version: 66.11
glider: 171
mission: 4
dive: 289
start: 4 5 113 20 38 31
data:
$ID,171
$MISSION,4
$DIVE,289
$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,-20882.428
$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,2820
$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,67
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,050413,203136,2352.798,12147.026,31,0.8,32,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-71.2
$GPS2,050413,203800,2353.177,12147.173,13,1.2,13,-3.2
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,INSHORE1
$TGT_LATLONG,2321.000,12139.000
$TGT_RADIUS,2000.000
$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,204.2,61191,-10.6,-8.333,-15.41,4401
$D_GRID,3091
$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,-243.3,111,2495,832,659,0.0,0.0,0,82,0.00,0.00,-60.95,0.000,16386,0.000,0.000,111,2496,2467,2540,2395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.28,-243.3,111,2496,2545,2395,3.7,-7.1,8,118,8.95,2.10,-15.20,0.000,18948,0.216,0.040,2401,1102,3375,3435,3315,0,0,0,0,0,0,25.59,26.15,26.52
$GC,143,-1.28,-243.3,1456,1102,3424,3310,26.7,-35.1,16,149,0.00,2.15,0.00,0.000,1030,0.000,0.037,2391,2496,3376,3438,3315,0,0,0,0,0,0,28.83,26.08,28.83
$GC,457,-1.28,-243.3,2391,2496,3442,3318,119.7,-27.8,35,463,0.00,1.85,0.00,0.000,260,0.000,0.053,2382,3674,3380,3442,3318,0,0,0,0,0,0,28.83,26.15,28.83
$GC,496,-1.28,-243.3,2382,3674,3443,3319,126.2,-27.3,36,505,0.00,1.73,0.00,0.000,1030,0.000,0.024,2383,2507,3381,3443,3319,0,0,0,0,0,0,28.83,26.39,28.83
$GC,803,-1.28,-243.3,2382,2506,3444,3321,215.4,-27.6,52,808,0.00,1.83,0.00,0.000,260,0.000,0.054,2374,3670,3382,3445,3320,0,0,0,0,0,0,28.83,26.25,28.83
$GC,827,-1.28,-243.3,2374,3669,3445,3321,222.1,-27.6,53,834,0.12,1.70,0.00,0.000,3078,0.155,0.025,2406,2487,3383,3445,3321,0,0,0,0,0,0,26.14,26.48,28.83
$GC,1154,-1.28,-243.3,2406,2487,3445,3321,300.3,-24.0,69,1160,0.00,2.03,0.00,0.000,516,0.000,0.029,2406,1114,3381,3445,3318,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1226,-1.28,-243.3,2406,1113,3445,3321,316.7,-23.6,72,1232,0.00,2.12,0.00,0.000,1030,0.000,0.039,2397,2505,3383,3445,3321,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1547,-1.28,-243.3,2396,2505,3445,3321,394.4,-24.3,88,1554,0.00,1.85,0.00,0.000,260,0.000,0.053,2388,3662,3382,3444,3321,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1645,-1.28,-243.3,2387,3662,3445,3321,415.6,-23.6,92,1651,0.00,1.67,0.00,0.000,1030,0.000,0.026,2388,2495,3383,3445,3321,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1960,-1.28,-243.3,2387,2494,3445,3320,492.8,-23.3,108,1966,0.00,2.05,0.00,0.000,516,0.000,0.029,2388,1103,3382,3445,3320,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2040,-1.28,-243.3,2388,1104,3444,3319,508.2,-23.1,111,2049,0.12,2.12,0.00,0.000,3078,0.160,0.038,2409,2501,3382,3445,3319,0,0,0,0,0,0,26.15,26.37,28.83
$GC,2346,-1.28,-243.3,2409,2502,3444,3316,574.3,-20.4,127,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2501,3380,3444,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2666,-1.28,-243.3,2409,2501,3444,3312,639.7,-20.0,140,2672,0.00,1.88,0.00,0.000,260,0.000,0.054,2402,3693,3377,3444,3311,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2695,-1.28,-243.3,2401,3693,3444,3311,639.7,-20.0,140,2704,0.00,1.75,0.00,0.000,1030,0.000,0.026,2401,2509,3377,3444,3311,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3004,-1.28,-243.3,2401,2509,3444,3306,707.3,-20.7,151,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2509,3375,3444,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3302,-1.28,-243.3,2401,2509,3442,3303,769.1,-20.7,161,3308,0.00,2.08,0.00,0.000,516,0.000,0.029,2402,1108,3372,3442,3303,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3347,-1.28,-243.3,2401,1108,3442,3302,776.3,-20.7,162,3353,0.00,2.15,0.00,0.000,1030,0.000,0.040,2391,2508,3371,3442,3301,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3671,-1.28,-243.3,2391,2510,3440,3299,847.5,-21.8,173,3677,0.00,1.88,0.00,0.000,260,0.000,0.055,2382,3693,3369,3440,3299,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3726,-1.28,-243.3,2381,3693,3440,3298,854.9,-21.6,174,3732,0.00,1.77,0.00,0.000,1030,0.000,0.027,2382,2505,3369,3440,3299,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4042,-1.28,-243.3,2382,2505,3438,3293,923.9,-20.6,185,4048,0.00,2.10,0.00,0.000,516,0.000,0.030,2382,1096,3365,3438,3293,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4077,-1.28,-243.3,2382,1096,3438,3293,931.0,-20.0,186,4084,0.15,2.17,0.00,0.000,3078,0.154,0.040,2412,2504,3365,3438,3293,0,0,0,0,0,0,26.08,26.34,28.83
$STATE,4200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4200,begin apogee
$GC,4207,-0.20,0.0,2412,1985,3438,3291,952.8,-17.4,190,4588,1.02,0.00,371.92,0.766,10246,0.115,0.000,2752,1984,2380,2533,2227,0,0,0,0,0,0,25.93,28.83,24.18
$STATE,4589,end apogee,CONTROL_FINISHED_OK
$STATE,4589,begin climb
$GC,4591,1.28,243.3,2752,1984,2529,2218,977.6,0.0,201,4868,1.33,2.25,265.90,0.907,10756,0.045,0.034,3251,629,1380,1489,1271,0,0,0,0,0,0,24.94,24.32,23.56
$GC,4982,1.28,243.3,3251,629,1465,1253,915.5,26.9,213,4988,0.00,2.17,0.00,0.000,1030,0.000,0.030,3251,2011,1359,1466,1253,0,0,0,0,0,0,28.83,25.32,28.83
$GC,5299,1.28,243.3,3251,2011,1462,1250,826.1,26.0,224,5305,0.00,2.15,0.00,0.000,516,0.000,0.037,3262,628,1356,1462,1250,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5327,1.28,243.3,2304,628,1435,1247,826.1,26.0,224,5336,0.12,2.10,0.00,0.000,5126,0.171,0.031,3232,2011,1357,1461,1253,0,0,0,0,0,0,25.81,26.07,28.83
$GC,5636,1.28,243.3,3232,2011,1459,1248,743.1,24.8,235,5642,0.00,2.17,0.00,0.000,260,0.000,0.046,3232,3400,1354,1460,1248,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5664,1.28,243.3,2256,3399,1433,1243,743.1,24.8,235,5672,0.00,2.08,0.00,0.000,1030,0.000,0.028,3243,2011,1353,1459,1248,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5972,1.28,243.3,3242,2011,1458,1247,660.1,24.6,246,5978,0.00,2.20,0.00,0.000,260,0.000,0.046,3242,3410,1352,1458,1247,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6007,1.28,243.3,3242,3410,1458,1247,650.3,25.0,247,6013,0.00,2.12,0.00,0.000,1030,0.000,0.028,3254,1994,1352,1458,1246,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6322,1.28,243.3,3254,1993,1456,1245,572.3,24.9,259,6328,0.00,2.22,0.00,0.000,260,0.000,0.046,3254,3408,1350,1456,1245,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6393,1.28,243.3,3254,3408,1456,1245,554.2,26.5,262,6400,0.12,2.10,0.00,0.000,5126,0.180,0.029,3235,1998,1350,1456,1245,0,0,0,0,0,0,26.08,26.43,28.83
$GC,6715,1.28,243.3,3232,1998,1454,1243,476.6,22.9,278,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1998,1348,1454,1243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7013,1.28,243.3,3234,1997,1453,1242,408.1,23.6,293,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1998,1347,1453,1242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7315,1.28,243.3,3234,1997,1453,1241,340.8,22.2,308,7316,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1997,1346,1452,1241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7613,1.28,243.3,3234,1997,1453,1242,274.8,22.2,323,7620,0.00,2.12,0.00,0.000,516,0.000,0.042,3245,611,1347,1453,1241,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7664,1.28,243.3,3245,612,1453,1241,264.2,22.7,325,7670,0.00,2.08,0.00,0.000,1030,0.000,0.031,3245,2001,1346,1452,1241,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7986,1.28,243.3,3245,2001,1452,1241,190.1,22.7,341,7992,0.00,2.20,0.00,0.000,260,0.000,0.046,3245,3403,1346,1452,1241,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8088,1.28,243.3,3245,3403,1452,1241,170.1,22.5,345,8096,0.00,2.08,0.00,0.000,1030,0.000,0.029,3257,2003,1346,1452,1241,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8394,1.28,243.3,3257,2003,1452,1240,100.7,20.7,361,8400,0.00,2.12,0.00,0.000,516,0.000,0.041,3268,609,1346,1452,1240,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8481,1.28,243.3,3268,609,1451,1240,83.4,19.8,365,8487,0.15,2.08,0.00,0.000,5126,0.160,0.031,3227,1998,1345,1451,1240,0,0,0,0,0,0,26.09,26.45,28.83
$GC,8796,1.28,243.3,3227,2001,1451,1238,33.0,12.7,386,8802,0.00,2.17,0.00,0.000,260,0.000,0.044,3227,3403,1345,1452,1238,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9043,1.36,268.0,3227,3403,1452,1237,11.3,7.8,426,9060,0.00,2.08,8.35,0.074,9222,0.000,0.028,3238,1987,1286,1401,1171,0,0,0,0,0,0,28.83,26.52,26.08
$STATE,9141,end climb,SURFACE_DEPTH_REACHED
$STATE,9141,begin surface coast
$FINISH,-0.2,1.022107
$STATE,9174,end surface coast,CONTROL_FINISHED_OK
$STATE,9174,begin surface
$SM_CCo,9193,68.07,0.062,0,0,748,400.08
$SM_GC,0.95,7.95,0.80,68.07,0.032,0.048,0.062,111,2489,748,-8.31,-1.22,400.08,0,0,0,0,0,0,26.48,26.36,26.18
$IRIDIUM_FIX,2342.70,12146.33,050413,171755
$TT8_MAMPS,0.047187,0.047187
$HUMID,48.03
$INTERNAL_PRESSURE,9.60344
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,3928160
$24V_AH,23.6,42.708
$10V_AH,10.2,28.008
$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,20.050,79.000,646.175,68.075,0.000,0.000,0.000,224.725,0.000,0.000,13.861,1792.806,5416.576,722.593,1369.029,345.904,0.000,1664.079,0.000,1095.399,0.000,0.537,0.000
$DEVICE_MAMPS,215.730,55.080,906.525,61.965,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9187.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.092,0.000,0.000,0.000
$MEM,323956
$DATA_FILE_SIZE,16769,449
$CAP_FILE_SIZE,239729,0
$CFSIZE,260034560,225054720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111, 36.6,1
$GPS,050413,231402,2352.045,12146.729,8,3.4,28,-3.2