version: 66.11
glider: 171
mission: 4
dive: 303
start: 4 7 113 11 28 53
data:
$ID,171
$MISSION,4
$DIVE,303
$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,-20900.027
$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,58
$R_STBD_OVSHOOT,37
$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
$GPS1,070413,112153,2332.290,12140.687,34,1.3,52,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-66.1
$GPS2,070413,112821,2332.418,12140.773,12,2.3,31,-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,201.8,21360,-10.6,-8.333,-15.41,4401
$D_GRID,1166
$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,-243.3,123,2498,843,658,0.0,0.0,0,82,0.00,0.00,-60.38,0.000,16386,0.000,0.000,124,2498,2483,2563,2403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,123,2498,2567,2403,3.8,-7.0,8,117,8.90,2.10,-14.48,0.000,18948,0.216,0.041,2401,1098,3375,3435,3316,0,0,0,0,0,0,25.53,26.08,26.44
$GC,226,-1.28,-243.3,2400,1097,3440,3314,54.9,-25.5,23,232,0.00,2.15,0.00,0.000,1030,0.000,0.037,2391,2494,3378,3440,3316,0,0,0,0,0,0,28.83,26.09,28.83
$GC,553,-1.28,-243.3,2391,2494,3444,3319,149.2,-29.1,39,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2494,3381,3444,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,851,-1.28,-243.3,2392,2494,3445,3320,234.5,-27.3,54,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2493,3382,3446,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1151,-1.28,-243.3,2391,2494,3446,3320,317.7,-28.0,69,1156,0.00,1.85,0.00,0.000,260,0.000,0.053,2382,3676,3383,3446,3320,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1278,-1.28,-243.3,2382,3676,3446,3320,352.3,-27.2,75,1284,0.00,1.75,0.00,0.000,1030,0.000,0.024,2382,2488,3383,3446,3320,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1604,-1.28,-243.3,2382,2488,3446,3320,436.9,-25.4,91,1610,0.00,1.85,0.00,0.000,260,0.000,0.052,2374,3670,3383,3446,3320,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1665,-1.28,-243.3,2373,3671,3446,3320,449.1,-25.7,93,1674,0.12,1.67,0.00,0.000,3078,0.151,0.024,2406,2494,3381,3443,3320,0,0,0,0,0,0,26.23,26.57,28.83
$GC,1972,-1.28,-243.3,2406,2494,3446,3320,521.8,-21.2,109,1977,0.00,1.85,0.00,0.000,260,0.000,0.052,2398,3674,3383,3446,3320,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2019,-1.28,-243.3,2398,3674,3445,3320,531.6,-21.4,111,2025,0.00,1.67,0.00,0.000,1030,0.000,0.024,2398,2497,3384,3449,3320,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2355,-1.28,-243.3,2398,2496,3446,3319,607.2,-23.0,127,2362,0.00,2.03,0.00,0.000,516,0.000,0.030,2397,1121,3382,3445,3319,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2385,-1.28,-243.3,2398,1120,3446,3319,607.2,-23.0,127,2393,0.00,2.10,0.00,0.000,1030,0.000,0.038,2388,2501,3381,3445,3318,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2692,-1.28,-243.3,2388,2501,3446,3314,685.1,-22.3,138,2699,0.00,1.83,0.00,0.000,260,0.000,0.054,2379,3669,3379,3445,3314,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2732,-1.28,-243.3,2378,3669,3446,3314,694.0,-22.7,139,2739,0.08,1.70,0.00,0.000,3078,0.129,0.026,2405,2521,3379,3445,3314,0,0,0,0,0,0,26.29,26.60,28.83
$GC,3063,-1.28,-243.3,2405,2520,3445,3310,761.7,-19.6,150,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2519,3377,3445,3310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3363,-1.28,-243.3,2405,2520,3444,3305,822.7,-20.7,160,3370,0.00,1.83,0.00,0.000,260,0.000,0.054,2398,3676,3374,3444,3305,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3413,-1.28,-243.3,2397,3675,3444,3305,830.4,-20.9,161,3419,0.00,1.70,0.00,0.000,1030,0.000,0.027,2398,2502,3374,3444,3304,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3732,-1.28,-243.3,2397,2499,3443,3301,897.3,-19.8,172,3738,0.00,2.08,0.00,0.000,516,0.000,0.031,2397,1104,3371,3442,3301,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3767,-1.28,-243.3,2397,1104,3443,3301,904.0,-19.9,173,3774,0.00,2.17,0.00,0.000,1030,0.000,0.040,2387,2506,3371,3442,3301,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,3980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3980,begin apogee
$GC,3988,-0.20,0.0,2387,1991,3442,3299,950.9,-22.2,180,4380,1.10,0.00,384.10,0.760,10246,0.120,0.000,2747,1987,2380,2535,2225,0,0,0,0,0,0,25.91,28.83,24.12
$STATE,4382,end apogee,CONTROL_FINISHED_OK
$STATE,4382,begin climb
$GC,4386,1.28,243.3,2747,1987,2526,2212,987.7,0.0,192,4783,1.33,2.42,382.35,0.743,11012,0.044,0.044,3239,3416,1381,1493,1269,0,0,0,0,0,0,24.95,24.53,23.87
$GC,4801,1.28,243.3,3238,3416,1479,1256,944.2,21.0,206,4806,0.00,2.22,0.00,0.000,1030,0.000,0.025,3250,2011,1366,1478,1255,0,0,0,0,0,0,28.83,24.87,28.83
$GC,5117,1.28,243.3,3250,2010,1465,1243,852.5,28.0,217,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2010,1354,1465,1243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5415,1.28,243.3,3251,2010,1462,1241,775.6,25.2,227,5421,0.00,2.22,0.00,0.000,260,0.000,0.046,3251,3417,1351,1462,1241,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5464,1.28,243.3,3250,3417,1462,1241,766.7,25.3,228,5471,0.12,2.12,0.00,0.000,5126,0.183,0.028,3232,1992,1351,1462,1241,0,0,0,0,0,0,25.94,26.27,28.83
$GC,5785,1.28,243.3,3232,1992,1460,1239,688.2,23.2,239,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1992,1349,1460,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6085,1.28,243.3,3232,1991,1459,1238,617.6,23.1,249,6091,0.00,2.25,0.00,0.000,260,0.000,0.048,3232,3415,1349,1460,1238,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6134,1.28,243.3,3232,3415,1459,1238,609.5,23.3,250,6140,0.00,2.10,0.00,0.000,1030,0.000,0.029,3243,2008,1348,1459,1238,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6445,1.28,243.3,3243,2007,1458,1236,530.5,23.6,265,6446,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2007,1347,1458,1236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6744,1.28,243.3,3243,2007,1458,1236,459.4,22.7,280,6750,0.00,2.22,0.00,0.000,260,0.000,0.046,3243,3425,1347,1458,1236,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6784,1.28,243.3,3243,3425,1458,1236,453.7,22.6,281,6793,0.00,2.12,0.00,0.000,1030,0.000,0.029,3255,1996,1347,1458,1236,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7089,1.28,243.3,3254,1995,1457,1235,383.9,22.2,297,7095,0.00,2.22,0.00,0.000,260,0.000,0.046,3255,3416,1346,1457,1235,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7187,1.28,243.3,3254,3417,1457,1235,362.1,24.8,301,7193,0.12,2.10,0.00,0.000,5126,0.180,0.030,3234,2000,1346,1457,1235,0,0,0,0,0,0,26.10,26.48,28.83
$GC,7505,1.28,243.3,3232,2000,1456,1233,293.9,20.0,317,7511,0.00,2.22,0.00,0.000,260,0.000,0.047,3233,3424,1344,1456,1233,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7545,1.28,243.3,3234,3424,1456,1233,288.0,20.8,318,7553,0.00,2.12,0.00,0.000,1030,0.000,0.029,3246,1995,1344,1456,1233,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7851,1.28,243.3,3246,1995,1455,1232,219.9,21.3,334,7856,0.00,2.12,0.00,0.000,516,0.000,0.040,3257,606,1344,1457,1232,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7884,1.28,243.3,3257,606,1456,1232,214.5,21.2,335,7890,0.00,2.10,0.00,0.000,1030,0.000,0.031,3257,2015,1343,1455,1232,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8199,1.28,243.3,3257,2015,1455,1232,147.7,20.6,351,8206,0.00,2.17,0.00,0.000,516,0.000,0.041,3268,609,1343,1455,1232,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8276,1.28,243.3,3268,609,1455,1232,133.7,20.7,354,8283,0.15,2.08,0.00,0.000,5126,0.162,0.031,3228,2001,1344,1456,1232,0,0,0,0,0,0,26.08,26.44,28.83
$GC,8592,1.28,243.3,3228,2002,1455,1232,76.2,17.0,370,8599,0.00,2.17,0.00,0.000,260,0.000,0.046,3228,3402,1344,1456,1232,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8838,1.28,243.3,3228,3402,1456,1232,38.9,12.7,385,8844,0.00,2.08,0.00,0.000,1030,0.000,0.028,3239,1991,1343,1455,1232,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9157,1.28,243.3,2224,1989,1428,1229,7.8,10.9,433,9165,0.00,2.22,0.00,0.000,260,0.000,0.047,3239,3407,1344,1456,1232,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,9202,end climb,SURFACE_DEPTH_REACHED
$STATE,9202,begin surface coast
$FINISH,0.0,1.022846
$STATE,9232,end surface coast,CONTROL_FINISHED_OK
$STATE,9232,begin surface
$SM_CCo,9251,76.57,0.062,0,0,747,400.08
$SM_GC,0.79,8.00,1.38,76.57,0.035,0.032,0.062,142,2516,747,-8.29,1.89,400.08,0,0,0,0,0,0,26.47,26.52,26.18
$IRIDIUM_FIX,2326.22,12132.91,070413,080840
$TT8_MAMPS,0.047187,0.047187
$HUMID,49.29
$INTERNAL_PRESSURE,9.58391
$TCM_TEMP,22.10
$XPDR_PINGS,0
$SC_FREEKB,3923680
$24V_AH,23.9,45.211
$10V_AH,10.3,29.135
$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,19.925,73.750,766.450,76.575,0.000,0.000,0.000,208.875,0.000,0.000,33.746,1773.447,5385.949,819.632,1400.468,339.155,0.000,1762.691,0.000,1107.816,0.000,0.536,0.000
$DEVICE_MAMPS,215.730,54.315,759.645,61.965,0.000,0.000,0.000,126.225,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9221.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.112,0.000,0.000,0.000
$MEM,323932
$DATA_FILE_SIZE,16785,446
$CAP_FILE_SIZE,238160,0
$CFSIZE,260034560,223875072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160,163.2,1
$GPS,070413,140536,2330.007,12140.282,33,1.6,34,-3.1