version: 66.11
glider: 171
mission: 4
dive: 310
start: 4 8 113 7 37 18
data:
$ID,171
$MISSION,4
$DIVE,310
$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,-20908.828
$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,70
$R_STBD_OVSHOOT,25
$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
$GPS1,080413,073018,2321.542,12138.730,12,1.8,17,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.6
$GPS2,080413,073645,2321.765,12138.819,14,2.4,33,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,INSHORE2
$TGT_LATLONG,2302.000,12132.600
$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,201.0,38108,-10.6,-8.333,-15.41,4401
$D_GRID,1435
$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,-243.3,127,2490,830,663,0.0,0.0,0,82,0.00,0.00,-61.17,0.000,16386,0.000,0.000,127,2491,2515,2582,2449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,126,2491,2586,2450,4.3,-8.3,8,117,8.85,2.08,-14.07,0.000,18948,0.213,0.041,2402,1105,3376,3437,3316,0,0,0,0,0,0,25.52,26.11,26.48
$GC,153,-1.28,-243.3,2402,1104,3438,3316,29.3,-29.0,17,159,0.00,2.17,0.00,0.000,1030,0.000,0.037,2392,2513,3377,3438,3316,0,0,0,0,0,0,28.83,26.04,28.83
$GC,478,-1.28,-243.3,2392,2512,3442,3316,134.8,-28.8,36,484,0.00,1.80,0.00,0.000,260,0.000,0.051,2383,3671,3379,3443,3316,0,0,0,0,0,0,28.83,26.14,28.83
$GC,590,-1.28,-243.3,2383,3671,3443,3319,165.9,-28.2,41,596,0.00,1.67,0.00,0.000,1030,0.000,0.024,2383,2502,3382,3443,3322,0,0,0,0,0,0,28.83,26.40,28.83
$GC,910,-1.28,-243.3,2383,2500,3445,3320,255.4,-26.4,57,917,0.00,2.08,0.00,0.000,516,0.000,0.029,2384,1106,3382,3445,3320,0,0,0,0,0,0,28.83,26.38,28.83
$GC,939,-1.28,-243.3,2383,1106,3445,3320,262.5,-26.6,58,946,0.15,2.15,0.00,0.000,3078,0.158,0.039,2412,2505,3382,3445,3320,0,0,0,0,0,0,26.01,26.28,28.83
$GC,1261,-1.28,-243.3,2412,2506,3445,3320,341.0,-24.3,74,1267,0.00,1.83,0.00,0.000,260,0.000,0.053,2404,3675,3383,3446,3320,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1310,-1.28,-243.3,2404,3675,3445,3320,351.9,-24.0,76,1317,0.00,1.67,0.00,0.000,1030,0.000,0.024,2404,2491,3382,3445,3320,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1634,-1.28,-243.3,2404,2490,3445,3320,425.9,-21.9,92,1640,0.00,1.85,0.00,0.000,260,0.000,0.052,2395,3671,3383,3446,3320,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1674,-1.28,-243.3,2395,3671,3445,3320,432.2,-22.6,93,1682,0.00,1.67,0.00,0.000,1030,0.000,0.025,2394,2495,3382,3445,3319,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1980,-1.28,-243.3,2395,2494,3445,3320,505.9,-24.1,109,1985,0.00,2.03,0.00,0.000,516,0.000,0.028,2395,1117,3382,3445,3320,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2027,-1.28,-243.3,2394,1116,3445,3320,517.3,-24.5,111,2032,0.00,2.12,0.00,0.000,1030,0.000,0.039,2384,2503,3382,3445,3320,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2353,-1.28,-243.3,2384,2503,3445,3318,593.2,-23.4,127,2360,0.00,2.05,0.00,0.000,516,0.000,0.028,2384,1115,3381,3445,3318,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2382,-1.28,-243.3,2384,1114,3445,3317,599.5,-23.1,128,2388,0.12,2.12,0.00,0.000,3078,0.160,0.040,2406,2504,3381,3444,3318,0,0,0,0,0,0,26.12,26.34,28.83
$GC,2702,-1.28,-243.3,2406,2504,3446,3313,663.5,-19.8,139,2708,0.00,1.83,0.00,0.000,260,0.000,0.054,2399,3669,3379,3445,3313,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2800,-1.28,-243.3,2398,3669,3445,3312,682.4,-19.6,142,2807,0.00,1.67,0.00,0.000,1030,0.000,0.027,2398,2511,3378,3445,3312,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3135,-1.28,-243.3,2398,2511,3444,3303,746.7,-19.1,153,3142,0.00,2.08,0.00,0.000,516,0.000,0.028,2398,1104,3375,3444,3306,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3175,-1.28,-243.3,2398,1104,3444,3306,753.5,-19.2,154,3181,0.00,2.15,0.00,0.000,1030,0.000,0.039,2388,2504,3375,3444,3306,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3505,-1.28,-243.3,2387,2504,3443,3302,819.1,-19.2,165,3511,0.00,1.83,0.00,0.000,260,0.000,0.056,2378,3670,3371,3442,3301,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3584,-1.28,-243.3,2378,3671,3442,3301,831.7,-19.1,167,3590,0.08,1.73,0.00,0.000,3078,0.128,0.027,2405,2510,3371,3442,3301,0,0,0,0,0,0,26.26,26.58,28.83
$GC,3904,-1.28,-243.3,2405,2511,3441,3297,895.0,-19.3,178,3910,0.00,2.08,0.00,0.000,516,0.000,0.028,2405,1105,3369,3441,3297,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3968,-1.28,-243.3,2405,1105,3441,3296,907.5,-19.2,180,3974,0.00,2.15,0.00,0.000,1030,0.000,0.041,2396,2501,3368,3441,3296,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,4181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4181,begin apogee
$GC,4188,-0.20,0.0,2395,1984,3440,3293,953.7,-21.9,187,4575,1.08,0.00,378.55,0.769,10246,0.114,0.000,2751,1984,2380,2534,2226,0,0,0,0,0,0,25.87,28.83,24.11
$STATE,4576,end apogee,CONTROL_FINISHED_OK
$STATE,4577,begin climb
$GC,4579,1.28,243.3,2750,1984,2527,2214,988.0,0.0,199,4869,1.33,2.33,273.42,0.896,10756,0.044,0.035,3254,627,1373,1483,1263,0,0,0,0,0,0,24.94,24.34,23.56
$GC,4933,1.28,243.3,3254,626,1465,1248,941.1,24.2,209,4941,0.00,2.20,0.00,0.000,1030,0.000,0.031,3254,2010,1356,1465,1247,0,0,0,0,0,0,28.83,25.08,28.83
$GC,5241,1.28,243.3,3254,2010,1457,1239,849.3,27.3,220,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2010,1347,1457,1237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5538,1.28,243.3,3254,2010,1453,1237,766.7,27.1,230,5544,0.00,2.20,0.00,0.000,260,0.000,0.046,3254,3411,1345,1454,1237,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5574,1.28,243.3,3254,3411,1453,1238,756.8,27.6,231,5581,0.12,2.10,0.00,0.000,5126,0.182,0.028,3234,2013,1345,1453,1238,0,0,0,0,0,0,25.93,26.27,28.83
$GC,5910,1.28,243.3,3234,2012,1452,1236,671.8,24.8,242,5916,0.00,2.15,0.00,0.000,516,0.000,0.038,3245,610,1344,1452,1236,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5930,1.28,243.3,3246,610,1451,1236,671.8,24.8,242,5936,0.00,2.10,0.00,0.000,1030,0.000,0.031,3245,2006,1344,1452,1236,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6241,1.28,243.3,3245,2006,1450,1236,593.8,23.5,253,6247,0.00,2.17,0.00,0.000,260,0.000,0.046,3245,3401,1342,1448,1236,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6318,1.28,243.3,3245,3401,1451,1236,575.7,26.1,256,6324,0.00,2.08,0.00,0.000,1030,0.000,0.028,3257,2006,1342,1450,1235,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6633,1.28,243.3,3257,2006,1450,1234,491.5,24.9,272,6639,0.00,2.15,0.00,0.000,516,0.000,0.039,3268,603,1342,1450,1234,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6714,1.28,243.3,3268,603,1449,1234,473.5,26.2,275,6723,0.15,2.10,0.00,0.000,5126,0.168,0.032,3229,2003,1341,1450,1233,0,0,0,0,0,0,26.03,26.39,28.83
$GC,7020,1.28,243.3,3228,2003,1449,1231,396.5,22.0,291,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2003,1340,1449,1231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7321,1.28,243.3,3228,2003,1449,1231,332.8,21.2,306,7326,0.00,2.17,0.00,0.000,260,0.000,0.045,3229,3401,1339,1449,1230,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7410,1.28,243.3,3228,3402,1449,1231,313.1,22.8,310,7416,0.00,2.10,0.00,0.000,1030,0.000,0.029,3240,1989,1340,1449,1231,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7731,1.28,243.3,3239,1990,1448,1230,241.0,21.2,326,7737,0.00,2.22,0.00,0.000,260,0.000,0.045,3240,3411,1339,1448,1230,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7761,1.28,243.3,3239,3411,1448,1230,235.0,21.4,327,7767,0.00,2.10,0.00,0.000,1030,0.000,0.029,3251,1996,1339,1448,1230,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8082,1.28,243.3,3251,1996,1449,1230,166.3,19.9,343,8089,0.00,2.12,0.00,0.000,516,0.000,0.040,3262,607,1339,1448,1230,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8238,1.28,243.3,3262,607,1447,1230,133.4,21.4,350,8245,0.12,2.08,0.00,0.000,5126,0.162,0.031,3230,2001,1338,1447,1230,0,0,0,0,0,0,26.12,26.42,28.83
$GC,8559,1.28,243.3,3230,2001,1447,1229,85.4,10.8,366,8565,0.00,2.12,0.00,0.000,516,0.000,0.038,3241,610,1336,1447,1226,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8594,1.28,243.3,3241,609,1447,1228,82.5,10.8,367,8600,0.00,2.10,0.00,0.000,1030,0.000,0.031,3241,2008,1337,1446,1228,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8909,1.35,264.7,3241,2008,1447,1228,55.3,7.8,383,8933,0.00,2.22,19.48,0.386,8452,0.000,0.045,3241,3401,1296,1412,1181,0,0,0,0,0,0,28.83,26.34,25.67
$GC,9168,1.35,264.7,3241,3400,1392,1170,27.0,11.0,404,9176,0.00,2.08,0.00,0.000,1030,0.000,0.027,3253,1991,1281,1392,1170,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,9399,end climb,SURFACE_DEPTH_REACHED
$STATE,9399,begin surface coast
$FINISH,0.2,1.004798
$STATE,9428,end surface coast,CONTROL_FINISHED_OK
$STATE,9428,begin surface
$SM_CCo,9449,66.53,0.060,0,0,748,400.08
$SM_GC,1.41,8.02,0.77,66.53,0.034,0.044,0.060,125,2489,748,-8.29,-1.44,400.08,0,0,0,0,0,0,26.46,26.34,26.15
$IRIDIUM_FIX,2316.83,12138.91,080413,040416
$TT8_MAMPS,0.047936,0.047936
$HUMID,46.37
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3921440
$24V_AH,23.6,46.332
$10V_AH,10.3,29.719
$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,20.025,87.200,671.450,66.525,0.000,0.000,0.000,191.400,0.000,0.000,35.399,1913.890,5409.955,748.177,1472.853,352.112,0.000,1705.919,0.000,1192.323,0.000,0.540,0.000
$DEVICE_MAMPS,213.435,55.845,895.815,59.670,0.000,0.000,0.000,128.520,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9421.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.250,0.000,0.000,0.000
$MEM,323680
$DATA_FILE_SIZE,16732,452
$CAP_FILE_SIZE,251512,0
$CFSIZE,260034560,223232000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.290, 30.5,1
$GPS,080413,101706,2321.469,12138.958,30,1.1,31,-3.1