version: 66.11
glider: 171
mission: 4
dive: 306
start: 4 7 113 19 30 40
data:
$ID,171
$MISSION,4
$DIVE,306
$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,-20903.795
$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,54
$R_STBD_OVSHOOT,35
$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
$GPS1,070413,192336,2325.062,12139.438,38,0.9,39,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-68.6
$GPS2,070413,192955,2325.173,12139.479,16,1.2,16,-3.1
$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,188.9,7771,-14.1,-8.333,-18.40,2833
$D_GRID,1639
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.11,-155.6,112,2494,846,658,0.0,0.0,0,82,0.00,0.00,-60.12,0.000,16386,0.000,0.000,112,2494,2461,2530,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.27,-201.4,112,2494,2533,2394,3.7,-6.7,8,117,8.95,2.15,-12.52,0.000,18948,0.216,0.043,2400,1096,3208,3284,3132,0,0,0,0,0,0,25.55,26.17,26.53
$GC,214,-1.27,-201.4,2399,1096,3286,3132,50.9,-29.3,23,220,0.00,2.15,0.00,0.000,1030,0.000,0.036,2391,2499,3209,3286,3132,0,0,0,0,0,0,28.83,26.13,28.83
$GC,529,-1.27,-201.4,2390,2499,3294,3132,138.9,-27.8,39,535,0.00,1.85,0.00,0.000,260,0.000,0.053,2381,3670,3213,3294,3132,0,0,0,0,0,0,28.83,26.20,28.83
$GC,690,-1.27,-201.4,2381,3670,3296,3133,180.3,-27.4,46,697,0.12,1.70,0.00,0.000,3078,0.156,0.024,2414,2483,3214,3296,3132,0,0,0,0,0,0,26.11,26.46,28.83
$GC,1007,-1.27,-201.4,2413,2482,3298,3129,258.0,-23.3,62,1014,0.00,2.03,0.00,0.000,516,0.000,0.029,2414,1105,3215,3297,3133,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1036,-1.27,-201.4,2413,1105,3300,3133,264.3,-23.2,63,1042,0.00,2.12,0.00,0.000,1030,0.000,0.037,2404,2501,3214,3297,3132,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1357,-1.27,-201.4,2403,2501,3298,3132,341.4,-24.6,79,1363,0.00,2.08,0.00,0.000,516,0.000,0.028,2404,1105,3213,3295,3132,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1392,-1.27,-201.4,2403,1105,3297,3133,347.9,-24.9,80,1397,0.00,2.12,0.00,0.000,1030,0.000,0.037,2393,2504,3215,3298,3132,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1706,-1.27,-201.4,2389,2504,3297,3133,426.0,-23.6,96,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2504,3214,3297,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2007,-1.27,-201.4,2392,2504,3297,3132,492.9,-21.9,111,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2504,3214,3297,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2306,-1.27,-201.4,2392,2504,3297,3132,555.9,-20.5,126,2312,0.00,1.83,0.00,0.000,260,0.000,0.053,2387,3674,3214,3297,3132,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2357,-1.27,-201.4,2384,3674,3297,3132,565.3,-20.6,128,2363,0.00,1.67,0.00,0.000,1030,0.000,0.025,2384,2495,3214,3297,3132,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2686,-1.27,-201.4,2384,2494,3297,3128,633.7,-20.6,142,2692,0.00,2.03,0.00,0.000,516,0.000,0.028,2384,1115,3212,3297,3128,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2733,-1.27,-201.4,2384,1116,3298,3127,640.8,-20.7,143,2740,0.15,2.12,0.00,0.000,3078,0.156,0.038,2413,2505,3212,3297,3127,0,0,0,0,0,0,26.10,26.38,28.83
$GC,3058,-1.27,-201.4,2413,2505,3297,3124,702.0,-18.0,154,3064,0.00,1.83,0.00,0.000,260,0.000,0.054,2405,3671,3210,3297,3124,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3097,-1.27,-201.4,2405,3671,3297,3124,708.5,-18.4,155,3103,0.00,1.73,0.00,0.000,1030,0.000,0.027,2405,2508,3210,3297,3123,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3428,-1.27,-201.4,2405,2508,3294,3118,774.8,-19.9,166,3434,0.00,2.08,0.00,0.000,516,0.000,0.029,2405,1106,3207,3297,3118,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3487,-1.27,-201.4,2405,1105,3297,3117,782.3,-20.3,167,3495,0.00,2.15,0.00,0.000,1030,0.000,0.038,2395,2510,3207,3297,3117,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3794,-1.27,-201.4,2394,2509,3294,3114,847.4,-18.9,178,3800,0.00,1.83,0.00,0.000,260,0.000,0.054,2386,3672,3204,3294,3114,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3849,-1.27,-201.4,2386,3672,3294,3114,854.5,-19.3,179,3855,0.00,1.70,0.00,0.000,1030,0.000,0.028,2386,2498,3204,3294,3114,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4165,-1.27,-201.4,2386,2496,3292,3111,920.5,-20.2,190,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2496,3201,3292,3111,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4314,begin apogee
$GC,4320,-0.20,0.0,2386,1997,3290,3108,950.1,-19.6,195,4652,1.12,0.00,323.00,0.759,10246,0.121,0.000,2752,1995,2378,2540,2217,0,0,0,0,0,0,25.88,28.83,24.22
$STATE,4654,end apogee,CONTROL_FINISHED_OK
$STATE,4654,begin climb
$GC,4658,1.27,201.4,2752,1995,2531,2206,971.3,0.0,205,4891,1.30,0.00,226.55,0.890,10758,0.044,0.000,3238,1994,1557,1655,1460,0,0,0,0,0,0,25.07,28.83,23.70
$GC,5184,1.27,201.4,3238,1994,1616,1421,884.0,22.5,224,5190,0.00,2.28,0.00,0.000,260,0.000,0.047,3238,3414,1518,1616,1420,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5319,1.27,201.4,3238,3414,1620,1420,854.0,23.6,228,5326,0.00,2.12,0.00,0.000,1030,0.000,0.028,3250,2006,1516,1615,1418,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5645,1.27,201.4,3250,2005,1614,1418,779.9,22.3,239,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2005,1516,1614,1418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5945,1.27,201.4,3250,2005,1612,1418,710.2,24.3,249,5951,0.00,2.22,0.00,0.000,260,0.000,0.046,3250,3418,1514,1612,1417,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6004,1.27,201.4,3250,3418,1612,1417,701.3,24.7,250,6013,0.12,2.12,0.00,0.000,5126,0.183,0.029,3231,1991,1514,1612,1417,0,0,0,0,0,0,26.03,26.39,28.83
$GC,6313,1.27,201.4,3231,1991,1611,1416,626.0,21.2,261,6318,0.00,2.25,0.00,0.000,260,0.000,0.046,3232,3421,1513,1611,1416,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6367,1.27,201.4,3231,3421,1611,1416,618.0,21.0,262,6373,0.00,2.12,0.00,0.000,1030,0.000,0.029,3243,1995,1513,1611,1416,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6682,1.27,201.4,3242,1994,1611,1415,549.9,19.3,277,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1994,1512,1611,1414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6982,1.27,201.4,3242,1994,1610,1413,492.2,20.1,292,6988,0.00,2.22,0.00,0.000,260,0.000,0.046,3242,3415,1511,1610,1413,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7016,1.27,201.4,3242,3415,1610,1413,487.0,20.3,293,7022,0.00,2.12,0.00,0.000,1030,0.000,0.029,3254,1992,1511,1609,1413,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7331,1.27,201.4,3254,1992,1609,1411,420.0,19.1,309,7337,0.00,2.22,0.00,0.000,260,0.000,0.046,3255,3414,1510,1609,1411,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7442,1.27,201.4,2304,3414,1577,1407,397.9,20.7,314,7449,0.15,2.10,0.00,0.000,5126,0.173,0.030,3227,1996,1512,1609,1415,0,0,0,0,0,0,26.04,26.47,28.83
$GC,7764,1.27,201.4,3227,1998,1608,1410,340.7,17.4,330,7770,0.00,2.12,0.00,0.000,516,0.000,0.041,3238,610,1509,1608,1410,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7858,1.27,201.4,3237,610,1608,1410,324.8,17.5,334,7864,0.00,2.10,0.00,0.000,1030,0.000,0.031,3238,2019,1508,1607,1410,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8180,1.27,201.4,3237,2019,1608,1409,267.8,17.2,350,8186,0.00,2.15,0.00,0.000,260,0.000,0.046,3238,3400,1509,1608,1410,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8256,1.27,201.4,3238,3400,1608,1410,255.5,17.5,353,8262,0.00,2.08,0.00,0.000,1030,0.000,0.029,3249,1998,1509,1608,1410,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8571,1.27,201.4,3249,1998,1608,1410,194.9,19.2,369,8572,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1998,1509,1608,1410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8871,1.27,201.4,3249,1997,1604,1410,142.6,17.5,384,8877,0.00,2.20,0.00,0.000,260,0.000,0.046,3250,3400,1509,1608,1410,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9048,1.27,201.4,3249,3400,1608,1410,112.5,18.3,392,9055,0.12,2.08,0.00,0.000,5126,0.171,0.028,3229,1991,1509,1608,1410,0,0,0,0,0,0,26.13,26.50,28.83
$GC,9366,1.27,201.4,3229,1991,1608,1410,68.6,12.9,408,9372,0.00,2.10,0.00,0.000,516,0.000,0.039,3240,613,1510,1608,1412,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9610,1.34,221.4,3239,613,1612,1409,45.4,7.6,422,9637,0.00,2.05,16.58,0.392,9222,0.000,0.030,3240,2001,1468,1577,1360,0,0,0,0,0,0,28.83,26.45,25.66
$GC,9936,1.43,247.3,3242,2001,1559,1352,24.2,7.4,455,9984,0.12,2.20,35.53,0.381,10500,0.081,0.045,3333,3402,1360,1471,1250,0,0,0,0,0,0,26.57,26.20,25.63
$STATE,10085,end climb,SURFACE_DEPTH_REACHED
$STATE,10085,begin surface coast
$FINISH,0.2,1.022849
$STATE,10105,end surface coast,CONTROL_FINISHED_OK
$STATE,10105,begin surface
$SM_CCo,10124,74.90,0.060,0,0,748,400.08
$SM_GC,0.99,8.30,1.38,74.90,0.035,0.029,0.060,137,2496,748,-8.29,1.81,400.08,0,0,0,0,0,0,26.27,26.32,26.03
$IRIDIUM_FIX,2319.18,12109.51,070413,161653
$TT8_MAMPS,0.047936,0.047936
$HUMID,47.20
$INTERNAL_PRESSURE,9.59367
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,3922720
$24V_AH,23.7,45.678
$10V_AH,10.2,29.374
$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,20.475,78.100,601.650,74.900,0.000,0.000,0.000,215.350,0.000,0.000,17.063,2021.525,6008.533,708.645,1493.415,361.114,0.000,1674.290,0.000,1212.403,0.000,0.537,0.000
$DEVICE_MAMPS,216.495,54.315,889.695,59.670,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10099.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.126,0.000,0.000,0.000
$MEM,323716
$DATA_FILE_SIZE,16768,483
$CAP_FILE_SIZE,258001,0
$CFSIZE,260034560,223600640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077, 58.4,1
$GPS,070413,222159,2323.837,12139.823,38,1.3,38,-3.1