version: 66.11
glider: 171
mission: 4
dive: 308
start: 4 8 113 1 21 46
data:
$ID,171
$MISSION,4
$DIVE,308
$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,-20906.314
$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,66
$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
$GPS1,080413,011451,2323.178,12139.812,10,5.7,30,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.9
$GPS2,080413,012113,2323.456,12139.961,17,1.9,17,-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,218.1,4833,-10.6,-8.333,-15.41,4401
$D_GRID,1580
$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,-243.3,126,2495,854,663,0.0,0.0,0,80,0.00,0.00,-58.53,0.000,16386,0.000,0.000,126,2496,2455,2519,2391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.28,-243.3,126,2496,2523,2391,4.0,-8.4,8,115,8.98,1.88,-15.05,0.000,18692,0.220,0.063,2393,3672,3376,3436,3317,0,0,0,0,0,0,25.56,26.04,26.53
$GC,194,-1.28,-243.3,2393,3672,3439,3317,45.8,-32.8,21,200,0.00,1.70,0.00,0.000,1030,0.000,0.024,2393,2495,3377,3438,3317,0,0,0,0,0,0,28.83,26.27,28.83
$GC,508,-1.28,-243.3,2393,2494,3442,3317,137.0,-27.6,37,514,0.00,2.05,0.00,0.000,516,0.000,0.028,2393,1109,3379,3442,3317,0,0,0,0,0,0,28.83,26.32,28.83
$GC,536,-1.28,-243.3,2393,1109,3442,3317,144.1,-27.8,38,542,0.00,2.12,0.00,0.000,1030,0.000,0.037,2382,2494,3380,3442,3318,0,0,0,0,0,0,28.83,26.23,28.83
$GC,856,-1.28,-243.3,2382,2494,3443,3319,233.0,-27.4,54,862,0.00,1.85,0.00,0.000,260,0.000,0.053,2374,3677,3381,3444,3319,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1000,-1.28,-243.3,2373,3677,3443,3320,269.1,-27.5,60,1009,0.12,1.67,0.00,0.000,3078,0.152,0.023,2406,2491,3382,3444,3320,0,0,0,0,0,0,26.17,26.51,28.83
$GC,1307,-1.28,-243.3,2405,2492,3444,3320,347.9,-23.1,76,1313,0.00,2.03,0.00,0.000,516,0.000,0.028,2406,1106,3382,3444,3320,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1379,-1.28,-243.3,2406,1106,3443,3320,364.0,-24.0,79,1385,0.00,2.12,0.00,0.000,1030,0.000,0.037,2396,2503,3382,3444,3320,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1700,-1.28,-243.3,2396,2501,3444,3320,442.7,-24.3,95,1706,0.00,1.83,0.00,0.000,260,0.000,0.052,2387,3674,3382,3444,3320,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1760,-1.28,-243.3,1488,3673,3431,3316,453.6,-23.7,97,1768,0.00,1.70,0.00,0.000,1030,0.000,0.024,2387,2508,3381,3443,3320,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2068,-1.28,-243.3,2387,2508,3443,3319,523.9,-21.9,113,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2508,3381,3443,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2368,-1.28,-243.3,2387,2508,3443,3315,592.2,-23.2,128,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2508,3379,3443,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2679,-1.28,-243.3,2387,2508,3443,3311,661.6,-22.1,139,2686,0.00,1.83,0.00,0.000,260,0.000,0.054,2378,3671,3377,3443,3311,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2703,-1.28,-243.3,2378,3671,3443,3311,661.6,-22.1,139,2710,0.12,1.67,0.00,0.000,3078,0.148,0.026,2412,2509,3377,3443,3311,0,0,0,0,0,0,26.25,26.59,28.83
$GC,3020,-1.28,-243.3,2411,2509,3443,3306,727.2,-18.4,150,3027,0.00,2.08,0.00,0.000,516,0.000,0.028,2412,1104,3374,3443,3306,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3055,-1.28,-243.3,1472,1103,3429,3301,733.8,-18.3,151,3061,0.00,2.15,0.00,0.000,1030,0.000,0.039,2402,2502,3374,3443,3305,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3390,-1.28,-243.3,2402,2502,3441,3302,798.6,-19.7,162,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2502,3371,3441,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3690,-1.28,-243.3,2402,2501,3440,3299,856.3,-18.9,172,3696,0.00,1.83,0.00,0.000,260,0.000,0.055,2393,3668,3368,3440,3296,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3795,-1.28,-243.3,2393,3668,3438,3298,875.3,-19.4,175,3802,0.00,1.70,0.00,0.000,1030,0.000,0.027,2393,2494,3368,3439,3297,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4120,-1.28,-243.3,2393,2494,3438,3293,940.0,-19.4,186,4126,0.00,2.05,0.00,0.000,516,0.000,0.030,2393,1109,3365,3438,3292,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4148,-1.28,-243.3,2393,1109,3437,3292,940.0,-19.4,186,4156,0.00,2.12,0.00,0.000,1030,0.000,0.039,2383,2499,3364,3438,3291,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,4183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4183,begin apogee
$GC,4189,-0.20,0.0,2382,1987,3438,3291,952.5,-19.3,188,4587,1.12,0.00,388.85,0.754,10246,0.122,0.000,2748,1987,2379,2534,2224,0,0,0,0,0,0,25.86,28.83,24.11
$STATE,4591,end apogee,CONTROL_FINISHED_OK
$STATE,4591,begin climb
$GC,4593,1.28,243.3,2748,1987,2526,2211,981.1,0.0,200,4980,1.33,2.45,371.45,0.752,11012,0.044,0.045,3238,3407,1375,1485,1265,0,0,1,0,0,0,24.96,24.48,23.87
$GC,4998,1.28,243.3,3238,3408,1476,1259,928.2,22.1,214,5004,0.00,2.20,0.00,0.000,1030,0.000,0.025,3250,2012,1366,1475,1258,0,0,0,0,0,0,28.83,24.89,28.83
$GC,5317,1.28,243.3,3250,2013,1463,1246,837.8,26.6,225,5323,0.00,2.25,0.00,0.000,260,0.000,0.046,3250,3415,1354,1463,1246,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5371,1.28,243.3,3250,3415,1462,1246,828.3,26.7,226,5378,0.12,2.15,0.00,0.000,5126,0.182,0.028,3232,1995,1354,1462,1246,0,0,0,0,0,0,25.77,26.08,28.83
$GC,5688,1.28,243.3,3232,1994,1460,1242,740.9,25.8,237,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1994,1351,1460,1242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5987,1.28,243.3,3231,1994,1459,1241,664.9,25.4,247,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1994,1350,1459,1241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6301,1.28,243.3,3232,1994,1458,1239,589.4,23.9,258,6307,0.00,2.22,0.00,0.000,260,0.000,0.044,3232,3413,1349,1458,1241,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6335,1.28,243.3,3232,3413,1458,1241,582.4,24.2,259,6341,0.00,2.10,0.00,0.000,1030,0.000,0.029,3243,2003,1349,1458,1241,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6650,1.28,243.3,3243,2002,1457,1238,505.7,23.0,275,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2002,1349,1459,1240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6949,1.28,243.3,3243,2001,1456,1238,435.1,23.3,290,6955,0.00,2.22,0.00,0.000,260,0.000,0.046,3243,3418,1347,1456,1238,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7005,1.28,243.3,3243,3418,1456,1238,424.6,23.4,292,7011,0.00,2.12,0.00,0.000,1030,0.000,0.030,3255,1995,1347,1456,1238,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7320,1.28,243.3,3255,1995,1454,1237,348.8,24.4,308,7326,0.00,2.22,0.00,0.000,260,0.000,0.045,3255,3415,1345,1454,1237,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7369,1.28,243.3,3255,3414,1453,1237,337.4,24.9,310,7376,0.12,2.10,0.00,0.000,5126,0.179,0.030,3234,2001,1345,1453,1237,0,0,0,0,0,0,26.08,26.46,28.83
$GC,7692,1.28,243.3,3234,2001,1453,1236,267.1,20.5,326,7697,0.00,2.22,0.00,0.000,260,0.000,0.046,3234,3419,1343,1453,1234,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7717,1.28,243.3,3234,3419,1453,1236,261.7,20.5,327,7723,0.00,2.12,0.00,0.000,1030,0.000,0.030,3246,2001,1344,1453,1236,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8043,1.28,243.3,3245,2001,1453,1236,192.3,20.9,343,8050,0.00,2.22,0.00,0.000,260,0.000,0.046,3246,3418,1346,1452,1240,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8094,1.28,243.3,3245,3418,1452,1236,182.2,21.3,345,8100,0.00,2.10,0.00,0.000,1030,0.000,0.029,3257,2001,1344,1453,1236,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8415,1.28,243.3,3257,2001,1453,1236,118.1,20.5,361,8420,0.00,2.12,0.00,0.000,516,0.000,0.041,3268,609,1344,1453,1236,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8481,1.28,243.3,3268,609,1453,1236,106.4,17.8,364,8488,0.15,2.10,0.00,0.000,5126,0.161,0.031,3228,2018,1344,1452,1236,0,0,0,0,0,0,26.08,26.44,28.83
$GC,8809,1.28,243.3,3227,2018,1452,1239,60.5,10.4,380,8815,0.00,2.15,0.00,0.000,260,0.000,0.047,3228,3400,1345,1453,1237,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9051,1.28,243.3,3227,3400,1453,1236,39.1,10.9,396,9058,0.00,2.08,0.00,0.000,1030,0.000,0.028,3239,1986,1344,1453,1236,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9371,1.28,243.3,2176,1983,1422,1233,4.8,11.7,444,9379,0.00,2.08,0.00,0.000,516,0.000,0.036,3250,609,1344,1453,1236,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,9390,end climb,SURFACE_DEPTH_REACHED
$STATE,9390,begin surface coast
$FINISH,0.2,1.022864
$STATE,9419,end surface coast,CONTROL_FINISHED_OK
$STATE,9420,begin surface
$SM_CCo,9441,75.03,0.060,0,0,747,400.08
$SM_GC,1.05,7.88,2.95,75.03,0.026,0.037,0.060,136,2492,747,-8.29,-1.27,400.08,0,0,0,0,0,0,26.46,26.34,26.17
$IRIDIUM_FIX,2316.83,12138.91,070413,222245
$TT8_MAMPS,0.047187,0.047187
$HUMID,47.59
$INTERNAL_PRESSURE,9.59367
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,3922080
$24V_AH,23.9,46.050
$10V_AH,10.2,29.541
$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,19.950,79.300,760.300,75.025,0.000,0.000,0.000,212.475,0.000,0.000,18.248,1801.404,5528.351,853.391,1374.895,340.338,0.000,1775.721,0.000,1093.306,0.000,0.537,0.000
$DEVICE_MAMPS,219.555,62.730,754.290,59.670,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9417.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.151,0.000,0.000,0.000
$MEM,323716
$DATA_FILE_SIZE,16795,452
$CAP_FILE_SIZE,238903,0
$CFSIZE,260034560,223432704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.105, 59.6,1
$GPS,080413,040135,2322.377,12139.398,31,1.1,32,-3.1