version: 66.11
glider: 171
mission: 4
dive: 307
start: 4 7 113 22 28 16
data:
$ID,171
$MISSION,4
$DIVE,307
$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,-20905.055
$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,44
$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
$GPS1,070413,222159,2323.837,12139.823,38,1.3,38,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.7
$GPS2,070413,222743,2323.961,12139.885,12,1.3,12,-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,208.5,5687,-10.6,-8.333,-15.41,4401
$D_GRID,1580
$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,15,begin dive
$GC,18,-1.28,-243.3,132,2493,842,656,0.0,0.0,0,81,0.00,0.00,-60.78,0.000,16386,0.000,0.000,131,2494,2511,2575,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.28,-243.3,134,2494,2578,2449,4.2,-8.4,8,116,9.02,1.88,-14.07,0.000,18692,0.223,0.065,2393,3662,3376,3435,3318,0,0,0,0,0,0,25.54,26.01,26.49
$GC,301,-1.28,-243.3,1472,3661,3424,3314,78.0,-30.4,25,309,0.00,1.70,0.00,0.000,1030,0.000,0.026,2393,2490,3378,3437,3319,0,0,0,0,0,0,28.83,26.31,28.83
$GC,608,-1.28,-243.3,2393,2490,3442,3318,169.4,-28.4,41,614,0.00,1.83,0.00,0.000,260,0.000,0.052,2385,3657,3380,3442,3318,0,0,0,0,0,0,28.83,26.20,28.83
$GC,679,-1.28,-243.3,1424,3656,3429,3315,187.8,-27.9,44,685,0.00,1.67,0.00,0.000,1030,0.000,0.024,2385,2486,3381,3443,3319,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1000,-1.28,-243.3,2384,2486,3443,3319,275.5,-26.7,60,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2486,3381,3443,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1299,-1.28,-243.3,2384,2486,3442,3319,350.4,-26.7,75,1306,0.00,1.85,0.00,0.000,260,0.000,0.053,2376,3667,3380,3442,3319,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1346,-1.28,-243.3,2376,3666,3442,3319,362.6,-26.5,77,1353,0.12,1.67,0.00,0.000,3078,0.149,0.025,2409,2496,3380,3442,3319,0,0,0,0,0,0,26.21,26.55,28.83
$GC,1674,-1.28,-243.3,2408,2494,3443,3319,438.1,-23.0,93,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2494,3380,3442,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1972,-1.28,-243.3,2409,2494,3442,3319,502.4,-21.6,108,1978,0.00,1.83,0.00,0.000,260,0.000,0.054,2401,3657,3381,3443,3319,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2000,-1.28,-243.3,2401,3657,3442,3319,508.1,-22.1,109,2006,0.00,1.65,0.00,0.000,1030,0.000,0.027,2401,2509,3380,3442,3319,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2321,-1.28,-243.3,2401,2509,3442,3318,578.4,-21.9,125,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2509,3380,3442,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2621,-1.28,-243.3,2405,2509,3442,3315,639.0,-19.5,137,2627,0.00,1.85,0.00,0.000,260,0.000,0.054,2392,3680,3378,3442,3314,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2650,-1.28,-243.3,2390,3680,3442,3314,639.0,-19.5,137,2658,0.00,1.75,0.00,0.000,1030,0.000,0.026,2392,2494,3378,3442,3314,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2960,-1.28,-243.3,2392,2494,3442,3309,707.5,-20.5,148,2961,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2494,3374,3439,3310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3256,-1.28,-243.3,2392,2494,3442,3305,771.7,-21.5,158,3262,0.00,2.05,0.00,0.000,516,0.000,0.029,2392,1108,3373,3442,3305,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3279,-1.28,-243.3,2392,1108,3442,3305,771.7,-21.5,158,3285,0.00,2.12,0.00,0.000,1030,0.000,0.039,2381,2490,3373,3442,3304,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3595,-1.28,-243.3,2381,2492,3440,3301,841.5,-20.2,169,3601,0.00,1.85,0.00,0.000,260,0.000,0.055,2373,3671,3370,3440,3301,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3641,-1.28,-243.3,2372,3671,3439,3301,848.5,-20.0,170,3647,0.12,1.70,0.00,0.000,3078,0.148,0.028,2406,2510,3370,3439,3301,0,0,0,0,0,0,26.23,26.58,28.83
$GC,3966,-1.28,-243.3,2406,2510,3439,3297,906.5,-17.5,181,3972,0.00,1.88,0.00,0.000,260,0.000,0.055,2398,3689,3368,3439,3297,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4036,-1.28,-243.3,2398,3689,3438,3296,918.6,-18.0,183,4042,0.00,1.75,0.00,0.000,1030,0.000,0.027,2398,2478,3367,3438,3297,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,4213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4214,begin apogee
$GC,4221,-0.20,0.0,2398,1993,3438,3293,952.6,-18.7,189,4905,1.08,0.00,670.75,0.606,10246,0.116,0.000,2752,1991,2379,2534,2225,0,0,0,0,0,0,25.89,28.83,24.34
$STATE,4907,end apogee,CONTROL_FINISHED_OK
$STATE,4907,begin climb
$GC,4909,1.28,243.3,2751,1991,2530,2221,995.8,0.0,210,5303,1.30,2.25,380.50,0.759,10756,0.044,0.036,3250,628,1380,1491,1269,0,0,0,0,0,0,25.08,24.55,23.84
$GC,5377,1.28,243.3,3249,628,1469,1252,930.7,23.6,224,5383,0.00,2.17,0.00,0.000,1030,0.000,0.031,3250,2011,1360,1469,1252,0,0,0,0,0,0,28.83,25.24,28.83
$GC,5693,1.28,243.3,3249,2011,1461,1244,844.3,26.4,235,5699,0.00,2.20,0.00,0.000,260,0.000,0.046,3250,3403,1352,1462,1243,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5804,1.28,243.3,3250,3403,1460,1243,815.5,29.0,238,5810,0.12,2.10,0.00,0.000,5126,0.179,0.028,3230,2003,1351,1459,1243,0,0,0,0,0,0,25.86,26.17,28.83
$GC,6124,1.28,243.3,3230,2003,1458,1241,728.5,25.4,249,6129,0.00,2.22,0.00,0.000,260,0.000,0.046,3232,3413,1350,1459,1241,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6148,1.28,243.3,3231,3413,1458,1241,728.5,25.4,249,6154,0.00,2.12,0.00,0.000,1030,0.000,0.029,3242,1994,1350,1459,1241,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6464,1.28,243.3,3241,1994,1457,1240,643.4,24.8,260,6470,0.00,2.22,0.00,0.000,260,0.000,0.047,3241,3406,1351,1462,1240,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6549,1.28,243.3,3241,3406,1457,1240,625.7,25.7,262,6555,0.00,2.10,0.00,0.000,1030,0.000,0.029,3253,1998,1349,1458,1240,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6873,1.28,243.3,3253,1998,1456,1238,541.8,24.4,277,6879,0.00,2.12,0.00,0.000,516,0.000,0.041,3264,610,1347,1456,1238,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6929,1.28,243.3,3264,610,1456,1236,531.5,23.9,279,6936,0.12,2.10,0.00,0.000,5126,0.173,0.031,3233,2014,1346,1455,1238,0,0,0,0,0,0,26.10,26.41,28.83
$GC,7246,1.28,243.3,3233,2014,1455,1237,459.2,22.1,295,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2014,1346,1455,1237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7545,1.28,243.3,3233,2014,1453,1236,394.5,22.0,310,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2012,1345,1454,1236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7844,1.28,243.3,3233,2014,1453,1236,326.8,22.5,325,7851,0.00,2.17,0.00,0.000,260,0.000,0.047,3233,3407,1344,1453,1236,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7912,1.28,243.3,3233,3407,1453,1236,311.2,23.1,328,7919,0.00,2.10,0.00,0.000,1030,0.000,0.030,3244,2002,1344,1453,1236,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8239,1.28,243.3,3244,2001,1453,1235,241.3,20.4,344,8245,0.00,2.20,0.00,0.000,260,0.000,0.046,3244,3405,1344,1453,1235,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8264,1.28,243.3,3243,3405,1453,1238,236.1,20.0,345,8269,0.00,2.10,0.00,0.000,1030,0.000,0.030,3256,1994,1344,1453,1235,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8590,1.28,243.3,3256,1994,1453,1235,168.7,21.1,361,8596,0.00,2.20,0.00,0.000,260,0.000,0.046,3256,3400,1344,1453,1235,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8655,1.28,243.3,2272,3398,1426,1232,153.1,22.5,364,8662,0.15,2.08,0.00,0.000,5126,0.168,0.029,3228,1995,1344,1453,1235,0,0,0,0,0,0,26.07,26.48,28.83
$GC,8984,1.28,243.3,3224,1995,1453,1233,91.7,17.2,380,8989,0.00,2.12,0.00,0.000,516,0.000,0.041,3238,607,1343,1453,1234,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9060,1.28,243.3,3238,606,1453,1233,80.1,16.7,383,9067,0.00,2.08,0.00,0.000,1030,0.000,0.031,3238,1998,1343,1453,1233,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9376,1.28,243.3,3238,1997,1453,1233,41.5,9.8,403,9383,0.00,2.17,0.00,0.000,260,0.000,0.047,3238,3402,1343,1453,1233,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9625,1.28,243.3,3238,3402,1453,1233,17.5,9.3,433,9633,0.00,2.05,0.00,0.000,1030,0.000,0.028,3250,1994,1343,1453,1233,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,9793,end climb,SURFACE_DEPTH_REACHED
$STATE,9793,begin surface coast
$FINISH,0.1,1.008208
$STATE,9829,end surface coast,CONTROL_FINISHED_OK
$STATE,9829,begin surface
$SM_CCo,9847,76.07,0.060,0,0,748,400.08
$SM_GC,0.80,7.97,0.77,76.07,0.031,0.047,0.060,128,2494,748,-8.31,-1.41,400.08,0,0,0,0,0,0,26.51,26.40,26.19
$IRIDIUM_FIX,2314.48,12140.91,070413,191911
$TT8_MAMPS,0.047936,0.047936
$HUMID,47.59
$INTERNAL_PRESSURE,9.60344
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3922400
$24V_AH,23.8,45.881
$10V_AH,10.2,29.460
$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,20.025,73.375,1051.250,76.075,0.000,0.000,0.000,178.200,0.000,0.000,13.384,1861.121,5546.578,997.834,1498.030,363.794,0.000,2038.690,0.000,1251.983,0.000,0.537,0.000
$DEVICE_MAMPS,222.615,65.025,758.880,60.435,0.000,0.000,0.000,127.755,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9829.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.091,0.000,0.000,0.000
$MEM,323704
$DATA_FILE_SIZE,16807,470
$CAP_FILE_SIZE,257947,0
$CFSIZE,260034560,223506432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.211, 41.9,1
$GPS,080413,011451,2323.178,12139.812,10,5.7,30,-3.1