version: 66.11
glider: 171
mission: 4
dive: 284
start: 4 5 113 2 33 44
data:
$ID,171
$MISSION,4
$DIVE,284
$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,-20876.145
$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,29
$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
$GPS1,050413,022705,2352.226,12150.952,30,1.0,31,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.4
$GPS2,050413,023313,2352.523,12151.148,15,1.2,15,-3.2
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,INSHORE
$TGT_LATLONG,2353.500,12147.000
$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,245.6,7254,-10.6,-8.333,-15.41,4401
$D_GRID,3978
$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,-243.3,128,2485,838,663,0.0,0.0,0,82,0.00,0.00,-60.47,0.000,16386,0.000,0.000,128,2485,2495,2556,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,127,2485,2557,2436,4.3,-8.2,8,117,8.98,1.85,-14.10,0.000,18692,0.222,0.060,2393,3674,3377,3437,3318,0,0,0,0,0,0,25.61,26.09,26.53
$GC,133,-1.28,-243.3,2392,3674,3438,3318,25.6,-38.4,14,141,0.00,1.73,0.00,0.000,1030,0.000,0.024,2392,2486,3378,3438,3318,0,0,0,0,0,0,28.83,26.26,28.83
$GC,441,-1.28,-243.3,2392,2486,3442,3319,121.5,-30.0,33,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2486,3381,3443,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,739,-1.28,-243.3,2392,2486,3445,3322,204.5,-26.6,48,745,0.00,2.03,0.00,0.000,516,0.000,0.029,2392,1109,3383,3445,3322,0,0,0,0,0,0,28.83,26.41,28.83
$GC,785,-1.28,-243.3,2392,1109,3445,3322,216.7,-27.4,50,791,0.00,2.12,0.00,0.000,1030,0.000,0.037,2381,2502,3383,3445,3322,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1111,-1.28,-243.3,2381,2502,3445,3322,297.6,-23.7,66,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2503,3384,3446,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1410,-1.28,-243.3,2381,2502,3445,3322,373.9,-24.8,81,1416,0.00,2.05,0.00,0.000,516,0.000,0.028,2381,1109,3384,3446,3322,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1458,-1.28,-243.3,2381,1108,3445,3322,384.5,-24.0,83,1464,0.15,2.12,0.00,0.000,3078,0.157,0.037,2411,2505,3383,3445,3322,0,0,0,0,0,0,26.13,26.39,28.83
$GC,1785,-1.28,-243.3,2410,2505,3445,3322,456.5,-21.7,99,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2506,3383,3445,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2083,-1.28,-243.3,2410,2505,3445,3320,518.5,-20.7,114,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2506,3383,3445,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2383,-1.28,-243.3,2411,2506,3445,3316,582.7,-21.0,129,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2506,3381,3445,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2694,-1.28,-243.3,2411,2506,3445,3312,644.6,-19.6,141,2700,0.00,1.85,0.00,0.000,260,0.000,0.054,2402,3679,3378,3445,3312,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2791,-1.28,-243.3,2402,3678,3444,3311,664.2,-20.2,144,2798,0.00,1.70,0.00,0.000,1030,0.000,0.026,2403,2496,3378,3445,3311,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3127,-1.28,-243.3,2403,2495,3443,3306,729.3,-18.9,155,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2495,3374,3443,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3427,-1.28,-243.3,2402,2495,3442,3303,787.1,-19.8,165,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2495,3372,3442,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3727,-1.28,-243.3,2402,2495,3441,3299,845.3,-19.4,175,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2495,3369,3439,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4027,-1.28,-243.3,2402,2498,3439,3295,901.0,-18.4,185,4033,0.00,1.85,0.00,0.000,260,0.000,0.055,2394,3671,3367,3439,3295,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4100,-1.28,-243.3,2394,3671,3438,3294,913.6,-18.8,187,4107,0.00,1.67,0.00,0.000,1030,0.000,0.028,2394,2511,3366,3438,3294,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,4303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4303,begin apogee
$GC,4310,-0.20,0.0,2394,1986,3438,3291,953.6,-18.7,194,4701,1.10,0.00,381.17,0.746,10246,0.122,0.000,2752,1984,2377,2532,2222,0,0,0,0,0,0,25.94,28.83,24.15
$STATE,4703,end apogee,CONTROL_FINISHED_OK
$STATE,4703,begin climb
$GC,4705,1.28,243.3,2752,1984,2529,2213,978.0,0.0,206,4990,1.33,2.42,273.92,0.874,11012,0.046,0.044,3241,3412,1377,1489,1265,0,0,0,0,0,0,24.98,24.39,23.63
$GC,5033,1.28,243.3,2256,3410,1442,1245,928.9,24.2,218,5039,0.00,2.20,0.00,0.000,1030,0.000,0.026,3253,2019,1358,1469,1248,0,0,0,0,0,0,28.83,24.95,28.83
$GC,5368,1.28,243.3,3253,2019,1459,1238,844.3,25.1,229,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2018,1348,1459,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5667,1.28,243.3,3253,2018,1458,1237,769.1,26.1,239,5674,0.00,2.22,0.00,0.000,260,0.000,0.046,3253,3422,1347,1458,1237,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5704,1.28,243.3,3252,3422,1457,1237,759.4,26.2,240,5710,0.12,2.15,0.00,0.000,5126,0.184,0.028,3234,1994,1347,1458,1237,0,0,0,0,0,0,25.94,26.27,28.83
$GC,6039,1.28,243.3,3234,1994,1454,1236,676.7,24.5,251,6045,0.00,2.12,0.00,0.000,516,0.000,0.040,3245,609,1345,1454,1236,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6087,1.28,243.3,3245,609,1454,1236,668.0,24.9,252,6093,0.00,2.12,0.00,0.000,1030,0.000,0.031,3245,2020,1345,1454,1236,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6397,1.28,243.3,3244,2020,1453,1236,590.3,23.8,263,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2020,1344,1453,1236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6697,1.28,243.3,3245,2020,1453,1234,518.9,22.5,278,6703,0.00,2.15,0.00,0.000,260,0.000,0.046,3243,3402,1343,1453,1234,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6763,1.28,243.3,3245,3402,1452,1234,502.3,24.4,281,6769,0.00,2.10,0.00,0.000,1030,0.000,0.029,3256,2000,1343,1452,1234,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7089,1.28,243.3,3256,1999,1451,1232,421.7,24.5,297,7090,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1999,1342,1452,1233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7388,1.28,243.3,3256,1999,1451,1231,348.2,24.0,312,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1999,1340,1450,1231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7688,1.28,243.3,3255,1999,1451,1231,277.9,23.7,327,7694,0.00,2.12,0.00,0.000,516,0.000,0.041,3267,612,1341,1451,1231,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7816,1.28,243.3,3267,612,1450,1231,246.9,23.8,333,7824,0.15,2.10,0.00,0.000,5126,0.164,0.031,3227,2002,1340,1450,1231,0,0,0,0,0,0,26.10,26.46,28.83
$GC,8144,1.28,243.3,3227,2002,1450,1230,182.4,19.1,349,8145,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,2002,1340,1450,1230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8443,1.28,243.3,3227,2002,1450,1230,123.3,19.5,364,8448,0.00,2.15,0.00,0.000,516,0.000,0.041,3239,604,1340,1450,1230,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8491,1.28,243.3,2240,604,1423,1227,115.2,18.8,366,8497,0.00,2.08,0.00,0.000,1030,0.000,0.030,3239,2002,1340,1450,1230,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8813,1.28,243.3,3239,2002,1450,1230,59.3,13.4,382,8819,0.00,2.15,0.00,0.000,516,0.000,0.039,3250,604,1340,1450,1230,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9061,1.28,243.3,3250,604,1450,1229,36.3,8.9,401,9067,0.00,2.08,0.00,0.000,1030,0.000,0.031,3250,2001,1339,1450,1229,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9381,1.45,293.2,2208,1999,1420,1226,7.9,7.2,450,9415,0.10,2.15,20.67,0.070,10756,0.098,0.039,3336,604,1180,1295,1065,0,0,0,0,0,0,26.66,26.37,26.20
$STATE,9426,end climb,SURFACE_DEPTH_REACHED
$STATE,9426,begin surface coast
$FINISH,-0.2,1.022199
$STATE,9453,end surface coast,CONTROL_FINISHED_OK
$STATE,9453,begin surface
$SM_CCo,9475,55.80,0.062,0,0,748,400.08
$SM_GC,0.91,8.27,2.95,55.80,0.036,0.037,0.062,118,2486,748,-8.31,-1.30,400.08,0,0,0,0,0,0,26.49,26.35,26.21
$IRIDIUM_FIX,2342.70,12153.58,040413,232337
$TT8_MAMPS,0.047187,0.047187
$HUMID,48.14
$INTERNAL_PRESSURE,9.60344
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,3929760
$24V_AH,23.6,42.079
$10V_AH,10.2,27.504
$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,20.200,54.975,675.775,55.800,0.000,0.000,0.000,205.575,0.000,0.000,16.482,1766.343,5782.155,701.201,1324.946,324.522,0.000,1591.115,0.000,1074.881,0.000,0.537,0.000
$DEVICE_MAMPS,221.850,60.435,873.630,61.965,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9448.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.165,0.000,0.000,0.000
$MEM,324196
$DATA_FILE_SIZE,16750,461
$CAP_FILE_SIZE,232250,0
$CFSIZE,260034560,225599488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170, 46.8,1
$GPS,050413,051331,2352.397,12150.053,15,1.6,16,-3.2