version: 66.11
glider: 171
mission: 4
dive: 59
start: 3 5 113 10 20 27
data:
$ID,171
$MISSION,4
$DIVE,59
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,920
$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,330
$T_MISSION,360
$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,175
$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,-20572.852
$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,20
$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,50
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,415
$VBD_MAX,3400
$C_VBD,2245
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$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
$GPS1,050313,101436,2325.388,12234.192,29,1.2,29,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.7
$GPS2,050313,102000,2325.453,12234.141,11,1.4,11,-3.2
$SPEED_LIMITS,0.161,0.271
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,119.8,144328,-15.0,-9.293,-18.92,2788
$D_GRID,4081
$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,15,begin dive
$GC,17,-1.09,-170.3,127,2487,691,537,0.0,0.0,0,87,0.00,0.00,-68.20,0.000,16386,0.000,0.000,127,2487,2593,2672,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-1.09,-170.3,127,2487,2673,2514,4.1,-7.2,9,115,8.93,2.15,-6.12,0.000,18948,0.223,0.049,2447,1094,2944,3031,2858,0,0,0,0,0,0,26.05,26.29,26.55
$GC,174,-1.09,-170.3,2449,1094,3033,2856,36.0,-31.3,20,180,0.00,2.15,0.00,0.000,1030,0.000,0.043,2439,2491,2945,3033,2857,0,0,0,0,0,0,28.83,26.31,28.83
$GC,489,-1.09,-170.3,2438,2491,3035,2857,127.7,-26.9,38,495,0.00,1.85,0.00,0.000,260,0.000,0.054,2430,3680,2946,3035,2858,0,0,0,0,0,0,28.83,26.48,28.83
$GC,626,-1.09,-170.3,2429,3680,3037,2858,162.5,-25.4,44,631,0.00,1.73,0.00,0.000,1030,0.000,0.025,2430,2476,2947,3037,2857,0,0,0,0,0,0,28.83,26.60,28.83
$GC,939,-1.09,-170.3,2429,2474,3040,2858,240.2,-22.9,60,946,0.10,1.85,0.00,0.000,2308,0.176,0.051,2446,3674,2947,3040,2855,0,0,0,0,0,0,26.54,26.60,28.83
$GC,1029,-1.09,-170.3,2445,3674,3040,2858,259.0,-22.0,64,1034,0.00,1.67,0.00,0.000,1030,0.000,0.025,2446,2502,2949,3040,2858,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1348,-1.09,-170.3,2445,2500,3041,2858,324.0,-19.6,80,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2500,2949,3041,2857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1647,-1.09,-170.3,2447,2499,3041,2858,382.0,-18.9,95,1653,0.00,1.83,0.00,0.000,260,0.000,0.055,2436,3677,2949,3041,2858,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1747,-1.09,-170.3,2436,3677,3041,2858,398.6,-19.4,99,1755,0.00,1.73,0.00,0.000,1030,0.000,0.025,2436,2498,2949,3041,2858,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2053,-1.09,-170.3,2436,2496,3041,2857,458.3,-18.1,115,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2496,2949,3041,2858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2352,-1.09,-170.3,2435,2496,3041,2857,510.8,-16.5,130,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2496,2949,3041,2857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2652,-1.09,-170.3,2436,2496,3041,2854,562.2,-16.1,145,2657,0.00,1.83,0.00,0.000,260,0.000,0.054,2427,3674,2947,3041,2854,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2811,-1.09,-170.3,2427,3674,3041,2853,586.9,-16.8,152,2820,0.08,1.73,0.00,0.000,3078,0.138,0.026,2454,2492,2946,3041,2852,0,0,0,0,0,0,26.67,26.84,28.83
$GC,3137,-1.09,-170.3,2453,2490,3041,2849,636.1,-14.2,165,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2490,2945,3041,2849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3438,-1.09,-170.3,2453,2490,3041,2846,680.2,-14.8,175,3444,0.00,1.88,0.00,0.000,260,0.000,0.055,2445,3687,2943,3041,2846,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3485,-1.09,-170.3,2445,3687,3041,2845,685.3,-14.9,176,3491,0.00,1.70,0.00,0.000,1030,0.000,0.028,2445,2502,2942,3040,2845,0,0,0,0,0,0,28.83,26.85,28.83
$GC,3804,-1.09,-170.3,2445,2500,3037,2841,735.5,-15.4,187,3810,0.00,2.05,0.00,0.000,516,0.000,0.034,2443,1112,2941,3041,2841,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3861,-1.09,-170.3,1536,1111,3005,2832,740.8,-15.5,188,3870,0.00,2.12,0.00,0.000,1030,0.000,0.044,2434,2503,2940,3041,2840,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4170,-1.09,-170.3,2434,2503,3041,2837,793.7,-16.0,199,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2502,2938,3041,2836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4468,-1.09,-170.3,2433,2503,3041,2832,839.5,-14.9,209,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2503,2936,3041,2832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4769,-1.09,-170.3,2435,2502,3040,2830,881.6,-13.9,219,4775,0.00,1.80,0.00,0.000,260,0.000,0.056,2425,3670,2934,3040,2829,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4826,-1.09,-170.3,2425,3670,3040,2834,886.8,-14.2,220,4836,0.12,1.67,0.00,0.000,3078,0.158,0.029,2460,2505,2934,3040,2828,0,0,0,0,0,0,26.69,26.87,28.83
$STATE,5072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5072,begin apogee
$GC,5077,-0.25,0.0,2459,1989,3039,2825,922.2,-12.8,229,5536,0.77,0.00,449.27,0.590,10246,0.110,0.000,2727,1987,2244,2430,2058,0,0,0,0,0,0,26.71,28.83,24.58
$STATE,5538,end apogee,CONTROL_FINISHED_OK
$STATE,5538,begin climb
$GC,5540,1.09,170.3,2726,1987,2425,2057,936.2,0.0,243,5821,1.23,2.45,270.42,0.695,10500,0.067,0.050,3158,3408,1545,1638,1452,0,0,0,0,0,0,25.18,24.94,24.34
$GC,5972,1.09,170.3,3158,3408,1615,1433,874.0,20.0,257,5978,0.00,2.15,0.00,0.000,1030,0.000,0.029,3169,2018,1524,1615,1433,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6307,1.09,170.3,3169,2018,1610,1425,812.6,18.0,268,6313,0.00,2.22,0.00,0.000,260,0.000,0.050,3169,3415,1518,1611,1425,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6374,1.09,170.3,3169,3418,1610,1425,799.9,18.6,270,6380,0.00,2.15,0.00,0.000,1030,0.000,0.031,3181,1996,1517,1610,1425,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6703,1.09,170.3,3181,1996,1608,1423,738.7,18.4,281,6709,0.00,2.22,0.00,0.000,260,0.000,0.050,3181,3410,1515,1608,1423,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6750,1.09,170.3,2240,3408,1578,1419,732.1,18.8,282,6757,0.12,2.15,0.00,0.000,5126,0.171,0.031,3161,1991,1515,1608,1423,0,0,0,0,0,0,26.31,26.46,28.83
$GC,7070,1.09,170.3,3161,1991,1606,1420,675.4,16.7,293,7076,0.00,2.12,0.00,0.000,516,0.000,0.041,3171,600,1513,1607,1420,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7097,1.09,170.3,3171,600,1607,1420,675.4,16.7,293,7106,0.00,2.12,0.00,0.000,1030,0.000,0.035,3171,2007,1513,1607,1420,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7404,1.09,170.3,3171,2007,1606,1420,620.3,16.4,304,7410,0.00,2.17,0.00,0.000,260,0.000,0.050,3171,3404,1513,1606,1420,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7529,1.09,170.3,3171,3402,1605,1420,596.8,18.9,308,7534,0.00,2.10,0.00,0.000,1030,0.000,0.031,3182,2000,1512,1605,1420,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7853,1.09,170.3,3182,2000,1605,1418,541.0,17.5,324,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1999,1511,1605,1417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8153,1.09,170.3,3181,2000,1605,1418,488.4,17.8,339,8159,0.00,2.20,0.00,0.000,260,0.000,0.050,3182,3409,1511,1605,1418,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8250,1.09,170.3,3182,3409,1605,1418,471.6,19.2,343,8256,0.12,2.10,0.00,0.000,5126,0.167,0.032,3161,1999,1511,1604,1418,0,0,0,0,0,0,26.54,26.70,28.83
$GC,8565,1.09,170.3,3161,1998,1605,1416,421.4,13.1,359,8571,0.00,2.20,0.00,0.000,260,0.000,0.050,3161,3407,1510,1605,1416,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8624,1.09,170.3,3161,3407,1605,1416,414.8,13.7,361,8632,0.00,2.10,0.00,0.000,1030,0.000,0.032,3171,1997,1510,1605,1416,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8930,1.09,170.3,3171,1997,1604,1414,367.1,14.9,377,8931,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1997,1510,1605,1415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9230,1.09,170.3,3171,1997,1606,1415,322.7,14.0,392,9236,0.00,2.20,0.00,0.000,260,0.000,0.050,3171,3409,1507,1601,1414,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9415,1.09,170.3,3171,3409,1604,1415,292.8,16.1,401,9421,0.00,2.10,0.00,0.000,1030,0.000,0.032,3183,1999,1509,1604,1414,0,0,0,0,0,0,28.83,26.75,28.83
$GC,9740,1.09,170.3,3182,1999,1604,1415,246.7,13.5,417,9746,0.00,2.12,0.00,0.000,516,0.000,0.043,3194,597,1509,1604,1414,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9851,1.09,170.3,2192,597,1571,1411,233.2,12.3,422,9858,0.12,2.10,0.00,0.000,5126,0.158,0.034,3160,2007,1512,1609,1415,0,0,0,0,0,0,26.61,26.74,28.83
$GC,10172,1.09,170.3,3160,2010,1604,1415,195.1,12.1,438,10178,0.00,2.17,0.00,0.000,260,0.000,0.049,3160,3413,1510,1605,1415,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10199,1.09,170.3,3160,3412,1604,1415,191.9,12.4,439,10205,0.00,2.10,0.00,0.000,1030,0.000,0.031,3172,1992,1508,1603,1414,0,0,0,0,0,0,28.83,26.77,28.83
$GC,10519,1.09,170.3,3171,1992,1604,1415,154.8,10.2,455,10525,0.00,2.20,0.00,0.000,260,0.000,0.048,3172,3409,1510,1605,1415,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10699,1.09,170.3,3171,3409,1604,1415,136.5,10.0,463,10708,0.00,2.10,0.00,0.000,1030,0.000,0.031,3183,1993,1510,1605,1415,0,0,0,0,0,0,28.83,26.78,28.83
$GC,11006,1.09,170.3,3183,1993,1605,1415,102.0,10.5,479,11007,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1992,1509,1604,1415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11307,1.16,204.5,3183,1993,1606,1415,75.9,8.0,494,11380,0.00,2.30,67.38,0.361,8452,0.000,0.047,3183,3412,1407,1513,1301,0,0,0,0,0,0,28.83,26.25,25.86
$GC,11516,1.16,204.5,3183,3412,1499,1293,56.4,10.3,503,11524,0.00,2.10,0.00,0.000,1030,0.000,0.031,3194,2001,1395,1499,1291,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11823,1.16,204.5,2176,1999,1467,1287,23.8,10.9,532,11831,0.00,2.20,0.00,0.000,260,0.000,0.048,3194,3415,1393,1497,1290,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11946,1.16,204.5,2176,3414,1466,1287,8.6,12.7,555,11954,0.00,2.10,0.00,0.000,1030,0.000,0.030,3205,1998,1392,1497,1288,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,11997,end climb,SURFACE_DEPTH_REACHED
$STATE,11997,begin surface coast
$FINISH,0.5,1.010734
$STATE,12024,end surface coast,CONTROL_FINISHED_OK
$STATE,12024,begin surface
$SM_CCo,12041,94.12,0.058,0,0,613,400.08
$SM_GC,1.39,7.75,0.77,94.12,0.029,0.050,0.058,133,2493,613,-8.26,-1.30,400.08,0,0,0,0,0,0,26.60,26.56,26.46
$IRIDIUM_FIX,2316.83,12231.69,050313,060650
$TT8_MAMPS,0.048685,0.048685
$HUMID,41.14
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,4001696
$24V_AH,24.3,10.953
$10V_AH,10.2,7.125
$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,19.350,87.500,787.075,94.125,0.000,0.000,0.000,196.775,0.000,0.000,11.960,2399.278,7198.905,878.446,1780.504,197.209,0.000,1990.453,0.000,1490.239,0.000,0.539,0.000
$DEVICE_MAMPS,222.615,55.845,695.385,58.140,0.000,0.000,0.000,126.990,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12026.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.051,0.000,0.000,0.000
$MEM,323932
$DATA_FILE_SIZE,20108,569
$CAP_FILE_SIZE,309928,0
$CFSIZE,260034560,247390208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.257,356.4,1
$GPS,050313,134357,2326.330,12235.924,16,4.3,35,-3.2