version: 66.11
glider: 171
mission: 4
dive: 320
start: 4 9 113 11 17 3
data:
$ID,171
$MISSION,4
$DIVE,320
$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,-20921.391
$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,54
$R_STBD_OVSHOOT,30
$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
$GPS1,090413,111035,2323.850,12136.601,46,1.2,57,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-65.0
$GPS2,090413,111631,2324.114,12136.646,15,1.2,15,-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,202.6,4958,-10.6,-8.333,-15.41,4401
$D_GRID,1199
$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,-243.3,126,2483,846,661,0.0,0.0,0,83,0.00,0.00,-61.80,0.000,16386,0.000,0.000,126,2484,2553,2609,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.28,-243.3,126,2484,2614,2498,4.5,-9.0,8,118,8.95,1.92,-12.93,0.000,18692,0.218,0.067,2392,3669,3378,3436,3320,0,0,0,0,0,0,25.53,26.06,26.54
$GC,260,-1.28,-243.3,2392,3669,3439,3320,70.2,-32.9,22,265,0.00,1.70,0.00,0.000,1030,0.000,0.025,2392,2488,3380,3440,3320,0,0,0,0,0,0,28.83,26.32,28.83
$GC,574,-1.28,-243.3,2392,2488,3444,3322,155.6,-27.0,38,580,0.00,2.05,0.00,0.000,516,0.000,0.027,2392,1097,3382,3444,3321,0,0,0,0,0,0,28.83,26.36,28.83
$GC,614,-1.28,-243.3,2392,1096,3445,3322,162.2,-26.6,39,622,0.00,2.15,0.00,0.000,1030,0.000,0.038,2381,2504,3383,3445,3322,0,0,0,0,0,0,28.83,26.24,28.83
$GC,918,-1.28,-243.3,2380,2504,3445,3322,250.9,-27.5,55,924,0.00,1.83,0.00,0.000,260,0.000,0.051,2373,3678,3384,3446,3323,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1074,-1.28,-243.3,2372,3678,3446,3323,292.3,-27.8,62,1082,0.10,1.73,0.00,0.000,3078,0.127,0.025,2406,2498,3384,3446,3323,0,0,0,0,0,0,26.15,26.52,28.83
$GC,1393,-1.28,-243.3,2408,2497,3446,3322,367.4,-21.7,78,1399,0.00,2.03,0.00,0.000,516,0.000,0.029,2407,1111,3384,3446,3323,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1433,-1.28,-243.3,2408,1111,3446,3323,373.1,-21.1,79,1442,0.00,2.12,0.00,0.000,1030,0.000,0.038,2397,2505,3384,3446,3323,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1739,-1.28,-243.3,2397,2504,3446,3322,442.3,-21.5,95,1746,0.00,1.83,0.00,0.000,260,0.000,0.053,2388,3674,3383,3445,3322,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1799,-1.28,-243.3,2387,3674,3445,3322,452.3,-21.5,97,1807,0.00,1.67,0.00,0.000,1030,0.000,0.026,2392,2496,3383,3445,3322,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2107,-1.28,-243.3,2388,2495,3445,3322,525.1,-23.4,113,2112,0.00,2.03,0.00,0.000,516,0.000,0.028,2388,1114,3383,3445,3322,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2162,-1.28,-243.3,2388,1114,3446,3321,535.4,-23.3,115,2168,0.12,2.12,0.00,0.000,3078,0.158,0.040,2410,2502,3383,3445,3321,0,0,0,0,0,0,26.11,26.33,28.83
$GC,2489,-1.28,-243.3,2410,2502,3445,3318,607.8,-21.5,131,2495,0.00,1.88,0.00,0.000,260,0.000,0.054,2402,3690,3381,3445,3318,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2599,-1.28,-243.3,2402,3690,3445,3316,628.3,-21.0,134,2605,0.00,1.70,0.00,0.000,1030,0.000,0.028,2402,2512,3379,3442,3316,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2918,-1.28,-243.3,2402,2512,3445,3311,693.7,-19.0,145,2925,0.00,2.08,0.00,0.000,516,0.000,0.028,2402,1105,3378,3445,3311,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2955,-1.28,-243.3,2401,1105,3445,3309,700.4,-18.8,146,2960,0.00,2.15,0.00,0.000,1030,0.000,0.040,2391,2503,3377,3445,3310,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3289,-1.28,-243.3,2391,2503,3443,3306,766.1,-19.8,157,3295,0.00,1.83,0.00,0.000,260,0.000,0.055,2383,3669,3374,3443,3305,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3386,-1.28,-243.3,2382,3669,3442,3305,785.3,-19.8,160,3393,0.00,1.70,0.00,0.000,1030,0.000,0.028,2383,2503,3373,3442,3305,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3722,-1.28,-243.3,2382,2505,3442,3301,851.2,-19.9,171,3729,0.00,1.85,0.00,0.000,260,0.000,0.056,2374,3671,3370,3441,3300,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3777,-1.28,-243.3,2373,3670,3441,3300,859.2,-20.6,172,3783,0.12,1.70,0.00,0.000,3078,0.147,0.029,2408,2495,3370,3441,3300,0,0,0,0,0,0,26.21,26.55,28.83
$GC,4092,-1.28,-243.3,2407,2495,3440,3296,925.2,-18.8,183,4098,0.00,2.08,0.00,0.000,516,0.000,0.030,2408,1099,3368,3440,3296,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4121,-1.28,-243.3,2408,1099,3439,3296,925.2,-18.8,183,4129,0.00,2.15,0.00,0.000,1030,0.000,0.039,2398,2502,3367,3440,3295,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,4246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4246,begin apogee
$GC,4252,-0.20,0.0,2398,1987,3439,3294,954.5,-19.1,188,4634,1.08,0.00,373.27,0.764,10246,0.115,0.000,2753,1988,2380,2534,2226,0,0,0,0,0,0,25.83,28.83,24.11
$STATE,4636,end apogee,CONTROL_FINISHED_OK
$STATE,4636,begin climb
$GC,4639,1.28,243.3,2752,1987,2528,2215,979.3,0.0,199,4917,1.30,2.33,267.67,0.898,10756,0.043,0.035,3250,628,1379,1490,1268,0,0,0,0,0,0,24.98,24.34,23.53
$GC,4941,1.28,243.3,3250,628,1470,1252,943.7,21.4,208,4950,0.00,2.22,0.00,0.000,1030,0.000,0.029,3250,2010,1359,1469,1250,0,0,0,0,0,0,28.83,24.72,28.83
$GC,5249,1.28,243.3,3250,2010,1458,1241,851.2,27.2,219,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2010,1350,1459,1241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5549,1.28,243.3,3250,2010,1455,1239,769.6,27.2,229,5555,0.00,2.20,0.00,0.000,260,0.000,0.046,3250,3412,1347,1456,1239,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5617,1.28,243.3,3250,3412,1454,1239,750.6,28.0,231,5624,0.12,2.10,0.00,0.000,5126,0.179,0.028,3230,2010,1347,1455,1239,0,0,0,0,0,0,25.94,26.27,28.83
$GC,5949,1.28,243.3,3230,2010,1453,1237,665.2,25.5,242,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2010,1345,1453,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6248,1.28,243.3,3230,2010,1453,1236,596.5,22.2,252,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2010,1344,1453,1236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6548,1.28,243.3,3230,2010,1451,1236,529.9,23.0,267,6553,0.00,2.20,0.00,0.000,260,0.000,0.045,3230,3411,1343,1451,1236,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6608,1.28,243.3,3230,3412,1451,1236,519.6,23.2,269,6616,0.00,2.12,0.00,0.000,1030,0.000,0.029,3239,1993,1343,1451,1236,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6914,1.28,243.3,3241,1992,1449,1235,442.6,24.1,285,6920,0.00,2.22,0.00,0.000,260,0.000,0.045,3241,3410,1343,1451,1235,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6940,1.28,243.3,3241,3410,1451,1235,436.3,24.2,286,6946,0.00,2.12,0.00,0.000,1030,0.000,0.029,3253,1992,1342,1450,1235,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7266,1.28,243.3,3253,1992,1450,1233,356.6,24.4,302,7273,0.00,2.22,0.00,0.000,260,0.000,0.045,3253,3406,1341,1450,1233,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7343,1.28,243.3,3250,3406,1450,1233,338.4,26.1,305,7349,0.12,2.10,0.00,0.000,5126,0.179,0.030,3233,1998,1341,1450,1233,0,0,0,0,0,0,26.08,26.44,28.83
$GC,7660,1.28,243.3,3233,1998,1449,1231,266.1,21.7,321,7666,0.00,2.22,0.00,0.000,260,0.000,0.046,3233,3407,1340,1449,1231,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7729,1.28,243.3,3233,3409,1450,1231,249.9,23.0,324,7736,0.00,2.10,0.00,0.000,1030,0.000,0.029,3244,1996,1340,1450,1231,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8054,1.28,243.3,3244,1995,1449,1230,175.3,22.7,340,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1996,1339,1449,1230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8350,1.28,243.3,3244,1996,1449,1230,107.1,23.0,355,8356,0.00,2.12,0.00,0.000,516,0.000,0.041,3256,610,1339,1449,1230,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8413,1.28,243.3,3255,610,1449,1230,97.5,22.1,357,8422,0.00,2.08,0.00,0.000,1030,0.000,0.031,3256,2003,1339,1449,1230,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8720,1.28,243.3,3255,2003,1449,1229,46.6,12.4,374,8726,0.00,2.17,0.00,0.000,260,0.000,0.045,3256,3402,1339,1449,1229,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8942,1.28,243.3,2240,3400,1421,1226,19.0,9.0,400,8951,0.12,2.08,0.00,0.000,5126,0.159,0.028,3233,1986,1339,1449,1229,0,0,0,0,0,0,26.14,26.48,28.83
$STATE,9108,end climb,SURFACE_DEPTH_REACHED
$STATE,9108,begin surface coast
$FINISH,0.4,1.022392
$STATE,9130,end surface coast,CONTROL_FINISHED_OK
$STATE,9130,begin surface
$SM_CCo,9149,74.28,0.063,0,0,749,400.08
$SM_GC,1.12,7.97,0.80,74.28,0.033,0.047,0.063,112,2496,749,-8.31,-1.19,400.08,0,0,0,0,0,0,26.50,26.36,26.11
$IRIDIUM_FIX,2314.48,12132.45,090413,080828
$TT8_MAMPS,0.047187,0.047187
$HUMID,48.97
$INTERNAL_PRESSURE,9.60344
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,3918336
$24V_AH,23.5,47.945
$10V_AH,10.2,30.522
$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,20.025,78.425,640.950,74.275,0.000,0.000,0.000,188.925,0.000,0.000,15.880,1807.482,5310.989,732.727,1377.436,351.723,0.000,1648.512,0.000,1124.328,0.000,0.537,0.000
$DEVICE_MAMPS,218.025,67.320,898.110,63.495,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9142.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.084,0.000,0.000,0.000
$MEM,323248
$DATA_FILE_SIZE,16819,434
$CAP_FILE_SIZE,238733,0
$CFSIZE,260034560,222384128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.311, 23.2,1
$GPS,090413,135203,2323.990,12136.533,14,4.8,34,-3.1