version: 66.11
glider: 171
mission: 4
dive: 336
start: 4 11 113 3 13 24
data:
$ID,171
$MISSION,4
$DIVE,336
$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,-20943.24
$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,65
$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
$GPS1,110413,030645,2320.321,12132.784,9,4.0,28,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-68.8
$GPS2,110413,031251,2320.561,12132.866,11,2.3,30,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,ININSHORE1A
$TGT_LATLONG,2318.000,12132.750
$TGT_RADIUS,1000.000
$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,201.1,4748,-10.6,-8.333,-15.41,4401
$D_GRID,665
$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,-243.3,126,2495,839,660,0.0,0.0,0,82,0.00,0.00,-60.12,0.000,16386,0.000,0.000,126,2495,2496,2551,2441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,126,2495,2555,2441,4.5,-8.6,8,117,8.88,1.88,-13.98,0.000,19204,0.218,0.066,2382,3680,3377,3438,3317,0,0,0,0,0,0,25.60,26.11,26.60
$GC,353,-1.28,-243.3,1448,3679,3426,3314,92.5,-24.9,28,359,0.00,1.70,0.00,0.000,1030,0.000,0.024,2382,2490,3378,3440,3317,0,0,0,0,0,0,28.83,26.43,28.83
$GC,554,-1.28,-243.3,2382,2490,3443,3318,150.1,-29.4,38,560,0.00,2.03,0.00,0.000,516,0.000,0.028,2382,1109,3380,3443,3318,0,0,0,0,0,0,28.83,26.42,28.83
$GC,582,-1.28,-243.3,2382,1109,3443,3318,157.3,-28.8,39,589,0.00,2.12,0.00,0.000,1030,0.000,0.038,2372,2500,3380,3443,3318,0,0,0,0,0,0,28.83,26.31,28.83
$GC,785,-1.28,-243.3,2371,2500,3443,3319,213.0,-26.9,49,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2500,3381,3443,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,963,-1.28,-243.3,2371,2500,3443,3316,260.1,-26.3,58,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2500,3381,3444,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1263,-1.28,-243.3,2371,2500,3444,3319,339.4,-27.2,73,1269,0.00,1.83,0.00,0.000,260,0.000,0.054,2363,3671,3381,3444,3319,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1340,-1.28,-243.3,2362,3672,3443,3319,358.3,-27.8,76,1346,0.15,1.67,0.00,0.000,3078,0.144,0.025,2404,2491,3381,3444,3319,0,0,0,0,0,0,26.21,26.59,28.83
$GC,1656,-1.28,-243.3,2403,2491,3444,3319,426.2,-18.8,92,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2489,3381,3444,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1956,-1.28,-243.3,2403,2491,3443,3319,488.5,-20.7,107,1961,0.00,1.85,0.00,0.000,260,0.000,0.054,2396,3670,3381,3443,3319,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2001,-1.28,-243.3,1440,3669,3429,3315,497.6,-20.3,109,2007,0.00,1.70,0.00,0.000,1030,0.000,0.027,2396,2495,3380,3443,3318,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2328,-1.28,-243.3,2395,2495,3443,3315,562.5,-19.9,125,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2495,3379,3443,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2645,-1.28,-243.3,2395,2496,3442,3311,628.9,-21.0,139,2651,0.00,1.85,0.00,0.000,260,0.000,0.054,2387,3670,3377,3443,3311,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2673,-1.28,-243.3,2387,3669,3443,3311,628.9,-21.0,139,2682,0.00,1.70,0.00,0.000,1030,0.000,0.028,2387,2495,3377,3443,3311,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,2828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2828,begin apogee
$GC,2834,-0.20,0.0,2386,1989,3443,3308,666.8,-20.5,145,3197,1.08,0.00,352.02,0.664,10244,0.117,0.000,2740,1988,2377,2533,2222,0,0,0,0,0,0,25.96,28.83,24.54
$STATE,3199,end apogee,CONTROL_FINISHED_OK
$STATE,3199,begin climb
$GC,3202,1.28,243.3,2740,1988,2528,2212,691.7,0.0,156,3466,1.35,2.17,251.32,0.756,10756,0.053,0.035,3231,627,1378,1487,1270,0,0,0,0,0,0,25.36,25.35,24.37
$GC,3599,1.28,243.3,3230,627,1461,1244,638.9,22.5,168,3605,0.00,2.10,0.00,0.000,1030,0.000,0.029,3231,2013,1353,1462,1244,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3925,1.28,243.3,3230,2013,1458,1241,555.0,24.3,182,3931,0.00,2.15,0.00,0.000,516,0.000,0.038,3242,621,1349,1458,1241,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4164,1.28,243.3,3242,620,1452,1239,496.4,25.1,193,4170,0.00,2.08,0.00,0.000,1030,0.000,0.030,3242,2005,1347,1456,1239,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4479,1.28,243.3,3242,2004,1454,1237,421.5,21.9,209,4485,0.00,2.17,0.00,0.000,260,0.000,0.046,3242,3401,1345,1453,1237,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4586,1.28,243.3,3242,3401,1453,1237,393.9,25.4,214,4593,0.12,2.05,0.00,0.000,5126,0.177,0.028,3223,2016,1345,1453,1237,0,0,0,0,0,0,26.11,26.46,28.83
$GC,4914,1.28,243.3,3222,2016,1452,1235,326.3,20.4,230,4919,0.00,2.12,0.00,0.000,516,0.000,0.038,3234,615,1343,1452,1235,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4942,1.28,243.3,2240,615,1427,1232,321.0,20.5,231,4947,0.00,2.08,0.00,0.000,1030,0.000,0.031,3232,2004,1342,1451,1234,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5263,1.28,243.3,3233,2004,1451,1232,250.8,22.2,247,5269,0.00,2.17,0.00,0.000,260,0.000,0.047,3233,3400,1341,1451,1232,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5374,1.28,243.3,3233,3401,1449,1232,225.7,22.6,252,5380,0.00,2.05,0.00,0.000,1030,0.000,0.029,3245,2017,1341,1450,1232,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5581,1.28,243.3,3245,2016,1450,1231,184.3,19.6,262,5587,0.00,2.15,0.00,0.000,516,0.000,0.039,3256,607,1340,1450,1231,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5609,1.28,243.3,3256,608,1449,1231,178.6,19.9,263,5615,0.12,2.10,0.00,0.000,5126,0.166,0.031,3224,2015,1339,1449,1230,0,0,0,0,0,0,26.14,26.45,28.83
$GC,5811,1.28,243.3,3224,2015,1449,1230,140.2,19.2,273,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2016,1339,1449,1230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5989,1.28,243.3,3223,2015,1448,1230,107.4,18.7,282,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2016,1337,1445,1230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6170,1.28,243.3,3223,2015,1448,1230,72.0,19.3,291,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2016,1339,1449,1230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6351,1.28,243.3,3223,2016,1449,1229,45.2,10.4,302,6358,0.00,2.15,0.00,0.000,260,0.000,0.046,3223,3401,1339,1449,1229,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6598,1.28,243.3,2208,3399,1421,1226,22.7,9.0,327,6607,0.00,2.08,0.00,0.000,1030,0.000,0.028,3234,1991,1338,1449,1227,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6805,1.28,243.3,2176,1986,1420,1224,4.0,10.9,364,6813,0.00,2.20,0.00,0.000,260,0.000,0.043,3235,3415,1338,1449,1227,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,6819,end climb,SURFACE_DEPTH_REACHED
$STATE,6820,begin surface coast
$FINISH,0.1,1.022661
$STATE,6848,end surface coast,CONTROL_FINISHED_OK
$STATE,6848,begin surface
$SM_CCo,6868,74.05,0.060,0,0,748,400.08
$SM_GC,0.79,7.82,1.38,74.05,0.025,0.030,0.060,125,2511,748,-8.25,2.01,400.08,0,0,0,0,0,0,26.50,26.51,26.17
$IRIDIUM_FIX,2312.13,12131.22,110413,010130
$TT8_MAMPS,0.047187,0.047187
$HUMID,50.74
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,22.10
$XPDR_PINGS,0
$SC_FREEKB,3913216
$24V_AH,24.4,50.324
$10V_AH,10.3,31.782
$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,19.525,52.225,603.350,74.050,0.000,0.000,0.000,189.125,0.000,0.000,32.275,1557.145,3541.985,656.996,1241.877,319.054,0.000,1481.564,0.000,988.171,0.000,0.538,0.000
$DEVICE_MAMPS,218.025,65.790,755.820,60.435,0.000,0.000,0.000,121.635,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6841.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.703,0.000,0.000,0.000
$MEM,322832
$DATA_FILE_SIZE,13478,371
$CAP_FILE_SIZE,204284,0
$CFSIZE,260034560,221081600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.255, 14.1,1
$GPS,110413,051030,2320.640,12132.723,42,1.2,43,-3.1