version: 66.11
glider: 171
mission: 4
dive: 322
start: 4 9 113 16 46 23
data:
$ID,171
$MISSION,4
$DIVE,322
$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,-20923.906
$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,65
$R_STBD_OVSHOOT,31
$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
$GPS1,090413,163936,2323.987,12136.506,47,1.1,48,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.3
$GPS2,090413,164550,2324.205,12136.602,14,1.8,14,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,ININSHORE1
$TGT_LATLONG,2322.300,12134.500
$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,213.1,5021,-10.6,-8.333,-15.41,4401
$D_GRID,1199
$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,-243.3,126,2491,846,656,0.0,0.0,0,83,0.00,0.00,-61.62,0.000,16386,0.000,0.000,126,2491,2547,2606,2489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.28,-243.3,126,2491,2609,2489,4.6,-10.0,8,118,9.00,1.92,-13.05,0.000,18692,0.220,0.067,2383,3671,3377,3437,3318,0,0,0,0,0,0,25.50,26.01,26.48
$GC,344,-1.28,-243.3,2383,3671,3442,3319,94.1,-27.9,27,352,0.00,1.70,0.00,0.000,1030,0.000,0.025,2383,2494,3380,3442,3319,0,0,0,0,0,0,28.83,26.33,28.83
$GC,531,-1.28,-243.3,2383,2495,3445,3321,152.6,-29.3,37,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2494,3383,3445,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,710,-1.28,-243.3,2383,2495,3446,3323,204.3,-29.4,46,717,0.00,1.85,0.00,0.000,260,0.000,0.051,2374,3673,3384,3446,3323,0,0,0,0,0,0,28.83,26.18,28.83
$GC,757,-1.28,-243.3,2374,3673,3446,3324,217.2,-28.7,48,764,0.00,1.70,0.00,0.000,1030,0.000,0.024,2375,2492,3384,3446,3323,0,0,0,0,0,0,28.83,26.46,28.83
$GC,964,-1.28,-243.3,2374,2491,3446,3324,273.6,-26.7,58,970,0.00,1.85,0.00,0.000,260,0.000,0.053,2366,3669,3385,3446,3324,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1053,-1.28,-243.3,2366,3669,3446,3322,297.6,-26.4,62,1060,0.12,1.65,0.00,0.000,3078,0.157,0.025,2398,2514,3384,3446,3323,0,0,0,0,0,0,26.14,26.51,28.83
$GC,1381,-1.28,-243.3,2398,2514,3447,3323,372.8,-21.9,78,1387,0.00,2.05,0.00,0.000,516,0.000,0.028,2398,1113,3385,3447,3323,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1422,-1.28,-243.3,2398,1111,3447,3323,378.7,-21.6,79,1430,0.00,2.17,0.00,0.000,1030,0.000,0.038,2388,2527,3385,3447,3323,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1726,-1.28,-243.3,2388,2527,3446,3323,455.3,-23.5,95,1732,0.00,1.77,0.00,0.000,260,0.000,0.053,2379,3673,3384,3446,3323,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1802,-1.28,-243.3,2379,3672,3446,3323,472.1,-24.8,98,1808,0.00,1.70,0.00,0.000,1030,0.000,0.025,2379,2515,3384,3446,3323,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2117,-1.28,-243.3,2379,2515,3446,3322,550.3,-23.5,114,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2515,3384,3446,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2427,-1.28,-243.3,2379,2515,3446,3317,622.0,-22.4,128,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2515,3382,3446,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2727,-1.28,-243.3,2379,2515,3446,3314,687.8,-21.0,138,2733,0.00,2.08,0.00,0.000,516,0.000,0.028,2379,1108,3380,3446,3314,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2755,-1.28,-243.3,2379,1108,3446,3313,687.8,-21.0,138,2764,0.12,2.15,0.00,0.000,3078,0.163,0.039,2401,2516,3379,3446,3313,0,0,0,0,0,0,26.08,26.32,28.83
$GC,3063,-1.28,-243.3,2401,2516,3446,3309,753.7,-19.7,149,3069,0.00,1.83,0.00,0.000,260,0.000,0.055,2393,3675,3377,3446,3308,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3091,-1.28,-243.3,2393,3676,3446,3308,753.7,-19.7,149,3099,0.00,1.65,0.00,0.000,1030,0.000,0.028,2393,2531,3377,3446,3308,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3399,-1.28,-243.3,2393,2531,3444,3305,820.5,-20.2,160,3405,0.00,2.12,0.00,0.000,516,0.000,0.029,2393,1100,3374,3444,3305,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3422,-1.28,-243.3,2393,1098,3443,3304,820.5,-20.2,160,3428,0.00,2.17,0.00,0.000,1030,0.000,0.039,2383,2511,3374,3444,3304,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3739,-1.28,-243.3,2382,2511,3442,3301,894.9,-22.9,171,3745,0.00,1.83,0.00,0.000,260,0.000,0.054,2374,3671,3371,3442,3301,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3805,-1.28,-243.3,2374,3671,3442,3301,910.6,-22.8,173,3811,0.00,1.70,0.00,0.000,1030,0.000,0.028,2374,2511,3371,3442,3301,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,3987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3987,begin apogee
$GC,3995,-0.20,0.0,2371,1984,3441,3299,953.5,-23.4,179,4383,1.12,0.00,377.15,0.763,10244,0.122,0.000,2739,1983,2376,2530,2222,0,0,0,0,0,0,25.79,28.83,24.08
$STATE,4384,end apogee,CONTROL_FINISHED_OK
$STATE,4384,begin climb
$GC,4387,1.28,243.3,2738,1983,2527,2214,989.7,0.0,191,4660,1.33,0.00,264.77,0.913,11270,0.049,0.000,3226,1982,1383,1494,1273,0,0,0,0,0,0,24.95,28.83,23.44
$GC,4986,1.28,243.3,3225,1983,1459,1239,878.0,25.1,210,4992,0.00,2.30,0.00,0.000,260,0.000,0.044,3226,3422,1349,1459,1240,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5055,1.28,243.3,3226,3422,1459,1240,860.9,25.3,212,5061,0.00,2.12,0.00,0.000,1030,0.000,0.026,3237,2010,1349,1459,1240,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5386,1.28,243.3,3238,2010,1455,1237,780.1,23.5,223,5392,0.00,2.22,0.00,0.000,260,0.000,0.045,3237,3418,1347,1457,1237,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5426,1.28,243.3,3237,3418,1457,1237,771.5,23.4,224,5433,0.00,2.12,0.00,0.000,1030,0.000,0.028,3249,1996,1348,1459,1237,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5756,1.28,243.3,3249,1996,1454,1236,693.7,22.8,235,5762,0.00,2.12,0.00,0.000,516,0.000,0.039,3260,610,1345,1453,1237,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5801,1.28,243.3,3260,610,1454,1236,685.6,22.7,236,5808,0.15,2.10,0.00,0.000,5126,0.165,0.030,3221,2010,1345,1454,1236,0,0,0,0,0,0,25.98,26.33,28.83
$GC,6128,1.28,243.3,3220,2010,1453,1235,613.3,21.3,247,6134,0.00,2.17,0.00,0.000,260,0.000,0.047,3221,3399,1344,1453,1235,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6194,1.28,243.3,3221,3398,1453,1235,596.8,23.7,249,6200,0.00,2.10,0.00,0.000,1030,0.000,0.029,3232,1994,1344,1453,1236,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6521,1.28,243.3,3232,1994,1452,1234,523.7,22.2,265,6527,0.00,2.22,0.00,0.000,260,0.000,0.047,3231,3409,1343,1452,1234,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6561,1.28,243.3,3231,3409,1452,1234,517.7,21.8,266,6569,0.00,2.10,0.00,0.000,1030,0.000,0.030,3243,2006,1343,1452,1234,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6867,1.28,243.3,3243,2006,1452,1233,448.0,22.4,282,6873,0.00,2.20,0.00,0.000,260,0.000,0.046,3243,3406,1342,1451,1233,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6901,1.28,243.3,3243,3406,1451,1233,442.2,22.7,283,6908,0.12,2.08,0.00,0.000,5126,0.171,0.030,3223,2012,1342,1451,1233,0,0,0,0,0,0,26.09,26.43,28.83
$GC,7220,1.28,243.3,3223,2012,1451,1231,377.3,19.8,299,7226,0.00,2.17,0.00,0.000,260,0.000,0.046,3223,3400,1341,1451,1231,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7253,1.28,243.3,3222,3400,1451,1232,371.2,20.6,300,7260,0.00,2.05,0.00,0.000,1030,0.000,0.030,3234,2019,1341,1451,1232,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7569,1.28,243.3,3234,2019,1450,1230,300.3,21.7,316,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2019,1340,1450,1230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7869,1.28,243.3,3234,2019,1450,1230,236.9,21.1,331,7875,0.00,2.15,0.00,0.000,516,0.000,0.041,3245,610,1340,1450,1230,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7903,1.28,243.3,3245,610,1450,1230,231.7,21.3,332,7909,0.00,2.12,0.00,0.000,1030,0.000,0.031,3245,2032,1340,1450,1230,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8100,1.28,243.3,3245,2032,1450,1230,188.6,20.8,342,8106,0.00,2.17,0.00,0.000,516,0.000,0.041,3257,611,1340,1450,1230,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8151,1.28,243.3,3256,611,1450,1230,178.4,21.1,344,8158,0.12,2.08,0.00,0.000,5126,0.165,0.031,3224,2007,1340,1450,1230,0,0,0,0,0,0,26.08,26.40,28.83
$GC,8354,1.28,243.3,3224,2007,1450,1230,137.2,20.9,354,8359,0.00,2.20,0.00,0.000,260,0.000,0.047,3224,3406,1340,1450,1230,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8413,1.28,243.3,3225,3406,1450,1230,127.4,21.4,356,8421,0.00,2.05,0.00,0.000,1030,0.000,0.030,3235,2018,1339,1449,1230,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8600,1.28,243.3,3234,2017,1450,1230,83.4,22.8,366,8601,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2018,1340,1450,1230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8779,1.28,243.3,3235,2017,1450,1229,53.3,14.1,375,8786,0.00,2.17,0.00,0.000,260,0.000,0.047,3235,3404,1339,1450,1229,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9023,1.28,243.3,3235,3404,1450,1229,28.3,9.8,396,9029,0.00,2.08,0.00,0.000,1030,0.000,0.028,3246,2004,1339,1450,1229,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9224,1.28,243.3,2208,2002,1420,1225,7.5,11.1,430,9232,0.00,2.17,0.00,0.000,260,0.000,0.046,3246,3400,1339,1450,1228,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,9259,end climb,SURFACE_DEPTH_REACHED
$STATE,9259,begin surface coast
$FINISH,0.3,1.022452
$STATE,9283,end surface coast,CONTROL_FINISHED_OK
$STATE,9283,begin surface
$SM_CCo,9303,75.93,0.061,0,0,748,400.08
$SM_GC,0.96,8.07,1.38,75.93,0.037,0.033,0.061,141,2506,748,-8.27,1.70,400.08,0,0,0,0,0,0,26.41,26.47,26.10
$IRIDIUM_FIX,2314.48,12135.68,090413,131345
$TT8_MAMPS,0.047187,0.047187
$HUMID,48.85
$INTERNAL_PRESSURE,9.60344
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,3917696
$24V_AH,23.4,48.265
$10V_AH,10.2,30.686
$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,20.175,85.300,641.925,75.925,0.000,0.000,0.000,205.750,0.000,0.000,15.018,1834.890,5412.234,744.037,1402.943,359.143,0.000,1690.764,0.000,1135.694,0.000,0.536,0.000
$DEVICE_MAMPS,220.320,67.320,913.410,61.200,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9274.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.040,0.000,0.000,0.000
$MEM,323276
$DATA_FILE_SIZE,16819,440
$CAP_FILE_SIZE,245771,0
$CFSIZE,260034560,222199808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.142, 25.1,1
$GPS,090413,192405,2323.378,12135.960,35,1.0,41,-3.1