version: 66.11
glider: 171
mission: 4
dive: 149
start: 3 20 113 0 7 2
data:
$ID,171
$MISSION,4
$DIVE,149
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,970
$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,370
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$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,-20693.322
$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,2835
$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,57
$R_STBD_OVSHOOT,43
$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
$GPS1,200313,000106,2150.104,12400.590,29,1.1,30,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.6
$GPS2,200313,000636,2150.136,12400.685,11,1.3,11,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,210.7,37310,-12.0,-8.739,-16.47,3810
$D_GRID,5317
$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,-219.0,113,2487,829,666,0.0,0.0,0,88,0.00,0.00,-67.90,0.000,16386,0.000,0.000,113,2488,2694,2762,2626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-1.25,-219.0,113,2488,2764,2627,4.2,-7.4,9,116,8.80,2.12,-9.85,0.000,18948,0.216,0.044,2427,1093,3278,3341,3215,0,0,0,0,0,0,25.95,26.36,26.65
$GC,135,-1.25,-219.0,2427,1093,3344,3215,24.7,-41.2,15,143,0.00,2.15,0.00,0.000,1030,0.000,0.039,2417,2496,3279,3344,3215,0,0,0,0,0,0,28.83,26.31,28.83
$GC,452,-1.25,-219.0,2416,2497,3347,3216,130.3,-33.2,35,457,0.00,1.83,0.00,0.000,260,0.000,0.051,2408,3674,3281,3347,3215,0,0,0,0,0,0,28.83,26.46,28.83
$GC,579,-1.25,-219.0,2407,3674,3348,3215,172.8,-33.6,41,585,0.00,1.70,0.00,0.000,1030,0.000,0.025,2408,2489,3281,3348,3215,0,0,0,0,0,0,28.83,26.60,28.83
$GC,904,-1.25,-219.0,2407,2488,3350,3215,278.6,-31.6,57,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2488,3283,3351,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1203,-1.25,-219.0,2407,2489,3353,3215,364.7,-27.7,72,1209,0.00,1.83,0.00,0.000,260,0.000,0.050,2399,3674,3284,3353,3215,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1261,-1.25,-219.0,1496,3673,3336,3211,376.7,-27.6,74,1270,0.12,1.67,0.00,0.000,3078,0.164,0.024,2431,2488,3284,3353,3215,0,0,0,0,0,0,26.44,26.72,28.83
$GC,1569,-1.25,-219.0,2431,2486,3354,3215,454.5,-23.1,90,1574,0.00,1.83,0.00,0.000,260,0.000,0.052,2423,3673,3284,3354,3215,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1613,-1.25,-219.0,1456,3672,3335,3209,464.2,-22.6,92,1619,0.00,1.67,0.00,0.000,1030,0.000,0.025,2422,2496,3284,3354,3215,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1938,-1.25,-219.0,2422,2495,3354,3215,534.0,-21.8,108,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2495,3283,3354,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2237,-1.25,-219.0,2422,2495,3354,3215,601.1,-22.6,123,2244,0.00,1.83,0.00,0.000,260,0.000,0.052,2413,3677,3284,3354,3215,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2342,-1.25,-219.0,1488,3676,3337,3211,621.6,-21.6,126,2348,0.00,1.67,0.00,0.000,1030,0.000,0.025,2414,2496,3284,3354,3215,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2666,-1.25,-219.0,2412,2494,3354,3215,694.5,-21.8,137,2672,0.00,1.83,0.00,0.000,260,0.000,0.053,2404,3673,3284,3354,3215,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2724,-1.25,-219.0,2404,3673,3354,3215,702.2,-21.8,138,2733,0.10,1.67,0.00,0.000,3078,0.161,0.025,2430,2488,3284,3354,3215,0,0,0,0,0,0,26.55,26.77,28.83
$GC,3032,-1.25,-219.0,2430,2488,3354,3213,765.1,-18.0,149,3038,0.00,2.00,0.00,0.000,516,0.000,0.029,2431,1114,3283,3354,3212,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3066,-1.25,-219.0,2430,1114,3354,3212,771.5,-17.8,150,3072,0.00,2.12,0.00,0.000,1030,0.000,0.041,2420,2506,3283,3354,3212,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3401,-1.25,-219.0,2420,2506,3354,3207,831.9,-17.6,161,3406,0.00,1.80,0.00,0.000,260,0.000,0.054,2412,3673,3280,3354,3207,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3444,-1.25,-219.0,2410,3673,3354,3206,838.1,-17.7,162,3450,0.00,1.67,0.00,0.000,1030,0.000,0.027,2411,2497,3280,3354,3206,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3767,-1.25,-219.0,2411,2495,3354,3202,896.1,-16.9,173,3774,0.00,2.05,0.00,0.000,516,0.000,0.030,2411,1104,3277,3354,3201,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3816,-1.25,-219.0,2411,1103,3354,3201,901.9,-17.0,174,3823,0.12,2.12,0.00,0.000,3078,0.161,0.041,2434,2502,3277,3354,3201,0,0,0,0,0,0,26.49,26.65,28.83
$GC,4135,-1.25,-219.0,2434,2502,3354,3196,955.2,-15.6,185,4141,0.00,1.85,0.00,0.000,260,0.000,0.055,2425,3689,3275,3354,3197,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4183,-1.25,-219.0,2425,3689,3354,3196,960.4,-15.6,186,4189,0.00,1.70,0.00,0.000,1030,0.000,0.029,2426,2505,3275,3354,3196,0,0,0,0,0,0,28.83,26.78,28.83
$STATE,4230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4230,begin apogee
$GC,4235,-0.20,0.0,2425,1998,3354,3194,970.3,-15.8,188,4575,1.00,0.00,330.52,0.752,10246,0.112,0.000,2765,1997,2375,2536,2215,0,0,0,0,0,0,26.48,28.83,24.51
$STATE,4578,end apogee,CONTROL_FINISHED_OK
$STATE,4578,begin climb
$GC,4580,1.25,219.0,2765,1997,2532,2202,990.1,0.0,198,4825,1.27,2.30,230.43,0.897,10756,0.041,0.040,3260,627,1471,1569,1374,0,0,0,0,0,0,25.27,24.89,24.20
$GC,4921,1.25,219.0,3260,627,1552,1356,937.1,24.2,209,4927,0.00,2.17,0.00,0.000,1030,0.000,0.031,3261,2011,1454,1552,1356,0,0,0,0,0,0,28.83,25.62,28.83
$GC,5255,1.25,219.0,3261,2011,1547,1353,852.5,25.8,220,5260,0.00,2.15,0.00,0.000,516,0.000,0.038,3272,622,1450,1547,1353,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5293,1.25,219.0,3271,622,1547,1353,843.8,25.8,221,5300,0.12,2.10,0.00,0.000,5126,0.171,0.032,3240,2005,1449,1546,1353,0,0,0,0,0,0,26.06,26.25,28.83
$GC,5624,1.25,219.0,3240,2005,1545,1350,765.2,23.2,232,5630,0.00,2.17,0.00,0.000,260,0.000,0.046,3240,3402,1447,1545,1350,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5647,1.25,219.0,3240,3402,1546,1350,765.2,23.2,232,5653,0.00,2.08,0.00,0.000,1030,0.000,0.029,3252,2012,1447,1545,1350,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5962,1.25,219.0,3251,2011,1544,1347,687.0,21.8,243,5968,0.00,2.15,0.00,0.000,516,0.000,0.038,3263,594,1445,1544,1347,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6009,1.25,219.0,3263,594,1544,1347,679.0,21.8,244,6015,0.00,2.10,0.00,0.000,1030,0.000,0.033,3262,1998,1445,1544,1347,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6328,1.25,219.0,3263,1998,1545,1345,602.2,23.5,255,6334,0.00,2.17,0.00,0.000,260,0.000,0.047,3263,3402,1443,1542,1345,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6404,1.25,219.0,3262,3402,1541,1346,584.1,26.2,258,6411,0.15,2.10,0.00,0.000,5126,0.172,0.030,3235,1990,1443,1541,1345,0,0,0,0,0,0,26.36,26.60,28.83
$GC,6719,1.25,219.0,3234,1990,1540,1342,508.0,20.9,274,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1990,1441,1540,1342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7019,1.25,219.0,3235,1990,1539,1341,447.7,20.7,289,7025,0.00,2.20,0.00,0.000,260,0.000,0.046,3235,3405,1441,1539,1344,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7079,1.25,219.0,3234,3405,1539,1341,439.0,19.6,291,7088,0.00,2.10,0.00,0.000,1030,0.000,0.031,3246,1991,1440,1539,1341,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7386,1.25,219.0,3246,1990,1541,1339,369.0,22.4,307,7393,0.00,2.20,0.00,0.000,260,0.000,0.046,3246,3410,1439,1539,1339,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7446,1.25,219.0,3246,3409,1538,1339,358.9,22.2,309,7454,0.00,2.10,0.00,0.000,1030,0.000,0.031,3258,1994,1438,1538,1339,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7752,1.25,219.0,3257,1994,1538,1338,293.1,20.0,325,7758,0.00,2.17,0.00,0.000,260,0.000,0.045,3258,3405,1438,1538,1338,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7888,1.25,219.0,3258,3405,1538,1338,267.3,20.8,331,7894,0.12,2.08,0.00,0.000,5126,0.169,0.030,3236,1996,1440,1542,1338,0,0,0,0,0,0,26.45,26.68,28.83
$GC,8203,1.25,219.0,3236,1996,1538,1338,213.6,15.2,347,8209,0.00,2.10,0.00,0.000,516,0.000,0.041,3247,607,1437,1539,1335,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8289,1.25,219.0,3247,607,1539,1338,201.4,14.0,351,8295,0.00,2.08,0.00,0.000,1030,0.000,0.032,3247,2003,1438,1538,1338,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8615,1.25,219.0,3247,2003,1538,1338,150.3,16.6,367,8621,0.00,2.15,0.00,0.000,260,0.000,0.045,3247,3407,1438,1539,1338,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8768,1.25,219.0,3247,3407,1539,1338,123.4,18.3,374,8774,0.00,2.08,0.00,0.000,1030,0.000,0.028,3259,1996,1438,1539,1338,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9088,1.25,219.0,3259,1996,1539,1338,67.2,17.0,390,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1996,1438,1539,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9388,1.25,219.0,2240,1994,1509,1334,21.1,14.6,416,9396,0.00,2.17,0.00,0.000,260,0.000,0.045,3259,3404,1440,1542,1338,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,9502,end climb,SURFACE_DEPTH_REACHED
$STATE,9502,begin surface coast
$FINISH,0.5,1.023210
$STATE,9520,end surface coast,CONTROL_FINISHED_OK
$STATE,9520,begin surface
$SM_CCo,9538,82.22,0.059,0,0,748,400.08
$SM_GC,1.30,8.07,1.38,82.22,0.044,0.033,0.059,136,2492,748,-8.35,1.61,400.08,0,0,0,0,0,0,26.67,26.73,26.51
$IRIDIUM_FIX,2143.45,12400.73,190313,212156
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.72
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3972896
$24V_AH,24.2,22.360
$10V_AH,10.4,16.577
$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,19.900,84.125,560.950,82.225,0.000,0.000,0.000,195.200,0.000,0.000,12.631,1881.619,5722.728,697.036,1412.212,234.971,0.000,1614.884,0.000,1145.652,0.000,0.538,0.000
$DEVICE_MAMPS,215.730,55.080,896.580,58.905,0.000,0.000,0.000,122.400,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9525.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.892,0.000,0.000,0.000
$MEM,329708
$DATA_FILE_SIZE,16763,440
$CAP_FILE_SIZE,246563,0
$CFSIZE,260034560,237481984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.147,115.3,1
$GPS,200313,024813,2148.368,12400.381,10,1.6,11,-2.9