version: 66.11
glider: 171
mission: 4
dive: 315
start: 4 8 113 21 30 26
data:
$ID,171
$MISSION,4
$DIVE,315
$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,-20915.109
$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,65
$R_STBD_OVSHOOT,35
$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
$GPS1,080413,212405,2322.148,12138.581,13,0.9,30,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.8
$GPS2,080413,212955,2322.460,12138.681,13,1.0,13,-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,225.7,7114,-10.6,-8.333,-15.41,4401
$D_GRID,1497
$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,-243.3,134,2492,843,662,0.0,0.0,0,76,0.00,0.00,-54.75,0.000,16386,0.000,0.000,134,2493,2321,2357,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-1.28,-243.3,134,2493,2360,2286,3.7,-7.2,7,112,9.00,1.92,-17.30,0.000,18692,0.221,0.066,2393,3668,3377,3436,3319,0,0,0,0,0,0,25.53,26.03,26.51
$GC,302,-1.28,-243.3,1440,3667,3425,3315,87.8,-32.9,25,307,0.00,1.70,0.00,0.000,1030,0.000,0.025,2392,2493,3379,3439,3319,0,0,0,0,0,0,28.83,26.31,28.83
$GC,628,-1.28,-243.3,2392,2491,3444,3321,173.1,-25.7,41,634,0.00,2.05,0.00,0.000,516,0.000,0.028,2392,1106,3383,3445,3321,0,0,0,0,0,0,28.83,26.36,28.83
$GC,669,-1.28,-243.3,2392,1106,3445,3324,179.8,-25.5,42,678,0.00,2.15,0.00,0.000,1030,0.000,0.037,2382,2504,3383,3445,3321,0,0,0,0,0,0,28.83,26.27,28.83
$GC,974,-1.28,-243.3,2381,2504,3446,3321,263.4,-26.6,58,980,0.00,2.08,0.00,0.000,516,0.000,0.028,2385,1098,3384,3446,3323,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1008,-1.28,-243.3,2381,1098,3446,3323,270.1,-26.8,59,1015,0.15,2.15,0.00,0.000,3078,0.158,0.037,2411,2507,3384,3446,3322,0,0,0,0,0,0,26.05,26.33,28.83
$GC,1325,-1.28,-243.3,2410,2506,3446,3322,351.3,-23.7,75,1331,0.00,1.85,0.00,0.000,260,0.000,0.053,2402,3689,3384,3446,3323,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1412,-1.28,-243.3,2402,3688,3446,3323,372.7,-24.3,79,1418,0.00,1.77,0.00,0.000,1030,0.000,0.025,2403,2496,3384,3446,3322,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1739,-1.28,-243.3,2402,2495,3446,3322,447.4,-22.1,95,1744,0.00,2.05,0.00,0.000,516,0.000,0.028,2402,1101,3384,3446,3322,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1766,-1.28,-243.3,1472,1100,3433,3319,452.9,-21.9,96,1772,0.00,2.15,0.00,0.000,1030,0.000,0.038,2392,2507,3384,3446,3323,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2089,-1.28,-243.3,2394,2507,3446,3321,523.3,-21.4,112,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2507,3383,3446,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2385,-1.28,-243.3,2391,2507,3446,3321,585.5,-20.3,127,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2507,3382,3446,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2709,-1.28,-243.3,2391,2508,3445,3314,650.2,-21.1,139,2715,0.00,1.83,0.00,0.000,260,0.000,0.054,2382,3671,3379,3445,3313,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2768,-1.28,-243.3,2383,3671,3445,3313,658.7,-21.4,140,2776,0.00,1.70,0.00,0.000,1030,0.000,0.026,2383,2490,3379,3445,3313,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3077,-1.28,-243.3,2383,2490,3445,3310,729.0,-20.6,151,3082,0.00,2.05,0.00,0.000,516,0.000,0.028,2383,1103,3376,3445,3307,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3104,-1.28,-243.3,2382,1102,3444,3307,729.0,-20.6,151,3113,0.12,2.15,0.00,0.000,3078,0.161,0.039,2406,2503,3375,3444,3307,0,0,0,0,0,0,26.11,26.35,28.83
$GC,3412,-1.28,-243.3,2405,2503,3442,3303,793.7,-19.0,162,3418,0.00,1.83,0.00,0.000,260,0.000,0.055,2398,3668,3373,3443,3303,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3477,-1.28,-243.3,2398,3668,3442,3303,806.8,-19.1,164,3483,0.00,1.75,0.00,0.000,1030,0.000,0.027,2398,2499,3372,3442,3303,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3812,-1.28,-243.3,2398,2499,3441,3299,872.3,-19.7,175,3818,0.00,2.08,0.00,0.000,516,0.000,0.031,2398,1104,3370,3441,3299,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3847,-1.28,-243.3,2397,1106,3441,3299,878.8,-19.5,176,3854,0.00,2.15,0.00,0.000,1030,0.000,0.040,2387,2500,3369,3441,3298,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4182,-1.28,-243.3,2387,2500,3439,3294,941.7,-18.3,187,4188,0.00,1.85,0.00,0.000,260,0.000,0.056,2378,3671,3366,3439,3294,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4236,-1.28,-243.3,2378,3671,3438,3294,948.0,-18.3,188,4243,0.12,1.70,0.00,0.000,3078,0.148,0.028,2410,2508,3366,3438,3294,0,0,0,0,0,0,26.22,26.57,28.83
$STATE,4248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4248,begin apogee
$GC,4255,-0.20,0.0,2412,1986,3438,3294,954.6,-18.5,189,4643,1.02,0.00,378.23,0.764,10246,0.112,0.000,2753,1985,2378,2532,2224,0,0,0,0,0,0,25.89,28.83,24.16
$STATE,4644,end apogee,CONTROL_FINISHED_OK
$STATE,4644,begin climb
$GC,4647,1.28,243.3,2753,1986,2528,2215,980.5,0.0,201,4926,1.30,2.33,268.27,0.900,10756,0.042,0.035,3254,627,1379,1491,1268,0,0,0,0,0,0,25.02,24.39,23.61
$GC,4977,1.28,243.3,3253,627,1466,1246,926.9,26.2,211,4983,0.00,2.22,0.00,0.000,1030,0.000,0.031,3254,2017,1355,1465,1245,0,0,0,0,0,0,28.83,25.01,28.83
$GC,5313,1.28,243.3,3254,2017,1457,1238,835.1,26.5,222,5319,0.00,2.20,0.00,0.000,260,0.000,0.046,3254,3406,1347,1457,1238,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5393,1.28,243.3,3253,3406,1455,1241,816.3,26.9,224,5401,0.12,2.10,0.00,0.000,5126,0.181,0.028,3234,2010,1346,1455,1238,0,0,0,0,0,0,25.84,26.15,28.83
$GC,5715,1.28,243.3,3234,2010,1453,1236,732.1,24.9,235,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2010,1344,1453,1235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6015,1.28,243.3,3234,2010,1453,1235,659.1,23.8,245,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2010,1343,1452,1234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6316,1.28,243.3,3234,2010,1451,1234,583.1,25.5,256,6322,0.00,2.20,0.00,0.000,260,0.000,0.045,3234,3413,1341,1449,1234,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6386,1.28,243.3,2256,3411,1421,1232,564.4,27.1,259,6392,0.00,2.10,0.00,0.000,1030,0.000,0.029,3246,2000,1342,1451,1234,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6708,1.28,243.3,3245,2000,1450,1233,482.1,25.4,275,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2000,1341,1450,1232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7006,1.28,243.3,3245,2000,1452,1231,408.3,24.4,290,7012,0.00,2.12,0.00,0.000,516,0.000,0.041,3257,609,1340,1450,1231,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7031,1.28,243.3,3257,609,1450,1230,401.8,24.8,291,7037,0.00,2.10,0.00,0.000,1030,0.000,0.031,3257,2002,1340,1450,1231,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7358,1.28,243.3,3257,2002,1449,1231,325.4,21.1,307,7364,0.00,2.17,0.00,0.000,260,0.000,0.044,3257,3404,1339,1449,1230,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7376,1.28,243.3,3257,3405,1449,1231,325.4,21.1,307,7385,0.15,2.10,0.00,0.000,5126,0.169,0.030,3229,1994,1340,1449,1231,0,0,0,0,0,0,26.05,26.46,28.83
$GC,7683,1.28,243.3,3228,1994,1449,1229,259.2,19.7,323,7689,0.00,2.12,0.00,0.000,516,0.000,0.041,3240,607,1339,1449,1229,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7701,1.28,243.3,3239,607,1449,1229,259.2,19.7,323,7710,0.00,2.10,0.00,0.000,1030,0.000,0.031,3240,2011,1338,1448,1229,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8008,1.28,243.3,3239,2011,1449,1229,187.6,23.2,339,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2011,1339,1449,1229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8307,1.28,243.3,3239,2011,1448,1229,120.2,22.0,354,8314,0.00,2.15,0.00,0.000,516,0.000,0.041,3251,611,1340,1449,1232,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8547,1.28,243.3,3251,611,1448,1229,76.3,17.8,365,8553,0.00,2.08,0.00,0.000,1030,0.000,0.031,3251,1998,1338,1448,1229,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8865,1.28,243.3,3251,1996,1447,1227,48.3,9.0,382,8872,0.00,2.12,0.00,0.000,516,0.000,0.040,3262,611,1337,1448,1227,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9042,1.42,284.9,3262,610,1447,1226,36.5,7.4,398,9102,0.00,2.08,50.72,0.390,9222,0.000,0.030,3262,2009,1209,1326,1093,0,0,0,0,0,0,28.83,26.44,25.54
$STATE,9347,end climb,SURFACE_DEPTH_REACHED
$STATE,9347,begin surface coast
$FINISH,0.1,1.011391
$STATE,9377,end surface coast,CONTROL_FINISHED_OK
$STATE,9377,begin surface
$SM_CCo,9398,56.45,0.060,0,0,748,400.08
$SM_GC,1.25,8.07,0.75,56.45,0.032,0.047,0.060,132,2491,748,-8.30,-1.30,400.08,0,0,0,0,0,0,26.31,26.21,26.05
$IRIDIUM_FIX,2312.13,12210.27,080413,181806
$TT8_MAMPS,0.047187,0.047187
$HUMID,47.63
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3919936
$24V_AH,23.6,47.152
$10V_AH,10.2,30.122
$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,20.075,74.725,697.225,56.450,0.000,0.000,0.000,195.400,0.000,0.000,14.682,1840.592,5477.885,742.439,1381.047,363.200,0.000,1679.866,0.000,1149.526,0.000,0.537,0.000
$DEVICE_MAMPS,221.085,65.790,900.405,60.435,0.000,0.000,0.000,119.340,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9356.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.216,0.000,0.000,0.000
$MEM,323452
$DATA_FILE_SIZE,16803,450
$CAP_FILE_SIZE,243796,0
$CFSIZE,260034560,222806016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.329, 27.0,1
$GPS,090413,000924,2322.801,12138.147,41,1.4,42,-3.1