version: 66.11
glider: 171
mission: 4
dive: 314
start: 4 8 113 18 48 4
data:
$ID,171
$MISSION,4
$DIVE,314
$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,-20913.854
$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,63
$R_STBD_OVSHOOT,43
$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
$GPS1,080413,184129,2322.174,12138.830,39,1.0,45,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.5
$GPS2,080413,184731,2322.419,12138.915,14,1.2,14,-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,197.7,39319,-10.6,-8.333,-15.41,4401
$D_GRID,1435
$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,18,-1.28,-243.3,112,2488,840,660,0.0,0.0,0,81,0.00,0.00,-60.12,0.000,16386,0.000,0.000,112,2489,2518,2573,2464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.28,-243.3,112,2489,2576,2464,4.2,-7.4,8,117,9.07,1.85,-13.68,0.000,18692,0.220,0.065,2400,3658,3377,3435,3319,0,0,0,0,0,0,25.53,26.05,26.54
$GC,350,-1.28,-243.3,2400,3658,3444,3319,100.8,-29.2,27,357,0.00,1.73,0.00,0.000,1030,0.000,0.024,2400,2491,3380,3441,3319,0,0,0,0,0,0,28.83,26.37,28.83
$GC,667,-1.28,-243.3,2401,2490,3446,3325,184.7,-27.0,43,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2490,3384,3446,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,966,-1.28,-243.3,2400,2490,3448,3326,262.9,-25.1,58,973,0.00,2.05,0.00,0.000,516,0.000,0.031,2400,1107,3387,3448,3326,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1043,-1.28,-243.3,2400,1106,3448,3325,279.3,-24.3,61,1049,0.00,2.12,0.00,0.000,1030,0.000,0.039,2390,2495,3387,3448,3326,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1357,-1.28,-243.3,2390,2495,3448,3326,360.4,-24.3,77,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2495,3386,3448,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1658,-1.28,-243.3,2389,2495,3448,3325,431.4,-22.7,92,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2496,3386,3447,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1959,-1.28,-243.3,2389,2496,3448,3325,500.4,-23.8,107,1964,0.00,1.85,0.00,0.000,260,0.000,0.054,2381,3674,3386,3448,3325,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2020,-1.28,-243.3,2380,3674,3448,3324,511.6,-24.1,109,2029,0.00,1.73,0.00,0.000,1030,0.000,0.025,2381,2496,3386,3448,3324,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2326,-1.28,-243.3,2380,2496,3448,3320,590.8,-24.7,125,2328,0.10,0.00,0.00,0.000,2054,0.167,0.000,2406,2496,3384,3448,3320,0,0,0,0,0,0,26.48,28.83,28.83
$GC,2638,-1.28,-243.3,2406,2494,3447,3316,660.7,-22.1,136,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2495,3381,3447,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2937,-1.28,-243.3,2406,2495,3447,3311,727.8,-22.3,146,2943,0.00,1.85,0.00,0.000,260,0.000,0.054,2398,3669,3379,3447,3312,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3023,-1.28,-243.3,2398,3670,3446,3310,743.4,-22.9,148,3029,0.00,1.70,0.00,0.000,1030,0.000,0.028,2398,2498,3377,3445,3310,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3340,-1.28,-243.3,2396,2497,3444,3305,813.5,-20.6,159,3345,0.00,2.08,0.00,0.000,516,0.000,0.031,2398,1103,3374,3444,3305,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3374,-1.28,-243.3,2397,1102,3444,3305,820.9,-20.4,160,3381,0.00,2.17,0.00,0.000,1030,0.000,0.040,2387,2504,3374,3444,3305,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3709,-1.28,-243.3,2387,2504,3442,3301,886.3,-18.8,171,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2505,3371,3442,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4010,-1.28,-243.3,2387,2504,3441,3298,945.8,-20.0,181,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2505,3369,3441,3297,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4037,begin apogee
$GC,4043,-0.20,0.0,2387,1984,3441,3297,951.7,-20.0,182,4430,1.12,0.00,374.77,0.763,10246,0.118,0.000,2755,1984,2373,2530,2217,0,0,0,0,0,0,25.86,28.83,24.15
$STATE,4432,end apogee,CONTROL_FINISHED_OK
$STATE,4432,begin climb
$GC,4435,1.28,243.3,2754,1984,2526,2212,977.2,0.0,194,4812,1.30,2.25,363.20,0.752,10756,0.042,0.036,3255,637,1380,1491,1269,0,0,0,0,0,0,25.06,24.68,23.97
$GC,4904,1.28,243.3,3255,637,1468,1251,895.6,27.2,208,4910,0.00,2.17,0.00,0.000,1030,0.000,0.031,3256,2022,1359,1468,1250,0,0,0,0,0,0,28.83,25.43,28.83
$GC,5229,1.28,243.3,3255,2023,1463,1245,799.3,29.5,219,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2022,1355,1463,1247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5529,1.28,243.3,3256,2023,1461,1245,717.9,25.8,229,5535,0.00,2.15,0.00,0.000,516,0.000,0.037,3267,630,1353,1462,1245,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5564,1.28,243.3,3267,629,1461,1245,709.3,25.2,230,5571,0.15,2.08,0.00,0.000,5126,0.164,0.031,3229,2003,1351,1461,1242,0,0,0,0,0,0,25.97,26.27,28.83
$GC,5900,1.28,243.3,3228,2003,1460,1243,631.1,23.7,241,5906,0.00,2.20,0.00,0.000,260,0.000,0.046,3228,3407,1351,1460,1243,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5970,1.28,243.3,3227,3408,1460,1242,614.9,24.2,243,5976,0.00,2.08,0.00,0.000,1030,0.000,0.028,3239,2013,1351,1460,1243,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6291,1.28,243.3,3238,2012,1459,1241,533.1,25.2,258,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2012,1349,1458,1241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6590,1.28,243.3,3238,2012,1458,1240,462.2,24.0,273,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2012,1349,1458,1240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6889,1.28,243.3,3238,2012,1458,1238,392.5,22.8,288,6895,0.00,2.17,0.00,0.000,260,0.000,0.045,3239,3400,1348,1457,1239,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6914,1.28,243.3,3238,3400,1457,1239,387.0,22.6,289,6920,0.00,2.10,0.00,0.000,1030,0.000,0.029,3248,1996,1348,1458,1239,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7242,1.28,243.3,3250,1996,1456,1238,311.8,22.3,305,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1995,1347,1456,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7539,1.28,243.3,3250,1995,1455,1238,249.0,20.6,320,7545,0.00,2.12,0.00,0.000,516,0.000,0.040,3261,610,1346,1455,1237,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7601,1.28,243.3,3259,610,1454,1236,239.8,20.5,322,7611,0.12,2.08,0.00,0.000,5126,0.163,0.030,3232,2001,1345,1454,1237,0,0,0,0,0,0,26.13,26.44,28.83
$GC,7907,1.28,243.3,3229,2001,1454,1238,176.1,18.4,338,7913,0.00,2.12,0.00,0.000,516,0.000,0.039,3240,608,1345,1454,1237,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8020,1.28,243.3,2272,607,1427,1235,151.4,23.6,343,8026,0.00,2.08,0.00,0.000,1030,0.000,0.030,3240,2000,1345,1453,1237,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8341,1.28,243.3,3240,2000,1453,1237,91.2,13.2,359,8347,0.00,2.17,0.00,0.000,260,0.000,0.047,3240,3402,1345,1453,1238,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8580,1.28,243.3,3240,3402,1453,1238,65.1,12.7,370,8587,0.00,2.08,0.00,0.000,1030,0.000,0.028,3252,1990,1345,1453,1237,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8897,1.44,289.6,3252,1989,1453,1235,33.9,7.3,394,8966,0.00,2.12,61.70,0.381,8708,0.000,0.036,3263,606,1190,1306,1074,0,0,0,0,0,0,28.83,26.10,25.52
$GC,9193,1.44,289.6,3263,606,1283,1059,3.1,12.5,443,9197,0.00,2.10,0.00,0.000,1025,0.000,0.028,3263,2004,1168,1279,1058,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,9198,end climb,SURFACE_DEPTH_REACHED
$STATE,9198,begin surface coast
$FINISH,0.1,0.000000
$STATE,9216,end surface coast,CONTROL_FINISHED_OK
$STATE,9217,begin surface
$SM_CCo,9236,54.00,0.060,0,0,748,400.08
$SM_GC,0.91,8.07,0.75,54.00,0.032,0.049,0.060,138,2489,748,-8.29,-1.53,400.08,0,0,0,0,0,0,26.25,26.20,26.04
$IRIDIUM_FIX,2314.48,12137.68,080413,161620
$TT8_MAMPS,0.047936,0.047936
$HUMID,47.32
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3920256
$24V_AH,24.0,46.990
$10V_AH,10.2,30.042
$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,19.950,54.675,799.675,54.000,0.000,0.000,0.000,197.600,0.000,0.000,15.885,1647.722,5493.372,767.832,1420.777,325.913,0.000,1719.863,0.000,1154.962,0.000,0.538,0.000
$DEVICE_MAMPS,220.320,65.025,762.705,60.435,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9204.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.936,0.000,0.000,0.000
$MEM,323716
$DATA_FILE_SIZE,16778,448
$CAP_FILE_SIZE,226891,0
$CFSIZE,260034560,222904320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.262, 16.2,1
$GPS,080413,212405,2322.148,12138.581,13,0.9,30,-3.1