version: 66.11
glider: 171
mission: 4
dive: 333
start: 4 10 113 21 28 45
data:
$ID,171
$MISSION,4
$DIVE,333
$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,-20939.479
$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,59
$R_STBD_OVSHOOT,26
$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
$GPS1,100413,211837,2320.073,12132.733,12,1.6,12,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-67.3
$GPS2,100413,212812,2320.246,12132.756,10,2.0,15,-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,197.0,32769,-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,-243.3,126,2482,842,662,0.0,0.0,0,83,0.00,0.00,-61.40,0.000,16386,0.000,0.000,126,2482,2561,2619,2503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.28,-243.3,126,2482,2623,2503,4.5,-8.9,8,118,8.93,1.92,-12.98,0.000,19204,0.219,0.062,2381,3676,3377,3435,3320,0,0,0,0,0,0,25.50,26.06,26.51
$GC,144,-1.28,-243.3,2380,3675,3436,3320,33.2,-46.2,15,150,0.00,1.73,0.00,0.000,1030,0.000,0.024,2381,2474,3378,3437,3320,0,0,0,0,0,0,28.83,26.25,28.83
$GC,349,-1.28,-243.3,2380,2473,3440,3320,99.2,-32.3,28,355,0.00,2.00,0.00,0.000,516,0.000,0.026,2381,1112,3380,3440,3320,0,0,0,0,0,0,28.83,26.30,28.83
$GC,449,-1.28,-243.3,2380,1111,3442,3320,123.0,-26.7,32,455,0.12,2.20,0.00,0.000,3078,0.163,0.038,2401,2545,3381,3442,3320,0,0,0,0,0,0,25.98,26.21,28.83
$GC,646,-1.28,-243.3,2401,2545,3443,3320,178.0,-27.0,42,652,0.00,1.77,0.00,0.000,260,0.000,0.052,2394,3677,3382,3444,3320,0,0,0,0,0,0,28.83,26.22,28.83
$GC,777,-1.28,-243.3,2393,3677,3444,3320,211.3,-25.3,48,782,0.00,1.62,0.00,0.000,1030,0.000,0.024,2394,2536,3382,3444,3320,0,0,0,0,0,0,28.83,26.48,28.83
$GC,978,-1.28,-243.3,2394,2534,3444,3320,262.1,-25.5,58,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2534,3382,3444,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1277,-1.28,-243.3,2393,2534,3444,3321,334.8,-22.0,73,1282,0.00,1.77,0.00,0.000,260,0.000,0.053,2385,3672,3382,3444,3320,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1331,-1.28,-243.3,2385,3672,3444,3321,345.3,-22.8,75,1337,0.00,1.62,0.00,0.000,1030,0.000,0.025,2385,2527,3382,3444,3320,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1647,-1.28,-243.3,2384,2525,3443,3320,421.2,-22.3,91,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2525,3381,3443,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1946,-1.28,-243.3,2385,2525,3443,3320,491.7,-24.4,106,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2525,3381,3443,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2247,-1.28,-243.3,2385,2525,3443,3319,560.5,-21.9,121,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2525,3381,3443,3319,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2455,begin apogee
$GC,2462,-0.20,0.0,2385,2008,3443,3316,607.1,-22.3,131,2824,1.08,0.00,349.23,0.636,10244,0.122,0.000,2736,2007,2375,2532,2218,0,0,0,0,0,0,25.93,28.83,24.55
$STATE,2825,end apogee,CONTROL_FINISHED_OK
$STATE,2826,begin climb
$GC,2828,1.28,243.3,2736,2008,2528,2209,635.0,0.0,142,3091,1.35,2.20,249.50,0.721,10756,0.052,0.034,3233,621,1377,1489,1266,0,0,0,0,0,0,25.34,25.32,24.32
$GC,3315,1.28,243.3,3232,621,1462,1242,559.9,24.0,160,3321,0.00,2.10,0.00,0.000,1030,0.000,0.030,3232,2014,1351,1462,1241,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3630,1.28,243.3,3232,2014,1459,1238,486.8,21.2,176,3636,0.00,2.15,0.00,0.000,516,0.000,0.037,3244,619,1348,1459,1237,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3869,1.28,243.3,3244,619,1456,1236,437.1,22.6,187,3876,0.00,2.08,0.00,0.000,1030,0.000,0.030,3243,2005,1346,1456,1236,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4185,1.28,243.3,3243,2005,1453,1233,359.8,26.3,203,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2005,1343,1453,1233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4484,1.28,243.3,3244,2006,1453,1231,293.4,21.1,218,4491,0.00,2.17,0.00,0.000,260,0.000,0.045,3244,3403,1341,1452,1231,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4503,1.28,243.3,3241,3403,1452,1231,293.4,21.1,218,4512,0.12,2.05,0.00,0.000,5126,0.169,0.028,3223,2011,1341,1452,1231,0,0,0,0,0,0,26.14,26.46,28.83
$GC,4809,1.28,243.3,3223,2011,1451,1230,230.9,19.8,234,4815,0.00,2.12,0.00,0.000,516,0.000,0.038,3234,610,1340,1451,1230,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4849,1.28,243.3,3234,611,1451,1229,226.1,19.9,235,4858,0.00,2.10,0.00,0.000,1030,0.000,0.029,3234,2013,1339,1450,1229,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5035,1.28,243.3,3234,2014,1451,1229,185.4,20.7,245,5041,0.00,2.15,0.00,0.000,260,0.000,0.046,3234,3400,1340,1451,1229,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5060,1.28,243.3,3234,3401,1451,1229,180.0,20.9,246,5066,0.00,2.08,0.00,0.000,1030,0.000,0.029,3245,2005,1340,1451,1229,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5267,1.28,243.3,3245,2005,1450,1229,138.1,21.1,256,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2004,1339,1450,1229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5445,1.28,243.3,3245,2004,1450,1229,103.8,17.9,265,5451,0.00,2.17,0.00,0.000,260,0.000,0.044,3243,3401,1339,1450,1229,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5532,1.28,243.3,3246,3401,1450,1228,84.4,22.6,269,5539,0.12,2.08,0.00,0.000,5126,0.170,0.028,3224,1995,1339,1450,1229,0,0,0,0,0,0,26.15,26.50,28.83
$GC,5729,1.28,243.3,3224,1994,1450,1226,47.5,17.0,279,5735,0.00,2.20,0.00,0.000,260,0.000,0.044,3224,3404,1338,1450,1227,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5977,1.28,243.3,3224,3404,1449,1225,19.4,11.7,306,5985,0.00,2.08,0.00,0.000,1030,0.000,0.028,3235,2010,1337,1449,1225,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,6146,end climb,SURFACE_DEPTH_REACHED
$STATE,6146,begin surface coast
$FINISH,0.1,1.022661
$STATE,6181,end surface coast,CONTROL_FINISHED_OK
$STATE,6182,begin surface
$SM_CCo,6201,74.07,0.060,0,0,748,400.08
$SM_GC,1.04,8.02,0.75,74.07,0.038,0.043,0.060,116,2495,748,-8.26,-1.33,400.08,0,0,0,0,0,0,26.50,26.44,26.17
$IRIDIUM_FIX,2309.79,12134.45,100413,212117
$TT8_MAMPS,0.047187,0.047187
$HUMID,49.40
$INTERNAL_PRESSURE,9.61321
$TCM_TEMP,21.90
$XPDR_PINGS,0
$SC_FREEKB,3914176
$24V_AH,24.3,50.029
$10V_AH,10.3,31.570
$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,19.750,45.850,598.725,74.075,0.000,0.000,0.000,352.700,0.000,0.000,17.979,1414.559,3196.943,647.821,1295.920,302.278,0.000,1594.920,0.000,905.120,0.000,0.537,0.000
$DEVICE_MAMPS,218.790,61.965,720.630,60.435,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6175.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.823,0.000,0.000,0.000
$MEM,323252
$DATA_FILE_SIZE,13419,343
$CAP_FILE_SIZE,190289,0
$CFSIZE,260034560,221319168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.013,126.7,1
$GPS,100413,231435,2319.426,12132.545,34,1.1,34,-3.1