version: 66.11
glider: 171
mission: 4
dive: 288
start: 4 5 113 17 55 9
data:
$ID,171
$MISSION,4
$DIVE,288
$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,-20881.174
$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,62
$R_STBD_OVSHOOT,32
$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
$GPS1,050413,174635,2353.751,12147.102,42,1.3,42,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-70.2
$GPS2,050413,175437,2353.894,12147.221,14,2.0,14,-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,201.7,62502,-10.6,-8.333,-15.41,4401
$D_GRID,3091
$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,18,-1.28,-243.3,111,2492,823,662,0.0,0.0,0,82,0.00,0.00,-60.83,0.000,16386,0.000,0.000,111,2492,2483,2571,2395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,111,2493,2574,2395,3.5,-6.4,8,117,9.05,1.88,-14.85,0.000,18692,0.219,0.068,2394,3668,3376,3434,3318,0,0,0,0,0,0,25.52,25.95,26.42
$GC,224,-1.28,-243.3,2394,3668,3439,3319,50.3,-31.3,22,232,0.00,1.70,0.00,0.000,1030,0.000,0.024,2395,2501,3379,3439,3319,0,0,0,0,0,0,28.83,26.20,28.83
$GC,531,-1.28,-243.3,2393,2499,3443,3321,140.7,-27.7,38,537,0.00,2.08,0.00,0.000,516,0.000,0.031,2394,1103,3382,3443,3321,0,0,0,0,0,0,28.83,26.29,28.83
$GC,549,-1.28,-243.3,2394,1102,3443,3321,140.7,-27.7,38,557,0.00,2.15,0.00,0.000,1030,0.000,0.040,2383,2500,3382,3443,3321,0,0,0,0,0,0,28.83,26.18,28.83
$GC,855,-1.28,-243.3,2383,2500,3444,3322,230.6,-27.9,54,861,0.00,1.83,0.00,0.000,260,0.000,0.054,2374,3671,3383,3444,3322,0,0,0,0,0,0,28.83,26.22,28.83
$GC,905,-1.28,-243.3,2374,3671,3444,3322,243.2,-28.5,56,911,0.12,1.70,0.00,0.000,3078,0.154,0.024,2406,2484,3384,3447,3322,0,0,0,0,0,0,26.13,26.46,28.83
$GC,1227,-1.28,-243.3,2406,2484,3444,3322,326.2,-24.5,72,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2485,3383,3444,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1525,-1.28,-243.3,2406,2485,3444,3322,392.3,-20.9,87,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2484,3383,3444,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1825,-1.28,-243.3,2406,2484,3444,3322,455.8,-22.4,102,1831,0.00,2.03,0.00,0.000,516,0.000,0.031,2406,1111,3383,3444,3322,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1912,-1.28,-243.3,2406,1111,3444,3321,475.8,-23.0,106,1918,0.00,2.15,0.00,0.000,1030,0.000,0.039,2397,2508,3382,3444,3321,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2238,-1.28,-243.3,2396,2508,3444,3318,550.2,-22.3,122,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2508,3381,3444,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2536,-1.28,-243.3,2397,2508,3444,3313,617.1,-22.0,136,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2508,3378,3444,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2837,-1.28,-243.3,2396,2508,3443,3308,680.6,-20.6,146,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2508,3375,3443,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3136,-1.28,-243.3,2396,2507,3442,3305,744.3,-21.1,156,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2508,3373,3442,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3436,-1.28,-243.3,2396,2508,3441,3301,806.6,-21.1,166,3442,0.00,1.83,0.00,0.000,260,0.000,0.055,2388,3670,3370,3441,3300,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3476,-1.28,-243.3,2387,3670,3440,3300,813.9,-21.1,167,3482,0.00,1.73,0.00,0.000,1030,0.000,0.028,2388,2511,3370,3440,3300,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3805,-1.28,-243.3,2387,2509,3439,3296,882.1,-19.6,178,3812,0.00,2.08,0.00,0.000,516,0.000,0.029,2388,1105,3367,3439,3295,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3855,-1.28,-243.3,2387,1104,3438,3295,888.6,-19.2,179,3861,0.12,2.15,0.00,0.000,3078,0.161,0.041,2410,2502,3366,3438,3295,0,0,0,0,0,0,26.11,26.34,28.83
$GC,4175,-1.28,-243.3,2409,2502,3437,3291,945.5,-17.2,190,4181,0.00,1.88,0.00,0.000,260,0.000,0.057,2402,3683,3364,3437,3291,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,4208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4208,begin apogee
$GC,4216,-0.20,0.0,2401,1996,3436,3291,951.7,-17.5,191,4486,1.05,0.00,263.12,0.920,10246,0.118,0.000,2747,1994,2379,2533,2226,0,0,0,0,0,0,25.90,28.83,24.09
$STATE,4488,end apogee,CONTROL_FINISHED_OK
$STATE,4488,begin climb
$GC,4491,1.28,243.3,2747,1994,2528,2216,967.0,0.0,199,4770,1.35,0.00,271.83,0.882,10758,0.047,0.000,3241,1993,1387,1497,1278,0,0,0,0,0,0,24.90,28.83,23.56
$GC,5078,1.28,243.3,3241,1994,1465,1250,848.5,26.0,218,5084,0.00,2.28,0.00,0.000,260,0.000,0.046,3241,3412,1357,1465,1250,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5138,1.28,243.3,3241,3412,1464,1250,839.0,26.3,219,5146,0.00,2.12,0.00,0.000,1030,0.000,0.028,3252,2012,1357,1464,1250,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5446,1.28,243.3,3252,2012,1462,1248,753.4,25.8,230,5452,0.00,2.22,0.00,0.000,260,0.000,0.045,3253,3418,1355,1462,1248,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5494,1.28,243.3,3252,3418,1462,1248,743.5,26.1,231,5501,0.12,2.12,0.00,0.000,5126,0.184,0.028,3234,1994,1355,1462,1248,0,0,0,0,0,0,25.91,26.25,28.83
$GC,5815,1.28,243.3,3234,1994,1460,1246,661.5,24.4,242,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1994,1353,1460,1246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6127,1.28,243.3,3233,1994,1459,1244,586.5,24.3,253,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1994,1352,1459,1245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6425,1.28,243.3,3234,1994,1459,1243,514.8,23.5,268,6431,0.00,2.25,0.00,0.000,260,0.000,0.047,3234,3421,1350,1458,1243,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6471,1.28,243.3,3234,3421,1459,1243,503.7,24.1,270,6477,0.00,2.12,0.00,0.000,1030,0.000,0.029,3245,2002,1351,1459,1243,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6797,1.28,243.3,3245,2000,1458,1241,427.8,23.2,286,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2001,1349,1458,1241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7097,1.28,243.3,3245,2002,1456,1241,355.4,24.5,301,7098,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2002,1348,1456,1241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7396,1.28,243.3,3245,2001,1456,1240,286.4,20.7,316,7403,0.00,2.22,0.00,0.000,260,0.000,0.046,3245,3421,1348,1456,1240,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7421,1.28,243.3,3245,3421,1457,1240,281.1,20.6,317,7428,0.00,2.12,0.00,0.000,1030,0.000,0.031,3257,2004,1348,1456,1240,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7750,1.28,243.3,3257,2004,1455,1239,209.9,22.8,333,7756,0.00,2.15,0.00,0.000,516,0.000,0.042,3268,606,1347,1455,1239,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7790,1.28,243.3,3268,606,1452,1239,203.9,22.8,334,7798,0.15,2.10,0.00,0.000,5126,0.164,0.031,3226,2014,1346,1454,1239,0,0,0,0,0,0,26.07,26.44,28.83
$GC,8095,1.28,243.3,3228,2014,1454,1239,136.6,20.6,350,8101,0.00,2.15,0.00,0.000,260,0.000,0.046,3228,3399,1346,1454,1239,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8160,1.28,243.3,2224,3397,1429,1236,122.9,21.1,353,8166,0.00,2.10,0.00,0.000,1030,0.000,0.029,3239,1995,1347,1455,1239,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8487,1.28,243.3,3239,1996,1453,1239,62.4,13.1,369,8493,0.00,2.20,0.00,0.000,260,0.000,0.047,3239,3400,1346,1453,1239,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8608,1.28,243.3,3239,3400,1453,1239,46.8,10.1,376,8614,0.00,2.08,0.00,0.000,1030,0.000,0.028,3251,1988,1346,1453,1239,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8924,1.28,243.3,3250,1987,1453,1238,24.4,8.7,407,8932,0.00,2.20,0.00,0.000,260,0.000,0.046,3251,3401,1344,1452,1237,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9175,1.51,310.0,2224,3399,1423,1234,5.5,6.8,453,9209,0.12,2.05,26.73,0.066,11266,0.084,0.027,3341,1994,1133,1247,1019,0,0,0,0,0,0,26.44,26.52,28.83
$STATE,9210,end climb,SURFACE_DEPTH_REACHED
$STATE,9210,begin surface coast
$FINISH,-0.1,1.001447
$STATE,9245,end surface coast,CONTROL_FINISHED_OK
$STATE,9245,begin surface
$SM_CCo,9264,49.65,0.061,0,0,747,400.08
$SM_GC,0.91,8.27,0.77,49.65,0.034,0.044,0.061,111,2493,747,-8.31,-1.33,400.08,0,0,0,0,0,0,26.47,26.38,26.19
$IRIDIUM_FIX,2345.05,12151.58,050413,121251
$TT8_MAMPS,0.046438,0.046438
$HUMID,47.12
$INTERNAL_PRESSURE,9.61321
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3928480
$24V_AH,23.6,42.551
$10V_AH,10.2,27.930
$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,20.375,62.975,561.675,49.650,0.000,0.000,0.000,284.675,0.000,0.000,15.257,1746.404,5706.688,626.468,1357.058,338.611,0.000,1558.848,0.000,1019.345,0.000,0.537,0.000
$DEVICE_MAMPS,218.790,68.085,919.530,61.200,0.000,0.000,0.000,128.520,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9253.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.298,0.000,0.000,0.000
$MEM,324052
$DATA_FILE_SIZE,16770,463
$CAP_FILE_SIZE,230486,0
$CFSIZE,260034560,225148928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124, 32.7,1
$GPS,050413,203136,2352.798,12147.026,31,0.8,32,-3.2