version: 66.11
glider: 171
mission: 4
dive: 285
start: 4 5 113 5 20 32
data:
$ID,171
$MISSION,4
$DIVE,285
$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,-20877.402
$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,55
$R_STBD_OVSHOOT,28
$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
$GPS1,050413,051331,2352.397,12150.053,15,1.6,16,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-70.2
$GPS2,050413,052001,2352.662,12150.225,17,1.6,18,-3.2
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,INSHORE
$TGT_LATLONG,2353.500,12147.000
$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,260.2,5677,-10.6,-8.333,-15.41,4401
$D_GRID,3978
$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,-243.3,117,2487,837,658,0.0,0.0,0,83,0.00,0.00,-61.97,0.000,16386,0.000,0.000,118,2488,2554,2612,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.28,-243.3,118,2488,2615,2497,4.6,-9.4,8,118,9.00,1.90,-12.80,0.000,18692,0.220,0.066,2390,3670,3378,3436,3320,0,0,0,0,0,0,25.58,26.08,26.51
$GC,203,-1.28,-243.3,2390,3670,3439,3320,52.9,-35.6,20,212,0.00,1.75,0.00,0.000,1030,0.000,0.025,2390,2494,3380,3440,3320,0,0,0,0,0,0,28.83,26.28,28.83
$GC,510,-1.28,-243.3,2390,2490,3445,3324,145.0,-28.3,36,516,0.00,2.05,0.00,0.000,516,0.000,0.028,2389,1103,3385,3446,3324,0,0,0,0,0,0,28.83,26.33,28.83
$GC,557,-1.28,-243.3,2390,1102,3444,3325,157.4,-27.8,38,564,0.12,2.15,0.00,0.000,3078,0.168,0.037,2410,2511,3385,3446,3325,0,0,0,0,0,0,26.02,26.26,28.83
$GC,883,-1.28,-243.3,2410,2511,3448,3326,242.4,-24.1,54,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2511,3387,3448,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1183,-1.28,-243.3,2410,2511,3448,3326,313.8,-23.8,69,1189,0.00,2.08,0.00,0.000,516,0.000,0.029,2411,1107,3387,3448,3326,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1230,-1.28,-243.3,2410,1106,3448,3326,324.8,-24.0,71,1236,0.00,2.12,0.00,0.000,1030,0.000,0.037,2401,2505,3387,3449,3326,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1557,-1.28,-243.3,2401,2505,3448,3326,405.3,-23.7,87,1564,0.00,1.83,0.00,0.000,260,0.000,0.052,2392,3678,3387,3448,3326,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1650,-1.28,-243.3,2392,3678,3448,3326,427.5,-24.4,91,1656,0.00,1.70,0.00,0.000,1030,0.000,0.025,2392,2486,3387,3448,3326,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1971,-1.28,-243.3,2392,2486,3447,3326,506.3,-23.7,107,1977,0.00,1.85,0.00,0.000,260,0.000,0.053,2383,3671,3387,3448,3326,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2000,-1.28,-243.3,2383,3671,3447,3326,512.5,-23.8,108,2007,0.00,1.67,0.00,0.000,1030,0.000,0.025,2383,2493,3386,3447,3326,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2322,-1.28,-243.3,2382,2494,3447,3321,591.7,-23.7,124,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2494,3384,3447,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2632,-1.28,-243.3,2382,2495,3448,3318,662.8,-22.4,135,2638,0.00,1.85,0.00,0.000,260,0.000,0.053,2374,3674,3382,3447,3317,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2681,-1.28,-243.3,2374,3674,3447,3317,670.8,-22.4,136,2687,0.12,1.67,0.00,0.000,3078,0.155,0.025,2407,2501,3381,3447,3316,0,0,0,0,0,0,26.26,26.62,28.83
$GC,3001,-1.28,-243.3,2404,2500,3447,3312,737.8,-20.0,147,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2500,3379,3447,3312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3302,-1.28,-243.3,2406,2500,3445,3308,796.4,-19.3,157,3307,0.00,2.08,0.00,0.000,516,0.000,0.031,2407,1109,3376,3445,3307,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3341,-1.28,-243.3,2407,1109,3445,3307,803.1,-19.2,158,3348,0.00,2.12,0.00,0.000,1030,0.000,0.038,2397,2502,3376,3445,3307,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3671,-1.28,-243.3,2397,2502,3443,3304,868.9,-19.7,169,3677,0.00,1.83,0.00,0.000,260,0.000,0.056,2388,3668,3373,3443,3303,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3731,-1.28,-243.3,1480,3667,3429,3299,876.0,-20.0,170,3738,0.00,1.67,0.00,0.000,1030,0.000,0.027,2388,2511,3372,3442,3303,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4040,-1.28,-243.3,2388,2511,3442,3300,943.0,-20.0,181,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2511,3371,3442,3300,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4095,begin apogee
$GC,4102,-0.20,0.0,2388,1982,3441,3299,954.6,-19.5,183,4493,1.10,0.00,380.83,0.748,10246,0.122,0.000,2747,1981,2375,2532,2218,0,0,0,0,0,0,25.92,28.83,24.14
$STATE,4495,end apogee,CONTROL_FINISHED_OK
$STATE,4495,begin climb
$GC,4499,1.28,243.3,2747,1981,2525,2211,980.6,0.0,195,4887,1.35,0.00,379.62,0.727,10758,0.049,0.000,3240,1980,1388,1501,1276,0,0,0,0,0,0,24.98,28.83,23.91
$GC,5177,1.28,243.3,3240,1980,1468,1243,857.9,24.4,219,5183,0.00,2.30,0.00,0.000,260,0.000,0.047,3240,3413,1356,1468,1245,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5267,1.28,243.3,3240,3413,1468,1244,841.0,25.1,221,5275,0.00,2.10,0.00,0.000,1030,0.000,0.028,3252,2020,1356,1467,1245,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5574,1.28,243.3,3252,2020,1465,1242,756.6,25.0,232,5581,0.00,2.17,0.00,0.000,516,0.000,0.039,3263,610,1353,1465,1242,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5628,1.28,243.3,3263,610,1465,1242,747.5,25.1,233,5635,0.12,2.12,0.00,0.000,5126,0.173,0.031,3232,2017,1353,1465,1242,0,0,0,0,0,0,25.98,26.25,28.83
$GC,5944,1.28,243.3,3232,2017,1464,1241,666.7,23.9,244,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2017,1352,1464,1241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6244,1.28,243.3,3232,2017,1463,1239,595.4,23.2,254,6251,0.00,2.15,0.00,0.000,260,0.000,0.047,3231,3402,1351,1463,1240,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6295,1.28,243.3,3232,3400,1463,1240,584.5,23.0,256,6301,0.00,2.10,0.00,0.000,1030,0.000,0.030,3243,1995,1351,1462,1240,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6616,1.28,243.3,3243,1995,1461,1238,507.6,23.2,272,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1995,1350,1462,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6915,1.28,243.3,3243,1995,1461,1238,440.3,21.5,287,6921,0.00,2.20,0.00,0.000,260,0.000,0.047,3243,3400,1349,1461,1238,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6939,1.28,243.3,3242,3400,1461,1237,434.3,22.3,288,6945,0.00,2.10,0.00,0.000,1030,0.000,0.029,3254,1995,1349,1461,1238,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7266,1.28,243.3,3254,1995,1460,1237,359.3,22.5,304,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1995,1348,1460,1237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7564,1.28,243.3,3254,1995,1459,1237,292.3,22.1,319,7570,0.00,2.12,0.00,0.000,516,0.000,0.041,3265,611,1348,1460,1237,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7706,1.28,243.3,3265,610,1459,1237,262.2,23.5,325,7714,0.12,2.08,0.00,0.000,5126,0.171,0.031,3234,2001,1347,1457,1237,0,0,0,0,0,0,26.15,26.46,28.83
$GC,8013,1.28,243.3,3233,2001,1459,1237,197.6,18.6,341,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2001,1348,1459,1237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8312,1.28,243.3,3233,2000,1459,1236,138.8,18.8,356,8318,0.00,2.12,0.00,0.000,516,0.000,0.039,3245,607,1347,1459,1236,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8378,1.28,243.3,3245,607,1459,1236,125.8,19.2,359,8384,0.00,2.08,0.00,0.000,1030,0.000,0.030,3245,2003,1347,1459,1236,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8705,1.28,243.3,3244,2003,1459,1236,65.8,19.2,375,8711,0.00,2.12,0.00,0.000,516,0.000,0.038,3256,610,1347,1459,1236,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8952,1.28,243.3,3256,610,1459,1236,37.3,8.9,392,8958,0.00,2.08,0.00,0.000,1030,0.000,0.030,3257,2001,1347,1459,1236,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9271,1.28,243.3,2240,1999,1431,1233,9.1,11.0,437,9279,0.00,2.12,0.00,0.000,516,0.000,0.039,3267,610,1347,1459,1236,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,9326,end climb,SURFACE_DEPTH_REACHED
$STATE,9326,begin surface coast
$FINISH,-0.3,1.022340
$STATE,9355,end surface coast,CONTROL_FINISHED_OK
$STATE,9355,begin surface
$SM_CCo,9376,75.28,0.060,0,0,748,400.08
$SM_GC,0.71,8.05,2.95,75.28,0.034,0.037,0.060,130,2487,748,-8.29,-1.33,400.08,0,0,0,0,0,0,26.51,26.38,26.22
$IRIDIUM_FIX,2347.41,12158.07,050413,020248
$TT8_MAMPS,0.047187,0.047187
$HUMID,48.38
$INTERNAL_PRESSURE,9.58391
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,3929440
$24V_AH,23.9,42.246
$10V_AH,10.2,27.583
$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,20.000,65.975,760.450,75.275,0.000,0.000,0.000,225.800,0.000,0.000,19.026,1774.662,5531.520,832.226,1365.392,339.225,0.000,1757.010,0.000,1089.080,0.000,0.537,0.000
$DEVICE_MAMPS,220.320,65.790,748.170,60.435,0.000,0.000,0.000,121.635,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9347.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.134,0.000,0.000,0.000
$MEM,324148
$DATA_FILE_SIZE,16764,452
$CAP_FILE_SIZE,235163,0
$CFSIZE,260034560,225513472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061, 67.5,1
$GPS,050413,075923,2352.736,12148.603,38,1.7,39,-3.2