version: 66.11
glider: 171
mission: 4
dive: 297
start: 4 6 113 18 53 57
data:
$ID,171
$MISSION,4
$DIVE,297
$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,-20892.482
$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,61
$R_STBD_OVSHOOT,31
$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
$GPS1,060413,183830,2342.982,12143.345,64,1.7,65,-3.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-65.9
$GPS2,060413,185325,2343.268,12143.201,14,1.6,14,-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,195.5,41854,-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,19,-1.28,-243.3,125,2500,850,667,0.0,0.0,0,82,0.00,0.00,-60.42,0.000,16386,0.000,0.000,125,2500,2543,2613,2474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,125,2500,2614,2476,4.2,-6.5,8,117,9.05,1.90,-13.27,0.000,19204,0.223,0.070,2393,3662,3378,3436,3320,0,0,0,0,0,0,25.53,25.98,26.42
$GC,137,-1.28,-243.3,2393,3662,3436,3319,29.9,-45.1,14,143,0.00,1.70,0.00,0.000,1030,0.000,0.026,2393,2493,3379,3439,3319,0,0,0,0,0,0,28.83,26.17,28.83
$GC,454,-1.28,-243.3,2393,2491,3441,3320,129.9,-29.2,32,459,0.00,2.08,0.00,0.000,516,0.000,0.034,2393,1105,3380,3441,3320,0,0,0,0,0,0,28.83,26.27,28.83
$GC,493,-1.28,-243.3,2390,1105,3442,3319,137.2,-28.0,33,503,0.00,2.15,0.00,0.000,1030,0.000,0.040,2382,2500,3381,3442,3320,0,0,0,0,0,0,28.83,26.21,28.83
$GC,799,-1.28,-243.3,2382,2500,3443,3320,229.7,-28.5,49,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2500,3381,3443,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1099,-1.28,-243.3,2382,2500,3442,3320,312.0,-25.5,64,1105,0.00,2.10,0.00,0.000,516,0.000,0.037,2382,1109,3381,3442,3320,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1150,-1.28,-243.3,2382,1110,3443,3319,323.7,-25.7,66,1158,0.15,2.15,0.00,0.000,3078,0.158,0.041,2411,2505,3381,3443,3319,0,0,0,0,0,0,26.10,26.34,28.83
$GC,1472,-1.28,-243.3,2411,2505,3442,3320,400.0,-22.9,82,1478,0.00,1.85,0.00,0.000,260,0.000,0.057,2403,3679,3381,3442,3320,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1628,-1.28,-243.3,2403,3679,3442,3320,435.4,-23.5,89,1635,0.00,1.70,0.00,0.000,1030,0.000,0.025,2403,2497,3381,3442,3320,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1944,-1.28,-243.3,2403,2496,3442,3316,508.8,-21.9,105,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2496,3379,3442,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2244,-1.28,-243.3,2403,2496,3442,3312,575.9,-22.1,120,2250,0.00,2.05,0.00,0.000,516,0.000,0.031,2403,1108,3377,3442,3312,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2272,-1.28,-243.3,2403,1108,3442,3311,581.6,-21.8,121,2278,0.00,2.15,0.00,0.000,1030,0.000,0.041,2393,2505,3376,3442,3311,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2582,-1.28,-243.3,2392,2506,3442,3306,651.2,-22.3,133,2588,0.00,2.08,0.00,0.000,516,0.000,0.031,2393,1109,3374,3442,3306,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2605,-1.28,-243.3,2392,1109,3442,3306,651.2,-22.3,133,2612,0.00,2.15,0.00,0.000,1030,0.000,0.039,2382,2503,3374,3442,3306,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2923,-1.28,-243.3,2382,2505,3441,3302,727.4,-22.2,144,2929,0.00,1.83,0.00,0.000,260,0.000,0.055,2373,3671,3371,3441,3301,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2958,-1.28,-243.3,2373,3671,3440,3301,735.8,-22.3,145,2965,0.12,1.70,0.00,0.000,3078,0.151,0.026,2408,2494,3370,3440,3301,0,0,0,0,0,0,26.26,26.60,28.83
$GC,3295,-1.28,-243.3,2406,2494,3439,3297,802.0,-19.9,156,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2493,3367,3438,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3594,-1.28,-243.3,2406,2493,3438,3293,859.8,-19.2,166,3600,0.00,2.05,0.00,0.000,516,0.000,0.031,2406,1114,3364,3437,3292,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3622,-1.28,-243.3,2406,1114,3437,3292,859.8,-19.2,166,3631,0.00,2.15,0.00,0.000,1030,0.000,0.039,2397,2504,3364,3437,3291,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3932,-1.28,-243.3,2397,2504,3435,3288,927.0,-20.7,177,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2504,3361,3435,3288,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4046,begin apogee
$GC,4053,-0.20,0.0,2397,1984,3435,3286,951.1,-20.2,181,4445,1.08,0.00,381.23,0.756,10246,0.120,0.000,2749,1984,2376,2533,2220,0,0,0,0,0,0,25.96,28.83,24.22
$STATE,4447,end apogee,CONTROL_FINISHED_OK
$STATE,4447,begin climb
$GC,4449,1.28,243.3,2748,1984,2528,2212,977.7,0.0,193,4855,1.33,2.20,390.52,0.720,10756,0.046,0.034,3249,632,1380,1492,1268,0,0,0,0,0,0,25.01,24.68,24.01
$GC,4883,1.28,243.3,3248,632,1475,1254,923.0,21.5,206,4888,0.00,2.20,0.00,0.000,1030,0.000,0.030,3249,2017,1365,1476,1254,0,0,0,0,0,0,28.83,25.04,28.83
$GC,5207,1.28,243.3,3249,2017,1463,1242,840.3,25.6,217,5213,0.00,2.20,0.00,0.000,260,0.000,0.047,3249,3402,1352,1463,1242,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5256,1.28,243.3,3249,3402,1463,1242,831.0,26.1,218,5263,0.12,2.08,0.00,0.000,5126,0.181,0.028,3230,2016,1353,1463,1243,0,0,0,0,0,0,25.82,26.12,28.83
$GC,5577,1.28,243.3,3230,2015,1460,1239,749.8,23.9,229,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2015,1350,1461,1239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5877,1.28,243.3,3230,2014,1459,1238,679.8,22.7,239,5883,0.00,2.15,0.00,0.000,516,0.000,0.039,3241,610,1348,1459,1238,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5905,1.28,243.3,3241,610,1459,1238,679.8,22.7,239,5913,0.00,2.10,0.00,0.000,1030,0.000,0.031,3241,2006,1348,1459,1238,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6213,1.28,243.3,3239,2006,1458,1237,601.7,24.0,250,6219,0.00,2.17,0.00,0.000,260,0.000,0.047,3241,3400,1347,1458,1237,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6248,1.28,243.3,3240,3400,1458,1237,593.2,23.9,251,6254,0.00,2.10,0.00,0.000,1030,0.000,0.028,3252,1992,1347,1458,1237,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6563,1.28,243.3,3252,1993,1457,1236,518.3,23.9,267,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1993,1346,1457,1236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6862,1.28,243.3,3252,1993,1456,1235,447.0,23.3,282,6868,0.00,2.22,0.00,0.000,260,0.000,0.047,3252,3404,1345,1456,1235,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6913,1.28,243.3,3252,3405,1456,1236,436.1,23.6,284,6920,0.12,2.08,0.00,0.000,5126,0.181,0.030,3232,2007,1345,1456,1235,0,0,0,0,0,0,26.13,26.49,28.83
$GC,7235,1.28,243.3,3232,2005,1454,1234,367.4,20.7,300,7242,0.00,2.20,0.00,0.000,260,0.000,0.046,3232,3408,1345,1455,1235,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7248,1.28,243.3,3232,3408,1454,1234,367.4,20.7,300,7254,0.00,2.10,0.00,0.000,1030,0.000,0.030,3244,1996,1344,1454,1234,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7564,1.28,243.3,3244,1996,1452,1233,297.4,21.7,316,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1996,1343,1454,1233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7863,1.28,243.3,3244,1996,1453,1233,236.3,20.2,331,7869,0.00,2.12,0.00,0.000,516,0.000,0.041,3255,609,1343,1453,1233,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7897,1.28,243.3,3255,609,1453,1233,231.0,20.6,332,7904,0.00,2.08,0.00,0.000,1030,0.000,0.031,3255,1998,1343,1453,1233,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8213,1.28,243.3,3255,1999,1453,1233,162.9,20.6,348,8219,0.00,2.20,0.00,0.000,260,0.000,0.047,3255,3412,1343,1453,1233,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8263,1.28,243.3,3254,3412,1453,1233,152.7,21.5,350,8270,0.12,2.10,0.00,0.000,5126,0.174,0.029,3234,1995,1343,1453,1233,0,0,0,0,0,0,26.15,26.50,28.83
$GC,8585,1.28,243.3,3234,1994,1453,1233,92.8,18.6,366,8592,0.00,2.20,0.00,0.000,260,0.000,0.046,3234,3401,1343,1453,1233,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8636,1.28,243.3,3234,3402,1453,1233,84.7,17.2,368,8642,0.00,2.08,0.00,0.000,1030,0.000,0.028,3246,1996,1343,1453,1233,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8946,1.66,352.8,3246,1994,1453,1231,37.7,5.8,389,9209,0.25,0.00,255.80,0.375,10754,0.055,0.000,3371,1993,963,1075,852,0,0,0,0,0,0,26.61,28.83,28.83
$STATE,9210,end climb,SURFACE_DEPTH_REACHED
$STATE,9210,begin surface coast
$FINISH,-0.1,1.021935
$STATE,9229,end surface coast,CONTROL_FINISHED_OK
$STATE,9229,begin surface
$SM_CCo,9249,30.15,0.057,0,0,748,400.08
$SM_GC,1.21,8.65,0.82,30.15,0.037,0.049,0.057,138,2496,748,-8.30,-1.07,400.08,0,0,0,0,0,0,25.67,25.57,25.61
$IRIDIUM_FIX,2330.93,12145.85,060413,181811
$TT8_MAMPS,0.047187,0.047187
$HUMID,48.26
$INTERNAL_PRESSURE,9.58391
$TCM_TEMP,22.00
$XPDR_PINGS,0
$SC_FREEKB,3925600
$24V_AH,24.0,44.156
$10V_AH,10.1,28.658
$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,21.000,71.900,1027.550,30.150,0.000,0.000,0.000,490.950,0.000,0.000,15.458,1517.949,5805.968,952.753,1569.402,330.701,0.000,2197.297,0.000,1018.230,0.000,0.537,0.000
$DEVICE_MAMPS,222.615,69.615,755.820,56.610,0.000,0.000,0.000,128.520,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9224.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.962,0.000,0.000,0.000
$MEM,323888
$DATA_FILE_SIZE,13441,419
$CAP_FILE_SIZE,229728,0
$CFSIZE,260034560,224382976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043, 13.7,1
$GPS,060413,213027,2341.845,12142.793,49,4.1,68,-3.2