version: 66.11
glider: 171
mission: 4
dive: 311
start: 4 8 113 10 23 21
data:
$ID,171
$MISSION,4
$DIVE,311
$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,-20910.084
$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,64
$R_STBD_OVSHOOT,32
$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
$GPS1,080413,101706,2321.469,12138.958,30,1.1,31,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.3
$GPS2,080413,102249,2321.795,12139.143,11,2.0,11,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,INSHORE2
$TGT_LATLONG,2302.000,12132.600
$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,213.0,38318,-10.6,-8.333,-15.41,4401
$D_GRID,1410
$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,-243.3,124,2491,842,657,0.0,0.0,0,83,0.00,0.00,-61.85,0.000,16386,0.000,0.000,124,2491,2552,2614,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.28,-243.3,124,2490,2617,2491,4.6,-8.4,8,118,9.00,2.12,-13.00,0.000,18948,0.219,0.042,2404,1096,3378,3436,3320,0,0,0,0,0,0,25.58,26.20,26.53
$GC,197,-1.28,-243.3,2403,1096,3439,3320,47.3,-30.4,20,203,0.00,2.15,0.00,0.000,1030,0.000,0.037,2394,2502,3381,3439,3323,0,0,0,0,0,0,28.83,26.13,28.83
$GC,511,-1.28,-243.3,2394,2502,3443,3320,142.7,-27.6,36,518,0.00,2.08,0.00,0.000,516,0.000,0.028,2394,1106,3381,3443,3320,0,0,0,0,0,0,28.83,26.33,28.83
$GC,535,-1.28,-243.3,1440,1105,3429,3317,148.9,-26.9,37,542,0.00,2.12,0.00,0.000,1030,0.000,0.038,2383,2498,3382,3443,3321,0,0,0,0,0,0,28.83,26.25,28.83
$GC,863,-1.28,-243.3,2383,2498,3446,3325,239.1,-28.0,53,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2498,3385,3446,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1160,-1.28,-243.3,2383,2498,3446,3325,319.8,-26.3,68,1167,0.00,1.83,0.00,0.000,260,0.000,0.053,2374,3670,3386,3447,3325,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1228,-1.28,-243.3,2374,3669,3446,3325,337.6,-26.3,71,1235,0.10,1.73,0.00,0.000,3078,0.130,0.024,2408,2492,3385,3446,3325,0,0,0,0,0,0,26.17,26.54,28.83
$GC,1556,-1.28,-243.3,2407,2490,3446,3325,416.3,-23.1,87,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2490,3385,3446,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1854,-1.28,-243.3,2408,2490,3446,3325,479.7,-20.3,102,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2490,3385,3445,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2154,-1.28,-243.3,2408,2490,3446,3322,543.7,-20.8,117,2160,0.00,2.03,0.00,0.000,516,0.000,0.028,2408,1108,3383,3446,3321,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2202,-1.28,-243.3,2408,1109,3446,3321,553.3,-21.0,119,2208,0.00,2.12,0.00,0.000,1030,0.000,0.039,2398,2502,3382,3446,3319,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2537,-1.28,-243.3,2398,2501,3445,3317,621.2,-20.0,134,2543,0.00,1.88,0.00,0.000,260,0.000,0.054,2389,3692,3381,3446,3316,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2565,-1.28,-243.3,2389,3692,3445,3316,621.2,-20.0,134,2575,0.00,1.75,0.00,0.000,1030,0.000,0.026,2389,2509,3381,3446,3316,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2875,-1.28,-243.3,2389,2509,3445,3312,692.0,-21.2,145,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2509,3378,3445,3312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3172,-1.28,-243.3,2389,2509,3444,3307,752.7,-19.8,155,3178,0.00,1.83,0.00,0.000,260,0.000,0.055,2380,3668,3375,3444,3307,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3200,-1.28,-243.3,2380,3668,3444,3307,752.7,-19.8,155,3209,0.10,1.70,0.00,0.000,3078,0.158,0.027,2405,2490,3375,3444,3306,0,0,0,0,0,0,26.30,26.59,28.83
$GC,3509,-1.28,-243.3,2405,2490,3442,3303,812.9,-16.9,166,3514,0.00,1.88,0.00,0.000,260,0.000,0.055,2398,3674,3372,3442,3302,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3580,-1.28,-243.3,2397,3674,3442,3302,825.2,-17.4,168,3585,0.00,1.70,0.00,0.000,1030,0.000,0.027,2398,2497,3372,3442,3302,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3909,-1.28,-243.3,2397,2497,3441,3299,889.0,-18.9,179,3915,0.00,2.05,0.00,0.000,516,0.000,0.030,2398,1111,3369,3441,3298,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3975,-1.28,-243.3,2397,1110,3440,3297,901.3,-18.9,181,3981,0.00,2.15,0.00,0.000,1030,0.000,0.040,2387,2501,3368,3440,3297,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,4249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4249,begin apogee
$GC,4255,-0.20,0.0,2387,1985,3438,3293,955.2,-19.6,190,4685,1.10,0.00,419.25,0.736,10246,0.119,0.000,2747,1985,2377,2531,2223,0,0,0,0,0,0,25.86,28.83,24.10
$STATE,4687,end apogee,CONTROL_FINISHED_OK
$STATE,4687,begin climb
$GC,4689,1.28,243.3,2747,1986,2526,2213,986.2,0.0,203,5083,1.33,2.50,379.23,0.747,10500,0.044,0.045,3239,3418,1378,1488,1269,0,0,0,0,0,0,24.97,24.61,23.92
$GC,5160,1.28,243.3,3238,3418,1468,1254,908.4,27.2,219,5165,0.00,2.17,0.00,0.000,1030,0.000,0.025,3251,2016,1361,1468,1254,0,0,0,0,0,0,28.83,25.35,28.83
$GC,5484,1.28,243.3,3250,2016,1460,1248,815.4,27.7,230,5490,0.00,2.17,0.00,0.000,516,0.000,0.037,3262,609,1354,1461,1247,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5531,1.28,243.3,3261,609,1461,1248,805.8,27.7,231,5538,0.12,2.12,0.00,0.000,5126,0.170,0.030,3231,2014,1353,1460,1247,0,0,0,0,0,0,25.84,26.11,28.83
$GC,5856,1.28,243.3,3231,2014,1459,1244,721.3,24.3,242,5862,0.00,2.20,0.00,0.000,260,0.000,0.047,3231,3408,1352,1459,1245,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5937,1.28,243.3,3231,3405,1459,1244,704.6,24.4,244,5943,0.00,2.10,0.00,0.000,1030,0.000,0.029,3241,2002,1351,1458,1244,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6257,1.28,243.3,3241,2001,1458,1242,623.6,24.3,255,6263,0.00,2.20,0.00,0.000,260,0.000,0.047,3242,3400,1350,1458,1242,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6303,1.28,243.3,3241,3400,1457,1242,614.6,24.7,256,6309,0.00,2.10,0.00,0.000,1030,0.000,0.029,3253,1994,1352,1458,1246,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6618,1.28,243.3,3253,1994,1456,1241,531.7,25.7,271,6624,0.00,2.22,0.00,0.000,260,0.000,0.046,3253,3406,1348,1456,1241,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6669,1.28,243.3,3253,3406,1456,1241,519.2,26.3,273,6676,0.12,2.10,0.00,0.000,5126,0.183,0.029,3234,1995,1348,1456,1241,0,0,0,0,0,0,26.07,26.44,28.83
$GC,6991,1.28,243.3,3233,1996,1454,1240,439.2,24.8,289,6997,0.00,2.12,0.00,0.000,516,0.000,0.041,3244,611,1347,1454,1240,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7078,1.28,243.3,3244,610,1453,1240,417.0,24.9,293,7085,0.00,2.10,0.00,0.000,1030,0.000,0.031,3244,2008,1346,1453,1240,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7406,1.28,243.3,3244,2008,1453,1240,341.9,22.1,309,7412,0.00,2.15,0.00,0.000,516,0.000,0.040,3256,610,1346,1452,1240,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7461,1.28,243.3,3256,611,1453,1240,331.6,21.9,311,7467,0.00,2.08,0.00,0.000,1030,0.000,0.031,3256,2001,1346,1453,1240,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7776,1.28,243.3,3256,2001,1453,1238,259.6,21.7,327,7781,0.00,2.17,0.00,0.000,260,0.000,0.046,3257,3406,1345,1452,1238,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7903,1.28,243.3,2272,3405,1430,1235,229.0,24.0,333,7909,0.15,2.10,0.00,0.000,5126,0.168,0.030,3228,1994,1345,1452,1238,0,0,0,0,0,0,26.06,26.46,28.83
$GC,8230,1.28,243.3,3228,1994,1452,1238,164.8,19.1,349,8236,0.00,2.12,0.00,0.000,516,0.000,0.041,3239,609,1344,1452,1237,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8348,1.28,243.3,3238,609,1451,1237,143.2,20.3,354,8354,0.00,2.10,0.00,0.000,1030,0.000,0.031,3239,2003,1344,1452,1237,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8663,1.28,243.3,3238,2003,1452,1237,88.6,13.4,370,8670,0.00,2.17,0.00,0.000,260,0.000,0.047,3239,3402,1344,1451,1237,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8903,1.28,243.3,3238,3402,1451,1236,67.5,9.4,381,8909,0.00,2.08,0.00,0.000,1030,0.000,0.028,3250,1991,1343,1451,1236,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9217,1.28,243.3,3250,1991,1451,1234,41.6,10.1,402,9224,0.00,2.10,0.00,0.000,516,0.000,0.037,3261,606,1343,1451,1235,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9463,1.28,243.3,2240,606,1423,1232,14.6,9.7,435,9472,0.12,2.08,0.00,0.000,5126,0.150,0.028,3227,2007,1343,1451,1235,0,0,0,0,0,0,26.18,26.46,28.83
$STATE,9590,end climb,SURFACE_DEPTH_REACHED
$STATE,9590,begin surface coast
$FINISH,0.3,1.009513
$STATE,9626,end surface coast,CONTROL_FINISHED_OK
$STATE,9626,begin surface
$SM_CCo,9645,74.22,0.060,0,0,748,400.08
$SM_GC,1.33,8.02,0.75,74.22,0.038,0.047,0.060,121,2499,748,-8.31,-1.27,400.08,0,0,0,0,0,0,26.53,26.41,26.16
$IRIDIUM_FIX,2314.48,12137.68,080413,070712
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.90
$INTERNAL_PRESSURE,9.6425
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3921120
$24V_AH,23.9,46.505
$10V_AH,10.2,29.803
$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,20.175,79.850,798.475,74.225,0.000,0.000,0.000,180.350,0.000,0.000,11.997,1935.078,5449.209,852.743,1463.650,362.237,0.000,1820.519,0.000,1214.910,0.000,0.537,0.000
$DEVICE_MAMPS,218.790,55.080,747.405,60.435,0.000,0.000,0.000,126.225,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9626.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.226,0.000,0.000,0.000
$MEM,323692
$DATA_FILE_SIZE,16835,464
$CAP_FILE_SIZE,253959,0
$CFSIZE,260034560,223141888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.353, 29.3,1
$GPS,080413,130633,2321.912,12139.360,10,2.1,30,-3.1