version: 66.11
glider: 171
mission: 4
dive: 335
start: 4 11 113 1 44 20
data:
$ID,171
$MISSION,4
$DIVE,335
$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,-20941.988
$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,27
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$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
$GPS1,110413,013635,2319.702,12132.646,31,1.5,31,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-66.4
$GPS2,110413,014349,2319.983,12132.698,13,1.7,13,-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,188.1,3674,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.28,-243.3,127,2483,832,664,0.0,0.0,0,83,0.00,0.00,-60.75,0.000,16386,0.000,0.000,127,2483,2515,2581,2450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.28,-243.3,127,2483,2585,2451,4.4,-7.8,8,119,8.93,2.08,-13.70,0.000,18948,0.219,0.041,2390,1096,3376,3435,3318,0,0,0,0,0,0,25.54,26.17,26.53
$GC,203,-1.28,-243.3,2390,1098,3436,3318,46.5,-26.2,20,211,0.00,2.20,0.00,0.000,1030,0.000,0.041,2381,2506,3377,3437,3318,0,0,0,0,0,0,28.83,26.12,28.83
$GC,403,-1.28,-243.3,2381,2506,3439,3318,102.0,-27.1,31,409,0.00,1.83,0.00,0.000,260,0.000,0.051,2372,3676,3378,3439,3318,0,0,0,0,0,0,28.83,26.20,28.83
$GC,437,-1.28,-243.3,2372,3676,3440,3318,109.8,-27.2,32,443,0.00,1.70,0.00,0.000,1030,0.000,0.024,2372,2489,3379,3440,3318,0,0,0,0,0,0,28.83,26.41,28.83
$GC,633,-1.28,-243.3,2372,2488,3442,3318,168.7,-29.1,42,639,0.00,1.85,0.00,0.000,260,0.000,0.051,2364,3674,3380,3442,3318,0,0,0,0,0,0,28.83,26.25,28.83
$GC,679,-1.28,-243.3,1408,3673,3428,3315,182.3,-29.9,44,685,0.12,1.70,0.00,0.000,3078,0.151,0.023,2396,2488,3381,3443,3319,0,0,0,0,0,0,26.15,26.48,28.83
$GC,886,-1.28,-243.3,2396,2487,3443,3319,234.8,-24.7,54,892,0.00,2.03,0.00,0.000,516,0.000,0.028,2397,1103,3381,3444,3319,0,0,0,0,0,0,28.83,26.45,28.83
$GC,910,-1.28,-243.3,2396,1103,3443,3319,241.6,-25.4,55,916,0.00,2.15,0.00,0.000,1030,0.000,0.037,2387,2503,3381,3444,3319,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1117,-1.28,-243.3,2387,2504,3443,3319,292.9,-24.4,65,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2504,3380,3443,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1415,-1.28,-243.3,2387,2504,3443,3319,363.8,-22.8,80,1420,0.00,1.83,0.00,0.000,260,0.000,0.052,2377,3677,3381,3443,3319,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1476,-1.28,-243.3,2377,3677,3443,3318,374.7,-24.0,82,1484,0.00,1.73,0.00,0.000,1030,0.000,0.025,2377,2493,3381,3443,3319,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1782,-1.28,-243.3,2377,2492,3443,3316,449.6,-23.0,98,1788,0.00,2.03,0.00,0.000,516,0.000,0.028,2377,1108,3381,3443,3319,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,1806,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1806,begin apogee
$GC,1816,-0.20,0.0,2371,2018,3443,3319,455.4,-23.2,99,2154,1.12,0.00,323.08,0.575,10244,0.122,0.000,2739,2018,2372,2529,2215,0,0,0,0,0,0,25.96,28.83,24.72
$STATE,2156,end apogee,CONTROL_FINISHED_OK
$STATE,2156,begin climb
$GC,2158,1.28,243.3,2738,2018,2525,2210,477.5,0.0,114,2409,1.35,2.20,236.32,0.642,10756,0.056,0.035,3228,630,1373,1486,1261,0,0,0,0,0,0,25.47,25.48,24.60
$GC,2630,1.28,243.3,3228,629,1462,1241,406.3,23.0,135,2636,0.00,2.08,0.00,0.000,1030,0.000,0.029,3228,2009,1351,1462,1241,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2945,1.28,243.3,3228,2008,1459,1237,334.0,21.6,151,2952,0.00,2.12,0.00,0.000,516,0.000,0.037,3240,626,1348,1458,1238,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3186,1.28,243.3,3239,626,1457,1235,281.7,22.2,162,3192,0.00,2.03,0.00,0.000,1030,0.000,0.029,3240,1986,1346,1457,1235,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3501,1.28,243.3,3239,1986,1454,1232,213.5,19.7,178,3507,0.00,2.08,0.00,0.000,516,0.000,0.037,3251,628,1343,1454,1232,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3593,1.28,243.3,3249,628,1453,1232,195.3,20.9,182,3601,0.12,2.03,0.00,0.000,5126,0.159,0.029,3218,1989,1342,1453,1232,0,0,0,0,0,0,26.15,26.44,28.83
$GC,3797,1.28,243.3,3218,1990,1453,1230,154.3,20.1,192,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1990,1341,1453,1230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3975,1.28,243.3,3218,1990,1452,1229,122.1,17.4,201,3981,0.00,2.08,0.00,0.000,516,0.000,0.037,3229,630,1341,1453,1229,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4000,1.28,243.3,3228,629,1452,1229,117.5,17.7,202,4006,0.00,2.03,0.00,0.000,1030,0.000,0.031,3229,1981,1340,1452,1229,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4206,1.28,243.3,3229,1981,1451,1229,77.8,18.1,212,4212,0.00,2.20,0.00,0.000,260,0.000,0.045,3229,3402,1340,1452,1229,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4451,1.37,271.4,3229,3402,1450,1227,34.6,7.7,228,4492,0.00,2.05,32.20,0.392,9222,0.000,0.027,3240,2004,1269,1384,1154,0,0,0,0,0,0,28.83,26.53,25.66
$GC,4677,1.37,271.4,2176,2002,1334,1135,12.4,9.2,259,4685,0.00,2.12,0.00,0.000,516,0.000,0.037,3251,609,1248,1358,1138,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,4760,end climb,SURFACE_DEPTH_REACHED
$STATE,4761,begin surface coast
$FINISH,0.1,1.009791
$STATE,4790,end surface coast,CONTROL_FINISHED_OK
$STATE,4790,begin surface
$SM_CCo,4812,62.22,0.060,0,0,748,400.08
$SM_GC,1.26,8.07,2.95,62.22,0.037,0.034,0.060,137,2492,748,-8.26,-1.13,400.08,0,0,0,0,0,0,26.39,26.29,26.16
$IRIDIUM_FIX,2312.13,12131.22,100413,232313
$TT8_MAMPS,0.047936,0.047936
$HUMID,49.17
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,455.4,5.9
$SC_FREEKB,3913536
$24V_AH,24.6,50.198
$10V_AH,10.3,31.713
$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,19.725,48.450,591.600,62.225,0.000,0.000,0.000,259.600,1.000,0.000,14.746,1170.838,2134.733,638.088,1076.284,286.360,0.000,1428.409,0.000,781.042,0.000,9.742,0.000
$DEVICE_MAMPS,218.790,52.020,641.835,59.670,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4794.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.441,0.000,0.000,0.000
$MEM,323252
$DATA_FILE_SIZE,10118,279
$CAP_FILE_SIZE,162671,0
$CFSIZE,260034560,221192192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.385, 14.6,1
$GPS,110413,030645,2320.321,12132.784,9,4.0,28,-3.1