version: 66.11
glider: 171
mission: 4
dive: 332
start: 4 10 113 19 34 39
data:
$ID,171
$MISSION,4
$DIVE,332
$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,-20936.473
$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,2810
$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,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,100413,192745,2320.914,12133.191,15,3.4,35,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.4
$GPS2,100413,193406,2321.043,12133.207,30,1.2,30,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,ININSHORE2
$TGT_LATLONG,2303.150,12127.800
$TGT_RADIUS,1500.000
$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,205.1,34395,-10.6,-8.333,-15.41,4401
$D_GRID,606
$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,-243.3,126,2493,843,663,0.0,0.0,0,83,0.00,0.00,-61.42,0.000,16386,0.000,0.000,126,2493,2529,2587,2472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.28,-243.3,126,2493,2590,2473,4.2,-8.2,8,118,8.98,2.10,-13.55,0.000,18948,0.220,0.040,2393,1093,3378,3437,3320,0,0,0,0,0,0,25.53,26.18,26.55
$GC,222,-1.28,-243.3,2392,1093,3439,3321,52.2,-27.4,22,230,0.00,2.17,0.00,0.000,1030,0.000,0.039,2383,2503,3379,3439,3320,0,0,0,0,0,0,28.83,26.10,28.83
$GC,410,-1.28,-243.3,2382,2503,3442,3320,108.2,-27.7,32,417,0.00,2.10,0.00,0.000,516,0.000,0.028,2382,1089,3381,3443,3320,0,0,0,0,0,0,28.83,26.28,28.83
$GC,462,-1.28,-243.3,2382,1088,3443,3320,120.1,-26.6,34,468,0.00,2.15,0.00,0.000,1030,0.000,0.037,2372,2493,3381,3443,3320,0,0,0,0,0,0,28.83,26.20,28.83
$GC,664,-1.28,-243.3,2372,2493,3445,3322,176.7,-29.2,44,670,0.00,1.85,0.00,0.000,260,0.000,0.052,2363,3676,3384,3446,3322,0,0,0,0,0,0,28.83,26.19,28.83
$GC,836,-1.28,-243.3,2363,3676,3446,3323,229.0,-30.3,52,843,0.12,1.73,0.00,0.000,3078,0.158,0.024,2395,2467,3384,3445,3323,0,0,0,0,0,0,26.12,26.48,28.83
$GC,1043,-1.28,-243.3,2395,2467,3446,3323,286.8,-28.5,62,1049,0.00,1.90,0.00,0.000,260,0.000,0.052,2387,3675,3384,3446,3323,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1112,-1.28,-243.3,2387,3675,3446,3323,306.0,-28.6,65,1118,0.00,1.65,0.00,0.000,1030,0.000,0.024,2387,2512,3384,3446,3323,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1435,-1.28,-243.3,2387,2510,3446,3324,389.9,-24.6,81,1440,0.00,2.05,0.00,0.000,516,0.000,0.027,2387,1111,3384,3446,3323,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1485,-1.28,-243.3,2386,1111,3446,3323,401.6,-24.6,83,1491,0.00,2.15,0.00,0.000,1030,0.000,0.037,2376,2524,3384,3446,3323,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1808,-1.28,-243.3,2376,2525,3446,3323,481.7,-25.5,99,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2525,3385,3447,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2105,-1.28,-243.3,2376,2525,3445,3323,556.8,-24.5,114,2111,0.00,1.83,0.00,0.000,260,0.000,0.053,2368,3668,3384,3446,3323,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2152,-1.28,-243.3,2367,3668,3445,3323,567.6,-24.4,116,2158,0.12,1.65,0.00,0.000,3078,0.151,0.026,2401,2525,3384,3446,3323,0,0,0,0,0,0,26.22,26.58,28.83
$STATE,2347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2347,begin apogee
$GC,2353,-0.20,0.0,2400,2001,3444,3320,609.2,-20.3,125,2715,1.02,0.00,350.55,0.629,10244,0.119,0.000,2739,1999,2377,2532,2222,0,0,0,0,0,0,25.90,28.83,24.49
$STATE,2717,end apogee,CONTROL_FINISHED_OK
$STATE,2717,begin climb
$GC,2719,1.28,243.3,2738,1999,2526,2211,620.6,0.0,136,2979,1.35,2.22,250.18,0.708,10756,0.053,0.037,3227,612,1387,1499,1276,0,0,0,0,0,0,25.27,25.26,24.25
$GC,3136,1.28,243.3,3227,612,1463,1241,555.1,24.0,152,3142,0.00,2.15,0.00,0.000,1030,0.000,0.029,3225,2014,1352,1463,1241,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3464,1.28,243.3,3227,2014,1459,1236,481.7,21.5,168,3470,0.00,2.17,0.00,0.000,260,0.000,0.045,3227,3402,1347,1459,1236,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3694,1.28,243.3,3227,3402,1456,1235,429.8,22.2,179,3700,0.00,2.08,0.00,0.000,1030,0.000,0.028,3238,2011,1345,1456,1235,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4021,1.28,243.3,3240,2011,1453,1231,362.8,22.9,195,4027,0.00,2.15,0.00,0.000,516,0.000,0.037,3249,602,1341,1452,1231,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4078,1.28,243.3,3249,602,1453,1231,352.4,22.4,197,4085,0.12,2.08,0.00,0.000,5126,0.166,0.029,3218,1998,1342,1453,1231,0,0,0,0,0,0,26.08,26.38,28.83
$GC,4395,1.28,243.3,3217,1998,1451,1229,283.4,21.0,213,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1998,1340,1451,1229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4693,1.28,243.3,3216,1998,1450,1228,223.1,19.8,228,4699,0.00,2.17,0.00,0.000,260,0.000,0.045,3217,3400,1339,1451,1228,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4727,1.28,243.3,3217,3400,1450,1228,218.3,19.5,229,4734,0.00,2.08,0.00,0.000,1030,0.000,0.028,3229,1996,1339,1450,1228,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4924,1.28,243.3,3228,1996,1450,1226,176.1,20.9,239,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1995,1338,1450,1226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5104,1.28,243.3,3228,1996,1450,1226,141.4,19.3,248,5110,0.00,2.20,0.00,0.000,260,0.000,0.045,3229,3403,1338,1450,1226,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5193,1.28,243.3,3228,3403,1450,1226,125.0,18.3,252,5199,0.00,2.05,0.00,0.000,1030,0.000,0.028,3240,2012,1338,1450,1226,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5400,1.28,243.3,3240,2011,1450,1225,88.1,17.4,262,5406,0.00,2.12,0.00,0.000,516,0.000,0.037,3251,610,1337,1450,1225,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5640,1.28,243.3,3251,610,1449,1225,48.1,16.0,274,5648,0.12,2.03,0.00,0.000,5126,0.152,0.030,3218,1973,1337,1449,1225,0,0,0,0,0,0,26.16,26.44,28.83
$GC,5836,1.28,243.3,3218,1973,1449,1224,24.3,10.1,293,5845,0.00,2.08,0.00,0.000,516,0.000,0.038,3229,609,1338,1449,1228,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,6061,end climb,SURFACE_DEPTH_REACHED
$STATE,6061,begin surface coast
$FINISH,0.2,1.022873
$STATE,6089,end surface coast,CONTROL_FINISHED_OK
$STATE,6089,begin surface
$SM_CCo,6110,74.25,0.060,0,0,749,400.08
$SM_GC,1.28,7.90,2.95,74.25,0.032,0.041,0.060,138,2480,749,-8.26,-1.58,400.08,0,0,0,0,0,0,26.44,26.29,26.16
$IRIDIUM_FIX,2314.48,12135.68,100413,161658
$TT8_MAMPS,0.047187,0.047187
$HUMID,48.58
$INTERNAL_PRESSURE,9.59367
$TCM_TEMP,21.90
$XPDR_PINGS,0
$SC_FREEKB,3914496
$24V_AH,24.3,49.903
$10V_AH,10.2,31.503
$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,19.750,54.575,600.725,74.250,0.000,0.000,0.000,193.025,0.000,0.000,31.636,1471.863,2927.786,651.169,1209.785,305.380,0.000,1457.653,0.000,949.760,0.000,0.538,0.000
$DEVICE_MAMPS,220.320,52.785,708.390,60.435,0.000,0.000,0.000,126.990,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6085.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.918,0.000,0.000,0.000
$MEM,323248
$DATA_FILE_SIZE,13447,339
$CAP_FILE_SIZE,192732,0
$CFSIZE,260034560,221384704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083,198.8,1
$GPS,100413,211837,2320.073,12132.733,12,1.6,12,-3.1