version: 66.11
glider: 171
mission: 4
dive: 321
start: 4 9 113 13 59 26
data:
$ID,171
$MISSION,4
$DIVE,321
$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,-20922.648
$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,2810
$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,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,090413,135203,2323.990,12136.533,14,4.8,34,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.7
$GPS2,090413,135853,2324.250,12136.626,35,1.7,52,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,ININSHORE1
$TGT_LATLONG,2322.300,12134.500
$TGT_RADIUS,1500.000
$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,205.7,5109,-10.6,-8.333,-15.41,4401
$D_GRID,1199
$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,-243.3,110,2498,841,657,0.0,0.0,0,83,0.00,0.00,-61.70,0.000,16386,0.000,0.000,110,2498,2523,2577,2470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.28,-243.3,110,2498,2579,2469,4.0,-7.4,8,118,9.00,2.10,-13.88,0.000,18948,0.218,0.041,2394,1097,3376,3436,3317,0,0,0,0,0,0,25.52,26.15,26.55
$GC,252,-1.28,-243.3,2394,1096,3440,3317,61.4,-28.9,23,259,0.00,2.17,0.00,0.000,1030,0.000,0.041,2385,2500,3378,3440,3317,0,0,0,0,0,0,28.83,26.10,28.83
$GC,454,-1.28,-243.3,2384,2500,3441,3319,115.2,-25.7,33,460,0.00,1.83,0.00,0.000,260,0.000,0.051,2375,3672,3381,3443,3319,0,0,0,0,0,0,28.83,26.14,28.83
$GC,494,-1.28,-243.3,2375,3672,3443,3320,122.4,-26.0,34,503,0.00,1.73,0.00,0.000,1030,0.000,0.024,2376,2509,3381,3443,3320,0,0,0,0,0,0,28.83,26.39,28.83
$GC,680,-1.28,-243.3,2375,2509,3445,3321,176.6,-27.8,44,686,0.00,2.08,0.00,0.000,516,0.000,0.028,2375,1105,3383,3445,3321,0,0,0,0,0,0,28.83,26.36,28.83
$GC,714,-1.28,-243.3,2375,1104,3445,3321,184.1,-28.3,45,720,0.12,2.15,0.00,0.000,3078,0.166,0.039,2396,2507,3383,3445,3321,0,0,0,0,0,0,26.00,26.25,28.83
$GC,910,-1.28,-243.3,2396,2507,3446,3322,242.8,-28.2,55,916,0.00,1.83,0.00,0.000,260,0.000,0.053,2389,3671,3384,3446,3322,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1018,-1.28,-243.3,2388,3671,3446,3322,272.7,-27.5,60,1024,0.00,1.70,0.00,0.000,1030,0.000,0.025,2389,2489,3383,3445,3322,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1345,-1.28,-243.3,2388,2489,3447,3322,354.7,-24.0,76,1351,0.00,2.03,0.00,0.000,516,0.000,0.028,2389,1109,3384,3446,3322,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1373,-1.28,-243.3,2388,1106,3446,3322,361.1,-23.5,77,1379,0.00,2.12,0.00,0.000,1030,0.000,0.038,2377,2504,3384,3446,3322,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1696,-1.28,-243.3,2377,2505,3446,3322,438.9,-23.9,93,1703,0.00,1.83,0.00,0.000,260,0.000,0.052,2369,3675,3384,3446,3322,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1778,-1.28,-243.3,2369,3675,3446,3322,456.4,-24.5,96,1787,0.08,1.73,0.00,0.000,3078,0.132,0.025,2395,2498,3384,3446,3322,0,0,0,0,0,0,26.24,26.57,28.83
$GC,2084,-1.28,-243.3,2395,2497,3446,3322,525.7,-21.0,112,2090,0.00,2.05,0.00,0.000,516,0.000,0.030,2395,1112,3384,3446,3322,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2140,-1.28,-243.3,2395,1112,3446,3321,535.0,-20.8,114,2146,0.00,2.12,0.00,0.000,1030,0.000,0.039,2386,2503,3383,3446,3321,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2465,-1.28,-243.3,2386,2503,3446,3318,606.7,-21.5,130,2471,0.00,1.83,0.00,0.000,260,0.000,0.054,2376,3672,3382,3446,3318,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2518,-1.28,-243.3,2376,3672,3446,3317,613.9,-21.2,131,2525,0.00,1.70,0.00,0.000,1030,0.000,0.027,2376,2489,3381,3446,3317,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2835,-1.28,-243.3,2376,2489,3446,3312,683.8,-20.5,142,2842,0.00,2.03,0.00,0.000,516,0.000,0.028,2376,1111,3379,3446,3312,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2890,-1.28,-243.3,2376,1111,3446,3311,691.0,-20.1,143,2896,0.12,2.10,0.00,0.000,3078,0.160,0.040,2397,2487,3378,3445,3311,0,0,0,0,0,0,26.09,26.32,28.83
$GC,3205,-1.28,-243.3,2398,2485,3444,3307,754.7,-19.6,154,3211,0.00,1.85,0.00,0.000,260,0.000,0.054,2391,3670,3375,3444,3307,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3279,-1.28,-243.3,2391,3669,3443,3306,768.2,-20.3,156,3286,0.00,1.70,0.00,0.000,1030,0.000,0.028,2391,2498,3374,3443,3306,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3605,-1.28,-243.3,2391,2498,3442,3304,837.4,-20.9,167,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2497,3372,3442,3302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3905,-1.28,-243.3,2391,2497,3441,3300,895.6,-18.6,177,3911,0.00,2.08,0.00,0.000,516,0.000,0.031,2391,1105,3370,3441,3299,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3980,-1.28,-243.3,2391,1106,3440,3299,908.3,-19.0,179,3986,0.00,2.15,0.00,0.000,1030,0.000,0.041,2380,2503,3369,3441,3298,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,4213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4213,begin apogee
$GC,4220,-0.20,0.0,2380,1986,3439,3295,955.8,-19.7,187,4608,1.10,0.00,379.05,0.763,10244,0.119,0.000,2738,1985,2378,2532,2224,0,0,0,0,0,0,25.79,28.83,24.10
$STATE,4610,end apogee,CONTROL_FINISHED_OK
$STATE,4610,begin climb
$GC,4613,1.28,243.3,2738,1985,2526,2215,983.1,0.0,199,4898,1.38,2.20,270.45,0.899,10756,0.055,0.035,3228,628,1379,1490,1269,0,0,0,0,0,0,24.95,24.94,23.51
$GC,4968,1.28,243.3,3227,628,1467,1248,938.6,21.5,209,4976,0.00,2.20,0.00,0.000,1030,0.000,0.029,3227,2021,1358,1466,1251,0,0,0,0,0,0,28.83,25.08,28.83
$GC,5277,1.28,243.3,3227,2021,1459,1241,855.5,24.9,220,5282,0.00,2.17,0.00,0.000,516,0.000,0.037,3239,624,1349,1459,1240,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5444,1.28,243.3,3239,624,1457,1239,816.2,24.0,225,5450,0.00,2.10,0.00,0.000,1030,0.000,0.030,3239,2011,1348,1458,1239,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5769,1.28,243.3,3239,2011,1455,1238,731.8,25.5,236,5775,0.00,2.20,0.00,0.000,260,0.000,0.046,3239,3403,1346,1455,1238,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5845,1.28,243.3,3239,3403,1454,1238,714.3,26.2,238,5852,0.12,2.05,0.00,0.000,5126,0.173,0.028,3221,2029,1345,1454,1237,0,0,0,0,0,0,26.01,26.34,28.83
$GC,6170,1.28,243.3,3219,2029,1453,1235,634.4,23.3,249,6176,0.00,2.17,0.00,0.000,516,0.000,0.039,3230,611,1344,1453,1235,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6237,1.28,243.3,3230,610,1453,1235,619.1,22.7,251,6243,0.00,2.10,0.00,0.000,1030,0.000,0.031,3230,2011,1344,1453,1236,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6552,1.28,243.3,3230,2011,1452,1234,547.3,22.4,265,6558,0.00,2.17,0.00,0.000,260,0.000,0.047,3230,3400,1343,1452,1234,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6622,1.28,243.3,2256,3402,1425,1232,531.4,23.4,268,6628,0.00,2.05,0.00,0.000,1030,0.000,0.030,3241,2017,1343,1452,1234,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6943,1.28,243.3,3241,2016,1451,1233,453.0,23.2,284,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2016,1342,1451,1233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7242,1.28,243.3,3241,2017,1451,1232,382.7,23.0,299,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2016,1341,1451,1232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7541,1.28,243.3,3241,2014,1450,1231,317.7,21.2,314,7547,0.00,2.17,0.00,0.000,260,0.000,0.046,3242,3403,1340,1450,1231,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7644,1.28,243.3,3240,3403,1450,1231,297.6,23.1,318,7652,0.12,2.05,0.00,0.000,5126,0.171,0.030,3221,2021,1340,1450,1231,0,0,0,0,0,0,26.09,26.45,28.83
$GC,7950,1.28,243.3,3220,2020,1449,1229,234.8,18.8,334,7956,0.00,2.17,0.00,0.000,260,0.000,0.047,3221,3405,1339,1449,1230,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7977,1.28,243.3,2240,3403,1423,1227,229.7,19.4,335,7983,0.00,2.05,0.00,0.000,1030,0.000,0.031,3232,2031,1339,1449,1230,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8178,1.28,243.3,3231,2031,1449,1229,190.7,18.9,345,8184,0.00,2.17,0.00,0.000,516,0.000,0.040,3243,607,1339,1449,1229,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8203,1.28,243.3,3243,608,1449,1229,185.7,19.1,346,8209,0.00,2.12,0.00,0.000,1030,0.000,0.031,3243,2024,1339,1449,1229,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8409,1.28,243.3,3243,2024,1449,1229,147.1,20.4,356,8416,0.00,2.15,0.00,0.000,260,0.000,0.045,3243,3409,1339,1449,1229,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8471,1.28,243.3,3242,3409,1449,1229,136.5,21.5,358,8480,0.12,2.05,0.00,0.000,5126,0.168,0.029,3222,2023,1339,1449,1229,0,0,0,0,0,0,26.09,26.44,28.83
$GC,8659,1.28,243.3,3222,2025,1448,1229,95.9,19.7,368,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2025,1339,1449,1230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8837,1.28,243.3,3222,2025,1449,1228,65.3,13.0,377,8843,0.00,2.15,0.00,0.000,260,0.000,0.047,3222,3400,1338,1449,1228,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9022,1.41,281.1,3222,3400,1449,1228,45.6,7.5,388,9082,0.00,2.05,46.80,0.399,9222,0.000,0.028,3233,2011,1218,1331,1105,0,0,0,0,0,0,28.83,26.48,25.53
$GC,9262,1.41,281.1,2240,2009,1299,1091,22.9,10.6,412,9270,0.00,2.15,0.00,0.000,516,0.000,0.038,3244,609,1206,1319,1093,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,9415,end climb,SURFACE_DEPTH_REACHED
$STATE,9415,begin surface coast
$FINISH,0.4,1.022491
$STATE,9439,end surface coast,CONTROL_FINISHED_OK
$STATE,9439,begin surface
$SM_CCo,9461,58.33,0.061,0,0,747,400.08
$SM_GC,1.13,8.05,2.97,58.33,0.034,0.039,0.061,137,2489,747,-8.26,-1.30,400.08,0,0,0,0,0,0,26.30,26.15,26.04
$IRIDIUM_FIX,2316.83,12135.68,090413,111116
$TT8_MAMPS,0.047187,0.047187
$HUMID,48.54
$INTERNAL_PRESSURE,9.60344
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,3918016
$24V_AH,23.5,48.108
$10V_AH,10.2,30.606
$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,20.225,91.300,696.300,58.325,0.000,0.000,0.000,207.400,0.000,0.000,53.693,1924.908,5334.615,773.492,1525.295,374.661,0.000,1769.878,0.000,1211.880,0.000,0.536,0.000
$DEVICE_MAMPS,218.025,54.315,898.875,61.200,0.000,0.000,0.000,126.225,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9427.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.101,0.000,0.000,0.000
$MEM,323264
$DATA_FILE_SIZE,16787,444
$CAP_FILE_SIZE,256240,0
$CFSIZE,260034560,222281728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.234, 25.3,1
$GPS,090413,163936,2323.987,12136.506,47,1.1,48,-3.1