version: 66.11
glider: 171
mission: 4
dive: 325
start: 4 10 113 1 7 22
data:
$ID,171
$MISSION,4
$DIVE,325
$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,-20927.674
$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,66
$R_STBD_OVSHOOT,32
$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
$GPS1,100413,010007,2323.646,12134.896,12,1.7,13,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-64.5
$GPS2,100413,010649,2323.945,12134.957,20,1.9,20,-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,196.6,3143,-10.6,-8.333,-15.41,4401
$D_GRID,1287
$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,-243.3,109,2498,840,657,0.0,0.0,0,82,0.00,0.00,-60.88,0.000,16386,0.000,0.000,109,2498,2508,2562,2455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,109,2498,2567,2455,4.1,-7.6,8,117,8.98,2.10,-14.02,0.000,18948,0.218,0.041,2385,1096,3377,3437,3318,0,0,0,0,0,0,25.51,26.10,26.48
$GC,219,-1.28,-243.3,2385,1096,3438,3318,52.5,-28.2,22,224,0.00,2.17,0.00,0.000,1030,0.000,0.038,2375,2502,3378,3438,3318,0,0,0,0,0,0,28.83,26.08,28.83
$GC,425,-1.28,-243.3,2375,2502,3442,3318,110.3,-27.2,32,431,0.00,1.83,0.00,0.000,260,0.000,0.051,2367,3670,3380,3442,3318,0,0,0,0,0,0,28.83,26.12,28.83
$GC,458,-1.28,-243.3,2367,3669,3443,3318,117.8,-27.8,33,465,0.12,1.73,0.00,0.000,3078,0.157,0.024,2398,2470,3380,3442,3319,0,0,0,0,0,0,26.01,26.36,28.83
$GC,655,-1.28,-243.3,2398,2469,3444,3320,174.6,-26.5,43,661,0.00,1.90,0.00,0.000,260,0.000,0.054,2390,3669,3382,3445,3320,0,0,0,0,0,0,28.83,26.17,28.83
$GC,742,-1.28,-243.3,2390,3669,3445,3320,199.7,-28.2,47,748,0.00,1.70,0.00,0.000,1030,0.000,0.025,2390,2495,3382,3445,3319,0,0,0,0,0,0,28.83,26.45,28.83
$GC,949,-1.28,-243.3,2390,2495,3446,3320,252.2,-25.4,57,956,0.00,2.03,0.00,0.000,516,0.000,0.028,2391,1107,3383,3446,3320,0,0,0,0,0,0,28.83,26.40,28.83
$GC,989,-1.28,-243.3,2390,1107,3446,3320,259.4,-25.9,58,997,0.00,2.12,0.00,0.000,1030,0.000,0.039,2379,2489,3383,3446,3320,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1295,-1.28,-243.3,2379,2489,3446,3320,340.4,-26.0,74,1301,0.00,1.85,0.00,0.000,260,0.000,0.054,2371,3673,3383,3446,3320,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1365,-1.28,-243.3,2370,3673,3445,3321,358.3,-26.3,77,1372,0.12,1.73,0.00,0.000,3078,0.149,0.025,2404,2465,3383,3446,3320,0,0,0,0,0,0,26.20,26.53,28.83
$GC,1688,-1.28,-243.3,2404,2465,3445,3320,435.3,-22.2,93,1694,0.00,1.90,0.00,0.000,260,0.000,0.054,2395,3672,3382,3445,3320,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1736,-1.28,-243.3,2395,3672,3444,3320,445.7,-21.8,95,1742,0.00,1.73,0.00,0.000,1030,0.000,0.026,2396,2474,3382,3445,3320,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2062,-1.28,-243.3,2395,2474,3445,3320,517.5,-22.3,111,2068,0.00,1.90,0.00,0.000,260,0.000,0.054,2386,3671,3382,3445,3320,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2125,-1.28,-243.3,2387,3671,3445,3320,528.7,-22.9,113,2134,0.00,1.70,0.00,0.000,1030,0.000,0.027,2387,2490,3382,3445,3320,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2430,-1.28,-243.3,2386,2490,3445,3316,601.8,-22.4,129,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2490,3380,3445,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2730,-1.28,-243.3,2387,2490,3445,3312,666.3,-20.8,139,2736,0.00,1.88,0.00,0.000,260,0.000,0.056,2377,3671,3378,3445,3312,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2831,-1.28,-243.3,2379,3673,3445,3310,686.3,-20.7,142,2837,0.00,1.73,0.00,0.000,1030,0.000,0.026,2377,2475,3377,3445,3310,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3161,-1.28,-243.3,2377,2475,3443,3303,757.9,-22.2,153,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2475,3375,3444,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3461,-1.28,-243.3,2377,2475,3442,3302,825.0,-22.4,163,3467,0.00,2.03,0.00,0.000,516,0.000,0.031,2377,1113,3372,3443,3301,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3489,-1.28,-243.3,2377,1113,3441,3301,825.0,-22.4,163,3498,0.12,2.12,0.00,0.000,3078,0.159,0.041,2400,2488,3371,3442,3301,0,0,0,0,0,0,26.08,26.30,28.83
$GC,3797,-1.28,-243.3,2400,2488,3441,3299,893.3,-19.8,174,3803,0.00,1.88,0.00,0.000,260,0.000,0.055,2391,3675,3369,3441,3298,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3866,-1.28,-243.3,2392,3676,3440,3298,906.6,-19.9,176,3871,0.00,1.70,0.00,0.000,1030,0.000,0.028,2392,2504,3369,3440,3298,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,4102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4103,begin apogee
$GC,4110,-0.20,0.0,2392,1987,3440,3294,952.2,-19.1,184,4498,1.05,0.00,378.35,0.764,10244,0.116,0.000,2738,1986,2378,2532,2224,0,0,0,0,0,0,25.84,28.83,24.09
$STATE,4500,end apogee,CONTROL_FINISHED_OK
$STATE,4500,begin climb
$GC,4503,1.28,243.3,2737,1986,2527,2213,976.0,0.0,196,4788,1.38,2.22,273.60,0.882,10756,0.052,0.036,3229,621,1385,1496,1274,0,0,0,0,0,0,24.98,24.96,23.56
$GC,4883,1.28,243.3,3228,620,1464,1239,916.5,25.5,207,4889,0.00,2.20,0.00,0.000,1030,0.000,0.031,3228,2016,1351,1463,1239,0,0,0,0,0,0,28.83,25.26,28.83
$GC,5199,1.28,243.3,3228,2016,1459,1235,833.6,24.3,218,5205,0.00,2.20,0.00,0.000,260,0.000,0.047,3229,3404,1347,1459,1236,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5413,1.28,243.3,3228,3403,1457,1234,782.2,27.4,224,5422,0.00,2.10,0.00,0.000,1030,0.000,0.028,3240,2007,1346,1458,1234,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5723,1.28,243.3,3240,2007,1456,1231,695.2,26.3,235,5729,0.00,2.15,0.00,0.000,516,0.000,0.038,3251,606,1344,1456,1232,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5747,1.28,243.3,3251,606,1455,1232,695.2,26.3,235,5753,0.12,2.10,0.00,0.000,5126,0.168,0.031,3220,2006,1344,1456,1232,0,0,0,0,0,0,26.01,26.30,28.83
$GC,6064,1.28,243.3,3219,2006,1454,1231,613.5,22.8,246,6070,0.00,2.20,0.00,0.000,260,0.000,0.047,3220,3408,1342,1454,1231,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6179,1.28,243.3,3220,3407,1454,1231,587.7,23.9,250,6185,0.00,2.10,0.00,0.000,1030,0.000,0.029,3230,2000,1342,1453,1231,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6495,1.28,243.3,3230,2000,1453,1229,518.2,20.5,266,6501,0.00,2.12,0.00,0.000,516,0.000,0.040,3241,610,1341,1453,1229,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6550,1.28,243.3,3241,610,1453,1229,508.6,21.2,268,6557,0.00,2.10,0.00,0.000,1030,0.000,0.031,3241,2003,1341,1453,1229,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6867,1.28,243.3,3241,2004,1452,1231,430.3,23.7,284,6873,0.00,2.20,0.00,0.000,260,0.000,0.047,3241,3410,1340,1452,1228,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7000,1.28,243.3,3241,3410,1452,1229,397.0,25.6,290,7007,0.12,2.08,0.00,0.000,5126,0.171,0.031,3221,2013,1340,1452,1228,0,0,0,0,0,0,26.09,26.44,28.83
$GC,7323,1.28,243.3,3221,2013,1452,1226,325.4,22.5,306,7330,0.00,2.17,0.00,0.000,260,0.000,0.047,3222,3401,1338,1451,1226,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7435,1.28,243.3,3221,3402,1451,1226,300.5,22.5,311,7441,0.00,2.05,0.00,0.000,1030,0.000,0.030,3232,2016,1338,1451,1226,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7759,1.28,243.3,3232,2016,1451,1225,231.0,20.9,327,7764,0.00,2.15,0.00,0.000,516,0.000,0.041,3243,612,1337,1449,1225,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7834,1.28,243.3,3243,612,1450,1225,216.4,21.1,330,7840,0.00,2.12,0.00,0.000,1030,0.000,0.031,3243,2033,1337,1450,1225,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8030,1.28,243.3,3243,2033,1450,1225,173.0,21.5,340,8037,0.00,2.15,0.00,0.000,260,0.000,0.047,3243,3406,1337,1450,1225,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8078,1.28,243.3,3243,3406,1450,1225,162.7,21.5,342,8085,0.12,2.08,0.00,0.000,5126,0.169,0.030,3223,2015,1337,1450,1225,0,0,0,0,0,0,26.09,26.44,28.83
$GC,8284,1.28,243.3,3223,2016,1450,1224,124.9,17.2,352,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2015,1337,1450,1224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8464,1.28,243.3,3223,2016,1450,1224,94.1,17.1,361,8470,0.00,2.17,0.00,0.000,260,0.000,0.046,3223,3400,1337,1450,1224,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8703,1.28,243.3,3223,3400,1450,1224,64.5,11.8,372,8709,0.00,2.03,0.00,0.000,1030,0.000,0.028,3234,2022,1337,1450,1224,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8899,1.57,328.9,3234,2022,1450,1223,43.7,6.3,386,9095,0.20,2.25,181.93,0.380,10756,0.061,0.038,3359,627,1031,1147,916,0,0,0,0,0,0,26.59,25.56,25.03
$STATE,9171,end climb,SURFACE_DEPTH_REACHED
$STATE,9171,begin surface coast
$FINISH,1.0,1.022431
$STATE,9183,end surface coast,CONTROL_FINISHED_OK
$STATE,9183,begin surface
$SM_CCo,9206,38.38,0.061,0,0,747,400.08
$SM_GC,1.27,8.62,3.00,38.38,0.043,0.038,0.061,140,2483,747,-8.25,-1.24,400.08,0,0,0,0,0,0,25.89,25.72,25.77
$IRIDIUM_FIX,2316.83,12132.45,090413,222218
$TT8_MAMPS,0.047187,0.047187
$HUMID,47.99
$INTERNAL_PRESSURE,9.59367
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,3916736
$24V_AH,23.6,48.790
$10V_AH,10.2,30.939
$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,20.975,86.375,833.875,38.375,0.000,0.000,0.000,227.300,0.000,0.000,21.149,1848.303,5066.385,844.631,1520.259,367.833,0.000,1883.992,0.000,1220.466,0.000,0.537,0.000
$DEVICE_MAMPS,218.025,55.845,882.045,61.200,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9173.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.073,0.000,0.000,0.000
$MEM,323252
$DATA_FILE_SIZE,16729,419
$CAP_FILE_SIZE,251031,0
$CFSIZE,260034560,221929472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.295,  7.2,1
$GPS,100413,034336,2323.981,12134.800,87,1.1,88,-3.1