version: 66.11
glider: 171
mission: 4
dive: 304
start: 4 7 113 14 12 7
data:
$ID,171
$MISSION,4
$DIVE,304
$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,-20901.285
$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,46
$R_STBD_OVSHOOT,42
$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
$GPS1,070413,140536,2330.007,12140.282,33,1.6,34,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-68.0
$GPS2,070413,141136,2329.889,12140.349,15,1.6,32,-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,203.7,16622,-10.6,-8.333,-15.41,4401
$D_GRID,875
$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,18,-1.28,-243.3,126,2514,848,659,0.0,0.0,0,82,0.00,0.00,-60.78,0.000,16386,0.000,0.000,126,2514,2468,2541,2396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,126,2514,2545,2396,3.4,-6.4,8,117,8.88,2.15,-15.12,0.000,18948,0.217,0.040,2399,1087,3375,3435,3315,0,0,0,0,0,0,25.60,26.18,26.55
$GC,349,-1.28,-243.3,2398,1087,3439,3315,90.9,-28.6,29,355,0.00,2.17,0.00,0.000,1030,0.000,0.039,2389,2494,3377,3440,3314,0,0,0,0,0,0,28.83,26.19,28.83
$GC,675,-1.28,-243.3,2389,2494,3443,3318,180.9,-28.3,45,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2494,3380,3443,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,974,-1.28,-243.3,2389,2494,3443,3318,264.6,-28.9,60,980,0.00,1.85,0.00,0.000,260,0.000,0.053,2380,3678,3380,3443,3318,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1030,-1.28,-243.3,2379,3678,3443,3318,277.7,-28.8,62,1036,0.12,1.73,0.00,0.000,3078,0.155,0.025,2412,2466,3380,3443,3318,0,0,0,0,0,0,26.18,26.53,28.83
$GC,1346,-1.28,-243.3,2412,2466,3444,3318,357.9,-23.0,78,1352,0.00,1.98,0.00,0.000,516,0.000,0.028,2413,1115,3380,3443,3318,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1380,-1.28,-243.3,2412,1114,3443,3319,363.8,-22.8,79,1387,0.00,2.12,0.00,0.000,1030,0.000,0.038,2403,2502,3381,3444,3319,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1696,-1.28,-243.3,2402,2502,3443,3318,437.6,-23.1,95,1702,0.00,1.83,0.00,0.000,260,0.000,0.053,2394,3673,3380,3443,3318,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1785,-1.28,-243.3,2393,3673,3443,3318,459.3,-24.4,99,1791,0.00,1.67,0.00,0.000,1030,0.000,0.025,2394,2504,3381,3444,3318,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2112,-1.28,-243.3,2393,2503,3443,3319,536.5,-23.4,115,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2503,3381,3443,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2410,-1.28,-243.3,2393,2502,3443,3317,604.0,-21.5,130,2415,0.00,2.05,0.00,0.000,516,0.000,0.029,2394,1111,3380,3443,3317,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2437,-1.28,-243.3,2394,1111,3443,3316,604.0,-21.5,130,2446,0.00,2.12,0.00,0.000,1030,0.000,0.039,2383,2501,3379,3443,3316,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2745,-1.28,-243.3,2382,2501,3443,3313,678.8,-21.9,141,2751,0.00,1.83,0.00,0.000,260,0.000,0.054,2374,3668,3377,3443,3312,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2891,-1.28,-243.3,2374,3668,3443,3312,706.7,-21.7,145,2898,0.12,1.67,0.00,0.000,3078,0.151,0.028,2407,2511,3377,3443,3311,0,0,0,0,0,0,26.25,26.59,28.83
$GC,3206,-1.28,-243.3,2407,2511,3443,3307,773.1,-19.4,156,3212,0.00,2.08,0.00,0.000,516,0.000,0.028,2407,1106,3375,3443,3307,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3255,-1.28,-243.3,2407,1106,3442,3306,779.7,-19.4,157,3262,0.00,2.12,0.00,0.000,1030,0.000,0.037,2398,2500,3374,3443,3306,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3575,-1.28,-243.3,2397,2500,3442,3302,850.3,-21.1,168,3581,0.00,1.85,0.00,0.000,260,0.000,0.056,2389,3673,3372,3442,3302,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3621,-1.28,-243.3,2388,3673,3442,3302,857.9,-21.3,169,3627,0.00,1.70,0.00,0.000,1030,0.000,0.028,2389,2497,3372,3442,3302,0,0,0,0,0,0,28.83,26.59,28.83
$STATE,3706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3706,begin apogee
$GC,3712,-0.20,0.0,2389,1994,3442,3300,878.0,-21.3,172,4099,1.10,0.00,376.67,0.733,10246,0.119,0.000,2750,1993,2377,2532,2223,0,0,0,0,0,0,25.92,28.83,24.21
$STATE,4101,end apogee,CONTROL_FINISHED_OK
$STATE,4101,begin climb
$GC,4104,1.28,243.3,2749,1993,2528,2213,912.2,0.0,184,4476,1.33,2.33,361.02,0.728,10756,0.044,0.036,3255,619,1384,1497,1271,0,0,0,0,0,0,25.03,24.65,23.99
$GC,4511,1.28,243.3,3254,619,1477,1253,865.5,21.3,196,4517,0.00,2.20,0.00,0.000,1030,0.000,0.030,3255,2006,1364,1476,1252,0,0,0,0,0,0,28.83,25.04,28.83
$GC,4836,1.28,243.3,3254,2006,1467,1245,785.1,24.0,207,4842,0.00,2.22,0.00,0.000,260,0.000,0.046,3255,3408,1356,1467,1245,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4871,1.28,243.3,3254,3408,1467,1245,776.1,24.7,208,4878,0.12,2.12,0.00,0.000,5126,0.181,0.028,3235,2007,1356,1467,1245,0,0,0,0,0,0,25.79,26.10,28.83
$GC,5206,1.28,243.3,3234,2007,1466,1243,697.2,23.7,219,5212,0.00,2.15,0.00,0.000,516,0.000,0.037,3245,608,1354,1466,1243,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5252,1.28,243.3,3245,604,1465,1243,688.6,24.1,220,5258,0.00,2.10,0.00,0.000,1030,0.000,0.031,3249,2005,1354,1465,1243,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5577,1.28,243.3,3245,2005,1463,1241,605.1,25.4,231,5583,0.00,2.20,0.00,0.000,260,0.000,0.047,3246,3409,1352,1463,1241,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5601,1.28,243.3,3245,3409,1463,1241,605.1,25.4,231,5607,0.00,2.10,0.00,0.000,1030,0.000,0.028,3257,1999,1352,1463,1241,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5916,1.28,243.3,3257,1998,1462,1238,522.1,24.2,247,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1999,1351,1462,1240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6216,1.28,243.3,3257,1999,1461,1239,452.3,23.3,262,6221,0.00,2.20,0.00,0.000,260,0.000,0.046,3257,3400,1350,1461,1239,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6256,1.28,243.3,3257,3403,1461,1239,446.4,23.2,263,6266,0.15,2.10,0.00,0.000,5126,0.171,0.029,3229,1994,1350,1461,1239,0,0,0,0,0,0,26.07,26.46,28.83
$GC,6561,1.28,243.3,3229,1994,1460,1237,374.0,22.7,279,6567,0.00,2.20,0.00,0.000,260,0.000,0.047,3229,3400,1349,1460,1238,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6642,1.28,243.3,3229,3400,1460,1238,357.7,23.7,282,6650,0.00,2.08,0.00,0.000,1030,0.000,0.029,3240,2002,1349,1461,1238,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6949,1.28,243.3,3240,2001,1460,1237,291.0,20.6,298,6955,0.00,2.12,0.00,0.000,516,0.000,0.041,3252,610,1348,1459,1237,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6988,1.28,243.3,3251,610,1459,1236,286.2,20.1,299,6997,0.00,2.10,0.00,0.000,1030,0.000,0.031,3251,2008,1347,1459,1236,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7294,1.28,243.3,3252,2008,1459,1236,220.5,20.7,315,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2008,1347,1459,1236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7594,1.28,243.3,3250,2008,1459,1236,156.8,21.1,330,7596,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2008,1347,1459,1236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7894,1.28,243.3,3251,2008,1459,1236,97.8,21.2,345,7895,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2008,1347,1459,1236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8194,1.28,243.3,3252,2008,1459,1236,49.2,12.9,360,8200,0.00,2.15,0.00,0.000,260,0.000,0.046,3251,3400,1347,1459,1236,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8209,1.28,243.3,3252,3400,1459,1236,47.4,12.3,361,8215,0.12,2.08,0.00,0.000,5126,0.164,0.029,3230,1995,1346,1459,1233,0,0,0,0,0,0,26.17,26.51,28.83
$GC,8520,1.28,243.3,2176,1992,1431,1232,20.8,9.9,396,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1994,1347,1459,1235,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8681,end climb,SURFACE_DEPTH_REACHED
$STATE,8681,begin surface coast
$FINISH,0.3,1.022815
$STATE,8709,end surface coast,CONTROL_FINISHED_OK
$STATE,8710,begin surface
$SM_CCo,8728,75.68,0.060,0,0,747,400.08
$SM_GC,0.62,8.00,0.77,75.68,0.037,0.045,0.060,121,2486,747,-8.29,-1.36,400.08,0,0,0,0,0,0,26.53,26.39,26.21
$IRIDIUM_FIX,2326.22,12141.38,070413,111130
$TT8_MAMPS,0.047187,0.047187
$HUMID,47.71
$INTERNAL_PRESSURE,9.60344
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,3923360
$24V_AH,24.0,45.370
$10V_AH,10.4,29.211
$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,19.950,66.850,737.700,75.675,0.000,0.000,0.000,178.175,0.000,0.000,33.499,1697.174,5042.545,776.064,1327.291,320.747,0.000,1668.652,0.000,1072.523,0.000,0.536,0.000
$DEVICE_MAMPS,217.260,55.845,732.870,60.435,0.000,0.000,0.000,126.225,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8698.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.237,0.000,0.000,0.000
$MEM,323928
$DATA_FILE_SIZE,16736,431
$CAP_FILE_SIZE,229156,0
$CFSIZE,260034560,223801344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.204,193.2,1
$GPS,070413,164003,2327.371,12139.463,11,4.9,30,-3.1