version: 66.11
glider: 171
mission: 4
dive: 293
start: 4 6 113 7 33 50
data:
$ID,171
$MISSION,4
$DIVE,293
$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,-20887.453
$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,57
$R_STBD_OVSHOOT,27
$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
$GPS1,060413,072553,2349.166,12145.480,74,2.2,96,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-63.8
$GPS2,060413,073319,2349.373,12145.436,18,1.8,21,-3.2
$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,196.6,53674,-10.6,-8.333,-15.41,4401
$D_GRID,2854
$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,17,begin dive
$GC,19,-1.28,-243.3,122,2486,845,659,0.0,0.0,0,76,0.00,0.00,-54.38,0.000,16386,0.000,0.000,122,2487,2335,2376,2295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-1.28,-243.3,122,2487,2382,2294,4.1,-9.3,7,111,8.93,2.15,-16.85,0.000,19204,0.216,0.041,2400,1093,3377,3438,3316,0,0,0,0,0,0,25.53,26.13,26.47
$GC,217,-1.28,-243.3,2399,1093,3442,3317,52.4,-27.0,22,223,0.00,2.17,0.00,0.000,1030,0.000,0.037,2390,2504,3379,3442,3317,0,0,0,0,0,0,28.83,26.10,28.83
$GC,543,-1.28,-243.3,2390,2504,3446,3321,145.4,-28.3,38,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2504,3382,3446,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,842,-1.28,-243.3,2390,2504,3448,3322,228.6,-26.8,53,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2504,3385,3448,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1141,-1.28,-243.3,2390,2504,3445,3322,307.3,-25.3,68,1147,0.00,1.83,0.00,0.000,260,0.000,0.051,2381,3675,3385,3448,3322,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1175,-1.28,-243.3,2381,3675,3447,3322,313.5,-25.3,69,1182,0.00,1.70,0.00,0.000,1030,0.000,0.024,2381,2482,3385,3448,3322,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1491,-1.28,-243.3,2381,2483,3447,3322,397.5,-26.2,85,1497,0.00,2.03,0.00,0.000,516,0.000,0.028,2381,1108,3384,3447,3322,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1525,-1.28,-243.3,2381,1107,3447,3322,403.8,-26.1,86,1532,0.15,2.12,0.00,0.000,3078,0.155,0.037,2410,2504,3384,3447,3321,0,0,0,0,0,0,26.10,26.37,28.83
$GC,1842,-1.28,-243.3,2411,2504,3447,3322,477.5,-21.8,102,1848,0.00,2.05,0.00,0.000,516,0.000,0.028,2409,1114,3384,3447,3322,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1876,-1.28,-243.3,2411,1113,3447,3325,483.3,-21.9,103,1882,0.00,2.12,0.00,0.000,1030,0.000,0.037,2401,2504,3384,3447,3321,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2191,-1.28,-243.3,2401,2505,3447,3318,556.6,-22.1,119,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2505,3382,3447,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2511,-1.28,-243.3,2401,2504,3447,3313,629.0,-22.8,133,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2504,3380,3447,3314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2810,-1.28,-243.3,2401,2504,3446,3309,695.9,-22.3,143,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2504,3377,3446,3309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3111,-1.28,-243.3,2401,2504,3445,3305,761.1,-21.5,153,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2504,3375,3445,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3410,-1.28,-243.3,2401,2504,3443,3302,824.9,-21.1,163,3417,0.00,2.05,0.00,0.000,516,0.000,0.028,2402,1114,3372,3443,3301,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3446,-1.28,-243.3,2401,1114,3443,3301,832.2,-20.9,164,3452,0.00,2.12,0.00,0.000,1030,0.000,0.039,2391,2501,3372,3443,3301,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3781,-1.28,-243.3,2390,2501,3442,3298,902.2,-20.5,175,3787,0.00,1.85,0.00,0.000,260,0.000,0.055,2382,3676,3370,3442,3298,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3815,-1.28,-243.3,2381,3676,3442,3297,909.5,-20.7,176,3821,0.00,1.70,0.00,0.000,1030,0.000,0.027,2381,2510,3369,3442,3297,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,4028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4028,begin apogee
$GC,4035,-0.20,0.0,2381,1979,3440,3294,953.8,-20.7,183,4427,1.12,0.00,382.70,0.756,10246,0.122,0.000,2747,1977,2378,2533,2224,0,0,0,0,0,0,25.90,28.83,24.13
$STATE,4428,end apogee,CONTROL_FINISHED_OK
$STATE,4428,begin climb
$GC,4430,1.28,243.3,2747,1977,2528,2213,983.0,0.0,195,4837,1.33,2.47,391.67,0.728,10500,0.045,0.046,3238,3411,1379,1492,1267,0,0,1,0,0,0,24.94,24.50,23.96
$GC,4901,1.28,243.3,3238,3411,1474,1254,920.2,23.7,211,4908,0.00,2.20,0.00,0.000,1030,0.000,0.028,3250,2017,1363,1473,1253,0,0,0,0,0,0,28.83,25.21,28.83
$GC,5236,1.28,243.3,3249,2016,1463,1244,838.4,23.7,222,5242,0.00,2.22,0.00,0.000,260,0.000,0.046,3250,3414,1353,1463,1244,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5295,1.28,243.3,3249,3414,1463,1244,829.7,24.0,223,5304,0.12,2.12,0.00,0.000,5126,0.184,0.028,3231,1999,1353,1463,1244,0,0,0,0,0,0,25.81,26.14,28.83
$GC,5603,1.28,243.3,3231,1998,1461,1241,753.1,22.7,234,5610,0.00,2.25,0.00,0.000,260,0.000,0.047,3231,3418,1350,1458,1243,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5627,1.28,243.3,3231,3418,1461,1241,753.1,22.7,234,5633,0.00,2.12,0.00,0.000,1030,0.000,0.029,3242,2000,1351,1461,1241,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5943,1.28,243.3,3242,2000,1459,1239,674.2,22.9,245,5950,0.00,2.22,0.00,0.000,260,0.000,0.047,3242,3417,1349,1459,1240,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5993,1.28,243.3,3242,3416,1459,1240,665.0,23.4,246,5999,0.00,2.12,0.00,0.000,1030,0.000,0.030,3254,1997,1349,1459,1240,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6312,1.28,243.3,3254,1996,1458,1238,585.6,23.5,258,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1996,1348,1458,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6613,1.28,243.3,3254,1996,1458,1238,515.1,23.0,273,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1996,1348,1458,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6913,1.28,243.3,3254,1995,1457,1238,445.2,22.8,288,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1996,1347,1457,1237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7212,1.28,243.3,3254,1996,1457,1236,378.4,22.7,303,7219,0.00,2.22,0.00,0.000,260,0.000,0.047,3254,3414,1347,1457,1237,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7247,1.28,243.3,3254,3415,1456,1236,372.6,23.1,304,7254,0.12,2.12,0.00,0.000,5126,0.182,0.031,3235,1996,1346,1457,1236,0,0,0,0,0,0,26.11,26.47,28.83
$GC,7564,1.28,243.3,3234,1996,1456,1235,302.5,21.8,320,7570,0.00,2.22,0.00,0.000,260,0.000,0.046,3235,3415,1345,1456,1235,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7613,1.28,243.3,3235,3415,1456,1235,292.4,21.9,322,7620,0.00,2.12,0.00,0.000,1030,0.000,0.031,3246,1994,1345,1456,1235,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7936,1.28,243.3,3245,1994,1455,1235,227.8,19.7,338,7941,0.00,2.22,0.00,0.000,260,0.000,0.045,3246,3415,1345,1455,1235,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7968,1.28,243.3,3247,3415,1455,1235,222.3,20.0,339,7975,0.00,2.12,0.00,0.000,1030,0.000,0.030,3257,1994,1345,1455,1235,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8285,1.28,243.3,3258,1994,1454,1236,153.7,20.3,355,8291,0.00,2.22,0.00,0.000,260,0.000,0.045,3257,3415,1344,1454,1235,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8310,1.28,243.3,3257,3415,1454,1235,148.6,20.0,356,8317,0.15,2.15,0.00,0.000,5126,0.169,0.030,3230,1988,1344,1454,1235,0,0,0,0,0,0,26.08,26.49,28.83
$GC,8637,1.28,243.3,3230,1987,1454,1235,91.0,16.3,372,8644,0.00,2.12,0.00,0.000,516,0.000,0.041,3240,599,1344,1454,1235,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8877,1.28,243.3,3241,599,1454,1235,60.8,10.6,383,8883,0.00,2.10,0.00,0.000,1030,0.000,0.030,3241,2016,1344,1454,1235,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9192,1.80,394.0,3241,2016,1454,1235,33.7,4.8,410,9388,0.40,0.00,191.38,0.363,10754,0.041,0.000,3437,2015,1059,1171,948,0,0,0,0,0,0,26.58,28.83,28.83
$STATE,9390,end climb,SURFACE_DEPTH_REACHED
$STATE,9391,begin surface coast
$FINISH,0.0,1.022390
$STATE,9402,end surface coast,CONTROL_FINISHED_OK
$STATE,9402,begin surface
$SM_CCo,9422,42.40,0.057,0,0,749,400.08
$SM_GC,1.14,8.73,0.75,42.40,0.031,0.040,0.057,111,2495,749,-8.31,-1.30,400.08,0,0,0,0,0,0,25.75,25.65,25.65
$IRIDIUM_FIX,2340.34,12112.37,060413,040432
$TT8_MAMPS,0.047187,0.047187
$HUMID,47.40
$INTERNAL_PRESSURE,9.59367
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,3926880
$24V_AH,24.0,43.377
$10V_AH,10.2,28.325
$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,21.050,64.775,965.750,42.400,0.000,0.000,0.000,276.125,0.000,0.000,22.197,1611.849,5673.740,917.198,1380.503,326.847,0.000,1924.303,0.000,1045.859,0.000,0.537,0.000
$DEVICE_MAMPS,215.730,55.080,755.820,56.610,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9396.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.064,0.000,0.000,0.000
$MEM,323944
$DATA_FILE_SIZE,16748,433
$CAP_FILE_SIZE,228276,0
$CFSIZE,260034560,224727040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.055, 27.1,1
$GPS,060413,101338,2347.922,12145.173,82,1.2,83,-3.2