version: 66.11
glider: 171
mission: 4
dive: 60
start: 3 5 113 13 49 28
data:
$ID,171
$MISSION,4
$DIVE,60
$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,-20574.109
$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,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,47
$R_STBD_OVSHOOT,31
$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
$GPS1,050313,134357,2326.330,12235.924,16,4.3,35,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-67.4
$GPS2,050313,134901,2326.396,12235.861,12,1.5,12,-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,120.1,141013,-15.0,-9.293,-18.92,2788
$D_GRID,3879
$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,-170.3,129,2495,692,537,0.0,0.0,0,81,0.00,0.00,-61.78,0.000,16386,0.000,0.000,129,2496,2362,2425,2300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.09,-170.3,129,2496,2428,2299,3.1,-4.4,8,109,8.95,2.17,-11.15,0.000,18948,0.226,0.049,2448,1093,2944,3041,2847,0,0,0,0,0,0,26.07,26.32,26.60
$GC,153,-1.09,-170.3,1472,1092,3005,2839,26.3,-30.7,19,159,0.00,2.17,0.00,0.000,1030,0.000,0.042,2437,2498,2946,3045,2847,0,0,0,0,0,0,28.83,26.32,28.83
$GC,476,-1.09,-170.3,2437,2498,3046,2847,124.5,-27.2,39,482,0.00,1.83,0.00,0.000,260,0.000,0.054,2428,3676,2947,3047,2847,0,0,0,0,0,0,28.83,26.50,28.83
$GC,625,-1.09,-170.3,2427,3676,3051,2847,162.5,-27.6,46,632,0.12,1.70,0.00,0.000,3078,0.163,0.025,2461,2484,2947,3048,2847,0,0,0,0,0,0,26.44,26.60,28.83
$GC,945,-1.09,-170.3,2464,2483,3052,2847,237.1,-22.3,62,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2484,2949,3052,2847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1245,-1.09,-170.3,2460,2484,3053,2847,298.3,-19.1,77,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2483,2950,3053,2847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1545,-1.09,-170.3,2460,2483,3053,2847,353.3,-18.3,92,1551,0.00,1.85,0.00,0.000,260,0.000,0.054,2452,3677,2950,3053,2847,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1653,-1.09,-170.3,1504,3676,3017,2839,372.6,-18.4,97,1659,0.00,1.67,0.00,0.000,1030,0.000,0.025,2452,2497,2950,3053,2847,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1973,-1.09,-170.3,2452,2496,3053,2847,433.2,-19.4,113,1978,0.00,1.83,0.00,0.000,260,0.000,0.054,2443,3677,2950,3053,2847,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2118,-1.09,-170.3,2442,3677,3053,2847,461.0,-18.5,120,2124,0.00,1.70,0.00,0.000,1030,0.000,0.025,2443,2490,2950,3053,2847,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2443,-1.09,-170.3,2442,2489,3052,2847,519.7,-17.2,136,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2489,2949,3052,2847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2742,-1.09,-170.3,2442,2489,3052,2847,570.5,-16.4,151,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2489,2949,3053,2846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3061,-1.09,-170.3,2442,2489,3052,2842,621.9,-16.0,165,3067,0.00,2.03,0.00,0.000,516,0.000,0.031,2443,1106,2947,3053,2842,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3084,-1.09,-170.3,2442,1106,3053,2842,621.9,-16.0,165,3090,0.00,2.12,0.00,0.000,1030,0.000,0.041,2432,2508,2947,3053,2842,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3398,-1.09,-170.3,2431,2508,3052,2839,676.8,-16.3,176,3404,0.00,1.80,0.00,0.000,260,0.000,0.054,2422,3678,2945,3052,2839,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3462,-1.09,-170.3,2422,3678,3052,2838,688.1,-16.9,178,3469,0.12,1.70,0.00,0.000,3078,0.158,0.028,2457,2485,2945,3053,2838,0,0,0,0,0,0,26.68,26.85,28.83
$GC,3796,-1.09,-170.3,2457,2485,3052,2833,735.4,-13.8,189,3802,0.00,2.00,0.00,0.000,516,0.000,0.032,2457,1119,2943,3053,2833,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3844,-1.09,-170.3,2457,1119,3052,2832,740.0,-13.8,190,3851,0.00,2.10,0.00,0.000,1030,0.000,0.041,2447,2502,2941,3050,2832,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4164,-1.09,-170.3,2447,2502,3052,2829,786.5,-14.0,201,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2502,2940,3052,2829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4464,-1.09,-170.3,2447,2502,3052,2826,829.3,-14.2,211,4470,0.00,2.05,0.00,0.000,516,0.000,0.032,2447,1118,2938,3052,2824,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4502,-1.09,-170.3,2447,1118,3052,2823,834.3,-14.3,212,4508,0.00,2.10,0.00,0.000,1030,0.000,0.041,2436,2503,2937,3052,2823,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4831,-1.09,-170.3,2436,2503,3050,2820,886.4,-15.8,223,4837,0.00,1.85,0.00,0.000,260,0.000,0.055,2427,3673,2935,3050,2820,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4958,-1.09,-170.3,2427,3672,3047,2820,907.6,-16.8,227,4964,0.12,1.67,0.00,0.000,3078,0.155,0.029,2462,2512,2934,3048,2820,0,0,0,0,0,0,26.69,26.87,28.83
$STATE,5051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5051,begin apogee
$GC,5056,-0.25,0.0,2462,1991,3048,2819,922.1,-15.7,230,5354,0.77,0.00,290.70,0.703,10246,0.109,0.000,2729,1989,2246,2432,2060,0,0,0,0,0,0,26.71,28.83,24.47
$STATE,5356,end apogee,CONTROL_FINISHED_OK
$STATE,5356,begin climb
$GC,5357,1.09,170.3,2729,1990,2421,2053,939.1,0.0,239,5632,1.23,2.30,264.92,0.705,10756,0.067,0.039,3170,619,1545,1638,1452,0,0,0,0,0,0,25.15,24.98,24.34
$GC,5776,1.09,170.3,2224,619,1581,1423,894.2,16.5,252,5782,0.00,2.15,0.00,0.000,1030,0.000,0.034,3170,2003,1521,1615,1428,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6095,1.09,170.3,3170,2003,1611,1424,836.7,18.2,263,6101,0.00,2.22,0.00,0.000,260,0.000,0.050,3170,3408,1517,1610,1424,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6183,1.09,170.3,3174,3408,1609,1424,824.2,18.7,265,6192,0.00,2.10,0.00,0.000,1030,0.000,0.030,3182,2016,1516,1609,1424,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6490,1.09,170.3,3182,2016,1608,1421,761.4,19.4,276,6496,0.00,2.20,0.00,0.000,260,0.000,0.050,3182,3408,1514,1608,1421,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6525,1.09,170.3,3181,3408,1608,1421,754.4,19.8,277,6532,0.12,2.12,0.00,0.000,5126,0.170,0.031,3162,1995,1514,1608,1421,0,0,0,0,0,0,26.32,26.47,28.83
$GC,6860,1.09,170.3,3161,1996,1607,1419,695.3,17.2,288,6866,0.00,2.12,0.00,0.000,516,0.000,0.041,3172,606,1513,1607,1419,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6928,1.09,170.3,3171,606,1606,1419,684.0,17.4,290,6934,0.00,2.10,0.00,0.000,1030,0.000,0.036,3172,2002,1513,1607,1419,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7257,1.09,170.3,3171,2002,1605,1418,628.1,16.9,301,7263,0.00,2.20,0.00,0.000,260,0.000,0.050,3172,3412,1511,1605,1418,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7330,1.09,170.3,3171,3412,1607,1418,616.4,17.8,303,7336,0.00,2.10,0.00,0.000,1030,0.000,0.032,3183,2003,1512,1606,1418,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7644,1.09,170.3,3183,2000,1605,1417,561.8,16.1,317,7651,0.00,2.12,0.00,0.000,516,0.000,0.041,3194,604,1510,1605,1415,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7719,1.09,170.3,3193,604,1605,1417,551.0,16.2,320,7725,0.12,2.10,0.00,0.000,5126,0.168,0.034,3161,2007,1511,1605,1417,0,0,0,0,0,0,26.52,26.66,28.83
$GC,8034,1.09,170.3,3162,2007,1605,1415,503.5,14.8,336,8040,0.00,2.17,0.00,0.000,260,0.000,0.050,3162,3409,1510,1605,1415,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8071,1.09,170.3,3161,3409,1605,1415,499.6,15.0,337,8080,0.00,2.12,0.00,0.000,1030,0.000,0.031,3172,1990,1510,1605,1416,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8378,1.09,170.3,3172,1990,1605,1414,449.5,16.5,353,8384,0.00,2.20,0.00,0.000,260,0.000,0.050,3173,3402,1509,1605,1414,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8466,1.09,170.3,3172,3402,1605,1414,435.2,16.9,357,8472,0.00,2.08,0.00,0.000,1030,0.000,0.031,3184,1998,1509,1605,1414,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8786,1.09,170.3,3180,1998,1604,1414,383.1,15.1,373,8792,0.00,2.20,0.00,0.000,260,0.000,0.050,3187,3409,1509,1604,1414,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8824,1.09,170.3,3183,3409,1604,1414,379.3,15.0,374,8834,0.12,2.10,0.00,0.000,5126,0.167,0.032,3162,1994,1509,1604,1414,0,0,0,0,0,0,26.58,26.74,28.83
$GC,9130,1.09,170.3,3162,1994,1600,1412,332.1,13.3,390,9137,0.00,2.20,0.00,0.000,260,0.000,0.050,3162,3408,1508,1604,1412,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9225,1.09,170.3,3162,3408,1604,1412,319.0,15.3,394,9231,0.00,2.08,0.00,0.000,1030,0.000,0.032,3173,2000,1508,1604,1412,0,0,0,0,0,0,28.83,26.75,28.83
$GC,9539,1.09,170.3,3172,2001,1604,1412,271.0,16.0,410,9545,0.00,2.12,0.00,0.000,516,0.000,0.042,3183,607,1508,1604,1412,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9759,1.09,170.3,2240,607,1573,1408,240.5,14.6,420,9767,0.00,2.08,0.00,0.000,1030,0.000,0.034,3184,2003,1508,1604,1412,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10066,1.09,170.3,3183,2002,1605,1412,196.7,12.7,436,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2003,1508,1605,1412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10366,1.09,170.3,3183,2003,1604,1412,160.2,11.3,451,10372,0.00,2.12,0.00,0.000,516,0.000,0.040,3195,597,1508,1604,1412,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10457,1.09,170.3,3194,597,1604,1412,150.5,11.1,455,10463,0.12,2.08,0.00,0.000,5126,0.157,0.033,3161,2002,1508,1605,1412,0,0,0,0,0,0,26.63,26.76,28.83
$GC,10777,1.09,170.3,3161,2001,1604,1412,114.7,12.3,471,10784,0.00,2.17,0.00,0.000,260,0.000,0.048,3161,3414,1508,1605,1412,0,0,0,0,0,0,28.83,26.74,28.83
$GC,11013,1.09,170.3,3161,3414,1604,1412,89.4,10.7,482,11019,0.00,2.08,0.00,0.000,1030,0.000,0.030,3172,2001,1508,1605,1412,0,0,0,0,0,0,28.83,26.79,28.83
$GC,11328,1.17,211.5,3172,2001,1605,1412,65.4,7.8,498,11422,0.00,2.28,86.05,0.364,8452,0.000,0.047,3172,3404,1377,1487,1268,0,0,0,0,0,0,28.83,26.14,25.74
$GC,11607,1.17,211.5,3172,3403,1474,1258,36.8,11.2,516,11614,0.00,2.10,0.00,0.000,1030,0.000,0.030,3183,2003,1366,1475,1258,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,11904,end climb,SURFACE_DEPTH_REACHED
$STATE,11904,begin surface coast
$FINISH,0.5,1.001103
$STATE,11933,end surface coast,CONTROL_FINISHED_OK
$STATE,11933,begin surface
$SM_CCo,11949,91.65,0.057,0,0,613,400.08
$SM_GC,1.32,7.68,0.77,91.65,0.025,0.047,0.057,131,2499,613,-8.26,-1.13,400.08,0,0,0,0,0,0,26.54,26.51,26.41
$IRIDIUM_FIX,2316.83,12236.92,050313,101047
$TT8_MAMPS,0.048685,0.048685
$HUMID,41.41
$INTERNAL_PRESSURE,9.61321
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,4001376
$24V_AH,24.3,11.079
$10V_AH,10.2,7.221
$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,19.500,95.875,641.675,91.650,0.000,0.000,0.000,172.775,0.000,0.000,13.841,2522.906,7039.982,769.505,1806.245,199.225,0.000,1854.693,0.000,1536.935,0.000,0.539,0.000
$DEVICE_MAMPS,225.675,55.080,704.565,57.375,0.000,0.000,0.000,129.285,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11930.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.135,0.000,0.000,0.000
$MEM,323956
$DATA_FILE_SIZE,20114,569
$CAP_FILE_SIZE,316824,0
$CFSIZE,260034560,247279616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.232,358.3,1
$GPS,050313,171124,2326.913,12237.514,37,1.7,38,-3.2