version: 66.11
glider: 171
mission: 4
dive: 302
start: 4 7 113 8 46 34
data:
$ID,171
$MISSION,4
$DIVE,302
$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,-20898.768
$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,54
$R_STBD_OVSHOOT,33
$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
$GPS1,070413,083953,2333.991,12140.977,60,1.7,61,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.5
$GPS2,070413,084601,2334.043,12140.943,16,1.6,16,-3.1
$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,194.6,24381,-10.6,-8.333,-15.41,4401
$D_GRID,1786
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.28,-243.3,124,2492,847,657,0.0,0.0,0,82,0.00,0.00,-61.45,0.000,16386,0.000,0.000,124,2493,2564,2628,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,123,2492,2632,2501,4.7,-9.9,8,117,8.98,1.90,-12.62,0.000,18692,0.220,0.066,2392,3668,3378,3438,3319,0,0,0,0,0,0,25.56,26.07,26.53
$GC,354,-1.28,-243.3,2392,3668,3443,3321,99.3,-30.4,28,361,0.00,1.75,0.00,0.000,1030,0.000,0.026,2392,2490,3382,3443,3321,0,0,0,0,0,0,28.83,26.36,28.83
$GC,676,-1.28,-243.3,2392,2490,3447,3324,189.8,-29.1,44,682,0.00,2.05,0.00,0.000,516,0.000,0.027,2392,1096,3385,3447,3324,0,0,0,0,0,0,28.83,26.39,28.83
$GC,703,-1.28,-243.3,1456,1096,3434,3320,196.5,-28.3,45,709,0.00,2.15,0.00,0.000,1030,0.000,0.037,2381,2505,3385,3447,3324,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1025,-1.28,-243.3,2381,2504,3448,3325,289.4,-28.5,61,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2506,3386,3448,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1324,-1.28,-243.3,2381,2505,3448,3324,370.1,-26.5,76,1330,0.00,1.83,0.00,0.000,260,0.000,0.052,2372,3678,3386,3448,3324,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1370,-1.28,-243.3,2372,3678,3448,3325,382.6,-27.1,78,1378,0.12,1.70,0.00,0.000,3078,0.153,0.024,2406,2490,3386,3448,3324,0,0,0,0,0,0,26.21,26.55,28.83
$GC,1698,-1.28,-243.3,2405,2488,3448,3324,457.7,-22.1,94,1704,0.00,2.03,0.00,0.000,516,0.000,0.028,2406,1106,3386,3448,3324,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1738,-1.28,-243.3,2406,1106,3448,3324,463.5,-22.0,95,1747,0.00,2.12,0.00,0.000,1030,0.000,0.037,2395,2503,3385,3447,3324,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2043,-1.28,-243.3,2396,2502,3447,3324,538.3,-23.3,111,2049,0.00,1.83,0.00,0.000,260,0.000,0.053,2387,3674,3385,3447,3324,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2076,-1.28,-243.3,2387,3674,3447,3324,544.0,-23.1,112,2083,0.00,1.67,0.00,0.000,1030,0.000,0.026,2387,2496,3385,3447,3324,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2401,-1.28,-243.3,2387,2496,3447,3322,624.0,-24.0,127,2408,0.00,1.85,0.00,0.000,260,0.000,0.053,2378,3674,3384,3447,3321,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2430,-1.28,-243.3,2377,3674,3448,3322,624.0,-24.0,127,2439,0.12,1.67,0.00,0.000,3078,0.149,0.026,2411,2505,3384,3447,3321,0,0,0,0,0,0,26.25,26.60,28.83
$GC,2738,-1.28,-243.3,2411,2505,3447,3319,697.0,-21.6,138,2744,0.00,2.05,0.00,0.000,516,0.000,0.028,2411,1114,3382,3447,3318,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2787,-1.28,-243.3,2411,1114,3447,3318,704.6,-21.5,139,2793,0.00,2.12,0.00,0.000,1030,0.000,0.038,2402,2503,3383,3447,3319,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3106,-1.28,-243.3,2402,2503,3447,3314,776.3,-21.7,150,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2503,3380,3447,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3407,-1.28,-243.3,2401,2504,3446,3308,839.2,-20.4,160,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2504,3377,3446,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3707,-1.28,-243.3,2401,2504,3445,3306,895.4,-17.9,170,3713,0.00,2.05,0.00,0.000,516,0.000,0.028,2402,1112,3375,3445,3305,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3725,-1.28,-243.3,2401,1112,3445,3305,895.4,-17.9,170,3731,0.00,2.15,0.00,0.000,1030,0.000,0.040,2391,2503,3375,3445,3305,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,4016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4016,begin apogee
$GC,4023,-0.20,0.0,2391,1994,3443,3302,952.4,-18.8,180,4425,1.10,0.00,391.10,0.751,10246,0.119,0.000,2751,1992,2375,2531,2219,0,0,0,0,0,0,25.90,28.83,24.12
$STATE,4428,end apogee,CONTROL_FINISHED_OK
$STATE,4428,begin climb
$GC,4430,1.28,243.3,2751,1993,2526,2209,979.6,0.0,192,4825,1.30,2.22,381.10,0.735,10756,0.041,0.036,3250,632,1381,1494,1269,0,0,1,0,0,0,24.98,24.50,23.88
$GC,4854,1.28,243.3,3250,632,1478,1255,924.3,22.9,205,4860,0.00,2.20,0.00,0.000,1030,0.000,0.031,3250,2006,1365,1477,1254,0,0,0,0,0,0,28.83,24.92,28.83
$GC,5178,1.28,243.3,3250,2006,1466,1245,836.0,27.2,216,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2006,1355,1466,1245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5479,1.28,243.3,3250,2006,1464,1243,757.9,25.9,226,5485,0.00,2.20,0.00,0.000,260,0.000,0.046,3250,3408,1353,1464,1243,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5514,1.28,243.3,3250,3408,1467,1243,748.4,26.2,227,5521,0.12,2.08,0.00,0.000,5126,0.183,0.028,3231,2016,1353,1464,1243,0,0,0,0,0,0,25.94,26.27,28.83
$GC,5849,1.28,243.3,3231,2016,1463,1241,668.0,23.5,238,5855,0.00,2.15,0.00,0.000,516,0.000,0.037,3242,610,1352,1463,1241,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5885,1.28,243.3,3241,610,1462,1241,659.5,23.9,239,5891,0.00,2.10,0.00,0.000,1030,0.000,0.031,3242,2006,1354,1466,1242,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6201,1.28,243.3,3241,2006,1461,1240,584.2,24.3,250,6206,0.00,2.17,0.00,0.000,260,0.000,0.046,3242,3402,1351,1462,1241,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6241,1.28,243.3,3242,3402,1462,1240,578.2,24.2,251,6250,0.00,2.08,0.00,0.000,1030,0.000,0.029,3253,2007,1349,1459,1240,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6546,1.28,243.3,3253,2008,1460,1239,500.6,23.5,267,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2007,1349,1460,1239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6846,1.28,243.3,3253,2007,1459,1238,432.9,23.0,282,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2007,1348,1459,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7146,1.28,243.3,3253,2008,1459,1237,361.5,23.4,297,7152,0.00,2.20,0.00,0.000,260,0.000,0.046,3253,3408,1348,1459,1238,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7171,1.28,243.3,3253,3409,1459,1237,355.6,23.5,298,7177,0.12,2.10,0.00,0.000,5126,0.184,0.029,3234,1996,1347,1456,1238,0,0,0,0,0,0,26.10,26.48,28.83
$GC,7499,1.28,243.3,3233,1996,1459,1237,287.8,20.4,314,7504,0.00,2.12,0.00,0.000,516,0.000,0.041,3245,606,1346,1457,1236,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7517,1.28,243.3,3245,607,1459,1237,287.8,20.4,314,7525,0.00,2.08,0.00,0.000,1030,0.000,0.031,3245,2001,1348,1459,1237,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7823,1.28,243.3,3244,2001,1459,1237,218.9,21.3,330,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2001,1347,1459,1236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8124,1.28,243.3,3245,2001,1459,1236,158.3,18.8,345,8130,0.00,2.17,0.00,0.000,260,0.000,0.044,3245,3403,1347,1459,1236,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8143,1.28,243.3,3244,3403,1459,1237,158.3,18.8,345,8151,0.00,2.08,0.00,0.000,1030,0.000,0.028,3256,1998,1347,1459,1236,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8448,1.28,243.3,3256,1998,1459,1237,92.6,21.6,361,8454,0.00,2.12,0.00,0.000,516,0.000,0.040,3267,606,1347,1459,1236,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8687,1.28,243.3,3267,606,1459,1236,52.6,16.4,372,8695,0.12,2.08,0.00,0.000,5126,0.160,0.030,3234,2004,1347,1459,1236,0,0,0,0,0,0,26.16,26.46,28.83
$GC,9005,1.68,358.6,2184,2002,1431,1233,20.1,5.6,409,9136,0.30,0.00,126.85,0.367,10498,0.046,0.000,3388,2004,1157,1270,1045,0,0,0,0,0,0,26.60,28.83,28.83
$STATE,9137,end climb,SURFACE_DEPTH_REACHED
$STATE,9137,begin surface coast
$FINISH,0.1,1.022843
$STATE,9155,end surface coast,CONTROL_FINISHED_OK
$STATE,9155,begin surface
$SM_CCo,9174,52.28,0.059,0,0,747,400.08
$SM_GC,1.04,8.50,0.77,52.28,0.028,0.047,0.059,124,2497,747,-8.30,-1.27,400.08,0,0,0,0,0,0,25.89,25.81,25.76
$IRIDIUM_FIX,2330.93,12142.62,070413,050512
$TT8_MAMPS,0.047187,0.047187
$HUMID,48.54
$INTERNAL_PRESSURE,9.58391
$TCM_TEMP,22.00
$XPDR_PINGS,0
$SC_FREEKB,3924000
$24V_AH,23.9,45.041
$10V_AH,10.2,29.054
$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,20.800,66.550,899.050,52.275,0.000,0.000,0.000,204.725,0.000,0.000,17.522,1624.341,5440.868,879.150,1329.483,323.912,0.000,1823.100,0.000,1067.617,0.000,0.535,0.000
$DEVICE_MAMPS,219.555,65.790,751.230,58.905,0.000,0.000,0.000,121.635,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9158.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.080,0.000,0.000,0.000
$MEM,323924
$DATA_FILE_SIZE,16754,429
$CAP_FILE_SIZE,228988,0
$CFSIZE,260034560,223969280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.058,113.9,1
$GPS,070413,112153,2332.290,12140.687,34,1.3,52,-3.1