version: 66.11
glider: 171
mission: 4
dive: 342
start: 4 11 113 17 37 56
data:
$ID,171
$MISSION,4
$DIVE,342
$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,300
$T_MISSION,320
$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,-20952.363
$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,49
$R_STBD_OVSHOOT,31
$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
$GPS1,110413,173021,2319.588,12132.975,14,2.5,34,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.5
$GPS2,110413,173725,2319.857,12133.059,11,1.3,11,-3.1
$SPEED_LIMITS,0.183,0.331
$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,205.9,3479,-13.8,-10.556,-17.69,3501
$D_GRID,665
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.40,-243.3,126,2496,838,659,0.0,0.0,0,81,0.00,0.00,-59.50,0.000,16386,0.000,0.000,126,2496,2477,2541,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.40,-243.3,126,2496,2541,2417,4.3,-8.9,8,117,8.80,1.85,-14.60,0.000,18692,0.220,0.061,2340,3674,3376,3435,3318,0,0,0,0,0,0,25.48,26.00,26.51
$GC,293,-1.40,-243.3,2340,3674,3439,3318,83.6,-30.4,35,300,0.00,1.75,0.00,0.000,1030,0.000,0.024,2340,2466,3379,3440,3318,0,0,0,0,0,0,28.83,26.32,28.83
$GC,428,-1.40,-243.3,2340,2466,3442,3319,125.3,-30.3,48,434,0.00,1.90,0.00,0.000,260,0.000,0.050,2331,3674,3380,3442,3318,0,0,0,0,0,0,28.83,26.10,28.83
$GC,510,-1.40,-243.3,2330,3674,3443,3320,148.4,-30.1,55,518,0.00,1.65,0.00,0.000,1030,0.000,0.025,2330,2515,3381,3443,3320,0,0,0,0,0,0,28.83,26.41,28.83
$GC,636,-1.40,-243.3,2330,2515,3444,3319,190.2,-30.9,68,642,0.00,2.08,0.00,0.000,516,0.000,0.027,2331,1109,3382,3444,3320,0,0,0,0,0,0,28.83,26.34,28.83
$GC,674,-1.40,-243.3,2331,1109,3444,3320,200.7,-30.5,71,682,0.15,2.15,0.00,0.000,3078,0.169,0.037,2357,2522,3380,3444,3317,0,0,0,0,0,0,25.88,26.23,28.83
$GC,811,-1.40,-243.3,2357,2522,3446,3322,240.0,-28.0,84,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2522,3383,3446,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,932,-1.40,-243.3,2356,2522,3446,3320,271.6,-26.0,96,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2522,3383,3446,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1061,-1.40,-243.3,2357,2521,3446,3320,304.0,-25.3,109,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2522,3381,3442,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1183,-1.40,-243.3,2357,2521,3446,3320,335.5,-25.9,121,1189,0.00,1.80,0.00,0.000,260,0.000,0.054,2350,3673,3383,3446,3320,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1244,-1.40,-243.3,2350,3673,3446,3320,352.2,-27.8,126,1252,0.00,1.67,0.00,0.000,1030,0.000,0.025,2350,2535,3383,3446,3320,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1371,-1.40,-243.3,2350,2535,3446,3320,387.7,-26.6,139,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2536,3383,3446,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1494,-1.40,-243.3,2349,2536,3445,3320,419.9,-26.7,151,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2535,3383,3445,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1621,-1.40,-243.3,2349,2535,3446,3320,455.1,-27.7,164,1628,0.00,1.77,0.00,0.000,260,0.000,0.053,2341,3667,3383,3446,3320,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1658,-1.40,-243.3,2341,3667,3446,3320,465.4,-28.7,167,1664,0.00,1.67,0.00,0.000,1030,0.000,0.028,2341,2543,3383,3446,3321,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1793,-1.40,-243.3,2341,2542,3446,3320,499.7,-23.8,180,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2542,3383,3446,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1916,-1.40,-243.3,2341,2542,3446,3320,526.3,-21.8,192,1922,0.00,1.77,0.00,0.000,260,0.000,0.054,2332,3670,3383,3446,3320,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1954,-1.40,-243.3,2332,3670,3445,3320,535.6,-24.6,195,1960,0.00,1.62,0.00,0.000,1030,0.000,0.029,2332,2559,3383,3446,3320,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2089,-1.40,-243.3,2332,2559,3445,3319,568.4,-24.4,208,2095,0.00,1.75,0.00,0.000,260,0.000,0.054,2323,3665,3382,3445,3319,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2150,-1.40,-243.3,2321,3665,3445,3318,584.1,-28.1,213,2158,0.08,1.62,0.00,0.000,3078,0.145,0.028,2349,2582,3381,3445,3318,0,0,0,0,0,0,26.17,26.53,28.83
$GC,2277,-1.40,-243.3,2348,2582,3447,3317,615.4,-24.1,226,2284,0.00,1.70,0.00,0.000,260,0.000,0.054,2342,3665,3380,3445,3316,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2357,-1.40,-243.3,2341,3665,3445,3316,633.8,-23.8,233,2362,0.00,1.60,0.00,0.000,1030,0.000,0.029,2341,2579,3380,3446,3315,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,2488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2489,begin apogee
$GC,2495,-0.20,0.0,2341,1982,3445,3313,665.9,-24.5,246,2865,1.23,0.00,359.15,0.659,10244,0.124,0.000,2736,1984,2379,2534,2224,0,0,0,0,0,0,25.77,28.83,24.42
$STATE,2867,end apogee,CONTROL_FINISHED_OK
$STATE,2867,begin climb
$GC,2869,1.40,243.3,2736,1984,2528,2212,691.7,0.0,275,3173,1.48,2.17,293.98,0.701,10756,0.055,0.035,3264,631,1388,1497,1280,0,0,0,0,0,0,25.22,25.22,24.33
$GC,3199,1.40,243.3,3264,631,1476,1260,649.3,21.4,301,3205,0.00,2.15,0.00,0.000,1030,0.000,0.028,3264,2008,1366,1473,1259,0,0,0,0,0,0,28.83,25.27,28.83
$GC,3394,1.40,243.3,3262,2008,1465,1249,600.0,26.3,320,3400,0.00,2.20,0.00,0.000,260,0.000,0.044,3264,3400,1357,1465,1249,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3570,1.40,243.3,3263,3401,1462,1248,555.3,25.3,336,3576,0.00,2.10,0.00,0.000,1030,0.000,0.028,3275,2003,1355,1462,1248,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3705,1.40,243.3,3275,2003,1460,1246,519.2,26.4,349,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,2003,1353,1461,1246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3827,1.40,243.3,3275,2003,1460,1245,491.0,24.3,361,3832,0.00,2.20,0.00,0.000,260,0.000,0.043,3275,3409,1352,1460,1245,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3895,1.40,243.3,3275,3409,1459,1245,473.2,25.9,367,3901,0.00,2.12,0.00,0.000,1030,0.000,0.028,3287,1999,1350,1459,1242,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4030,1.40,243.3,3286,1998,1458,1243,440.8,24.2,380,4036,0.00,2.12,0.00,0.000,516,0.000,0.040,3298,610,1351,1459,1243,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4088,1.40,243.3,3298,610,1459,1242,426.9,23.5,385,4095,0.15,2.08,0.00,0.000,5126,0.176,0.030,3260,1991,1350,1458,1242,0,0,0,0,0,0,25.94,26.33,28.83
$GC,4224,1.40,243.3,3260,1990,1458,1241,396.4,22.6,398,4230,0.00,2.22,0.00,0.000,260,0.000,0.046,3260,3402,1349,1458,1241,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4261,1.40,243.3,3260,3402,1458,1241,387.4,24.5,401,4267,0.00,2.10,0.00,0.000,1030,0.000,0.029,3271,1997,1349,1458,1241,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4396,1.40,243.3,3271,1997,1458,1240,353.9,24.7,414,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1997,1350,1458,1243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4520,1.40,243.3,3271,1997,1457,1239,325.1,24.8,426,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1997,1348,1457,1239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4646,1.40,243.3,3271,1997,1456,1238,294.4,23.6,439,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1997,1346,1455,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4768,1.40,243.3,3271,1997,1454,1238,268.8,20.0,451,4773,0.00,2.12,0.00,0.000,516,0.000,0.039,3282,607,1346,1455,1238,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4817,1.40,243.3,3282,608,1454,1237,259.1,20.1,455,4826,0.00,2.08,0.00,0.000,1030,0.000,0.030,3282,1995,1345,1454,1237,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4945,1.40,243.3,3282,1995,1453,1238,232.5,21.7,468,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1995,1345,1453,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5066,1.40,243.3,3282,1995,1453,1237,205.9,21.5,480,5073,0.00,2.12,0.00,0.000,516,0.000,0.039,3294,610,1344,1453,1236,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5114,1.40,243.3,3294,610,1453,1236,195.1,21.8,484,5121,0.12,2.08,0.00,0.000,5126,0.177,0.031,3262,1994,1345,1453,1237,0,0,0,0,0,0,26.05,26.40,28.83
$GC,5250,1.40,243.3,3263,1994,1453,1237,166.7,20.4,497,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1995,1344,1453,1236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5372,1.40,243.3,3263,1994,1453,1235,142.1,21.1,509,5377,0.00,2.12,0.00,0.000,516,0.000,0.040,3274,609,1344,1453,1236,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5397,1.40,243.3,3273,609,1453,1236,136.5,21.3,511,5403,0.00,2.08,0.00,0.000,1030,0.000,0.031,3274,1990,1344,1453,1236,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5531,1.40,243.3,3274,1990,1453,1235,109.3,17.0,524,5538,0.00,2.20,0.00,0.000,260,0.000,0.045,3274,3401,1344,1453,1235,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5663,1.40,243.3,3273,3401,1452,1236,83.6,17.7,536,5670,0.00,2.10,0.00,0.000,1030,0.000,0.028,3285,1990,1343,1452,1235,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5798,1.40,243.3,3285,1990,1452,1234,62.1,15.2,549,5804,0.00,2.12,0.00,0.000,516,0.000,0.039,3296,604,1343,1452,1234,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6045,1.43,251.1,2256,604,1422,1230,31.3,10.3,588,6054,0.00,2.05,0.00,0.000,1030,0.000,0.029,3297,1975,1342,1451,1233,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6187,1.43,251.1,3296,1975,1451,1233,17.5,11.4,613,6195,0.00,2.22,0.00,0.000,260,0.000,0.044,3297,3405,1342,1451,1233,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,6320,end climb,SURFACE_DEPTH_REACHED
$STATE,6320,begin surface coast
$FINISH,0.0,1.022561
$STATE,6343,end surface coast,CONTROL_FINISHED_OK
$STATE,6343,begin surface
$SM_CCo,6363,74.97,0.061,0,0,748,400.08
$SM_GC,1.08,8.15,1.38,74.97,0.035,0.031,0.061,120,2495,748,-8.25,1.75,400.08,0,0,0,0,0,0,26.46,26.52,26.11
$IRIDIUM_FIX,2307.44,12131.22,110413,141456
$TT8_MAMPS,0.047187,0.047187
$HUMID,50.23
$INTERNAL_PRESSURE,9.61321
$TCM_TEMP,22.00
$XPDR_PINGS,0
$SC_FREEKB,3911296
$24V_AH,24.3,51.076
$10V_AH,10.2,32.265
$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,20.150,75.350,653.125,74.975,0.000,0.000,0.000,253.950,0.000,0.000,12.047,2183.311,1933.483,772.908,1538.707,432.230,0.000,1791.629,0.000,1235.335,0.000,0.536,0.000
$DEVICE_MAMPS,219.555,61.200,700.740,61.200,0.000,0.000,0.000,126.990,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6357.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.877,0.000,0.000,0.000
$MEM,322840
$DATA_FILE_SIZE,23444,641
$CAP_FILE_SIZE,287509,0
$CFSIZE,260034560,220459008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.297, 16.6,1
$GPS,110413,192651,2320.028,12132.824,35,3.0,54,-3.1