version: 66.11
glider: 171
mission: 4
dive: 305
start: 4 7 113 16 47 8
data:
$ID,171
$MISSION,4
$DIVE,305
$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,-20902.539
$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,61
$R_STBD_OVSHOOT,29
$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
$GPS1,070413,164003,2327.371,12139.463,11,4.9,30,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.4
$GPS2,070413,164637,2327.257,12139.407,9,1.5,9,-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,179.8,11608,-10.6,-8.333,-15.41,4401
$D_GRID,1282
$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,-243.3,116,2490,842,654,0.0,0.0,0,83,0.00,0.00,-61.47,0.000,16386,0.000,0.000,116,2489,2515,2572,2458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.28,-243.3,116,2490,2576,2459,3.8,-6.7,8,118,9.02,2.10,-13.88,0.000,18948,0.221,0.039,2402,1096,3375,3436,3315,0,0,0,0,0,0,25.54,26.15,26.51
$GC,307,-1.28,-243.3,2402,1095,3442,3316,77.1,-30.5,25,316,0.00,2.17,0.00,0.000,1030,0.000,0.038,2392,2507,3379,3442,3317,0,0,0,0,0,0,28.83,26.16,28.83
$GC,612,-1.28,-243.3,2393,2507,3446,3321,165.7,-26.1,41,619,0.00,1.83,0.00,0.000,260,0.000,0.052,2383,3673,3383,3446,3321,0,0,0,0,0,0,28.83,26.22,28.83
$GC,673,-1.28,-243.3,2383,3673,3444,3322,178.5,-27.5,43,681,0.00,1.70,0.00,0.000,1030,0.000,0.024,2383,2481,3384,3446,3322,0,0,0,0,0,0,28.83,26.45,28.83
$GC,979,-1.28,-243.3,2383,2480,3447,3323,265.9,-27.1,59,985,0.00,1.88,0.00,0.000,260,0.000,0.054,2374,3673,3385,3447,3323,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1066,-1.28,-243.3,2377,3673,3448,3324,289.2,-27.0,63,1073,0.12,1.67,0.00,0.000,3078,0.152,0.024,2407,2497,3386,3450,3323,0,0,0,0,0,0,26.19,26.52,28.83
$GC,1394,-1.28,-243.3,2407,2496,3447,3323,368.8,-23.9,79,1399,0.00,2.05,0.00,0.000,516,0.000,0.029,2407,1109,3386,3448,3324,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1453,-1.28,-243.3,2407,1109,3447,3323,379.5,-23.5,81,1461,0.00,2.12,0.00,0.000,1030,0.000,0.038,2397,2504,3385,3447,3323,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1759,-1.28,-243.3,2397,2504,3447,3323,456.9,-23.6,97,1765,0.00,1.83,0.00,0.000,260,0.000,0.052,2388,3675,3385,3447,3323,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1784,-1.28,-243.3,2388,3675,3444,3323,462.4,-23.1,98,1790,0.00,1.67,0.00,0.000,1030,0.000,0.025,2388,2505,3385,3447,3323,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2111,-1.28,-243.3,2388,2503,3447,3323,535.9,-23.5,114,2117,0.00,2.05,0.00,0.000,516,0.000,0.029,2389,1109,3385,3447,3323,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2144,-1.28,-243.3,2388,1109,3447,3322,542.3,-23.6,115,2151,0.12,2.12,0.00,0.000,3078,0.158,0.038,2411,2501,3385,3447,3323,0,0,0,0,0,0,26.16,26.38,28.83
$GC,2483,-1.28,-243.3,2411,2503,3447,3320,616.4,-22.4,131,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2503,3383,3447,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2780,-1.28,-243.3,2414,2503,3447,3316,682.5,-21.4,141,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2503,3381,3446,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3080,-1.28,-243.3,2410,2503,3446,3312,739.7,-18.2,151,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2503,3378,3445,3312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3381,-1.28,-243.3,2410,2503,3446,3308,795.2,-18.8,161,3387,0.00,1.83,0.00,0.000,260,0.000,0.055,2403,3669,3377,3447,3308,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3430,-1.28,-243.3,2403,3669,3446,3307,802.6,-19.3,162,3436,0.00,1.67,0.00,0.000,1030,0.000,0.027,2404,2509,3376,3446,3307,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3750,-1.28,-243.3,2402,2509,3445,3304,871.4,-21.0,173,3756,0.00,2.08,0.00,0.000,516,0.000,0.028,2403,1105,3374,3445,3304,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3809,-1.28,-243.3,2403,1105,3444,3303,878.7,-21.2,174,3817,0.00,2.15,0.00,0.000,1030,0.000,0.040,2392,2504,3374,3445,3303,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4117,-1.28,-243.3,2392,2504,3442,3300,944.3,-19.4,185,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2504,3371,3442,3300,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4143,begin apogee
$GC,4151,-0.20,0.0,2392,1983,3443,3300,950.1,-19.4,186,4541,1.10,0.00,381.17,0.759,10246,0.119,0.000,2752,1982,2378,2533,2224,0,0,0,0,0,0,25.91,28.83,24.15
$STATE,4543,end apogee,CONTROL_FINISHED_OK
$STATE,4543,begin climb
$GC,4545,1.28,243.3,2751,1982,2527,2213,974.4,0.0,198,4935,1.33,0.00,377.00,0.740,11014,0.045,0.000,3242,1982,1379,1492,1267,0,0,0,0,0,0,24.97,28.83,23.91
$GC,5228,1.28,243.3,3242,1982,1465,1244,836.6,27.3,222,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1982,1354,1465,1244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5526,1.28,243.3,3242,1982,1462,1242,756.1,26.6,232,5532,0.00,2.28,0.00,0.000,260,0.000,0.047,3242,3417,1351,1462,1241,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5595,1.28,243.3,3242,3416,1462,1242,738.3,26.8,234,5602,0.00,2.10,0.00,0.000,1030,0.000,0.028,3254,2012,1352,1462,1242,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5925,1.28,243.3,3254,2012,1460,1241,652.9,25.2,245,5931,0.00,2.22,0.00,0.000,260,0.000,0.045,3254,3417,1350,1460,1240,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5949,1.28,243.3,3254,3416,1460,1240,652.9,25.2,245,5956,0.12,2.12,0.00,0.000,5126,0.185,0.028,3235,1992,1350,1460,1241,0,0,0,0,0,0,26.03,26.38,28.83
$GC,6275,1.28,243.3,3234,1991,1459,1239,569.6,23.9,258,6281,0.00,2.12,0.00,0.000,516,0.000,0.039,3246,609,1349,1459,1239,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6300,1.28,243.3,3246,609,1459,1239,563.7,23.8,259,6306,0.00,2.12,0.00,0.000,1030,0.000,0.031,3246,2014,1349,1459,1239,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6627,1.28,243.3,3245,2014,1459,1238,487.0,22.6,275,6633,0.00,2.17,0.00,0.000,260,0.000,0.047,3246,3408,1348,1458,1238,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6682,1.28,243.3,3245,3408,1458,1238,475.3,24.1,277,6688,0.00,2.10,0.00,0.000,1030,0.000,0.029,3257,1997,1348,1458,1238,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6997,1.28,243.3,3257,1997,1458,1237,398.0,22.8,293,7004,0.00,2.20,0.00,0.000,260,0.000,0.046,3257,3400,1347,1458,1237,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7085,1.28,243.3,3257,3400,1457,1237,376.9,24.3,297,7092,0.15,2.10,0.00,0.000,5126,0.171,0.029,3229,1999,1347,1457,1237,0,0,0,0,0,0,26.08,26.47,28.83
$GC,7412,1.28,243.3,3229,2000,1456,1236,310.6,19.4,313,7417,0.00,2.12,0.00,0.000,516,0.000,0.041,3240,606,1346,1456,1236,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7487,1.28,243.3,3240,606,1456,1236,297.1,20.0,316,7493,0.00,2.08,0.00,0.000,1030,0.000,0.031,3240,1999,1346,1456,1236,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7803,1.28,243.3,3240,1999,1456,1236,233.0,19.4,332,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1999,1345,1456,1235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8102,1.28,243.3,3240,1999,1456,1236,172.9,21.7,347,8108,0.00,2.12,0.00,0.000,516,0.000,0.039,3251,610,1346,1456,1236,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8127,1.28,243.3,3251,610,1456,1236,167.5,21.6,348,8134,0.00,2.08,0.00,0.000,1030,0.000,0.030,3252,2001,1346,1456,1236,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8454,1.28,243.3,3252,1998,1456,1236,101.7,19.4,364,8460,0.00,2.17,0.00,0.000,260,0.000,0.046,3252,3402,1346,1456,1236,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8570,1.28,243.3,3251,3402,1456,1235,81.5,18.8,369,8577,0.12,2.08,0.00,0.000,5126,0.172,0.028,3231,1988,1346,1456,1236,0,0,0,0,0,0,26.15,26.51,28.83
$GC,8885,1.28,243.3,3231,1987,1456,1234,37.1,8.8,391,8892,0.00,2.22,0.00,0.000,260,0.000,0.046,3231,3407,1345,1456,1234,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9133,1.28,243.3,2176,3405,1427,1231,9.2,12.8,426,9141,0.00,2.05,0.00,0.000,1030,0.000,0.028,3242,2007,1344,1456,1232,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,9184,end climb,SURFACE_DEPTH_REACHED
$STATE,9184,begin surface coast
$FINISH,-0.0,1.022785
$STATE,9213,end surface coast,CONTROL_FINISHED_OK
$STATE,9213,begin surface
$SM_CCo,9232,76.15,0.061,0,0,748,400.08
$SM_GC,0.69,8.02,0.75,76.15,0.035,0.044,0.061,116,2492,748,-8.31,-1.41,400.08,0,0,0,0,0,0,26.52,26.43,26.18
$IRIDIUM_FIX,2319.18,12138.91,070413,141417
$TT8_MAMPS,0.046438,0.046438
$HUMID,47.83
$INTERNAL_PRESSURE,9.59367
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,3923040
$24V_AH,23.9,45.538
$10V_AH,10.2,29.289
$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,20.125,70.875,758.175,76.150,0.000,0.000,0.000,237.625,0.000,0.000,10.426,1746.397,5421.341,829.778,1361.137,345.169,0.000,1777.265,0.000,1085.354,0.000,0.537,0.000
$DEVICE_MAMPS,221.085,55.080,758.880,61.200,0.000,0.000,0.000,120.870,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9206.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.025,0.000,0.000,0.000
$MEM,323840
$DATA_FILE_SIZE,16794,440
$CAP_FILE_SIZE,234068,0
$CFSIZE,260034560,223711232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,186.6,1
$GPS,070413,192336,2325.062,12139.438,38,0.9,39,-3.1