version: 66.11
glider: 171
mission: 4
dive: 264
start: 4 2 113 18 53 24
data:
$ID,171
$MISSION,4
$DIVE,264
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,270
$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,-20851.023
$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,56
$R_STBD_OVSHOOT,39
$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
$GPS1,020413,184703,2311.281,12203.843,34,4.1,54,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-67.0
$GPS2,020413,185255,2311.401,12204.001,16,1.7,16,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,HEADING
$TGT_LATLONG,2311.401,12152.252
$TGT_RADIUS,1852.000
$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,273.1,20000,-10.6,-8.333,-15.41,4401
$D_GRID,4103
$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,-243.3,125,2499,852,656,0.0,0.0,0,79,0.00,0.00,-58.38,0.000,16386,0.000,0.000,125,2500,2466,2542,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.28,-243.3,125,2500,2546,2391,4.3,-7.3,8,114,9.00,1.90,-14.40,0.000,18692,0.223,0.067,2393,3670,3378,3436,3320,0,0,0,0,0,0,25.71,26.16,26.59
$GC,286,-1.28,-243.3,2393,3670,3439,3320,86.4,-36.4,25,292,0.00,1.70,0.00,0.000,1030,0.000,0.024,2393,2483,3379,3439,3320,0,0,0,0,0,0,28.83,26.41,28.83
$GC,606,-1.28,-243.3,2393,2482,3443,3321,186.1,-30.9,41,612,0.00,1.88,0.00,0.000,260,0.000,0.052,2384,3677,3382,3443,3321,0,0,0,0,0,0,28.83,26.34,28.83
$GC,693,-1.28,-243.3,2384,3677,3443,3322,213.1,-31.4,45,699,0.00,1.73,0.00,0.000,1030,0.000,0.024,2384,2496,3382,3443,3322,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1018,-1.28,-243.3,2384,2495,3444,3325,308.8,-27.9,61,1024,0.00,2.05,0.00,0.000,516,0.000,0.029,2384,1102,3384,3444,3324,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1067,-1.28,-243.3,2384,1102,3444,3325,321.1,-27.5,63,1074,0.12,2.12,0.00,0.000,3078,0.164,0.040,2406,2501,3384,3444,3325,0,0,0,0,0,0,26.22,26.43,28.83
$GC,1390,-1.28,-243.3,2405,2501,3444,3325,405.1,-25.6,79,1395,0.00,1.80,0.00,0.000,260,0.000,0.054,2398,3671,3384,3444,3324,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1572,-1.28,-243.3,2398,3671,3444,3325,447.1,-24.2,87,1580,0.00,1.67,0.00,0.000,1030,0.000,0.024,2398,2492,3384,3444,3324,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1877,-1.28,-243.3,2397,2491,3444,3324,521.6,-22.2,103,1883,0.00,2.03,0.00,0.000,516,0.000,0.028,2398,1105,3384,3444,3324,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1901,-1.28,-243.3,2397,1104,3444,3324,526.8,-21.7,104,1907,0.00,2.12,0.00,0.000,1030,0.000,0.038,2387,2506,3384,3444,3325,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2228,-1.28,-243.3,2387,2506,3444,3320,601.8,-24.0,120,2234,0.00,2.05,0.00,0.000,516,0.000,0.028,2387,1109,3382,3444,3320,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2267,-1.28,-243.3,2387,1109,3444,3320,610.9,-24.5,121,2273,0.12,2.12,0.00,0.000,3078,0.160,0.039,2409,2506,3382,3444,3320,0,0,0,0,0,0,26.27,26.48,28.83
$GC,2597,-1.28,-243.3,2409,2505,3444,3315,683.5,-21.0,132,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2505,3379,3444,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2897,-1.28,-243.3,2408,2506,3444,3310,744.3,-20.2,142,2903,0.00,1.85,0.00,0.000,260,0.000,0.054,2401,3693,3376,3444,3309,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2998,-1.28,-243.3,2400,3693,3443,3307,763.9,-20.3,145,3004,0.00,1.70,0.00,0.000,1030,0.000,0.027,2401,2498,3375,3443,3308,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3327,-1.28,-243.3,2400,2497,3442,3303,831.8,-20.2,156,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2497,3372,3442,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3627,-1.28,-243.3,2400,2497,3440,3299,891.9,-19.9,166,3633,0.00,2.05,0.00,0.000,516,0.000,0.031,2401,1109,3370,3441,3299,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3650,-1.28,-243.3,2400,1109,3440,3299,891.9,-19.9,166,3656,0.00,2.12,0.00,0.000,1030,0.000,0.040,2390,2501,3370,3441,3299,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,3933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3933,begin apogee
$GC,3940,-0.20,0.0,2390,2000,3439,3293,952.1,-19.1,176,4325,1.10,0.00,373.90,0.751,10246,0.121,0.000,2751,1998,2374,2532,2217,0,0,0,0,0,0,26.09,28.83,24.35
$STATE,4328,end apogee,CONTROL_FINISHED_OK
$STATE,4328,begin climb
$GC,4330,1.28,243.3,2751,1998,2526,2208,974.2,0.0,188,4711,1.30,2.30,368.88,0.737,10756,0.045,0.037,3251,628,1385,1496,1274,0,0,0,0,0,0,25.18,24.90,24.23
$GC,4818,1.28,243.3,3250,628,1468,1248,896.9,24.8,204,4824,0.00,2.15,0.00,0.000,1030,0.000,0.030,3253,2017,1358,1468,1248,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5148,1.28,243.3,3250,2017,1463,1244,810.8,26.1,215,5154,0.00,2.17,0.00,0.000,516,0.000,0.038,3262,621,1353,1463,1244,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5206,1.28,243.3,3262,621,1462,1244,802.0,26.2,216,5215,0.12,2.10,0.00,0.000,5126,0.172,0.031,3231,2010,1352,1462,1243,0,0,0,0,0,0,25.98,26.22,28.83
$GC,5514,1.28,243.3,3230,2010,1460,1241,721.9,23.8,227,5520,0.00,2.17,0.00,0.000,260,0.000,0.047,3231,3399,1350,1460,1241,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5559,1.28,243.3,3230,3399,1460,1241,712.8,24.0,228,5565,0.00,2.05,0.00,0.000,1030,0.000,0.028,3241,2017,1350,1460,1241,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5884,1.28,243.3,3241,2016,1458,1240,630.9,23.8,239,5890,0.00,2.15,0.00,0.000,516,0.000,0.039,3252,609,1349,1458,1240,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5949,1.28,243.3,3252,609,1458,1240,615.4,23.5,241,5955,0.00,2.08,0.00,0.000,1030,0.000,0.031,3252,1998,1348,1458,1239,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6264,1.28,243.3,3252,1998,1457,1238,540.2,24.6,255,6270,0.00,2.20,0.00,0.000,260,0.000,0.047,3253,3406,1347,1457,1238,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6288,1.28,243.3,3252,3406,1457,1238,533.7,25.0,256,6295,0.12,2.12,0.00,0.000,5126,0.179,0.030,3233,1994,1347,1457,1238,0,0,0,0,0,0,26.20,26.51,28.83
$GC,6615,1.28,243.3,3232,1993,1455,1238,459.1,22.8,272,6621,0.00,2.12,0.00,0.000,516,0.000,0.041,3244,604,1346,1455,1238,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6661,1.28,243.3,3244,604,1454,1238,448.3,23.2,274,6667,0.00,2.10,0.00,0.000,1030,0.000,0.031,3244,2009,1346,1454,1238,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6987,1.28,243.3,3244,2009,1453,1236,373.6,21.1,290,6993,0.00,2.15,0.00,0.000,516,0.000,0.040,3255,610,1344,1453,1236,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7078,1.28,243.3,3255,610,1453,1236,354.7,21.3,294,7085,0.00,2.08,0.00,0.000,1030,0.000,0.031,3255,2008,1345,1453,1237,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7400,1.28,243.3,3255,2007,1453,1236,283.1,23.1,310,7406,0.00,2.15,0.00,0.000,260,0.000,0.045,3255,3400,1344,1453,1236,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7630,1.28,243.3,3255,3400,1450,1236,229.1,24.3,321,7636,0.12,2.08,0.00,0.000,5126,0.174,0.029,3234,1994,1344,1453,1236,0,0,0,0,0,0,26.23,26.55,28.83
$GC,7956,1.28,243.3,3234,1993,1452,1235,171.2,14.9,337,7963,0.00,2.12,0.00,0.000,516,0.000,0.040,3245,603,1344,1453,1235,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7990,1.28,243.3,3245,603,1453,1235,166.6,16.2,338,7996,0.00,2.08,0.00,0.000,1030,0.000,0.031,3246,2004,1344,1453,1235,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8305,1.28,243.3,3245,2004,1452,1236,119.4,13.1,354,8311,0.00,2.12,0.00,0.000,516,0.000,0.040,3255,609,1343,1452,1235,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8543,1.28,243.3,3257,609,1453,1235,85.9,13.7,365,8549,0.00,2.05,0.00,0.000,1030,0.000,0.030,3254,2002,1343,1452,1235,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8857,1.28,243.3,3256,2002,1453,1235,53.4,9.3,381,8864,0.00,2.12,0.00,0.000,516,0.000,0.038,3267,604,1343,1452,1235,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9101,1.28,243.3,3267,604,1452,1235,27.8,9.8,402,9108,0.12,2.05,0.00,0.000,5126,0.151,0.028,3233,2003,1343,1452,1235,0,0,0,0,0,0,26.29,26.55,28.83
$STATE,9354,end climb,SURFACE_DEPTH_REACHED
$STATE,9354,begin surface coast
$FINISH,0.6,1.001500
$STATE,9382,end surface coast,CONTROL_FINISHED_OK
$STATE,9383,begin surface
$SM_CCo,9401,74.07,0.059,0,0,748,400.08
$SM_GC,1.19,7.90,0.73,74.07,0.033,0.040,0.059,135,2483,748,-8.30,-1.58,400.08,0,0,0,0,0,0,26.58,26.52,26.32
$IRIDIUM_FIX,2258.07,12204.55,020413,151524
$TT8_MAMPS,0.048685,0.048685
$HUMID,45.39
$INTERNAL_PRESSURE,9.66204
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3936160
$24V_AH,24.2,38.708
$10V_AH,10.2,25.866
$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,20.050,79.050,742.775,74.075,0.000,0.000,0.000,191.600,0.000,0.000,17.477,1912.040,5243.392,769.279,1571.369,329.332,0.000,1788.647,0.000,1311.042,0.000,0.538,0.000
$DEVICE_MAMPS,223.380,66.555,751.230,58.905,0.000,0.000,0.000,126.225,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9385.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.158,0.000,0.000,0.000
$MEM,324276
$DATA_FILE_SIZE,16804,452
$CAP_FILE_SIZE,259916,0
$CFSIZE,260034560,227323904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020413,213235,2313.024,12203.666,19,1.2,35,-3.1