version: 66.11
glider: 171
mission: 4
dive: 290
start: 4 5 113 23 21 1
data:
$ID,171
$MISSION,4
$DIVE,290
$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,-20883.684
$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,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
$GPS1,050413,231402,2352.045,12146.729,8,3.4,28,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-70.3
$GPS2,050413,232030,2352.376,12146.867,13,1.5,13,-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,204.6,59628,-10.6,-8.333,-15.41,4401
$D_GRID,3147
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.28,-243.3,110,2492,837,658,0.0,0.0,0,81,0.00,0.00,-60.12,0.000,16386,0.000,0.000,109,2492,2449,2516,2383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.28,-243.3,110,2492,2520,2383,3.7,-6.5,8,116,8.98,2.10,-15.10,0.000,19204,0.217,0.039,2398,1095,3377,3435,3319,0,0,0,0,0,0,25.57,26.16,26.51
$GC,206,-1.28,-243.3,2398,1095,3439,3319,51.0,-30.1,21,212,0.00,2.20,0.00,0.000,1030,0.000,0.039,2389,2506,3379,3439,3319,0,0,0,0,0,0,28.83,26.09,28.83
$GC,531,-1.28,-243.3,2388,2506,3445,3322,141.0,-28.4,37,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2506,3383,3445,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,831,-1.28,-243.3,2388,2506,3446,3324,223.3,-27.0,52,837,0.00,1.83,0.00,0.000,260,0.000,0.053,2379,3674,3385,3446,3325,0,0,0,0,0,0,28.83,26.25,28.83
$GC,892,-1.28,-243.3,2379,3676,3446,3326,235.6,-27.0,54,901,0.12,1.70,0.00,0.000,3078,0.155,0.024,2412,2474,3385,3446,3325,0,0,0,0,0,0,26.15,26.50,28.83
$GC,1199,-1.28,-243.3,2413,2472,3447,3326,313.0,-23.9,70,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2472,3386,3446,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1499,-1.28,-243.3,2411,2472,3446,3325,382.0,-23.0,85,1504,0.00,1.98,0.00,0.000,516,0.000,0.028,2412,1121,3385,3446,3325,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1548,-1.28,-243.3,2412,1121,3446,3326,392.0,-22.4,87,1555,0.00,2.12,0.00,0.000,1030,0.000,0.039,2402,2509,3386,3446,3326,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1870,-1.28,-243.3,2402,2510,3446,3325,465.7,-22.1,103,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2509,3385,3446,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2169,-1.28,-243.3,2402,2510,3446,3323,532.7,-22.1,118,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2510,3384,3446,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2468,-1.28,-243.3,2402,2510,3446,3320,595.4,-20.3,133,2475,0.00,1.83,0.00,0.000,260,0.000,0.055,2393,3673,3383,3446,3320,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2542,-1.28,-243.3,2393,3673,3446,3319,609.3,-21.1,136,2548,0.00,1.67,0.00,0.000,1030,0.000,0.026,2393,2504,3382,3446,3319,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2867,-1.28,-243.3,2393,2503,3446,3315,680.1,-21.1,147,2873,0.00,2.05,0.00,0.000,516,0.000,0.029,2393,1114,3380,3446,3314,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2896,-1.28,-243.3,2393,1114,3446,3312,680.1,-21.1,147,2904,0.00,2.12,0.00,0.000,1030,0.000,0.040,2383,2503,3380,3446,3314,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3204,-1.28,-243.3,2383,2503,3446,3310,750.5,-20.8,158,3210,0.00,1.83,0.00,0.000,260,0.000,0.054,2374,3670,3377,3445,3310,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3238,-1.28,-243.3,1440,3669,3432,3306,758.1,-20.5,159,3245,0.12,1.70,0.00,0.000,3078,0.151,0.027,2407,2503,3377,3445,3309,0,0,0,0,0,0,26.25,26.60,28.83
$GC,3574,-1.28,-243.3,2406,2503,3444,3306,822.2,-19.2,170,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2503,3375,3444,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3873,-1.28,-243.3,2407,2503,3443,3302,879.4,-19.0,180,3880,0.00,2.10,0.00,0.000,516,0.000,0.031,2407,1099,3371,3442,3301,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3949,-1.28,-243.3,2407,1099,3442,3301,891.3,-18.5,182,3955,0.00,2.15,0.00,0.000,1030,0.000,0.039,2398,2501,3371,3442,3300,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,4271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4271,begin apogee
$GC,4278,-0.20,0.0,2397,1987,3441,3297,951.6,-18.3,193,4659,1.08,0.00,372.88,0.765,10246,0.119,0.000,2750,1987,2380,2533,2228,0,0,0,0,0,0,25.91,28.83,24.15
$STATE,4661,end apogee,CONTROL_FINISHED_OK
$STATE,4661,begin climb
$GC,4663,1.28,243.3,2750,1987,2527,2217,972.5,0.0,204,4937,1.33,0.00,268.08,0.896,10758,0.048,0.000,3233,1987,1387,1497,1278,0,0,0,0,0,0,24.94,28.83,23.60
$GC,5233,1.28,243.3,3233,1987,1459,1244,852.2,27.0,225,5240,0.00,2.30,0.00,0.000,260,0.000,0.045,3234,3420,1351,1459,1244,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5273,1.28,243.3,3234,3420,1459,1244,842.3,27.2,226,5279,0.00,2.15,0.00,0.000,1030,0.000,0.027,3245,2007,1351,1459,1244,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5603,1.28,243.3,3245,2007,1455,1241,754.6,25.4,237,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2007,1348,1456,1241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5903,1.28,243.3,3245,2007,1453,1241,680.2,24.7,247,5910,0.00,2.22,0.00,0.000,260,0.000,0.046,3245,3417,1348,1453,1244,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5957,1.28,243.3,3245,3417,1453,1241,671.0,24.8,248,5963,0.00,2.12,0.00,0.000,1030,0.000,0.029,3257,1997,1347,1453,1241,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6282,1.28,243.3,3256,1997,1452,1238,582.4,26.4,260,6288,0.00,2.12,0.00,0.000,516,0.000,0.041,3268,611,1345,1451,1239,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6310,1.28,243.3,3267,610,1451,1239,576.2,26.2,261,6317,0.15,2.10,0.00,0.000,5126,0.170,0.031,3229,2012,1344,1451,1238,0,0,0,0,0,0,26.03,26.38,28.83
$GC,6632,1.28,243.3,3228,2013,1455,1236,495.9,24.6,277,6638,0.00,2.17,0.00,0.000,260,0.000,0.047,3229,3403,1344,1451,1238,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6680,1.28,243.3,3228,3405,1451,1238,484.1,24.8,279,6686,0.00,2.10,0.00,0.000,1030,0.000,0.030,3240,2003,1344,1451,1238,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7007,1.28,243.3,3239,2003,1450,1237,403.2,23.9,295,7013,0.00,2.20,0.00,0.000,260,0.000,0.046,3240,3402,1343,1450,1236,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7047,1.28,243.3,3240,3402,1450,1237,396.3,24.6,296,7056,0.00,2.10,0.00,0.000,1030,0.000,0.030,3251,1995,1343,1450,1237,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7352,1.28,243.3,3251,1995,1452,1236,321.0,23.0,312,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1995,1342,1449,1235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7652,1.28,243.3,3251,1994,1449,1236,250.1,23.8,327,7658,0.00,2.12,0.00,0.000,516,0.000,0.040,3263,606,1342,1449,1235,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7719,1.28,243.3,3262,606,1448,1235,234.2,23.9,330,7725,0.12,2.10,0.00,0.000,5126,0.167,0.031,3231,2003,1342,1449,1235,0,0,0,0,0,0,26.14,26.46,28.83
$GC,8045,1.28,243.3,3230,2003,1449,1233,164.9,20.7,346,8046,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2003,1342,1449,1235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8345,1.28,243.3,3230,2003,1449,1235,103.4,19.5,361,8351,0.00,2.17,0.00,0.000,260,0.000,0.045,3231,3403,1342,1449,1235,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8406,1.28,243.3,3230,3403,1449,1235,94.8,19.0,363,8415,0.00,2.10,0.00,0.000,1030,0.000,0.029,3241,1987,1342,1449,1235,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8712,1.28,243.3,3242,1986,1449,1233,39.8,11.4,382,8718,0.00,2.22,0.00,0.000,260,0.000,0.046,3242,3410,1341,1449,1233,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8901,1.54,317.8,2272,3409,1422,1231,25.5,6.6,399,9008,0.17,2.10,95.93,0.389,11270,0.066,0.028,3349,1985,1073,1187,959,0,0,0,0,0,0,26.48,26.52,25.35
$STATE,9060,end climb,SURFACE_DEPTH_REACHED
$STATE,9060,begin surface coast
$FINISH,-0.2,1.022219
$STATE,9074,end surface coast,CONTROL_FINISHED_OK
$STATE,9074,begin surface
$SM_CCo,9093,41.83,0.060,0,0,748,400.08
$SM_GC,0.33,8.40,0.82,41.83,0.034,0.054,0.060,126,2489,748,-8.28,-1.22,400.08,0,0,0,0,0,0,26.03,25.90,25.86
$IRIDIUM_FIX,2345.05,12146.33,050413,202015
$TT8_MAMPS,0.047187,0.047187
$HUMID,49.80
$INTERNAL_PRESSURE,9.58391
$TCM_TEMP,21.90
$XPDR_PINGS,0
$SC_FREEKB,3927840
$24V_AH,23.6,42.874
$10V_AH,10.2,28.082
$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,20.475,63.350,736.875,41.825,0.000,0.000,0.000,228.225,0.000,0.000,13.871,1609.358,5561.375,770.420,1263.048,319.417,0.000,1657.040,0.000,985.903,0.000,0.536,0.000
$DEVICE_MAMPS,217.260,55.080,895.815,60.435,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9087.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.057,0.000,0.000,0.000
$MEM,324060
$DATA_FILE_SIZE,16792,424
$CAP_FILE_SIZE,219714,0
$CFSIZE,260034560,224993280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053, 32.4,1
$GPS,060413,015407,2351.007,12146.262,10,2.0,11,-3.2