version: 66.11
glider: 171
mission: 4
dive: 338
start: 4 11 113 7 13 52
data:
$ID,171
$MISSION,4
$DIVE,338
$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,-20945.754
$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,65
$R_STBD_OVSHOOT,36
$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
$GPS1,110413,070624,2320.502,12132.672,19,1.6,30,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.0
$GPS2,110413,071319,2320.799,12132.757,16,1.5,16,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,ININSHORE1A
$TGT_LATLONG,2318.000,12132.750
$TGT_RADIUS,1000.000
$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,187.8,5184,-10.6,-8.333,-15.41,4401
$D_GRID,665
$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,-243.3,113,2492,838,659,0.0,0.0,0,82,0.00,0.00,-60.92,0.000,16386,0.000,0.000,113,2493,2502,2556,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,113,2493,2559,2449,4.0,-7.3,8,117,8.95,2.08,-14.32,0.000,18948,0.216,0.038,2393,1092,3376,3435,3317,0,0,0,0,0,0,25.54,26.20,26.53
$GC,165,-1.28,-243.3,2393,1092,3438,3317,35.6,-32.3,17,171,0.00,2.17,0.00,0.000,1030,0.000,0.039,2383,2500,3377,3438,3317,0,0,0,0,0,0,28.83,26.09,28.83
$GC,360,-1.28,-243.3,2383,2498,3442,3317,89.1,-25.9,29,361,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2498,3379,3442,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,541,-1.28,-243.3,2386,2498,3443,3320,137.8,-27.7,38,546,0.00,1.85,0.00,0.000,260,0.000,0.052,2375,3674,3381,3443,3320,0,0,0,0,0,0,28.83,26.20,28.83
$GC,569,-1.28,-243.3,2374,3675,3443,3320,144.7,-28.1,39,575,0.00,1.70,0.00,0.000,1030,0.000,0.025,2375,2490,3381,3443,3320,0,0,0,0,0,0,28.83,26.45,28.83
$GC,771,-1.28,-243.3,2374,2489,3444,3320,202.4,-28.5,49,777,0.00,1.85,0.00,0.000,260,0.000,0.054,2366,3669,3382,3444,3320,0,0,0,0,0,0,28.83,26.25,28.83
$GC,887,-1.28,-243.3,2366,3669,3444,3320,234.6,-29.4,54,895,0.12,1.65,0.00,0.000,3078,0.154,0.024,2398,2511,3383,3444,3323,0,0,0,0,0,0,26.17,26.51,28.83
$GC,1085,-1.28,-243.3,2398,2512,3444,3320,286.7,-24.5,64,1091,0.00,2.05,0.00,0.000,516,0.000,0.027,2399,1109,3382,3445,3320,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1125,-1.28,-243.3,2398,1109,3444,3320,293.1,-24.5,65,1134,0.00,2.15,0.00,0.000,1030,0.000,0.038,2389,2511,3382,3444,3320,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1430,-1.28,-243.3,2388,2512,3445,3320,369.5,-23.8,81,1436,0.00,1.83,0.00,0.000,260,0.000,0.054,2380,3679,3382,3444,3320,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1491,-1.28,-243.3,2379,3679,3444,3320,381.1,-24.8,83,1499,0.00,1.67,0.00,0.000,1030,0.000,0.025,2380,2510,3382,3445,3320,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1797,-1.28,-243.3,2379,2509,3444,3320,455.7,-23.1,99,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2511,3382,3444,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2098,-1.28,-243.3,2379,2510,3444,3320,527.2,-23.6,114,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2510,3382,3444,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2397,-1.28,-243.3,2379,2510,3444,3318,593.4,-22.9,129,2403,0.00,2.05,0.00,0.000,516,0.000,0.027,2380,1108,3380,3444,3317,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2431,-1.28,-243.3,2379,1108,3444,3317,599.3,-23.2,130,2437,0.12,2.15,0.00,0.000,3078,0.158,0.039,2402,2506,3380,3444,3317,0,0,0,0,0,0,26.13,26.36,28.83
$STATE,2717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2717,begin apogee
$GC,2724,-0.20,0.0,2402,1985,3444,3312,666.5,-21.8,140,3087,1.02,0.00,351.30,0.664,10244,0.115,0.000,2742,1984,2376,2531,2222,0,0,0,0,0,0,25.95,28.83,24.50
$STATE,3088,end apogee,CONTROL_FINISHED_OK
$STATE,3089,begin climb
$GC,3091,1.28,243.3,2741,1984,2526,2212,698.6,0.0,151,3350,1.35,2.17,247.65,0.772,10756,0.054,0.034,3230,622,1381,1493,1269,0,0,0,0,0,0,25.32,25.32,24.30
$GC,3523,1.28,243.3,3229,622,1459,1242,638.1,23.2,164,3529,0.00,2.12,0.00,0.000,1030,0.000,0.030,3229,2017,1351,1460,1242,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3833,1.28,243.3,3229,2017,1457,1239,559.2,25.7,177,3839,0.00,2.15,0.00,0.000,516,0.000,0.037,3242,621,1348,1457,1239,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4013,1.28,243.3,3241,621,1454,1238,518.4,23.3,185,4019,0.00,2.08,0.00,0.000,1030,0.000,0.030,3241,2009,1346,1454,1238,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4328,1.28,243.3,3241,2008,1453,1237,446.1,23.0,201,4335,0.00,2.17,0.00,0.000,260,0.000,0.044,3241,3404,1344,1453,1236,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4359,1.28,243.3,3240,3404,1453,1236,439.8,23.3,202,4365,0.12,2.05,0.00,0.000,5126,0.174,0.028,3221,2018,1344,1452,1236,0,0,0,0,0,0,26.09,26.42,28.83
$GC,4681,1.28,243.3,3221,2018,1451,1234,371.2,20.2,218,4687,0.00,2.15,0.00,0.000,516,0.000,0.040,3232,610,1342,1451,1234,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4761,1.28,243.3,2256,610,1424,1231,355.9,21.9,221,4769,0.00,2.08,0.00,0.000,1030,0.000,0.031,3232,2002,1342,1451,1234,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5068,1.28,243.3,3231,2002,1450,1231,289.1,20.0,237,5074,0.00,2.17,0.00,0.000,260,0.000,0.044,3232,3401,1340,1450,1231,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5149,1.28,243.3,3232,3403,1449,1231,274.4,21.5,240,5157,0.00,2.08,0.00,0.000,1030,0.000,0.029,3244,2007,1340,1450,1231,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5456,1.28,243.3,3243,2006,1449,1230,209.5,19.3,256,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2006,1338,1446,1230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5635,1.28,243.3,3243,2006,1448,1230,173.3,20.6,265,5641,0.00,2.17,0.00,0.000,260,0.000,0.044,3243,3403,1339,1449,1230,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5676,1.28,243.3,3243,3403,1448,1230,168.0,20.5,266,5685,0.12,2.05,0.00,0.000,5126,0.169,0.028,3223,2016,1339,1448,1230,0,0,0,0,0,0,26.14,26.48,28.83
$GC,5862,1.28,243.3,3222,2015,1447,1229,128.3,18.4,276,5868,0.00,2.12,0.00,0.000,516,0.000,0.039,3234,611,1338,1448,1229,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5949,1.28,243.3,3234,610,1448,1229,112.3,18.1,280,5955,0.00,2.12,0.00,0.000,1030,0.000,0.031,3234,2030,1338,1448,1229,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6156,1.28,243.3,3234,2030,1448,1229,72.2,19.9,290,6163,0.00,2.12,0.00,0.000,260,0.000,0.046,3237,3400,1340,1451,1229,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6398,1.28,243.3,3234,3400,1447,1228,45.3,8.7,304,6404,0.00,1.98,0.00,0.000,1030,0.000,0.027,3245,2056,1337,1447,1228,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6592,1.28,243.3,3244,2056,1447,1227,27.8,8.7,323,6598,0.00,2.10,0.00,0.000,260,0.000,0.046,3245,3402,1337,1447,1227,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6790,1.28,243.3,2192,3401,1419,1224,5.5,9.6,357,6799,0.12,1.98,0.00,0.000,5126,0.159,0.028,3223,2062,1337,1447,1227,0,0,0,0,0,0,26.17,26.50,28.83
$STATE,6822,end climb,SURFACE_DEPTH_REACHED
$STATE,6822,begin surface coast
$FINISH,0.1,1.022511
$STATE,6867,end surface coast,CONTROL_FINISHED_OK
$STATE,6867,begin surface
$SM_CCo,6887,74.57,0.061,0,0,748,400.08
$SM_GC,1.23,8.00,0.68,74.57,0.037,0.046,0.061,113,2493,748,-8.28,-1.33,400.08,0,0,0,0,0,0,26.50,26.41,26.15
$IRIDIUM_FIX,2314.48,12132.45,110413,050516
$TT8_MAMPS,0.047936,0.047936
$HUMID,49.52
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,3912576
$24V_AH,24.3,50.577
$10V_AH,10.3,31.919
$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,19.950,62.475,598.950,74.575,0.000,0.000,0.000,248.750,0.000,0.000,16.971,1557.185,3546.895,671.961,1285.819,320.647,0.000,1560.564,0.000,985.189,0.000,0.539,0.000
$DEVICE_MAMPS,216.495,53.550,771.885,61.200,0.000,0.000,0.000,128.520,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6862.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.787,0.000,0.000,0.000
$MEM,322844
$DATA_FILE_SIZE,13435,370
$CAP_FILE_SIZE,206931,0
$CFSIZE,260034560,220921856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,102.4,1
$GPS,110413,091105,2319.748,12132.746,31,0.8,31,-3.1