version: 66.11
glider: 171
mission: 4
dive: 341
start: 4 11 113 14 53 22
data:
$ID,171
$MISSION,4
$DIVE,341
$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,-20951.109
$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,70
$R_STBD_OVSHOOT,35
$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
$GPS1,110413,144605,2319.478,12133.045,39,0.9,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.1
$GPS2,110413,145249,2319.798,12133.125,14,0.9,14,-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,199.1,3391,-10.6,-8.333,-15.41,4401
$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,-1.28,-243.3,126,2494,826,667,0.0,0.0,0,76,0.00,0.00,-54.28,0.000,16386,0.000,0.000,126,2495,2307,2357,2258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-1.28,-243.3,126,2493,2360,2257,3.2,-5.4,7,121,8.98,2.15,-18.40,0.000,18948,0.220,0.042,2389,1104,3378,3438,3318,0,0,0,0,0,0,25.51,26.14,26.51
$GC,211,-1.28,-243.3,2389,1103,3440,3318,48.3,-28.9,21,217,0.00,2.12,0.00,0.000,1030,0.000,0.037,2380,2497,3379,3441,3318,0,0,0,0,0,0,28.83,26.10,28.83
$GC,409,-1.28,-243.3,2379,2497,3443,3318,102.7,-26.9,31,414,0.00,1.85,0.00,0.000,260,0.000,0.054,2371,3676,3380,3443,3318,0,0,0,0,0,0,28.83,26.13,28.83
$GC,463,-1.28,-243.3,2370,3676,3444,3318,115.7,-27.1,33,470,0.00,1.67,0.00,0.000,1030,0.000,0.024,2371,2506,3381,3444,3318,0,0,0,0,0,0,28.83,26.40,28.83
$GC,658,-1.28,-243.3,2370,2505,3446,3320,171.1,-26.6,43,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2505,3383,3446,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,838,-1.28,-243.3,2374,2505,3447,3321,219.9,-27.7,52,840,0.10,0.00,0.00,0.000,2054,0.170,0.000,2396,2504,3384,3447,3321,0,0,0,0,0,0,26.38,28.83,28.83
$GC,1019,-1.28,-243.3,2395,2504,3447,3321,266.0,-25.0,61,1025,0.00,1.85,0.00,0.000,260,0.000,0.055,2388,3676,3384,3447,3321,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1039,-1.28,-243.3,2388,3676,3448,3321,266.0,-25.0,61,1047,0.00,1.65,0.00,0.000,1030,0.000,0.026,2388,2515,3384,3447,3321,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1343,-1.28,-243.3,2387,2515,3447,3320,341.6,-22.0,77,1350,0.00,2.05,0.00,0.000,516,0.000,0.028,2388,1110,3384,3447,3321,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1368,-1.28,-243.3,2390,1110,3447,3321,347.4,-22.2,78,1375,0.00,2.15,0.00,0.000,1030,0.000,0.037,2377,2515,3384,3447,3321,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1696,-1.28,-243.3,2376,2515,3446,3321,423.2,-22.3,94,1702,0.00,1.80,0.00,0.000,260,0.000,0.054,2369,3670,3382,3444,3321,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1777,-1.28,-243.3,2368,3670,3447,3321,439.0,-22.9,97,1786,0.12,1.65,0.00,0.000,3078,0.151,0.027,2401,2522,3382,3444,3321,0,0,0,0,0,0,26.22,26.57,28.83
$GC,2084,-1.28,-243.3,2401,2521,3446,3319,506.8,-20.8,113,2090,0.00,1.83,0.00,0.000,260,0.000,0.055,2394,3677,3382,3446,3319,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2112,-1.28,-243.3,2394,3677,3447,3319,512.1,-20.8,114,2117,0.00,1.67,0.00,0.000,1030,0.000,0.027,2394,2511,3382,3446,3319,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2434,-1.28,-243.3,2394,2511,3446,3314,577.3,-19.9,130,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2511,3380,3446,3314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2734,-1.28,-243.3,2394,2511,3446,3310,634.6,-19.2,142,2740,0.00,1.83,0.00,0.000,260,0.000,0.055,2385,3670,3377,3446,3308,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2800,-1.28,-243.3,2385,3670,3446,3308,648.1,-19.5,144,2805,0.00,1.67,0.00,0.000,1030,0.000,0.028,2385,2521,3377,3446,3308,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3135,-1.28,-243.3,2385,2521,3444,3305,715.6,-20.3,155,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2521,3374,3444,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3435,-1.28,-243.3,2385,2521,3443,3301,773.8,-20.2,165,3441,0.00,2.10,0.00,0.000,516,0.000,0.030,2385,1108,3371,3442,3300,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3458,-1.28,-243.3,2385,1108,3442,3300,773.8,-20.2,165,3464,0.00,2.17,0.00,0.000,1030,0.000,0.040,2375,2525,3371,3442,3300,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3775,-1.28,-243.3,2374,2525,3441,3297,844.0,-20.4,176,3781,0.00,2.12,0.00,0.000,516,0.000,0.029,2375,1102,3369,3441,3297,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3811,-1.28,-243.3,2374,1102,3441,3297,851.3,-19.9,177,3817,0.12,2.20,0.00,0.000,3078,0.158,0.041,2396,2525,3369,3441,3297,0,0,0,0,0,0,26.06,26.27,28.83
$STATE,3934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3934,begin apogee
$GC,3940,-0.20,0.0,2396,1994,3441,3294,873.4,-17.3,181,4627,1.05,0.00,673.58,0.590,10244,0.116,0.000,2743,1993,2379,2533,2225,0,0,0,0,0,0,25.80,28.83,24.51
$STATE,4629,end apogee,CONTROL_FINISHED_OK
$STATE,4629,begin climb
$GC,4631,1.28,243.3,2743,1993,2529,2222,925.8,0.0,202,4920,1.33,2.20,274.90,0.870,10756,0.051,0.037,3227,627,1382,1491,1273,0,0,0,0,0,0,25.26,25.25,23.87
$GC,5071,1.28,243.3,3226,627,1459,1242,864.6,22.9,215,5081,0.00,2.15,0.00,0.000,1030,0.000,0.030,3227,2017,1350,1459,1242,0,0,0,0,0,0,28.83,25.73,28.83
$GC,5382,1.28,243.3,3227,2017,1454,1238,789.2,23.6,226,5387,0.00,2.17,0.00,0.000,516,0.000,0.037,3238,613,1346,1454,1238,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5574,1.28,243.3,3238,613,1453,1237,739.8,25.7,232,5580,0.00,2.10,0.00,0.000,1030,0.000,0.031,3238,2009,1345,1453,1237,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5905,1.28,243.3,3238,2009,1451,1235,651.5,26.0,243,5911,0.00,2.15,0.00,0.000,516,0.000,0.039,3250,613,1343,1452,1235,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5954,1.28,243.3,3250,613,1451,1235,642.1,26.5,244,5962,0.12,2.08,0.00,0.000,5126,0.168,0.030,3218,2003,1343,1451,1235,0,0,0,0,0,0,26.06,26.37,28.83
$GC,6266,1.28,243.3,3218,2004,1450,1233,564.8,21.0,257,6272,0.00,2.17,0.00,0.000,260,0.000,0.046,3218,3399,1341,1450,1233,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6327,1.28,243.3,3218,3399,1451,1233,553.5,23.4,259,6335,0.00,2.08,0.00,0.000,1030,0.000,0.030,3229,2004,1341,1450,1233,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6633,1.28,243.3,3229,2004,1450,1231,476.7,22.5,275,6639,0.00,2.12,0.00,0.000,516,0.000,0.039,3240,610,1339,1448,1231,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6666,1.28,243.3,3240,610,1449,1231,470.5,23.6,276,6673,0.00,2.08,0.00,0.000,1030,0.000,0.031,3240,1995,1340,1449,1231,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6983,1.28,243.3,3240,1995,1449,1231,397.0,23.1,292,6989,0.00,2.15,0.00,0.000,516,0.000,0.041,3252,608,1340,1449,1231,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7017,1.28,243.3,3252,607,1446,1231,390.2,23.9,293,7024,0.12,2.08,0.00,0.000,5126,0.164,0.031,3220,1998,1339,1448,1231,0,0,0,0,0,0,26.10,26.41,28.83
$GC,7335,1.28,243.3,3220,1998,1448,1229,317.4,20.7,309,7342,0.00,2.20,0.00,0.000,260,0.000,0.047,3220,3407,1339,1449,1229,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7391,1.28,243.3,3219,3407,1448,1229,307.6,20.5,311,7397,0.00,2.12,0.00,0.000,1030,0.000,0.030,3230,1984,1339,1448,1230,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7706,1.28,243.3,3230,1984,1447,1229,239.2,20.5,327,7712,0.00,2.12,0.00,0.000,516,0.000,0.040,3242,596,1337,1447,1228,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7773,1.28,243.3,3241,596,1445,1228,225.5,20.5,330,7779,0.00,2.08,0.00,0.000,1030,0.000,0.031,3242,1983,1337,1446,1228,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7980,1.28,243.3,3241,1983,1446,1228,186.4,19.4,340,7987,0.00,2.12,0.00,0.000,516,0.000,0.038,3252,600,1337,1446,1228,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8057,1.28,243.3,3253,600,1446,1228,172.9,19.1,343,8063,0.12,2.03,0.00,0.000,5126,0.165,0.030,3220,1960,1337,1446,1228,0,0,0,0,0,0,26.08,26.41,28.83
$GC,8255,1.28,243.3,3220,1960,1446,1228,136.2,17.4,353,8261,0.00,2.25,0.00,0.000,260,0.000,0.046,3221,3400,1337,1446,1228,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8283,1.28,243.3,3221,3400,1446,1228,130.6,18.3,354,8289,0.00,2.12,0.00,0.000,1030,0.000,0.030,3232,1971,1337,1446,1228,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8484,1.28,243.3,3231,1970,1446,1227,91.8,17.2,364,8490,0.00,2.25,0.00,0.000,260,0.000,0.045,3232,3405,1336,1446,1227,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8518,1.28,243.3,3231,3405,1446,1227,87.4,17.1,365,8525,0.00,2.12,0.00,0.000,1030,0.000,0.029,3243,1976,1336,1446,1227,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8716,1.28,243.3,3243,1976,1446,1226,60.1,8.7,375,8722,0.00,2.25,0.00,0.000,260,0.000,0.046,3243,3401,1335,1445,1226,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8914,1.28,243.3,3243,3400,1446,1225,39.7,14.0,388,8923,0.12,2.08,0.00,0.000,5126,0.162,0.029,3222,2007,1335,1446,1225,0,0,0,0,0,0,26.10,26.44,28.83
$GC,9105,1.28,243.3,2192,2002,1418,1220,14.5,14.7,414,9113,0.00,2.15,0.00,0.000,516,0.000,0.038,3234,595,1334,1446,1223,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,9215,end climb,SURFACE_DEPTH_REACHED
$STATE,9216,begin surface coast
$FINISH,0.5,1.022641
$STATE,9244,end surface coast,CONTROL_FINISHED_OK
$STATE,9244,begin surface
$SM_CCo,9265,76.38,0.060,0,0,747,400.08
$SM_GC,0.77,8.00,3.00,76.38,0.036,0.041,0.060,129,2494,747,-8.25,-1.19,400.08,0,0,0,0,0,0,26.42,26.27,26.08
$IRIDIUM_FIX,2309.79,12131.22,110413,111109
$TT8_MAMPS,0.047187,0.047187
$HUMID,50.78
$INTERNAL_PRESSURE,9.59367
$TCM_TEMP,21.90
$XPDR_PINGS,0
$SC_FREEKB,3911616
$24V_AH,23.9,50.941
$10V_AH,10.2,32.181
$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,20.200,91.725,948.475,76.375,0.000,0.000,0.000,224.050,0.000,0.000,15.803,1835.003,5039.186,958.494,1518.520,393.149,0.000,2029.543,0.000,1222.454,0.000,0.538,0.000
$DEVICE_MAMPS,219.555,55.080,869.805,60.435,0.000,0.000,0.000,127.755,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9248.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.113,0.000,0.000,0.000
$MEM,322844
$DATA_FILE_SIZE,16779,439
$CAP_FILE_SIZE,256541,0
$CFSIZE,260034560,220590080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.258, 26.8,1
$GPS,110413,173021,2319.588,12132.975,14,2.5,34,-3.1