version: 66.11
glider: 171
mission: 4
dive: 337
start: 4 11 113 5 18 3
data:
$ID,171
$MISSION,4
$DIVE,337
$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,-20944.498
$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,54
$R_STBD_OVSHOOT,43
$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
$GPS1,110413,051030,2320.640,12132.723,42,1.2,43,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.1
$GPS2,110413,051730,2320.893,12132.827,10,1.3,21,-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,195.2,5359,-10.6,-8.333,-15.41,4401
$D_GRID,606
$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,-243.3,124,2512,844,666,0.0,0.0,0,83,0.00,0.00,-61.33,0.000,16386,0.000,0.000,124,2510,2538,2594,2482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.28,-243.3,124,2511,2596,2483,4.6,-8.7,8,118,8.90,2.15,-13.32,0.000,18948,0.216,0.041,2394,1071,3376,3434,3318,0,0,0,0,0,0,25.58,26.21,26.55
$GC,201,-1.28,-243.3,2394,1071,3437,3318,47.6,-26.5,20,207,0.00,2.17,0.00,0.000,1030,0.000,0.037,2384,2487,3377,3437,3318,0,0,0,0,0,0,28.83,26.13,28.83
$GC,398,-1.28,-243.3,2384,2487,3441,3318,98.6,-27.7,30,404,0.00,1.85,0.00,0.000,260,0.000,0.053,2375,3671,3379,3441,3318,0,0,0,0,0,0,28.83,26.17,28.83
$GC,497,-1.28,-243.3,2375,3671,3442,3319,124.4,-28.5,34,503,0.00,1.70,0.00,0.000,1030,0.000,0.024,2375,2514,3380,3442,3319,0,0,0,0,0,0,28.83,26.44,28.83
$GC,694,-1.28,-243.3,2374,2514,3444,3319,182.1,-27.7,44,700,0.00,2.08,0.00,0.000,516,0.000,0.028,2375,1107,3381,3444,3319,0,0,0,0,0,0,28.83,26.41,28.83
$GC,749,-1.28,-243.3,2375,1108,3444,3320,194.7,-27.2,46,756,0.12,2.17,0.00,0.000,3078,0.166,0.039,2396,2526,3381,3444,3319,0,0,0,0,0,0,26.06,26.29,28.83
$GC,946,-1.28,-243.3,2396,2526,3444,3320,248.7,-26.9,56,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2526,3381,3443,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1125,-1.28,-243.3,2396,2526,3444,3320,292.2,-23.6,65,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2526,3382,3444,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1425,-1.28,-243.3,2396,2526,3444,3320,361.6,-24.3,80,1431,0.00,1.77,0.00,0.000,260,0.000,0.052,2387,3671,3382,3444,3320,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1453,-1.28,-243.3,2389,3671,3444,3320,368.0,-24.6,81,1460,0.00,1.65,0.00,0.000,1030,0.000,0.026,2388,2514,3382,3444,3320,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1777,-1.28,-243.3,2388,2514,3444,3319,446.4,-25.4,97,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2514,3381,3444,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2074,-1.28,-243.3,2388,2514,3444,3319,514.9,-23.4,112,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2514,3382,3444,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2373,-1.28,-243.3,2388,2514,3443,3317,578.7,-21.1,127,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2514,3380,3444,3317,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2521,begin apogee
$GC,2527,-0.20,0.0,2388,1988,3444,3314,609.7,-20.1,134,2885,1.08,0.00,344.35,0.646,10244,0.119,0.000,2741,1987,2373,2531,2216,0,0,0,0,0,0,25.93,28.83,24.53
$STATE,2887,end apogee,CONTROL_FINISHED_OK
$STATE,2887,begin climb
$GC,2889,1.28,243.3,2740,1987,2526,2212,636.0,0.0,145,3146,1.35,2.15,246.35,0.734,10756,0.054,0.035,3230,627,1384,1494,1275,0,0,0,0,0,0,25.36,25.36,24.37
$GC,3293,1.28,243.3,2272,627,1436,1242,583.5,22.1,159,3300,0.00,2.12,0.00,0.000,1030,0.000,0.029,3230,2020,1353,1462,1244,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3616,1.28,243.3,3230,2020,1457,1240,513.6,21.3,175,3621,0.00,2.15,0.00,0.000,516,0.000,0.037,3242,625,1348,1457,1239,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3853,1.28,243.3,3242,625,1453,1238,459.9,24.7,186,3860,0.00,2.08,0.00,0.000,1030,0.000,0.030,3242,2008,1345,1453,1238,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4170,1.28,243.3,3242,2008,1453,1235,385.1,22.2,202,4176,0.00,2.17,0.00,0.000,260,0.000,0.046,3242,3400,1343,1452,1235,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4239,1.28,243.3,3242,3400,1451,1235,368.8,23.8,205,4245,0.12,2.05,0.00,0.000,5126,0.170,0.028,3222,2018,1343,1451,1235,0,0,0,0,0,0,26.11,26.44,28.83
$GC,4565,1.28,243.3,3221,2018,1450,1232,298.1,21.1,221,4572,0.00,2.17,0.00,0.000,260,0.000,0.046,3222,3408,1341,1450,1232,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4601,1.28,243.3,3221,3407,1450,1232,292.3,21.3,222,4607,0.00,2.05,0.00,0.000,1030,0.000,0.029,3233,2021,1340,1450,1230,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4915,1.28,243.3,3232,2020,1449,1230,225.1,19.4,238,4921,0.00,2.15,0.00,0.000,516,0.000,0.041,3244,610,1339,1449,1230,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4996,1.28,243.3,3244,610,1449,1230,211.8,19.6,241,5004,0.00,2.10,0.00,0.000,1030,0.000,0.031,3244,2014,1339,1449,1229,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5184,1.28,243.3,3244,2014,1448,1230,174.3,18.4,251,5190,0.00,2.15,0.00,0.000,260,0.000,0.047,3244,3402,1338,1448,1229,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5281,1.28,243.3,3244,3402,1447,1229,153.8,23.2,255,5288,0.12,2.05,0.00,0.000,5126,0.171,0.028,3223,2013,1338,1448,1229,0,0,0,0,0,0,26.14,26.49,28.83
$GC,5479,1.28,243.3,3223,2012,1447,1228,111.7,20.5,265,5485,0.00,2.12,0.00,0.000,516,0.000,0.038,3235,610,1338,1447,1229,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5505,1.28,243.3,3234,610,1447,1228,106.7,19.8,266,5511,0.00,2.12,0.00,0.000,1030,0.000,0.031,3235,2029,1338,1447,1229,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5712,1.28,243.3,3234,2029,1447,1228,70.9,16.3,276,5718,0.00,2.17,0.00,0.000,516,0.000,0.038,3246,608,1336,1446,1227,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5953,1.28,243.3,2256,607,1420,1224,30.4,11.9,294,5960,0.00,2.08,0.00,0.000,1030,0.000,0.029,3246,2006,1336,1446,1227,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6152,1.38,273.3,3245,2006,1446,1226,18.2,7.6,324,6169,0.00,2.22,10.57,0.083,8452,0.000,0.045,3246,3399,1265,1379,1151,0,0,0,0,0,0,28.83,26.31,25.91
$GC,6263,1.38,273.3,2240,3398,1373,1148,8.4,8.8,343,6271,0.00,2.08,0.00,0.000,1030,0.000,0.027,3258,1987,1275,1399,1151,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,6314,end climb,SURFACE_DEPTH_REACHED
$STATE,6314,begin surface coast
$FINISH,0.3,1.022547
$STATE,6343,end surface coast,CONTROL_FINISHED_OK
$STATE,6343,begin surface
$SM_CCo,6363,66.60,0.060,0,0,748,400.08
$SM_GC,1.13,8.05,0.77,66.60,0.036,0.041,0.060,113,2491,748,-8.25,-1.44,400.08,0,0,0,0,0,0,26.48,26.41,26.15
$IRIDIUM_FIX,2314.48,12132.45,110413,030317
$TT8_MAMPS,0.047187,0.047187
$HUMID,50.31
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,22.10
$XPDR_PINGS,0
$SC_FREEKB,3912896
$24V_AH,24.4,50.448
$10V_AH,10.2,31.849
$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,19.750,55.250,601.275,66.600,0.000,0.000,0.000,246.275,0.000,0.000,22.590,1483.803,3161.807,652.773,1246.041,311.002,0.000,1514.074,0.000,943.319,0.000,0.538,0.000
$DEVICE_MAMPS,216.495,52.785,734.400,60.435,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6334.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.803,0.000,0.000,0.000
$MEM,322856
$DATA_FILE_SIZE,13488,357
$CAP_FILE_SIZE,197440,0
$CFSIZE,260034560,221007872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,  9.1,1
$GPS,110413,070624,2320.502,12132.672,19,1.6,30,-3.1