version: 66.11
glider: 171
mission: 4
dive: 295
start: 4 6 113 13 12 17
data:
$ID,171
$MISSION,4
$DIVE,295
$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,-20889.967
$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,64
$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
$GPS1,060413,130533,2346.262,12144.771,13,2.3,33,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-66.8
$GPS2,060413,131146,2346.392,12144.755,12,1.9,14,-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,202.7,48033,-10.6,-8.333,-15.41,4401
$D_GRID,2339
$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,-243.3,126,2489,834,663,0.0,0.0,0,75,0.00,0.00,-53.45,0.000,16386,0.000,0.000,126,2490,2319,2360,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-1.28,-243.3,126,2490,2366,2278,3.4,-6.2,7,110,9.00,2.15,-17.62,0.000,18948,0.220,0.041,2401,1101,3377,3438,3317,0,0,0,0,0,0,25.57,26.06,26.41
$GC,196,-1.28,-243.3,2400,1103,3443,3318,44.4,-29.1,20,205,0.00,2.17,0.00,0.000,1030,0.000,0.037,2391,2504,3380,3443,3318,0,0,0,0,0,0,28.83,26.07,28.83
$GC,513,-1.28,-243.3,2391,2505,3449,3324,140.8,-27.3,37,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2505,3387,3450,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,813,-1.28,-243.3,2391,2504,3451,3329,228.2,-28.1,52,819,0.00,1.83,0.00,0.000,260,0.000,0.051,2382,3675,3389,3451,3328,0,0,0,0,0,0,28.83,26.26,28.83
$GC,873,-1.28,-243.3,2382,3675,3451,3329,240.1,-26.8,54,881,0.00,1.70,0.00,0.000,1030,0.000,0.025,2382,2489,3390,3451,3329,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1181,-1.28,-243.3,2382,2489,3452,3330,328.0,-25.6,70,1186,0.00,2.03,0.00,0.000,516,0.000,0.028,2382,1111,3390,3451,3330,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1193,-1.28,-243.3,2381,1111,3451,3330,328.0,-25.6,70,1200,0.15,2.12,0.00,0.000,3078,0.158,0.038,2411,2504,3390,3451,3330,0,0,0,0,0,0,26.10,26.37,28.83
$GC,1509,-1.28,-243.3,2411,2505,3451,3330,404.5,-22.0,86,1516,0.00,1.80,0.00,0.000,260,0.000,0.049,2403,3672,3390,3451,3330,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1597,-1.28,-243.3,2403,3672,3451,3330,424.0,-22.0,90,1603,0.00,1.70,0.00,0.000,1030,0.000,0.025,2403,2494,3390,3451,3329,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1924,-1.28,-243.3,2403,2494,3451,3330,498.8,-22.5,106,1930,0.00,2.05,0.00,0.000,516,0.000,0.030,2403,1108,3390,3451,3330,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1948,-1.28,-243.3,2403,1108,3451,3330,504.6,-22.5,107,1954,0.00,2.12,0.00,0.000,1030,0.000,0.038,2393,2503,3390,3451,3330,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2275,-1.28,-243.3,2392,2502,3451,3327,580.5,-23.5,123,2281,0.00,2.08,0.00,0.000,516,0.000,0.030,2393,1106,3389,3451,3327,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2325,-1.28,-243.3,2392,1106,3451,3327,591.5,-23.9,125,2331,0.00,2.12,0.00,0.000,1030,0.000,0.040,2382,2498,3389,3451,3327,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2634,-1.28,-243.3,2382,2498,3451,3322,664.5,-23.2,136,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2498,3386,3451,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2935,-1.28,-243.3,2382,2499,3450,3319,730.9,-21.8,146,2941,0.00,2.08,0.00,0.000,516,0.000,0.031,2382,1108,3384,3451,3318,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2969,-1.28,-243.3,2382,1108,3451,3318,738.8,-22.0,147,2976,0.15,2.15,0.00,0.000,3078,0.156,0.041,2412,2501,3384,3451,3318,0,0,0,0,0,0,26.14,26.40,28.83
$GC,3306,-1.28,-243.3,2412,2501,3451,3313,805.3,-19.7,158,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2501,3382,3451,3314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3605,-1.28,-243.3,2411,2501,3450,3310,863.0,-19.2,168,3611,0.00,1.85,0.00,0.000,260,0.000,0.054,2404,3674,3379,3450,3309,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3640,-1.28,-243.3,2404,3674,3450,3309,869.9,-19.3,169,3647,0.00,1.70,0.00,0.000,1030,0.000,0.027,2404,2510,3379,3450,3309,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3976,-1.28,-243.3,2404,2510,3448,3306,933.1,-18.4,180,3982,0.00,2.10,0.00,0.000,516,0.000,0.029,2408,1096,3377,3448,3306,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4021,-1.28,-243.3,2404,1095,3448,3306,939.7,-18.4,181,4028,0.00,2.17,0.00,0.000,1030,0.000,0.039,2394,2506,3376,3448,3305,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,4075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4075,begin apogee
$GC,4082,-0.20,0.0,2393,1990,3448,3305,952.1,-18.5,183,4483,1.08,0.00,390.02,0.751,10246,0.119,0.000,2747,1987,2376,2532,2221,0,0,0,0,0,0,25.97,28.83,24.15
$STATE,4485,end apogee,CONTROL_FINISHED_OK
$STATE,4486,begin climb
$GC,4488,1.28,243.3,2747,1987,2526,2210,978.7,0.0,195,4900,1.33,2.30,394.83,0.719,10756,0.046,0.036,3248,628,1379,1492,1266,0,0,0,0,0,0,24.98,24.62,23.96
$GC,5044,1.28,243.3,3248,628,1467,1244,901.9,23.7,212,5050,0.00,2.15,0.00,0.000,1030,0.000,0.030,3248,2011,1355,1467,1244,0,0,0,0,0,0,28.83,25.59,28.83
$GC,5360,1.28,243.3,3251,2011,1464,1241,819.8,25.1,223,5365,0.00,2.20,0.00,0.000,260,0.000,0.047,3248,3402,1352,1464,1241,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5399,1.28,243.3,3248,3402,1464,1241,810.7,25.3,224,5406,0.00,2.10,0.00,0.000,1030,0.000,0.028,3257,2010,1352,1463,1241,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5730,1.28,243.3,3259,2009,1461,1239,727.6,24.4,235,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2009,1350,1462,1239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6031,1.28,243.3,3259,2007,1460,1238,655.1,24.3,245,6036,0.00,2.20,0.00,0.000,260,0.000,0.046,3259,3407,1349,1460,1238,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6058,1.28,243.3,3259,3408,1460,1238,655.1,24.3,245,6068,0.15,2.10,0.00,0.000,5126,0.174,0.028,3232,1999,1349,1460,1238,0,0,0,0,0,0,26.05,26.41,28.83
$GC,6376,1.28,243.3,3232,1998,1459,1236,576.1,21.9,258,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1998,1348,1459,1237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6675,1.28,243.3,3232,1998,1459,1239,509.1,21.9,273,6681,0.00,2.12,0.00,0.000,516,0.000,0.041,3243,610,1347,1459,1236,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6726,1.28,243.3,3243,610,1458,1236,498.9,22.0,275,6732,0.00,2.10,0.00,0.000,1030,0.000,0.031,3243,2009,1347,1459,1235,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7046,1.28,243.3,3243,2009,1458,1236,426.5,22.2,291,7053,0.00,2.17,0.00,0.000,260,0.000,0.046,3243,3402,1347,1458,1236,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7087,1.28,243.3,3243,3402,1458,1236,420.8,21.9,292,7095,0.00,2.08,0.00,0.000,1030,0.000,0.030,3255,2000,1346,1458,1235,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7391,1.28,243.3,3254,1999,1458,1235,347.9,21.8,308,7397,0.00,2.20,0.00,0.000,260,0.000,0.046,3255,3400,1346,1458,1235,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7438,1.28,243.3,3254,3400,1457,1235,337.7,22.1,310,7444,0.12,2.10,0.00,0.000,5126,0.181,0.030,3235,1996,1346,1458,1235,0,0,0,0,0,0,26.13,26.49,28.83
$GC,7765,1.28,243.3,3234,1994,1458,1234,269.4,21.0,326,7771,0.00,2.12,0.00,0.000,516,0.000,0.041,3246,608,1345,1458,1233,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7815,1.28,243.3,3245,608,1457,1233,260.0,20.5,328,7821,0.00,2.08,0.00,0.000,1030,0.000,0.031,3246,2001,1345,1457,1234,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8137,1.28,243.3,3245,2001,1457,1233,193.8,19.8,344,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2001,1345,1457,1233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8435,1.28,243.3,3245,2001,1457,1233,133.6,20.8,359,8440,0.00,2.12,0.00,0.000,516,0.000,0.040,3257,610,1345,1457,1233,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8506,1.28,243.3,3257,610,1456,1233,120.0,20.6,362,8513,0.00,2.08,0.00,0.000,1030,0.000,0.031,3257,2004,1345,1457,1233,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8827,1.28,243.3,3255,2004,1457,1233,65.5,13.1,378,8833,0.00,2.17,0.00,0.000,260,0.000,0.045,3257,3402,1345,1457,1234,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8868,1.28,243.3,3257,3402,1457,1233,61.5,13.4,379,8877,0.12,2.08,0.00,0.000,5126,0.168,0.028,3234,1995,1345,1457,1234,0,0,0,0,0,0,26.15,26.51,28.83
$GC,9172,1.37,270.8,3233,1994,1457,1231,30.3,7.7,407,9231,0.00,2.17,51.20,0.379,8708,0.000,0.040,3244,615,1272,1390,1155,0,0,0,0,0,0,28.83,26.17,25.60
$STATE,9417,end climb,SURFACE_DEPTH_REACHED
$STATE,9417,begin surface coast
$FINISH,0.6,1.022833
$STATE,9441,end surface coast,CONTROL_FINISHED_OK
$STATE,9441,begin surface
$SM_CCo,9463,66.45,0.060,0,0,748,400.08
$SM_GC,1.07,8.07,2.92,66.45,0.035,0.032,0.060,145,2488,748,-8.30,-1.44,400.08,0,0,0,0,0,0,26.19,26.22,26.06
$IRIDIUM_FIX,2340.34,12145.09,060413,101019
$TT8_MAMPS,0.047187,0.047187
$HUMID,47.95
$INTERNAL_PRESSURE,9.59367
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,3926240
$24V_AH,24.0,43.764
$10V_AH,10.2,28.493
$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,20.175,80.225,836.050,66.450,0.000,0.000,0.000,210.600,0.000,0.000,15.220,1753.083,5566.544,851.426,1382.035,349.800,0.000,1823.661,0.000,1115.189,0.000,0.537,0.000
$DEVICE_MAMPS,220.320,54.315,751.230,60.435,0.000,0.000,0.000,126.225,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9444.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.089,0.000,0.000,0.000
$MEM,323944
$DATA_FILE_SIZE,16764,450
$CAP_FILE_SIZE,242021,0
$CFSIZE,260034560,224538624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,179.0,1
$GPS,060413,155230,2344.575,12143.929,41,1.1,42,-3.2