version: 66.11
glider: 171
mission: 4
dive: 300
start: 4 7 113 3 13 21
data:
$ID,171
$MISSION,4
$DIVE,300
$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,-20896.252
$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,2820
$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,62
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,070413,030654,2338.110,12141.858,13,3.4,33,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-65.6
$GPS2,070413,031249,2338.096,12141.832,16,1.8,16,-3.2
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,INSHORE1
$TGT_LATLONG,2321.000,12139.000
$TGT_RADIUS,2000.000
$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,194.7,32026,-10.6,-8.333,-15.41,4401
$D_GRID,1519
$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,-243.3,126,2496,850,657,0.0,0.0,0,83,0.00,0.00,-61.17,0.000,16386,0.000,0.000,126,2497,2526,2582,2470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,124,2497,2586,2470,4.3,-8.4,8,117,9.07,1.85,-13.55,0.000,19204,0.225,0.065,2401,3674,3376,3436,3316,0,0,0,0,0,0,25.58,26.07,26.54
$GC,132,-1.28,-243.3,1448,3673,3423,3313,26.9,-44.2,14,138,0.00,1.73,0.00,0.000,1030,0.000,0.025,2401,2494,3377,3438,3317,0,0,0,0,0,0,28.83,26.25,28.83
$GC,457,-1.28,-243.3,2400,2492,3442,3318,127.4,-28.9,33,463,0.00,2.05,0.00,0.000,516,0.000,0.028,2401,1101,3380,3443,3318,0,0,0,0,0,0,28.83,26.33,28.83
$GC,556,-1.28,-243.3,2400,1100,3443,3319,151.7,-27.6,37,562,0.00,2.15,0.00,0.000,1030,0.000,0.037,2390,2506,3381,3443,3319,0,0,0,0,0,0,28.83,26.25,28.83
$GC,870,-1.28,-243.3,2390,2504,3445,3320,242.5,-28.8,53,877,0.00,1.83,0.00,0.000,260,0.000,0.051,2381,3674,3382,3445,3320,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1002,-1.28,-243.3,2380,3674,3445,3320,278.1,-27.6,59,1008,0.00,1.70,0.00,0.000,1030,0.000,0.023,2381,2477,3382,3445,3320,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1323,-1.28,-243.3,2381,2475,3445,3320,364.6,-26.6,75,1330,0.10,1.88,0.00,0.000,2308,0.168,0.050,2398,3672,3382,3445,3320,0,0,0,0,0,0,26.43,26.32,28.83
$GC,1364,-1.28,-243.3,2398,3672,3445,3320,371.5,-26.4,76,1372,0.00,1.67,0.00,0.000,1030,0.000,0.025,2398,2496,3382,3445,3320,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1668,-1.28,-243.3,2397,2495,3445,3320,447.3,-23.6,92,1674,0.00,2.03,0.00,0.000,516,0.000,0.029,2398,1114,3382,3445,3320,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1708,-1.28,-243.3,2397,1114,3442,3320,452.8,-23.3,93,1716,0.00,2.12,0.00,0.000,1030,0.000,0.037,2387,2504,3382,3445,3320,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2013,-1.28,-243.3,2387,2504,3445,3320,529.0,-23.3,109,2019,0.00,1.83,0.00,0.000,260,0.000,0.052,2378,3678,3382,3445,3320,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2095,-1.28,-243.3,2377,3678,3444,3320,545.1,-23.6,112,2105,0.08,1.73,0.00,0.000,3078,0.130,0.024,2419,2502,3382,3445,3320,0,0,0,0,0,0,26.20,26.60,28.83
$GC,2423,-1.28,-243.3,2419,2501,3444,3318,614.2,-20.0,128,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2501,3381,3444,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2721,-1.28,-243.3,2419,2501,3444,3314,673.4,-19.6,138,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2501,3379,3444,3314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3021,-1.28,-243.3,2419,2501,3444,3310,729.0,-18.2,148,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2501,3377,3444,3310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3321,-1.28,-243.3,2419,2501,3444,3306,783.9,-17.9,158,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2501,3375,3444,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3621,-1.28,-243.3,2419,2501,3443,3302,839.8,-18.6,168,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2501,3372,3443,3302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3921,-1.28,-243.3,2419,2501,3441,3300,895.1,-17.9,178,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2501,3371,3442,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4221,-1.28,-243.3,2419,2501,3441,3297,949.7,-18.2,188,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2501,3368,3441,3296,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4249,begin apogee
$GC,4256,-0.20,0.0,2419,2009,3440,3295,955.1,-18.1,189,4658,1.00,0.00,389.95,0.758,10246,0.114,0.000,2751,2009,2373,2531,2216,0,0,0,0,0,0,25.94,28.83,24.15
$STATE,4659,end apogee,CONTROL_FINISHED_OK
$STATE,4661,begin climb
$GC,4663,1.28,243.3,2751,2009,2524,2208,984.8,0.0,201,5061,1.33,2.30,384.50,0.735,10756,0.044,0.034,3254,609,1381,1493,1269,0,0,0,0,0,0,24.98,24.56,23.89
$GC,5157,1.28,243.3,3251,609,1472,1250,913.9,25.7,216,5163,0.00,2.22,0.00,0.000,1030,0.000,0.031,3254,2012,1360,1471,1250,0,0,0,0,0,0,28.83,25.34,28.83
$GC,5475,1.28,243.3,3253,2013,1463,1242,824.2,27.1,227,5481,0.00,2.17,0.00,0.000,516,0.000,0.037,3265,615,1352,1463,1242,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5503,1.28,243.3,3265,613,1463,1242,824.2,27.1,227,5513,0.12,2.12,0.00,0.000,5126,0.174,0.031,3234,2006,1352,1463,1242,0,0,0,0,0,0,25.82,26.08,28.83
$GC,5811,1.28,243.3,3233,2006,1461,1241,739.1,24.6,238,5817,0.00,2.20,0.00,0.000,260,0.000,0.046,3234,3405,1351,1461,1241,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5835,1.28,243.3,3234,3405,1465,1241,739.1,24.6,238,5841,0.00,2.10,0.00,0.000,1030,0.000,0.028,3246,2004,1351,1461,1241,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6152,1.28,243.3,3244,2004,1460,1239,656.2,24.1,249,6157,0.00,2.15,0.00,0.000,516,0.000,0.038,3257,604,1349,1460,1239,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6174,1.28,243.3,3256,604,1460,1239,656.2,24.1,249,6180,0.00,2.10,0.00,0.000,1030,0.000,0.031,3257,2001,1349,1460,1239,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6499,1.28,243.3,3257,2001,1459,1238,572.5,24.4,262,6505,0.00,2.20,0.00,0.000,260,0.000,0.046,3257,3410,1348,1459,1238,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6568,1.28,243.3,3257,3410,1459,1238,554.7,25.8,265,6574,0.15,2.12,0.00,0.000,5126,0.173,0.030,3230,1991,1348,1459,1238,0,0,0,0,0,0,26.05,26.44,28.83
$GC,6895,1.28,243.3,3229,1989,1458,1237,482.2,20.9,281,6902,0.00,2.22,0.00,0.000,260,0.000,0.046,3229,3408,1347,1458,1237,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6910,1.28,243.3,3229,3408,1458,1237,482.2,20.9,281,6915,0.00,2.10,0.00,0.000,1030,0.000,0.029,3241,1998,1347,1458,1237,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7224,1.28,243.3,3240,1997,1458,1236,411.6,21.4,297,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1997,1347,1458,1236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7524,1.28,243.3,3241,1997,1457,1236,349.5,21.5,312,7530,0.00,2.12,0.00,0.000,516,0.000,0.041,3252,610,1346,1457,1235,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7551,1.28,243.3,2304,610,1432,1234,344.8,21.0,313,7557,0.00,2.08,0.00,0.000,1030,0.000,0.031,3252,1998,1346,1457,1236,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7874,1.28,243.3,3252,1997,1458,1236,275.5,22.7,329,7880,0.00,2.20,0.00,0.000,260,0.000,0.047,3252,3409,1345,1456,1235,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7993,1.28,243.3,3252,3409,1456,1236,248.4,24.1,334,7999,0.12,2.10,0.00,0.000,5126,0.180,0.029,3232,1993,1345,1455,1236,0,0,0,0,0,0,26.11,26.49,28.83
$GC,8310,1.28,243.3,3232,1992,1455,1234,181.8,19.8,350,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1992,1343,1455,1232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8608,1.28,243.3,3232,1992,1455,1234,127.2,17.7,365,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1992,1344,1455,1234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8908,1.28,243.3,3232,1991,1455,1234,76.0,16.2,380,8914,0.00,2.10,0.00,0.000,516,0.000,0.040,3242,610,1344,1455,1234,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9056,1.28,243.3,2224,610,1428,1231,54.2,15.5,387,9063,0.00,2.08,0.00,0.000,1030,0.000,0.031,3243,2002,1344,1455,1234,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9371,1.28,243.3,2208,2000,1427,1231,18.8,9.3,422,9380,0.00,2.17,0.00,0.000,260,0.000,0.046,3243,3403,1344,1455,1234,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9410,1.28,243.3,2216,3401,1428,1231,14.4,10.9,428,9418,0.00,2.08,0.00,0.000,1030,0.000,0.028,3255,1985,1345,1456,1234,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,9524,end climb,SURFACE_DEPTH_REACHED
$STATE,9524,begin surface coast
$FINISH,0.5,1.022721
$STATE,9553,end surface coast,CONTROL_FINISHED_OK
$STATE,9553,begin surface
$SM_CCo,9572,77.28,0.062,0,0,747,400.08
$SM_GC,1.05,8.05,0.80,77.28,0.037,0.046,0.062,115,2498,747,-8.29,-1.19,400.08,0,0,0,0,0,0,26.51,26.41,26.19
$IRIDIUM_FIX,2333.28,12134.14,070413,000017
$TT8_MAMPS,0.047187,0.047187
$HUMID,48.70
$INTERNAL_PRESSURE,9.58391
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,3924640
$24V_AH,23.9,44.689
$10V_AH,10.3,28.899
$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,20.025,67.000,774.450,77.275,0.000,0.000,0.000,189.200,0.000,0.000,17.035,1751.273,5763.452,808.207,1350.446,332.508,0.000,1732.001,0.000,1094.236,0.000,0.536,0.000
$DEVICE_MAMPS,224.910,65.025,758.115,61.965,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9555.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.006,0.000,0.000,0.000
$MEM,323932
$DATA_FILE_SIZE,16726,454
$CAP_FILE_SIZE,237760,0
$CFSIZE,260034560,224124928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.090,205.0,1
$GPS,070413,055536,2335.946,12141.133,43,1.2,44,-3.2