version: 66.11
glider: 171
mission: 4
dive: 301
start: 4 7 113 6 1 44
data:
$ID,171
$MISSION,4
$DIVE,301
$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,-20897.512
$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,63
$R_STBD_OVSHOOT,35
$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
$GPS1,070413,055536,2335.946,12141.133,43,1.2,44,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.2
$GPS2,070413,060113,2335.929,12141.098,11,1.2,11,-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,185.3,27877,-10.6,-8.333,-15.41,4401
$D_GRID,1763
$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,-243.3,115,2501,848,658,0.0,0.0,0,83,0.00,0.00,-61.22,0.000,16386,0.000,0.000,114,2501,2551,2612,2490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,115,2501,2615,2490,4.1,-8.7,8,117,9.05,2.10,-13.10,0.000,18948,0.221,0.040,2403,1095,3377,3436,3319,0,0,0,0,0,0,25.60,26.18,26.54
$GC,251,-1.28,-243.3,1472,1094,3428,3315,62.7,-29.6,23,257,0.00,2.15,0.00,0.000,1030,0.000,0.037,2393,2496,3380,3442,3319,0,0,0,0,0,0,28.83,26.15,28.83
$GC,570,-1.28,-243.3,2393,2497,3447,3322,155.0,-29.3,39,577,0.00,2.08,0.00,0.000,516,0.000,0.028,2393,1104,3384,3446,3322,0,0,0,0,0,0,28.83,26.36,28.83
$GC,600,-1.28,-243.3,2393,1104,3446,3322,162.6,-29.1,40,606,0.00,2.15,0.00,0.000,1030,0.000,0.038,2382,2500,3384,3446,3322,0,0,0,0,0,0,28.83,26.25,28.83
$GC,919,-1.28,-243.3,2385,2501,3447,3324,256.3,-28.3,56,925,0.00,1.83,0.00,0.000,260,0.000,0.053,2374,3673,3386,3448,3324,0,0,0,0,0,0,28.83,26.27,28.83
$GC,986,-1.28,-243.3,2373,3674,3448,3324,275.1,-28.0,59,992,0.12,1.70,0.00,0.000,3078,0.153,0.024,2406,2490,3386,3448,3324,0,0,0,0,0,0,26.17,26.51,28.83
$GC,1313,-1.28,-243.3,2405,2488,3448,3324,358.5,-24.3,75,1319,0.00,1.85,0.00,0.000,260,0.000,0.053,2398,3669,3386,3448,3324,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1399,-1.28,-243.3,1444,3669,3435,3320,379.6,-24.0,79,1405,0.00,1.67,0.00,0.000,1030,0.000,0.025,2398,2496,3386,3448,3324,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1725,-1.28,-243.3,2397,2495,3448,3324,456.3,-23.5,95,1731,0.00,2.05,0.00,0.000,516,0.000,0.028,2398,1108,3386,3448,3324,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1773,-1.28,-243.3,2398,1108,3448,3324,467.4,-23.5,97,1778,0.00,2.12,0.00,0.000,1030,0.000,0.038,2387,2501,3386,3448,3324,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2099,-1.28,-243.3,2387,2501,3447,3324,544.8,-23.1,113,2106,0.00,1.83,0.00,0.000,260,0.000,0.053,2378,3674,3386,3448,3324,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2159,-1.28,-243.3,2378,3674,3448,3324,556.2,-23.7,115,2168,0.12,1.67,0.00,0.000,3078,0.151,0.026,2411,2499,3385,3447,3324,0,0,0,0,0,0,26.25,26.59,28.83
$GC,2486,-1.28,-243.3,2411,2499,3447,3320,625.4,-19.6,130,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2498,3383,3447,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2787,-1.28,-243.3,2411,2498,3447,3318,684.0,-19.8,140,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2498,3382,3447,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3086,-1.28,-243.3,2411,2498,3447,3314,746.1,-20.7,150,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2498,3380,3447,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3386,-1.28,-243.3,2411,2498,3446,3309,809.2,-21.2,160,3393,0.00,2.05,0.00,0.000,516,0.000,0.031,2412,1116,3377,3447,3308,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3433,-1.28,-243.3,2411,1116,3447,3308,816.5,-21.2,161,3439,0.00,2.12,0.00,0.000,1030,0.000,0.040,2402,2501,3377,3447,3308,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3758,-1.28,-243.3,2402,2501,3445,3305,885.0,-20.0,172,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2501,3375,3445,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4058,-1.28,-243.3,2402,2501,3443,3302,944.4,-20.0,182,4064,0.00,1.83,0.00,0.000,260,0.000,0.055,2393,3668,3372,3443,3302,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,4091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4091,begin apogee
$GC,4101,-0.20,0.0,2393,2007,3443,3302,951.4,-20.2,183,4506,1.10,0.00,392.67,0.750,10246,0.120,0.000,2752,2006,2374,2531,2217,0,0,0,0,0,0,25.89,28.83,24.14
$STATE,4509,end apogee,CONTROL_FINISHED_OK
$STATE,4510,begin climb
$GC,4512,1.28,243.3,2752,2006,2525,2209,976.1,0.0,195,4920,1.33,0.00,399.73,0.717,10758,0.043,0.000,3246,2006,1388,1501,1276,0,0,0,0,0,0,25.00,28.83,23.89
$GC,5203,1.28,243.3,3246,2006,1466,1242,845.7,25.0,220,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2006,1354,1466,1243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5504,1.28,243.3,3246,2006,1463,1240,770.6,25.6,230,5510,0.00,2.22,0.00,0.000,260,0.000,0.046,3246,3415,1351,1463,1240,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5543,1.28,243.3,3246,3413,1463,1240,761.4,25.7,231,5549,0.00,2.12,0.00,0.000,1030,0.000,0.028,3258,1996,1351,1463,1240,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5874,1.28,243.3,3258,1995,1461,1238,677.4,24.3,242,5879,0.00,2.12,0.00,0.000,516,0.000,0.039,3269,609,1349,1461,1238,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5897,1.28,243.3,3268,609,1460,1238,677.4,24.3,242,5904,0.15,2.10,0.00,0.000,5126,0.171,0.031,3230,2012,1349,1460,1238,0,0,0,0,0,0,26.00,26.32,28.83
$GC,6213,1.28,243.3,3230,2013,1459,1235,597.4,23.3,253,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2013,1348,1460,1237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6513,1.28,243.3,3230,2012,1459,1236,526.5,23.6,268,6519,0.00,2.17,0.00,0.000,260,0.000,0.047,3230,3403,1347,1459,1236,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6554,1.28,243.3,3230,3403,1459,1236,520.3,23.9,269,6562,0.00,2.10,0.00,0.000,1030,0.000,0.029,3241,1999,1347,1459,1236,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6858,1.28,243.3,3240,1999,1458,1235,446.7,22.6,285,6864,0.00,2.20,0.00,0.000,260,0.000,0.047,3241,3401,1346,1458,1235,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6914,1.28,243.3,3240,3401,1458,1235,436.5,22.7,287,6920,0.00,2.08,0.00,0.000,1030,0.000,0.029,3252,2003,1346,1458,1235,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7229,1.28,243.3,3252,2003,1458,1234,361.3,22.9,303,7235,0.00,2.12,0.00,0.000,516,0.000,0.040,3263,609,1345,1457,1234,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7304,1.28,243.3,3263,609,1457,1234,346.3,22.9,306,7312,0.12,2.08,0.00,0.000,5126,0.171,0.031,3232,2002,1345,1457,1233,0,0,0,0,0,0,26.12,26.44,28.83
$GC,7623,1.28,243.3,3232,2002,1457,1233,282.1,20.2,322,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2002,1345,1457,1233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7920,1.28,243.3,3232,2002,1457,1233,220.9,20.3,337,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2002,1345,1457,1233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8221,1.28,243.3,3231,2002,1457,1233,162.2,18.5,352,8227,0.00,2.15,0.00,0.000,516,0.000,0.039,3243,601,1344,1457,1232,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8267,1.28,243.3,3243,601,1457,1233,153.9,18.3,354,8273,0.00,2.10,0.00,0.000,1030,0.000,0.029,3243,2008,1345,1457,1233,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8594,1.28,243.3,3243,2008,1457,1233,92.8,18.5,370,8600,0.00,2.15,0.00,0.000,516,0.000,0.039,3255,606,1345,1457,1233,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8792,1.28,243.3,3254,606,1457,1233,60.1,16.7,379,8799,0.00,2.10,0.00,0.000,1030,0.000,0.031,3255,2006,1345,1457,1233,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9106,1.28,243.3,2208,2004,1429,1230,18.8,8.5,412,9114,0.00,2.15,0.00,0.000,516,0.000,0.040,3266,607,1345,1457,1233,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9188,1.28,243.3,3266,607,1457,1233,10.2,11.1,426,9198,0.12,2.08,0.00,0.000,5126,0.158,0.030,3233,2002,1345,1457,1233,0,0,0,0,0,0,26.17,26.46,28.83
$STATE,9258,end climb,SURFACE_DEPTH_REACHED
$STATE,9258,begin surface coast
$FINISH,0.1,1.022664
$STATE,9292,end surface coast,CONTROL_FINISHED_OK
$STATE,9292,begin surface
$SM_CCo,9311,76.80,0.062,0,0,747,400.08
$SM_GC,1.15,7.93,0.75,76.80,0.031,0.045,0.062,124,2490,747,-8.30,-1.33,400.08,0,0,0,0,0,0,26.49,26.41,26.17
$IRIDIUM_FIX,2330.93,12142.62,070413,030339
$TT8_MAMPS,0.047187,0.047187
$HUMID,48.18
$INTERNAL_PRESSURE,9.57414
$TCM_TEMP,22.00
$XPDR_PINGS,0
$SC_FREEKB,3924320
$24V_AH,23.9,44.860
$10V_AH,10.2,28.976
$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,20.050,66.525,792.400,76.800,0.000,0.000,0.000,177.025,0.000,0.000,12.724,1717.971,5536.377,830.078,1317.575,323.951,0.000,1728.261,0.000,1078.415,0.000,0.535,0.000
$DEVICE_MAMPS,221.085,55.080,750.465,61.965,0.000,0.000,0.000,127.755,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9300.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.030,0.000,0.000,0.000
$MEM,323928
$DATA_FILE_SIZE,16773,444
$CAP_FILE_SIZE,232425,0
$CFSIZE,260034560,224047104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028,144.0,1
$GPS,070413,083953,2333.991,12140.977,60,1.7,61,-3.1