version: 66.11
glider: 171
mission: 4
dive: 334
start: 4 10 113 23 21 53
data:
$ID,171
$MISSION,4
$DIVE,334
$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,-20940.732
$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,2810
$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,62
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$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
$GPS1,100413,231435,2319.426,12132.545,34,1.1,34,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-67.5
$GPS2,100413,232119,2319.638,12132.600,12,1.1,12,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,ININSHORE1A
$TGT_LATLONG,2318.000,12132.750
$TGT_RADIUS,1000.000
$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,182.0,3045,-27.0,-8.333,-30.00,882
$D_GRID,870
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.25,-48.0,116,2497,838,664,0.0,0.0,0,81,0.00,0.00,-60.00,0.000,16386,0.000,0.000,114,2497,2455,2520,2391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.30,-63.2,115,2497,2524,2391,3.8,-6.6,8,103,8.98,2.15,-3.28,0.000,18948,0.220,0.041,2386,1093,2643,2725,2561,0,0,0,0,0,0,25.54,26.19,26.49
$GC,213,-1.30,-63.2,2386,1093,2734,2561,47.2,-26.5,23,219,0.00,2.15,0.00,0.000,1030,0.000,0.035,2376,2500,2647,2734,2561,0,0,0,0,0,0,28.83,26.15,28.83
$GC,410,-1.30,-63.2,2376,2500,2737,2561,85.7,-19.2,33,416,0.00,1.83,0.00,0.000,260,0.000,0.051,2368,3671,2649,2737,2561,0,0,0,0,0,0,28.83,26.19,28.83
$GC,461,-1.30,-63.2,2367,3671,2738,2561,94.4,-18.5,35,467,0.00,1.70,0.00,0.000,1030,0.000,0.024,2368,2488,2649,2738,2561,0,0,0,0,0,0,28.83,26.42,28.83
$GC,663,-1.30,-63.2,2367,2488,2744,2561,137.4,-21.9,45,669,0.00,1.85,0.00,0.000,260,0.000,0.050,2359,3671,2651,2742,2561,0,0,0,0,0,0,28.83,26.26,28.83
$GC,908,-1.30,-63.2,2359,3671,2746,2561,194.8,-24.3,56,914,0.12,1.62,0.00,0.000,3078,0.168,0.024,2389,2522,2653,2746,2561,0,0,0,0,0,0,26.13,26.53,28.83
$GC,1105,-1.30,-63.2,2389,2521,2747,2561,234.0,-18.3,66,1111,0.00,2.08,0.00,0.000,516,0.000,0.028,2389,1108,2654,2747,2561,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1151,-1.30,-63.2,1408,1107,2690,2551,242.3,-18.3,68,1157,0.00,2.17,0.00,0.000,1030,0.000,0.036,2379,2529,2654,2747,2561,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1358,-1.30,-63.2,2379,2531,2746,2561,281.5,-18.2,78,1364,0.00,2.08,0.00,0.000,516,0.000,0.028,2379,1115,2654,2747,2561,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1398,-1.30,-63.2,2379,1115,2746,2561,286.3,-17.7,79,1406,0.00,2.15,0.00,0.000,1030,0.000,0.036,2369,2530,2654,2747,2561,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1704,-1.30,-63.2,2369,2530,2747,2561,350.1,-21.1,95,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2530,2654,2747,2561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2003,-1.30,-63.2,2369,2530,2747,2561,407.2,-18.1,110,2009,0.00,1.77,0.00,0.000,260,0.000,0.050,2360,3675,2654,2747,2561,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2163,-1.30,-63.2,2360,3675,2746,2561,432.0,-15.8,117,2170,0.12,1.62,0.00,0.000,3078,0.166,0.024,2391,2533,2654,2747,2561,0,0,0,0,0,0,26.20,26.60,28.83
$STATE,2299,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2299,begin apogee
$GC,2306,-0.20,0.0,2391,1984,2747,2561,450.4,-11.6,124,2423,1.08,0.00,106.65,0.567,10244,0.127,0.000,2738,1984,2374,2512,2236,0,0,0,0,0,0,25.91,28.83,24.94
$STATE,2425,end apogee,CONTROL_FINISHED_OK
$STATE,2425,begin climb
$GC,2427,1.30,63.2,2737,1984,2510,2232,457.5,0.0,129,2504,1.42,2.33,65.72,0.650,10500,0.069,0.049,3233,3413,2111,2274,1948,0,0,0,0,0,0,25.63,25.65,24.70
$GC,2686,1.38,85.3,3233,3413,2252,1928,451.0,5.8,140,2711,0.00,2.10,19.52,0.604,9222,0.000,0.025,3244,2006,2032,2186,1879,0,0,0,0,0,0,28.83,26.09,25.13
$GC,3020,1.43,98.9,3244,2006,2149,1859,431.3,6.7,157,3037,0.00,2.10,11.45,0.600,8708,0.000,0.033,3255,615,1971,2117,1826,0,0,0,0,0,0,28.83,26.17,25.38
$GC,3256,1.43,98.9,3255,615,2097,1822,409.9,9.4,168,3262,0.00,2.10,0.00,0.000,1030,0.000,0.029,3256,2021,1959,2097,1822,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3579,1.43,98.9,3255,2021,2095,1819,377.9,10.7,184,3585,0.00,2.15,0.00,0.000,260,0.000,0.045,3256,3409,1957,2095,1819,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3818,1.43,98.9,3255,3409,2091,1819,350.7,13.2,195,3824,0.00,2.05,0.00,0.000,1030,0.000,0.027,3267,2006,1954,2090,1819,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4133,1.43,98.9,3266,2006,2090,1817,314.5,8.9,211,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,2006,1953,2090,1817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4434,1.45,106.5,3267,2006,2088,1815,292.5,7.4,226,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,2006,1951,2088,1815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4733,1.45,106.5,3266,2006,2087,1814,264.8,9.6,241,4739,0.00,2.10,0.00,0.000,516,0.000,0.036,3278,608,1951,2087,1815,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4974,1.47,111.4,3278,605,2086,1814,245.4,7.8,252,4993,0.00,2.08,10.38,0.517,9222,0.000,0.029,3277,2004,1921,2060,1783,0,0,0,0,0,0,28.83,26.48,25.53
$GC,5193,1.47,111.4,3277,2003,2047,1777,226.8,9.0,263,5199,0.00,2.12,0.00,0.000,516,0.000,0.035,3289,608,1912,2047,1777,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5318,1.47,111.4,3288,609,2046,1777,216.2,9.5,268,5326,0.00,2.05,0.00,0.000,1030,0.000,0.028,3289,1992,1911,2046,1776,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5503,1.47,111.4,3289,1992,2046,1776,196.1,9.5,278,5509,0.00,2.17,0.00,0.000,260,0.000,0.044,3289,3400,1911,2046,1776,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5559,1.47,111.4,3288,3400,2046,1777,191.3,10.2,280,5566,0.00,2.08,0.00,0.000,1030,0.000,0.027,3301,1984,1911,2046,1777,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5756,1.47,111.4,3300,1985,2045,1776,169.6,10.2,290,5762,0.00,2.08,0.00,0.000,516,0.000,0.036,3312,609,1910,2044,1776,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5996,1.47,111.4,3311,609,2043,1776,148.4,9.0,301,6002,0.00,2.05,0.00,0.000,1030,0.000,0.029,3312,1996,1910,2043,1777,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6192,1.47,111.4,3311,1996,2043,1777,129.1,8.8,311,6198,0.00,2.10,0.00,0.000,516,0.000,0.036,3323,611,1910,2043,1777,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6248,1.47,111.4,3323,611,2043,1777,124.8,9.0,313,6255,0.15,2.00,0.00,0.000,5126,0.173,0.028,3285,1972,1910,2043,1777,0,0,0,0,0,0,26.03,26.46,28.83
$GC,6446,1.47,111.4,3284,1971,2043,1776,105.6,9.6,323,6452,0.00,2.08,0.00,0.000,516,0.000,0.037,3295,606,1909,2043,1776,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6691,1.51,123.7,3295,606,2041,1777,89.8,6.9,334,6711,0.00,1.98,14.38,0.431,9222,0.000,0.028,3295,1945,1873,2008,1739,0,0,0,0,0,0,28.83,26.48,25.63
$GC,6910,1.56,137.5,3297,1945,1984,1728,76.0,6.7,345,6933,0.00,2.25,14.45,0.416,8452,0.000,0.044,3295,3396,1810,1935,1686,0,0,0,0,0,0,28.83,26.32,25.65
$GC,7167,1.67,168.5,3295,3396,1917,1681,58.4,4.7,357,7215,0.12,2.15,37.42,0.406,11270,0.082,0.027,3374,1928,1684,1791,1578,0,0,0,0,0,0,26.36,26.43,25.54
$GC,7404,1.81,208.3,3374,1928,1763,1569,44.7,3.7,374,7463,0.00,2.35,46.30,0.400,8964,0.000,0.043,3374,3384,1517,1619,1415,0,0,0,0,0,0,28.83,25.98,25.41
$GC,7612,1.86,223.8,3374,3384,1605,1406,30.3,6.5,392,7632,0.00,2.12,14.00,0.373,9222,0.000,0.026,3386,1945,1462,1568,1357,0,0,0,0,0,0,28.83,26.21,25.44
$GC,7820,1.86,223.8,2384,1943,1514,1338,8.5,11.4,426,7829,0.00,2.03,0.00,0.000,516,0.000,0.037,3396,615,1445,1547,1344,0,0,0,0,0,0,28.83,26.19,28.83
$STATE,7874,end climb,SURFACE_DEPTH_REACHED
$STATE,7874,begin surface coast
$FINISH,0.3,1.001592
$STATE,7903,end surface coast,CONTROL_FINISHED_OK
$STATE,7903,begin surface
$SM_CCo,7925,84.72,0.061,0,0,747,400.08
$SM_GC,0.95,8.40,2.95,84.72,0.032,0.037,0.061,140,2481,747,-8.26,-1.41,400.08,0,0,0,0,0,0,26.27,26.15,26.06
$IRIDIUM_FIX,2309.79,12131.22,100413,212112
$TT8_MAMPS,0.047936,0.047936
$HUMID,46.45
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,22.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.4,5.9
$SC_FREEKB,3913856
$24V_AH,24.7,50.089
$10V_AH,10.3,31.654
$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,20.400,75.475,340.275,84.725,0.000,0.000,0.000,244.575,1.000,0.000,13.812,2156.388,3756.806,520.951,1586.557,402.527,0.000,1485.703,0.000,1300.972,0.000,9.742,0.000
$DEVICE_MAMPS,219.555,51.255,650.250,61.200,0.000,0.000,0.000,119.340,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7902.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.412,0.000,0.000,0.000
$MEM,323144
$DATA_FILE_SIZE,16788,440
$CAP_FILE_SIZE,259074,0
$CFSIZE,260034560,221175808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139, 12.4,1
$GPS,110413,013635,2319.702,12132.646,31,1.5,31,-3.1