version: 66.11
glider: 171
mission: 4
dive: 298
start: 4 6 113 21 37 34
data:
$ID,171
$MISSION,4
$DIVE,298
$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,-20893.738
$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,59
$R_STBD_OVSHOOT,30
$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
$GPS1,060413,213027,2341.845,12142.793,49,4.1,68,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-65.0
$GPS2,060413,213701,2342.017,12142.816,34,1.3,34,-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,193.2,39461,-10.6,-8.333,-15.41,4401
$D_GRID,1734
$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,-243.3,126,2498,842,667,0.0,0.0,0,80,0.00,0.00,-59.25,0.000,16386,0.000,0.000,125,2498,2445,2510,2381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.28,-243.3,126,2498,2517,2381,4.0,-7.6,8,116,9.00,2.17,-15.45,0.000,18948,0.222,0.042,2411,1099,3377,3438,3317,0,0,0,0,0,0,25.60,26.09,26.43
$GC,207,-1.28,-243.3,2411,1098,3440,3317,47.8,-29.2,22,213,0.00,2.17,0.00,0.000,1030,0.000,0.038,2401,2504,3379,3440,3318,0,0,0,0,0,0,28.83,26.10,28.83
$GC,522,-1.28,-243.3,2401,2504,3445,3319,141.2,-28.3,38,528,0.00,1.83,0.00,0.000,260,0.000,0.050,2392,3666,3381,3445,3318,0,0,0,0,0,0,28.83,26.19,28.83
$GC,598,-1.28,-243.3,2392,3664,3444,3318,159.5,-27.2,41,604,0.00,1.70,0.00,0.000,1030,0.000,0.024,2393,2487,3382,3445,3319,0,0,0,0,0,0,28.83,26.43,28.83
$GC,912,-1.28,-243.3,2392,2487,3446,3320,246.4,-26.8,57,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2487,3383,3446,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1213,-1.28,-243.3,2392,2487,3446,3320,323.9,-25.3,72,1219,0.00,2.03,0.00,0.000,516,0.000,0.029,2392,1110,3383,3446,3321,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1241,-1.28,-243.3,2392,1110,3446,3320,330.0,-24.9,73,1247,0.00,2.12,0.00,0.000,1030,0.000,0.039,2382,2503,3383,3446,3320,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1562,-1.28,-243.3,2381,2503,3446,3321,413.1,-25.9,89,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2503,3383,3446,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1860,-1.28,-243.3,2381,2503,3446,3320,490.9,-25.2,104,1866,0.00,1.80,0.00,0.000,260,0.000,0.051,2373,3668,3383,3446,3321,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1936,-1.28,-243.3,2373,3668,3446,3321,506.6,-23.5,107,1943,0.12,1.67,0.00,0.000,3078,0.155,0.025,2405,2502,3383,3445,3321,0,0,0,0,0,0,26.25,26.60,28.83
$GC,2253,-1.28,-243.3,2405,2501,3446,3320,576.8,-21.8,123,2259,0.00,2.08,0.00,0.000,516,0.000,0.031,2406,1107,3383,3446,3320,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2302,-1.28,-243.3,2405,1107,3446,3319,586.9,-21.8,125,2309,0.00,2.15,0.00,0.000,1030,0.000,0.041,2396,2506,3382,3446,3319,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2632,-1.28,-243.3,2395,2506,3446,3315,662.2,-22.9,137,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2507,3380,3445,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2932,-1.28,-243.3,2396,2506,3446,3311,731.7,-23.1,147,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2506,3378,3446,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3232,-1.28,-243.3,2395,2506,3445,3306,798.0,-21.9,157,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2506,3375,3445,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3532,-1.28,-243.3,2396,2506,3443,3302,859.2,-19.5,167,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2506,3373,3444,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3832,-1.28,-243.3,2396,2506,3442,3300,919.6,-20.1,177,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2506,3371,3442,3300,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4010,begin apogee
$GC,4016,-0.20,0.0,2395,1989,3442,3297,955.8,-20.2,183,4408,1.08,0.00,382.70,0.765,10246,0.119,0.000,2749,1987,2378,2533,2224,0,0,0,0,0,0,25.98,28.83,24.13
$STATE,4410,end apogee,CONTROL_FINISHED_OK
$STATE,4410,begin climb
$GC,4414,1.28,243.3,2748,1987,2526,2212,987.1,0.0,195,4805,1.33,2.30,378.73,0.737,10756,0.046,0.037,3250,628,1383,1495,1272,0,0,0,0,0,0,24.98,24.59,23.91
$GC,4877,1.28,243.3,3250,628,1472,1250,925.8,23.9,209,4883,0.00,2.20,0.00,0.000,1030,0.000,0.031,3250,2019,1361,1472,1250,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5202,1.28,243.3,3250,2019,1465,1244,841.9,24.9,220,5208,0.00,2.20,0.00,0.000,260,0.000,0.046,3250,3408,1354,1465,1243,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5283,1.28,243.3,3250,3408,1464,1244,824.0,26.2,222,5290,0.12,2.10,0.00,0.000,5126,0.179,0.028,3231,2010,1353,1464,1243,0,0,0,0,0,0,25.86,26.16,28.83
$GC,5604,1.28,243.3,3230,2009,1462,1241,746.5,23.2,233,5610,0.00,2.17,0.00,0.000,516,0.000,0.037,3241,602,1351,1462,1241,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5622,1.28,243.3,3241,602,1462,1241,746.5,23.2,233,5629,0.00,2.12,0.00,0.000,1030,0.000,0.031,3241,2006,1351,1462,1241,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5943,1.28,243.3,3241,2006,1461,1240,669.3,23.1,244,5949,0.00,2.20,0.00,0.000,260,0.000,0.046,3241,3408,1350,1461,1240,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5978,1.28,243.3,3241,3408,1461,1240,660.8,23.3,245,5984,0.00,2.12,0.00,0.000,1030,0.000,0.029,3253,1991,1349,1459,1240,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6293,1.28,243.3,3253,1989,1459,1238,584.0,24.3,256,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1990,1349,1460,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6594,1.28,243.3,3253,1990,1459,1237,511.7,23.7,271,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1990,1348,1459,1237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6894,1.28,243.3,3253,1990,1459,1237,443.2,22.6,286,6899,0.00,2.22,0.00,0.000,260,0.000,0.047,3253,3409,1347,1459,1236,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6946,1.28,243.3,3253,3409,1459,1237,432.2,23.2,288,6952,0.12,2.10,0.00,0.000,5126,0.181,0.029,3233,1994,1348,1459,1237,0,0,0,0,0,0,26.13,26.49,28.83
$GC,7267,1.28,243.3,3233,1994,1457,1236,364.9,20.2,304,7274,0.00,2.12,0.00,0.000,516,0.000,0.040,3244,606,1347,1458,1236,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7308,1.28,243.3,3244,605,1458,1236,359.7,20.1,305,7316,0.00,2.10,0.00,0.000,1030,0.000,0.031,3244,2005,1347,1458,1236,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7613,1.28,243.3,3245,2004,1457,1236,290.1,22.1,321,7619,0.00,2.17,0.00,0.000,260,0.000,0.046,3244,3402,1347,1458,1236,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7647,1.28,243.3,3244,3402,1457,1235,284.5,22.3,322,7653,0.00,2.08,0.00,0.000,1030,0.000,0.029,3255,2006,1346,1457,1235,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7962,1.28,243.3,3255,2006,1457,1235,214.3,20.5,338,7968,0.00,2.20,0.00,0.000,260,0.000,0.047,3256,3410,1345,1457,1234,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8002,1.28,243.3,3255,3410,1457,1234,209.4,20.1,339,8011,0.15,2.10,0.00,0.000,5126,0.169,0.029,3228,1996,1345,1457,1234,0,0,0,0,0,0,26.10,26.49,28.83
$GC,8307,1.28,243.3,3227,1994,1457,1234,145.9,19.0,355,8313,0.00,2.20,0.00,0.000,260,0.000,0.047,3228,3400,1346,1457,1235,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8347,1.28,243.3,3227,3400,1455,1235,141.5,18.4,356,8356,0.00,2.08,0.00,0.000,1030,0.000,0.028,3239,1997,1345,1457,1234,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8652,1.28,243.3,3239,1997,1457,1235,84.9,17.7,372,8659,0.00,2.20,0.00,0.000,260,0.000,0.047,3239,3400,1345,1457,1234,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8774,1.28,243.3,3239,3400,1458,1235,66.8,16.6,377,8782,0.00,2.08,0.00,0.000,1030,0.000,0.028,3251,1996,1345,1457,1234,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9080,1.28,243.3,3250,1996,1457,1234,26.6,10.3,403,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1996,1345,1457,1234,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9290,end climb,SURFACE_DEPTH_REACHED
$STATE,9291,begin surface coast
$FINISH,-0.0,1.022666
$STATE,9313,end surface coast,CONTROL_FINISHED_OK
$STATE,9313,begin surface
$SM_CCo,9333,76.95,0.062,0,0,748,400.08
$SM_GC,1.02,7.90,0.80,76.95,0.027,0.054,0.062,134,2494,748,-8.30,-1.10,400.08,0,0,0,0,0,0,26.50,26.36,26.23
$IRIDIUM_FIX,2335.63,12143.85,060413,181852
$TT8_MAMPS,0.047187,0.047187
$HUMID,48.03
$INTERNAL_PRESSURE,9.59367
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,3925280
$24V_AH,23.9,44.325
$10V_AH,10.2,28.736
$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,19.825,64.325,761.425,76.950,0.000,0.000,0.000,213.600,0.000,0.000,35.452,1698.037,5647.683,787.998,1352.399,321.623,0.000,1711.962,0.000,1056.316,0.000,0.536,0.000
$DEVICE_MAMPS,221.850,54.315,765.000,61.965,0.000,0.000,0.000,121.635,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9305.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.087,0.000,0.000,0.000
$MEM,323932
$DATA_FILE_SIZE,16748,445
$CAP_FILE_SIZE,230546,0
$CFSIZE,260034560,224301056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032, 89.7,1
$GPS,070413,001630,2340.186,12142.571,84,1.7,85,-3.2