3319,420.4,-23.4,91,1693,0.00,1.73,0.00,0.000,1030,0.000,0.027,2371,2492,3381,3444,3319,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1991,-1.28,-243.3,2371,2492,3444,3319,495.1,-22.7,107,1997,0.00,1.85,0.00,0.000,260,0.000,0.054,2363,3667,3381,3443,3319,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2052,-1.28,-243.3,2362,3668,3444,3318,505.3,-22.1,109,2061,0.12,1.70,0.00,0.000,3078,0.151,0.028,2395,2491,3381,3444,3318,0,0,0,0,0,0,26.23,26.58,28.83
$GC,2359,-1.28,-243.3,2395,2490,3444,3314,570.8,-20.2,125,2366,0.00,1.85,0.00,0.000,260,0.000,0.054,2388,3668,3378,3444,3313,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2447,-1.28,-243.3,2387,3668,3443,3312,590.2,-22.0,129,2454,0.00,1.70,0.00,0.000,1030,0.000,0.028,2388,2511,3378,3444,3312,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2763,-1.28,-243.3,2387,2511,3444,3307,656.5,-20.3,140,2769,0.00,1.83,0.00,0.000,260,0.000,0.054,2378,3668,3375,3443,3307,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2817,-1.28,-243.3,2378,3668,3443,3307,663.5,-20.1,141,2824,0.00,1.73,0.00,0.000,1030,0.000,0.028,2378,2508,3375,3443,3307,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3136,-1.28,-243.3,2379,2511,3442,3303,736.3,-22.0,152,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2511,3372,3442,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3433,-1.28,-243.3,2378,2511,3441,3300,798.4,-20.1,162,3439,0.00,1.83,0.00,0.000,260,0.000,0.055,2370,3667,3370,3441,3300,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3486,-1.28,-243.3,2370,3667,3440,3300,805.9,-20.7,163,3494,0.12,1.67,0.00,0.000,3078,0.151,0.028,2404,2512,3370,3441,3299,0,0,0,0,0,0,26.23,26.57,28.83
$GC,3803,-1.28,-243.3,2404,2512,3439,3295,874.4,-19.5,174,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2512,3367,3439,3295,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4100,begin apogee
$GC,4107,-0.20,0.0,2404,1987,3438,3291,934.1,-19.9,184,4500,1.02,0.00,383.12,0.759,10244,0.116,0.000,2744,1987,2378,2533,2224,0,0,0,0,0,0,25.89,28.83,24.20
$STATE,4502,end apogee,CONTROL_FINISHED_OK
$STATE,4502,begin climb
$GC,4504,1.28,243.3,2744,1987,2528,2213,967.5,0.0,196,4893,1.35,2.20,373.30,0.744,10756,0.049,0.035,3234,629,1379,1490,1269,0,0,0,0,0,0,25.05,25.03,23.99
$GC,4952,1.28,243.3,3234,629,1473,1252,914.3,21.1,209,4961,0.00,2.17,0.00,0.000,1030,0.000,0.029,3234,2014,1362,1472,1252,0,0,0,0,0,0,28.83,25.31,28.83
$GC,5261,1.28,243.3,3234,2014,1463,1243,834.5,24.1,220,5267,0.00,2.15,0.00,0.000,516,0.000,0.038,3246,632,1353,1463,1243,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5451,1.28,243.3,3245,629,1461,1241,788.9,23.6,226,5457,0.00,2.08,0.00,0.000,1030,0.000,0.030,3246,2005,1351,1461,1241,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5786,1.28,243.3,3245,2004,1459,1240,706.3,24.1,237,5792,0.00,2.17,0.00,0.000,260,0.000,0.045,3246,3400,1349,1460,1238,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5832,1.28,243.3,3245,3400,1459,1240,697.8,23.8,238,5839,0.15,2.05,0.00,0.000,5126,0.171,0.028,3218,2025,1349,1459,1240,0,0,0,0,0,0,26.01,26.37,28.83
$GC,6158,1.28,243.3,3218,2025,1458,1238,625.2,20.8,249,6164,0.00,2.17,0.00,0.000,516,0.000,0.040,3229,607,1347,1457,1238,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6207,1.28,243.3,3229,607,1458,1237,618.2,20.7,250,6213,0.00,2.08,0.00,0.000,1030,0.000,0.031,3229,1998,1347,1458,1237,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6527,1.28,243.3,3229,1998,1458,1238,550.3,20.3,265,6533,0.00,2.20,0.00,0.000,260,0.000,0.046,3229,3408,1347,1458,1237,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6577,1.28,243.3,3228,3407,1458,1237,540.9,20.0,267,6584,0.00,2.10,0.00,0.000,1030,0.000,0.030,3240,1997,1347,1458,1236,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6901,1.28,243.3,3240,1997,1457,1236,466.9,22.6,283,6907,0.00,2.20,0.00,0.000,260,0.000,0.046,3240,3403,1346,1457,1236,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6970,1.28,243.3,3240,3403,1456,1237,449.9,24.1,286,6977,0.12,2.08,0.00,0.000,5126,0.174,0.030,3221,2011,1346,1456,1236,0,0,0,0,0,0,26.10,26.46,28.83
$GC,7294,1.28,243.3,3220,2011,1456,1235,379.7,20.4,302,7300,0.00,2.15,0.00,0.000,516,0.000,0.039,3231,606,1345,1456,1235,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7362,1.28,243.3,3230,606,1454,1235,365.3,20.4,305,7368,0.00,2.10,0.00,0.000,1030,0.000,0.031,3231,2005,1345,1455,1235,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7689,1.28,243.3,3230,2005,1454,1234,302.0,19.7,321,7690,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2004,1344,1454,1234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7988,1.28,243.3,3231,2005,1454,1233,246.5,17.9,336,7994,0.00,2.15,0.00,0.000,516,0.000,0.039,3242,606,1343,1454,1233,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8044,1.28,243.3,3242,606,1453,1233,237.6,18.9,338,8049,0.00,2.08,0.00,0.000,1030,0.000,0.030,3242,1995,1344,1453,1235,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8240,1.28,243.3,3242,1995,1454,1233,196.4,20.5,348,8246,0.00,2.20,0.00,0.000,260,0.000,0.046,3243,3407,1343,1453,1233,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8338,1.28,243.3,3242,3407,1453,1233,177.5,21.0,352,8345,0.12,2.10,0.00,0.000,5126,0.168,0.029,3222,1991,1343,1453,1233,0,0,0,0,0,0,26.11,26.46,28.83
$GC,8536,1.28,243.3,3221,1991,1453,1232,138.2,17.9,362,8538,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1991,1342,1453,1231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8714,1.28,243.3,3222,1991,1453,1231,108.6,17.6,371,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1991,1342,1454,1231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8894,1.28,243.3,3222,1991,1453,1231,74.8,18.5,380,8900,0.00,2.10,0.00,0.000,516,0.000,0.039,3233,609,1342,1453,1231,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9022,1.28,243.3,3230,609,1453,1231,52.5,16.8,386,9028,0.00,2.10,0.00,0.000,1030,0.000,0.030,3234,2011,1342,1454,1231,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9216,1.28,243.3,3232,2011,1453,1231,28.0,8.6,404,9223,0.00,2.15,0.00,0.000,516,0.000,0.040,3244,609,1342,1453,1231,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9468,1.28,243.3,2192,609,1425,1228,7.4,10.1,446,9476,0.00,2.05,0.00,0.000,1030,0.000,0.030,3243,1985,1342,1453,1231,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,9509,end climb,SURFACE_DEPTH_REACHED
$STATE,9509,begin surface coast
$FINISH,-0.1,1.009732
$STATE,9544,end surface coast,CONTROL_FINISHED_OK
$STATE,9544,begin surface
$SM_CCo,9564,76.45,0.061,0,0,748,400.08
$SM_GC,0.92,8.00,0.77,76.45,0.034,0.047,0.061,136,2491,748,-8.27,-1.44,400.08,0,0,0,0,0,0,26.43,26.36,26.11
$IRIDIUM_FIX,2312.13,12134.45,100413,141443
$TT8_MAMPS,0.047187,0.047187
$HUMID,48.97
$INTERNAL_PRESSURE,9.59367
$TCM_TEMP,21.80
$XPDR_PINGS,0
$SC_FREEKB,3914816
$24V_AH,24.0,49.783
$10V_AH,10.1,31.437
$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,20.075,86.050,756.425,76.450,0.000,0.000,0.000,223.875,0.000,0.000,31.570,1931.832,5441.438,819.879,1523.540,390.440,0.000,1848.309,0.000,1224.217,0.000,0.537,0.000
$DEVICE_MAMPS,219.555,55.080,758.880,61.200,0.000,0.000,0.000,122.400,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9537.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.114,0.000,0.000,0.000
$MEM,323252
$DATA_FILE_SIZE,16772,459
$CAP_FILE_SIZE,259860,0
$CFSIZE,260034560,221405184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062, 49.2,1
$GPS,100413,192745,2320.914,12133.191,15,3.4,35,-3.1