version: 66.11
glider: 171
mission: 4
dive: 340
start: 4 11 113 12 1 40
data:
$ID,171
$MISSION,4
$DIVE,340
$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,-20949.756
$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,63
$R_STBD_OVSHOOT,23
$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
$GPS1,110413,115414,2318.845,12132.445,10,1.8,30,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.0
$GPS2,110413,120105,2319.146,12132.566,45,1.8,45,-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,177.9,2144,-27.0,-8.333,-30.00,882
$D_GRID,870
$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,-1.25,-48.0,126,2486,834,660,0.0,0.0,0,82,0.00,0.00,-61.08,0.000,16386,0.000,0.000,126,2486,2517,2586,2449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.25,-48.8,126,2486,2586,2449,4.5,-8.2,8,103,8.98,2.12,-1.08,0.000,18948,0.219,0.038,2399,1087,2585,2669,2501,0,0,0,0,0,0,25.54,26.20,26.39
$GC,224,-1.25,-48.8,2399,1087,2677,2501,50.0,-25.6,24,233,0.00,2.17,0.00,0.000,1030,0.000,0.036,2389,2509,2589,2677,2501,0,0,0,0,0,0,28.83,26.14,28.83
$GC,413,-1.25,-48.8,2389,2509,2679,2501,85.2,-10.7,34,418,0.00,1.83,0.00,0.000,260,0.000,0.051,2380,3673,2590,2679,2501,0,0,0,0,0,0,28.83,26.17,28.83
$GC,484,-1.25,-48.8,2379,3673,2681,2500,97.3,-16.6,37,490,0.00,1.70,0.00,0.000,1030,0.000,0.023,2380,2474,2591,2681,2501,0,0,0,0,0,0,28.83,26.42,28.83
$GC,686,-1.25,-48.8,2379,2473,2686,2501,134.6,-18.2,47,692,0.00,1.88,0.00,0.000,260,0.000,0.051,2371,3671,2593,2686,2501,0,0,0,0,0,0,28.83,26.24,28.83
$GC,704,-1.25,-48.8,2371,3671,2686,2501,134.6,-18.2,47,713,0.12,1.70,0.00,0.000,3078,0.164,0.024,2403,2470,2594,2687,2501,0,0,0,0,0,0,26.10,26.47,28.83
$GC,892,-1.25,-48.8,2402,2468,2690,2501,172.4,-19.6,57,898,0.00,1.90,0.00,0.000,260,0.000,0.052,2394,3675,2595,2690,2501,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1008,-1.25,-48.8,2393,3675,2689,2501,193.4,-19.5,62,1014,0.00,1.67,0.00,0.000,1030,0.000,0.023,2394,2496,2595,2689,2501,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1205,-1.25,-48.8,2393,2494,2690,2501,230.6,-17.3,72,1211,0.00,1.83,0.00,0.000,260,0.000,0.051,2385,3670,2595,2690,2501,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1272,-1.25,-48.8,2385,3669,2690,2501,242.9,-17.9,75,1279,0.00,1.70,0.00,0.000,1030,0.000,0.025,2385,2512,2595,2690,2501,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1480,-1.25,-48.8,2384,2512,2690,2501,277.9,-17.7,85,1486,0.00,2.08,0.00,0.000,516,0.000,0.027,2384,1099,2595,2690,2501,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1536,-1.25,-48.8,2385,1098,2691,2501,286.6,-18.4,87,1543,0.12,2.12,0.00,0.000,3078,0.167,0.035,2406,2506,2595,2690,2501,0,0,0,0,0,0,26.11,26.38,28.83
$GC,1854,-1.25,-48.8,2405,2506,2690,2500,342.5,-16.6,103,1860,0.00,2.05,0.00,0.000,516,0.000,0.027,2405,1108,2595,2690,2501,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1921,-1.25,-48.8,2405,1108,2690,2500,352.7,-14.9,106,1928,0.00,2.12,0.00,0.000,1030,0.000,0.035,2396,2507,2595,2690,2500,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2249,-1.25,-48.8,2396,2506,2689,2499,405.6,-17.3,122,2254,0.00,1.80,0.00,0.000,260,0.000,0.052,2387,3668,2594,2690,2499,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2336,-1.25,-48.8,2386,3668,2690,2498,421.1,-17.4,126,2342,0.00,1.67,0.00,0.000,1030,0.000,0.027,2387,2509,2594,2690,2498,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2663,-1.25,-48.8,2387,2509,2690,2496,475.7,-16.6,142,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2508,2592,2689,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2961,-1.25,-48.8,2387,2509,2690,2492,522.5,-15.1,157,2967,0.00,1.83,0.00,0.000,260,0.000,0.052,2378,3672,2591,2690,2492,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3002,-1.25,-48.8,2377,3673,2690,2492,526.6,-15.4,158,3012,0.08,1.70,0.00,0.000,3078,0.138,0.026,2403,2521,2591,2690,2492,0,0,0,0,0,0,26.25,26.60,28.83
$GC,3307,-1.25,-48.8,2403,2521,2690,2489,572.3,-14.3,174,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2521,2589,2690,2489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3626,-1.25,-48.8,2403,2521,2690,2486,618.9,-14.4,188,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2521,2588,2690,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3927,-1.39,-90.2,2403,2521,2690,2483,640.8,-3.5,198,3933,0.12,1.83,0.00,0.000,4356,0.091,0.054,2333,3668,2586,2690,2483,0,0,0,0,0,0,26.62,26.24,28.83
$GC,4168,-1.53,-129.7,2332,3668,2690,2481,649.9,-3.7,205,4174,0.00,1.70,0.00,0.000,1030,0.000,0.031,2333,2516,2585,2690,2481,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,4483,end dive,NO_VERTICAL_VELOCITY
$STATE,4483,begin apogee
$GC,4489,-0.20,0.0,2334,1987,2690,2479,655.2,0.0,216,4584,1.12,0.00,85.47,0.664,10244,0.065,0.000,2753,1986,2374,2510,2238,0,0,0,0,0,0,26.24,28.83,24.84
$STATE,4588,end apogee,CONTROL_FINISHED_OK
$STATE,4588,begin climb
$GC,4590,1.53,129.7,2753,1986,2506,2235,654.9,0.0,219,4749,1.45,2.15,146.77,0.762,10756,0.038,0.037,3324,619,1840,1961,1719,0,0,0,0,0,0,25.75,25.68,24.41
$GC,4986,1.53,129.7,3323,619,1919,1708,611.6,17.9,231,4992,0.00,2.10,0.00,0.000,1030,0.000,0.030,3324,2009,1813,1919,1708,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5302,1.53,129.7,3324,2010,1916,1705,548.1,20.8,246,5308,0.00,2.17,0.00,0.000,260,0.000,0.044,3324,3400,1810,1916,1705,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5549,1.53,129.7,3324,3401,1912,1706,500.3,19.2,257,5555,0.12,2.08,0.00,0.000,5126,0.185,0.027,3305,1999,1810,1913,1707,0,0,0,0,0,0,25.97,26.38,28.83
$GC,5866,1.53,129.7,3305,1999,1913,1702,449.9,14.5,273,5872,0.00,2.20,0.00,0.000,260,0.000,0.044,3305,3406,1807,1912,1702,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6097,1.53,129.7,3304,3406,1910,1702,412.6,17.3,284,6104,0.00,2.08,0.00,0.000,1030,0.000,0.028,3316,2010,1805,1910,1701,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6426,1.53,129.7,3315,2011,1908,1701,360.0,16.8,300,6432,0.00,2.17,0.00,0.000,260,0.000,0.045,3315,3403,1805,1908,1702,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6543,1.53,129.7,3313,3403,1907,1701,342.8,15.6,305,6549,0.00,2.03,0.00,0.000,1030,0.000,0.028,3327,2024,1804,1907,1701,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6858,1.53,129.7,3327,2024,1906,1700,299.7,14.3,321,6864,0.00,2.15,0.00,0.000,516,0.000,0.038,3339,613,1803,1906,1700,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7011,1.53,129.7,2368,613,1858,1693,278.7,14.1,328,7018,0.12,2.10,0.00,0.000,5126,0.177,0.030,3308,2029,1803,1906,1700,0,0,0,0,0,0,26.04,26.42,28.83
$GC,7334,1.53,129.7,3308,2029,1905,1699,231.6,14.4,344,7340,0.00,2.12,0.00,0.000,260,0.000,0.045,3308,3399,1802,1905,1699,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7368,1.53,129.7,3307,3398,1905,1699,227.6,14.5,345,7373,0.00,2.03,0.00,0.000,1030,0.000,0.028,3318,2021,1802,1905,1699,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7564,1.53,129.7,3316,2021,1907,1699,201.9,11.0,355,7570,0.00,2.15,0.00,0.000,516,0.000,0.038,3330,608,1801,1905,1698,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7714,1.53,129.7,3329,608,1905,1698,185.6,10.8,362,7720,0.00,2.10,0.00,0.000,1030,0.000,0.029,3329,2021,1802,1905,1699,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7920,1.53,129.7,3329,2021,1905,1699,160.9,12.3,372,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2021,1801,1904,1699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8099,1.53,129.7,3330,2021,1905,1699,137.3,15.3,381,8105,0.00,2.12,0.00,0.000,260,0.000,0.044,3330,3400,1801,1904,1698,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8334,1.53,129.7,3330,3400,1904,1699,105.1,10.6,392,8341,0.15,2.03,0.00,0.000,5126,0.174,0.027,3302,2011,1801,1904,1699,0,0,0,0,0,0,25.98,26.49,28.83
$GC,8537,1.53,129.7,3302,2011,1903,1699,87.5,9.0,402,8543,0.00,2.10,0.00,0.000,516,0.000,0.037,3313,620,1801,1904,1698,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8588,1.54,132.8,3312,621,1903,1699,83.9,8.0,404,8593,0.00,2.03,0.00,0.000,1030,0.000,0.030,3313,1991,1801,1904,1698,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8789,1.76,193.3,3312,1991,1904,1698,77.2,1.3,414,8875,0.15,2.28,79.45,0.418,10500,0.075,0.044,3407,3399,1584,1683,1485,0,0,0,0,0,0,26.62,25.93,25.32
$GC,9111,1.76,193.3,3407,3399,1655,1470,47.5,9.9,430,9118,0.17,2.10,0.00,0.000,5126,0.174,0.026,3374,1981,1562,1655,1470,0,0,0,0,0,0,25.67,26.22,28.83
$GC,9307,1.83,213.7,3374,1981,1654,1468,36.1,6.0,449,9333,0.00,2.30,21.73,0.383,8452,0.000,0.044,3374,3406,1503,1605,1401,0,0,0,0,0,0,28.83,26.16,25.56
$GC,9507,1.90,235.1,3374,3406,1586,1386,21.1,5.8,472,9541,0.10,2.10,24.70,0.374,11270,0.092,0.026,3449,1986,1417,1523,1311,0,0,0,0,0,0,26.20,26.29,25.52
$STATE,9664,end climb,SURFACE_DEPTH_REACHED
$STATE,9664,begin surface coast
$FINISH,0.5,1.022434
$STATE,9682,end surface coast,CONTROL_FINISHED_OK
$STATE,9682,begin surface
$SM_CCo,9703,80.35,0.060,0,0,748,400.08
$SM_GC,1.03,8.55,0.80,80.35,0.031,0.048,0.060,137,2492,748,-8.26,-1.36,400.08,0,0,0,0,0,0,26.24,26.13,25.99
$IRIDIUM_FIX,2312.13,12134.45,110413,090945
$TT8_MAMPS,0.047936,0.047936
$HUMID,47.36
$INTERNAL_PRESSURE,9.6425
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3911936
$24V_AH,24.4,50.753
$10V_AH,10.2,32.095
$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,21.375,85.625,358.125,80.350,0.000,0.000,0.000,205.500,0.000,0.000,47.348,2411.552,5078.741,538.775,1736.796,429.952,0.000,1542.886,0.000,1432.418,0.000,0.538,0.000
$DEVICE_MAMPS,218.790,54.315,761.940,60.435,0.000,0.000,0.000,126.990,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9674.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.624,0.000,0.000,0.000
$MEM,322856
$DATA_FILE_SIZE,16795,502
$CAP_FILE_SIZE,289363,0
$CFSIZE,260034560,220659712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.219, 18.0,1
$GPS,110413,144605,2319.478,12133.045,39,0.9,40,-3.1