version: 66.11
glider: 171
mission: 4
dive: 294
start: 4 6 113 10 23 6
data:
$ID,171
$MISSION,4
$DIVE,294
$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,-20888.709
$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,51
$R_STBD_OVSHOOT,36
$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
$GPS1,060413,101338,2347.922,12145.173,82,1.2,83,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.7
$GPS2,060413,102235,2348.200,12145.153,73,1.2,85,-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,197.7,51450,-10.6,-8.333,-15.41,4401
$D_GRID,2861
$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,18,-1.28,-243.3,111,2497,853,667,0.0,0.0,0,81,0.00,0.00,-59.95,0.000,16386,0.000,0.000,111,2499,2470,2546,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.28,-243.3,110,2497,2549,2394,3.7,-6.9,8,116,8.85,2.15,-15.05,0.000,18948,0.212,0.041,2400,1088,3375,3438,3313,0,0,0,0,0,0,25.52,26.09,26.46
$GC,215,-1.28,-243.3,2400,1088,3439,3313,48.9,-26.9,23,221,0.00,2.17,0.00,0.000,1030,0.000,0.037,2390,2503,3375,3439,3312,0,0,0,0,0,0,28.83,26.11,28.83
$GC,530,-1.28,-243.3,2389,2503,3442,3313,140.7,-28.3,39,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2503,3377,3442,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,831,-1.28,-243.3,2390,2503,3443,3315,225.6,-27.7,54,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2503,3378,3442,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1130,-1.28,-243.3,2389,2503,3443,3315,308.8,-26.6,69,1136,0.00,1.80,0.00,0.000,260,0.000,0.049,2381,3668,3379,3443,3315,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1262,-1.28,-243.3,2380,3668,3442,3315,343.2,-26.9,75,1268,0.00,1.70,0.00,0.000,1030,0.000,0.024,2381,2482,3378,3441,3315,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1583,-1.28,-243.3,2381,2480,3442,3316,426.9,-25.7,91,1589,0.00,2.03,0.00,0.000,516,0.000,0.030,2381,1113,3377,3440,3315,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1629,-1.28,-243.3,2381,1113,3442,3315,438.4,-24.8,93,1636,0.15,2.12,0.00,0.000,3078,0.156,0.036,2410,2506,3379,3443,3315,0,0,0,0,0,0,26.14,26.40,28.83
$GC,1956,-1.28,-243.3,2410,2506,3441,3314,509.8,-21.4,109,1962,0.00,2.08,0.00,0.000,516,0.000,0.029,2411,1106,3378,3442,3314,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1990,-1.28,-243.3,2410,1106,3443,3314,515.4,-21.4,110,1996,0.00,2.12,0.00,0.000,1030,0.000,0.037,2401,2506,3378,3442,3314,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2305,-1.28,-243.3,2401,2505,3441,3308,588.9,-22.7,126,2311,0.00,2.08,0.00,0.000,516,0.000,0.029,2401,1112,3375,3442,3309,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2340,-1.28,-243.3,2401,1112,3442,3309,594.5,-22.6,127,2346,0.00,2.12,0.00,0.000,1030,0.000,0.038,2390,2504,3375,3442,3309,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2674,-1.28,-243.3,2390,2504,3442,3304,674.2,-23.2,139,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2504,3373,3442,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2975,-1.28,-243.3,2390,2504,3442,3300,739.4,-21.6,149,2981,0.00,2.08,0.00,0.000,516,0.000,0.028,2390,1108,3371,3442,3300,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3044,-1.28,-243.3,2390,1108,3442,3299,753.7,-21.8,151,3051,0.12,2.12,0.00,0.000,3078,0.161,0.037,2413,2503,3372,3442,3303,0,0,0,0,0,0,26.17,26.39,28.83
$GC,3374,-1.28,-243.3,2413,2503,3439,3295,818.7,-18.5,162,3380,0.00,1.85,0.00,0.000,260,0.000,0.053,2405,3659,3367,3439,3295,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3414,-1.28,-243.3,2404,3660,3439,3295,825.1,-18.5,163,3420,0.00,1.67,0.00,0.000,1030,0.000,0.027,2404,2501,3367,3439,3295,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3745,-1.28,-243.3,2404,2501,3438,3291,888.6,-18.8,174,3752,0.00,2.08,0.00,0.000,516,0.000,0.031,2404,1108,3364,3438,3290,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3790,-1.28,-243.3,2404,1108,3438,3290,895.5,-18.7,175,3797,0.00,2.12,0.00,0.000,1030,0.000,0.037,2394,2500,3364,3438,3290,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,4086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4086,begin apogee
$GC,4092,-0.20,0.0,2394,1987,3436,3286,954.1,-19.1,185,4612,1.08,0.00,505.85,0.666,10246,0.117,0.000,2749,1986,2374,2531,2218,0,0,0,0,0,0,25.98,28.83,24.11
$STATE,4613,end apogee,CONTROL_FINISHED_OK
$STATE,4615,begin climb
$GC,4617,1.28,243.3,2748,1986,2525,2211,995.3,0.0,201,5019,1.33,0.00,389.75,0.727,10758,0.045,0.000,3239,1986,1381,1494,1268,0,0,0,0,0,0,24.98,28.83,23.94
$GC,5298,1.28,243.3,3238,1986,1467,1242,881.5,23.3,225,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1986,1354,1467,1242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5598,1.28,243.3,3238,1985,1464,1240,811.9,22.9,235,5603,0.00,2.25,0.00,0.000,260,0.000,0.045,3239,3411,1352,1464,1240,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5677,1.28,243.3,3238,3411,1463,1240,796.0,23.4,237,5683,0.00,2.10,0.00,0.000,1030,0.000,0.028,3250,2011,1351,1463,1240,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5997,1.28,243.3,3250,2011,1462,1237,716.9,23.9,248,6003,0.00,2.20,0.00,0.000,260,0.000,0.045,3250,3410,1349,1461,1238,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6021,1.28,243.3,3250,3410,1461,1238,716.9,23.9,248,6027,0.12,2.10,0.00,0.000,5126,0.180,0.028,3231,1998,1349,1461,1238,0,0,0,0,0,0,26.06,26.39,28.83
$GC,6336,1.28,243.3,3231,1998,1460,1237,639.1,22.6,259,6342,0.00,2.12,0.00,0.000,516,0.000,0.040,3242,613,1348,1460,1237,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6359,1.28,243.3,3242,613,1460,1237,639.1,22.6,259,6365,0.00,2.10,0.00,0.000,1030,0.000,0.031,3239,2009,1348,1460,1237,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6684,1.28,243.3,3241,2009,1459,1237,559.1,22.3,273,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2009,1348,1459,1237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6984,1.28,243.3,3241,2009,1459,1236,493.2,21.7,288,6989,0.00,2.15,0.00,0.000,516,0.000,0.039,3253,610,1347,1459,1235,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7045,1.28,243.3,3253,610,1459,1236,483.6,21.3,290,7053,0.00,2.08,0.00,0.000,1030,0.000,0.031,3253,2002,1347,1459,1235,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7351,1.28,243.3,3253,2002,1459,1238,413.5,21.4,306,7358,0.00,2.17,0.00,0.000,260,0.000,0.045,3253,3402,1347,1458,1236,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7418,1.28,243.3,3253,3402,1458,1235,398.0,22.6,309,7426,0.12,2.10,0.00,0.000,5126,0.182,0.029,3233,2001,1347,1458,1236,0,0,0,0,0,0,26.13,26.50,28.83
$GC,7747,1.28,243.3,3233,2002,1458,1234,330.1,20.5,325,7752,0.00,2.20,0.00,0.000,260,0.000,0.046,3233,3403,1345,1457,1234,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7813,1.28,243.3,3233,3403,1458,1234,316.0,20.8,328,7819,0.00,2.10,0.00,0.000,1030,0.000,0.029,3245,1999,1345,1458,1233,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8139,1.28,243.3,3244,1999,1457,1233,250.3,19.0,344,8145,0.00,2.20,0.00,0.000,260,0.000,0.045,3244,3402,1345,1458,1233,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8167,1.28,243.3,3244,3402,1458,1233,244.8,19.3,345,8173,0.00,2.08,0.00,0.000,1030,0.000,0.029,3256,2002,1345,1458,1233,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8490,1.28,243.3,3256,2001,1458,1233,176.9,20.8,361,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2001,1345,1458,1233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8786,1.28,243.3,3256,2000,1458,1233,116.4,18.6,376,8793,0.00,2.17,0.00,0.000,260,0.000,0.046,3257,3402,1345,1458,1233,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9026,1.28,243.3,3256,3402,1458,1233,76.4,14.0,387,9033,0.15,2.08,0.00,0.000,5126,0.162,0.028,3227,1991,1345,1458,1233,0,0,0,0,0,0,26.12,26.53,28.83
$GC,9343,1.72,371.0,3227,1989,1458,1231,39.6,5.4,408,9611,0.35,0.00,262.65,0.363,10754,0.043,0.000,3404,1988,940,1050,830,0,0,0,0,0,0,26.60,28.83,28.83
$STATE,9612,end climb,SURFACE_DEPTH_REACHED
$STATE,9612,begin surface coast
$FINISH,-0.1,1.018452
$STATE,9625,end surface coast,CONTROL_FINISHED_OK
$STATE,9625,begin surface
$SM_CCo,9647,26.08,0.056,0,0,747,400.08
$SM_GC,0.94,8.70,0.82,26.08,0.034,0.053,0.056,140,2488,747,-8.31,-1.27,400.08,0,0,0,0,0,0,25.63,25.54,25.60
$IRIDIUM_FIX,2342.70,12143.09,060413,070731
$TT8_MAMPS,0.047936,0.047936
$HUMID,47.99
$INTERNAL_PRESSURE,9.59367
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,3926560
$24V_AH,23.9,43.588
$10V_AH,10.2,28.412
$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,20.975,68.050,1158.250,26.075,0.000,0.000,0.000,304.500,0.000,0.000,86.148,1650.614,5602.611,1029.076,1580.288,348.938,0.000,2164.685,0.000,1144.299,0.000,0.537,0.000
$DEVICE_MAMPS,211.905,52.785,726.750,55.845,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9621.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.010,0.000,0.000,0.000
$MEM,324060
$DATA_FILE_SIZE,16808,437
$CAP_FILE_SIZE,240549,0
$CFSIZE,260034560,224632832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,150.6,1
$GPS,060413,130533,2346.262,12144.771,13,2.3,33,-3.2