version: 66.11
glider: 171
mission: 4
dive: 327
start: 4 10 113 6 39 15
data:
$ID,171
$MISSION,4
$DIVE,327
$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,-20930.188
$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,59
$R_STBD_OVSHOOT,26
$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,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
$GPS1,100413,063105,2323.526,12134.757,30,1.8,31,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.3
$GPS2,100413,063823,2323.670,12134.779,14,2.0,24,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,ININSHORE1
$TGT_LATLONG,2322.300,12134.500
$TGT_RADIUS,1500.000
$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,196.6,2581,-12.7,-8.333,-17.17,3360
$D_GRID,1287
$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,-1.15,-184.9,116,2491,847,657,0.0,0.0,0,67,0.00,0.00,-45.05,0.000,16386,0.000,0.000,116,2491,2026,2056,1997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-1.32,-230.7,116,2491,2059,1997,3.3,-6.9,6,112,8.80,2.17,-24.83,0.000,18948,0.213,0.042,2379,1088,3326,3395,3257,0,0,0,0,0,0,25.48,26.13,26.49
$GC,227,-1.32,-230.7,2378,1088,3398,3257,51.6,-30.7,24,233,0.00,2.20,0.00,0.000,1030,0.000,0.038,2367,2505,3327,3398,3257,0,0,0,0,0,0,28.83,26.08,28.83
$GC,434,-1.32,-230.7,2369,2505,3401,3257,108.5,-27.7,34,440,0.00,1.85,0.00,0.000,260,0.000,0.053,2360,3674,3329,3401,3257,0,0,0,0,0,0,28.83,26.13,28.83
$GC,555,-1.32,-230.7,2360,3674,3404,3257,141.1,-30.3,39,563,0.00,1.65,0.00,0.000,1030,0.000,0.024,2361,2512,3330,3404,3257,0,0,0,0,0,0,28.83,26.41,28.83
$GC,742,-1.32,-230.7,2360,2512,3405,3259,203.0,-31.2,49,748,0.00,1.83,0.00,0.000,260,0.000,0.053,2352,3673,3332,3406,3259,0,0,0,0,0,0,28.83,26.20,28.83
$GC,847,-1.32,-230.7,2351,3672,3405,3259,231.3,-31.8,53,856,0.10,1.62,0.00,0.000,3078,0.135,0.024,2384,2564,3332,3406,3259,0,0,0,0,0,0,26.09,26.48,28.83
$GC,1033,-1.32,-230.7,2384,2562,3405,3259,285.2,-26.2,63,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2562,3332,3406,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1333,-1.32,-230.7,2384,2562,3405,3259,360.1,-24.3,78,1339,0.00,2.12,0.00,0.000,516,0.000,0.026,2385,1111,3332,3406,3259,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1351,-1.32,-230.7,2384,1111,3406,3258,360.1,-24.3,78,1360,0.00,2.22,0.00,0.000,1030,0.000,0.039,2375,2557,3332,3405,3259,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1658,-1.32,-230.7,2374,2557,3406,3259,440.2,-24.7,94,1665,0.00,1.75,0.00,0.000,260,0.000,0.054,2366,3674,3331,3403,3259,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1730,-1.32,-230.7,2366,3674,3405,3259,457.5,-25.6,97,1736,0.00,1.58,0.00,0.000,1030,0.000,0.027,2366,2576,3332,3406,3259,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2052,-1.32,-230.7,2366,2576,3405,3259,537.1,-23.8,113,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2576,3332,3405,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2349,-1.32,-230.7,2366,2576,3405,3254,603.3,-21.8,128,2355,0.00,2.15,0.00,0.000,516,0.000,0.028,2366,1116,3329,3405,3254,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2389,-1.32,-230.7,2366,1116,3405,3254,611.1,-22.3,129,2396,0.12,2.22,0.00,0.000,3078,0.163,0.041,2387,2562,3329,3405,3254,0,0,0,0,0,0,26.08,26.32,28.83
$GC,2720,-1.32,-230.7,2387,2562,3405,3249,685.8,-22.5,140,2726,0.00,1.75,0.00,0.000,260,0.000,0.056,2379,3675,3327,3405,3249,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2770,-1.32,-230.7,2379,3675,3405,3248,693.6,-22.2,141,2775,0.00,1.58,0.00,0.000,1030,0.000,0.028,2379,2582,3326,3405,3248,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3089,-1.32,-230.7,2379,2582,3405,3243,765.1,-22.3,152,3095,0.00,2.17,0.00,0.000,516,0.000,0.028,2379,1109,3324,3405,3243,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3154,-1.32,-230.7,1440,1109,3389,3238,779.6,-22.4,154,3160,0.00,2.25,0.00,0.000,1030,0.000,0.041,2369,2560,3323,3405,3242,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3488,-1.32,-230.7,2369,2560,3401,3240,855.5,-22.8,165,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2560,3320,3401,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3789,-1.32,-230.7,2369,2560,3399,3237,922.5,-21.8,175,3796,0.00,2.15,0.00,0.000,516,0.000,0.031,2370,1121,3318,3399,3237,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3844,-1.32,-230.7,2369,1121,3400,3236,930.1,-21.5,176,3850,0.00,2.22,0.00,0.000,1030,0.000,0.041,2360,2560,3317,3399,3235,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,3949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3949,begin apogee
$GC,3956,-0.20,0.0,2358,2010,3398,3235,956.4,-21.2,180,4322,1.17,0.00,356.73,0.771,10244,0.124,0.000,2737,2009,2376,2533,2220,0,0,0,0,0,0,25.79,28.83,24.14
$STATE,4324,end apogee,CONTROL_FINISHED_OK
$STATE,4324,begin climb
$GC,4327,1.32,230.7,2737,2009,2529,2210,985.0,0.0,191,4689,1.40,2.28,347.62,0.760,10756,0.050,0.034,3241,610,1437,1547,1327,0,0,0,0,0,0,25.00,24.98,23.89
$GC,4775,1.32,230.7,3240,609,1520,1302,924.7,22.8,205,4781,0.00,2.22,0.00,0.000,1030,0.000,0.031,3244,2018,1410,1519,1302,0,0,0,0,0,0,28.83,25.33,28.83
$GC,5110,1.32,230.7,3240,2018,1514,1297,841.8,26.6,216,5116,0.00,2.17,0.00,0.000,516,0.000,0.037,3252,612,1404,1514,1295,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5331,1.32,230.7,3252,612,1512,1296,784.6,25.3,223,5337,0.00,2.10,0.00,0.000,1030,0.000,0.031,3252,1999,1404,1513,1296,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5666,1.32,230.7,3252,1999,1511,1295,705.1,23.3,234,5672,0.00,2.20,0.00,0.000,260,0.000,0.046,3252,3404,1402,1511,1294,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5702,1.32,230.7,3252,3404,1511,1294,696.4,23.6,235,5708,0.12,2.10,0.00,0.000,5126,0.179,0.029,3232,1996,1402,1511,1294,0,0,0,0,0,0,26.01,26.36,28.83
$GC,6038,1.32,230.7,3232,1996,1510,1293,618.6,23.8,246,6044,0.00,2.22,0.00,0.000,260,0.000,0.047,3232,3408,1401,1509,1293,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6065,1.32,230.7,2272,3406,1482,1290,618.6,23.8,246,6073,0.00,2.10,0.00,0.000,1030,0.000,0.030,3244,2002,1401,1510,1293,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6374,1.32,230.7,3243,2001,1510,1290,539.7,22.7,261,6379,0.00,2.20,0.00,0.000,260,0.000,0.046,3243,3402,1400,1510,1290,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6414,1.32,230.7,3243,3402,1510,1290,534.2,22.7,262,6423,0.00,2.10,0.00,0.000,1030,0.000,0.030,3255,2007,1400,1510,1290,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6719,1.32,230.7,3255,2007,1509,1289,459.6,23.5,278,6726,0.00,2.20,0.00,0.000,260,0.000,0.045,3255,3411,1399,1509,1289,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6791,1.32,230.7,3255,3410,1509,1289,442.2,25.2,281,6798,0.12,2.12,0.00,0.000,5126,0.178,0.030,3235,1991,1399,1509,1289,0,0,0,0,0,0,26.07,26.44,28.83
$GC,7113,1.32,230.7,3235,1991,1508,1287,371.6,21.0,297,7119,0.00,2.12,0.00,0.000,516,0.000,0.041,3246,607,1397,1508,1287,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7153,1.32,230.7,3246,607,1507,1287,366.3,20.4,298,7161,0.00,2.10,0.00,0.000,1030,0.000,0.031,3246,2006,1397,1507,1287,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7458,1.32,230.7,3245,2007,1507,1286,301.8,20.2,314,7464,0.00,2.17,0.00,0.000,260,0.000,0.047,3246,3402,1396,1507,1286,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7585,1.32,230.7,3245,3402,1506,1283,272.6,23.6,320,7592,0.00,2.08,0.00,0.000,1030,0.000,0.028,3257,2012,1396,1506,1286,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7912,1.32,230.7,3257,2012,1506,1285,201.7,19.4,336,7918,0.00,2.17,0.00,0.000,260,0.000,0.044,3257,3403,1395,1506,1285,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7981,1.32,230.7,3257,3403,1506,1285,187.7,19.7,339,7988,0.12,2.08,0.00,0.000,5126,0.171,0.028,3236,2013,1395,1506,1285,0,0,0,0,0,0,26.09,26.46,28.83
$GC,8186,1.32,230.7,3236,2013,1506,1285,152.4,17.1,349,8192,0.00,2.15,0.00,0.000,516,0.000,0.041,3247,609,1395,1505,1285,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8317,1.32,230.7,3246,608,1506,1285,129.4,18.1,355,8324,0.00,2.10,0.00,0.000,1030,0.000,0.030,3247,2016,1395,1506,1285,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8521,1.32,230.7,3246,2016,1506,1286,95.1,16.4,365,8527,0.00,2.15,0.00,0.000,260,0.000,0.047,3247,3400,1395,1506,1285,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8761,1.32,230.7,3247,3400,1506,1285,51.4,18.6,376,8767,0.00,2.03,0.00,0.000,1030,0.000,0.028,3258,2017,1395,1506,1285,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8956,1.69,337.1,3258,2017,1506,1284,35.4,5.1,395,9192,0.22,0.00,231.40,0.373,11010,0.059,0.000,3371,2015,1043,1160,926,0,0,0,0,0,0,26.58,28.83,28.83
$STATE,9193,end climb,SURFACE_DEPTH_REACHED
$STATE,9194,begin surface coast
$FINISH,-0.2,1.022560
$STATE,9207,end surface coast,CONTROL_FINISHED_OK
$STATE,9207,begin surface
$SM_CCo,9227,39.20,0.058,0,0,748,400.08
$SM_GC,0.68,8.43,0.77,39.20,0.023,0.050,0.058,130,2498,748,-8.26,-1.30,400.08,0,0,0,0,0,0,25.67,25.60,25.61
$IRIDIUM_FIX,2314.48,12134.45,100413,030323
$TT8_MAMPS,0.047187,0.047187
$HUMID,48.07
$INTERNAL_PRESSURE,9.59367
$TCM_TEMP,22.10
$XPDR_PINGS,0
$SC_FREEKB,3916096
$24V_AH,23.9,49.137
$10V_AH,10.1,31.111
$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,20.625,84.250,935.750,39.200,0.000,0.000,0.000,259.450,0.000,0.000,25.023,1848.587,5023.756,908.317,1570.918,372.227,0.000,2002.130,0.000,1230.483,0.000,0.537,0.000
$DEVICE_MAMPS,212.670,55.845,771.120,58.140,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9207.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.090,0.000,0.000,0.000
$MEM,323264
$DATA_FILE_SIZE,16771,422
$CAP_FILE_SIZE,252347,0
$CFSIZE,260034560,221749248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054, 20.7,1
$GPS,100413,091530,2322.542,12134.462,67,0.8,67,-3.1