version: 66.11
glider: 171
mission: 4
dive: 150
start: 3 20 113 2 54 9
data:
$ID,171
$MISSION,4
$DIVE,150
$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,-20695.324
$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,60
$R_STBD_OVSHOOT,41
$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
$GPS1,200313,024813,2148.368,12400.381,10,1.6,11,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-68.2
$GPS2,200313,025343,2148.362,12400.484,16,1.6,16,-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,211.4,34017,-12.0,-8.739,-16.47,3810
$D_GRID,5366
$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,18,-1.25,-219.0,132,2489,829,665,0.0,0.0,0,81,0.00,0.00,-61.42,0.000,16386,0.000,0.000,132,2489,2466,2541,2391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.25,-219.0,131,2489,2546,2391,3.3,-6.0,8,116,8.80,2.05,-14.93,0.000,18948,0.220,0.042,2424,1099,3274,3343,3206,0,0,0,0,0,0,25.95,26.36,26.65
$GC,145,-1.25,-219.0,1456,1098,3327,3201,25.3,-33.7,17,154,0.00,2.15,0.00,0.000,1030,0.000,0.041,2414,2487,3276,3347,3206,0,0,0,0,0,0,28.83,26.32,28.83
$GC,462,-1.25,-219.0,2414,2487,3350,3206,131.2,-32.3,37,469,0.00,1.83,0.00,0.000,260,0.000,0.052,2405,3674,3278,3350,3206,0,0,0,0,0,0,28.83,26.46,28.83
$GC,658,-1.25,-219.0,2404,3674,3354,3207,191.7,-32.8,46,664,0.00,1.70,0.00,0.000,1030,0.000,0.024,2405,2483,3278,3350,3207,0,0,0,0,0,0,28.83,26.61,28.83
$GC,972,-1.25,-219.0,2405,2482,3355,3208,292.1,-30.4,62,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2482,3281,3355,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1272,-1.25,-219.0,2404,2482,3355,3207,374.0,-26.5,77,1279,0.10,1.85,0.00,0.000,2308,0.182,0.050,2420,3676,3281,3356,3207,0,0,0,0,0,0,26.54,26.60,28.83
$GC,1377,-1.25,-219.0,2420,3676,3355,3207,401.3,-25.7,82,1383,0.00,1.67,0.00,0.000,1030,0.000,0.024,2420,2497,3279,3352,3207,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1703,-1.25,-219.0,2420,2495,3357,3207,479.4,-23.3,98,1709,0.00,1.83,0.00,0.000,260,0.000,0.052,2411,3673,3282,3357,3207,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1732,-1.25,-219.0,2411,3673,3357,3207,485.5,-23.4,99,1737,0.00,1.67,0.00,0.000,1030,0.000,0.025,2411,2491,3282,3357,3207,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2052,-1.25,-219.0,2411,2489,3357,3207,558.9,-22.4,115,2058,0.00,1.83,0.00,0.000,260,0.000,0.053,2402,3673,3282,3357,3207,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2118,-1.25,-219.0,2400,3673,3357,3207,574.7,-23.5,118,2125,0.08,1.70,0.00,0.000,3078,0.135,0.025,2429,2498,3282,3357,3207,0,0,0,0,0,0,26.53,26.77,28.83
$GC,2443,-1.25,-219.0,2428,2498,3357,3207,636.8,-18.1,131,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2497,3282,3357,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2743,-1.25,-219.0,2428,2497,3357,3207,689.9,-17.9,141,2749,0.00,1.83,0.00,0.000,260,0.000,0.054,2420,3673,3282,3357,3207,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2843,-1.25,-219.0,2420,3673,3357,3206,707.2,-18.3,144,2849,0.00,1.67,0.00,0.000,1030,0.000,0.026,2420,2493,3281,3357,3206,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3172,-1.25,-219.0,2420,2492,3357,3202,766.5,-17.7,155,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2492,3279,3357,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3473,-1.25,-219.0,2420,2491,3356,3198,820.5,-18.2,165,3478,0.00,1.85,0.00,0.000,260,0.000,0.055,2411,3677,3277,3356,3198,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3573,-1.25,-219.0,2411,3677,3356,3197,837.6,-18.0,168,3579,0.00,1.67,0.00,0.000,1030,0.000,0.028,2411,2504,3276,3356,3197,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3901,-1.25,-219.0,2411,2502,3356,3192,895.2,-16.5,179,3908,0.00,2.05,0.00,0.000,516,0.000,0.031,2411,1108,3274,3356,3192,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3936,-1.25,-219.0,2411,1108,3356,3191,901.0,-16.5,180,3943,0.12,2.12,0.00,0.000,3078,0.164,0.041,2434,2502,3273,3356,3191,0,0,0,0,0,0,26.49,26.65,28.83
$GC,4271,-1.25,-219.0,2434,2502,3359,3186,952.8,-15.3,191,4277,0.00,1.83,0.00,0.000,260,0.000,0.056,2426,3676,3271,3356,3186,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4305,-1.25,-219.0,2425,3676,3355,3185,958.0,-15.4,192,4312,0.00,1.70,0.00,0.000,1030,0.000,0.028,2426,2499,3270,3356,3185,0,0,0,0,0,0,28.83,26.78,28.83
$STATE,4398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4399,begin apogee
$GC,4404,-0.20,0.0,2425,1993,3355,3185,972.8,-15.5,195,4743,1.00,0.00,330.75,0.748,10246,0.112,0.000,2766,1991,2379,2540,2219,0,0,0,0,0,0,26.48,28.83,24.53
$STATE,4745,end apogee,CONTROL_FINISHED_OK
$STATE,4745,begin climb
$GC,4747,1.25,219.0,2765,1991,2532,2210,988.8,0.0,205,4994,1.27,2.40,236.25,0.882,11012,0.043,0.047,3248,3413,1478,1575,1381,0,0,0,0,0,0,25.25,24.91,24.30
$GC,5063,1.25,219.0,3248,3412,1559,1370,941.0,24.4,216,5069,0.00,2.15,0.00,0.000,1030,0.000,0.028,3260,2021,1464,1559,1369,0,0,0,0,0,0,28.83,25.52,28.83
$GC,5381,1.25,219.0,3259,2020,1551,1360,853.6,26.2,227,5388,0.00,2.20,0.00,0.000,516,0.000,0.039,3270,596,1455,1551,1360,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5430,1.25,219.0,3270,596,1551,1360,844.3,26.1,228,5437,0.12,2.15,0.00,0.000,5126,0.172,0.032,3239,2014,1455,1551,1359,0,0,0,0,0,0,26.02,26.21,28.83
$GC,5750,1.25,219.0,3239,2014,1549,1357,765.0,23.4,239,5751,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2014,1453,1549,1357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6051,1.25,219.0,3239,2014,1547,1356,694.4,23.2,249,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2014,1451,1547,1356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6350,1.25,219.0,3239,2014,1547,1355,629.8,21.7,259,6352,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2014,1451,1547,1355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6660,1.25,219.0,3239,2014,1546,1353,561.8,20.8,272,6666,0.00,2.17,0.00,0.000,516,0.000,0.041,3251,594,1449,1546,1353,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6693,1.25,219.0,3250,594,1547,1353,556.7,20.9,273,6699,0.00,2.10,0.00,0.000,1030,0.000,0.032,3251,2002,1449,1546,1353,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7007,1.25,219.0,3250,2002,1545,1351,493.2,20.2,289,7013,0.00,2.17,0.00,0.000,260,0.000,0.047,3251,3408,1448,1545,1351,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7128,1.25,219.0,3250,3408,1544,1350,470.9,21.2,294,7136,0.00,2.10,0.00,0.000,1030,0.000,0.030,3262,1994,1447,1544,1350,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7434,1.25,219.0,3262,1994,1542,1348,407.9,19.6,310,7440,0.00,2.10,0.00,0.000,516,0.000,0.041,3273,607,1445,1543,1348,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7586,1.25,219.0,3276,605,1542,1348,376.3,21.9,317,7593,0.12,2.08,0.00,0.000,5126,0.168,0.031,3240,2007,1445,1542,1348,0,0,0,0,0,0,26.44,26.65,28.83
$GC,7907,1.25,219.0,3239,2007,1542,1349,313.7,18.6,333,7914,0.00,2.15,0.00,0.000,260,0.000,0.046,3239,3400,1445,1542,1348,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8013,1.25,219.0,2240,3399,1512,1344,292.5,19.7,338,8020,0.00,2.08,0.00,0.000,1030,0.000,0.030,3251,1996,1445,1543,1348,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8339,1.25,219.0,3251,1996,1542,1348,233.1,18.2,354,8345,0.00,2.10,0.00,0.000,516,0.000,0.039,3262,606,1445,1543,1348,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8418,1.25,219.0,2304,606,1513,1345,220.6,18.5,357,8426,0.00,2.08,0.00,0.000,1030,0.000,0.031,3262,2006,1445,1542,1348,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8725,1.25,219.0,3262,2006,1542,1348,165.1,17.7,373,8731,0.00,2.12,0.00,0.000,516,0.000,0.039,3273,604,1445,1542,1348,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8835,1.25,219.0,3273,604,1542,1348,148.0,16.2,378,8841,0.15,2.05,0.00,0.000,5126,0.155,0.031,3232,2002,1445,1542,1348,0,0,0,0,0,0,26.46,26.68,28.83
$GC,9156,1.25,219.0,3231,2001,1542,1348,97.4,15.9,394,9162,0.00,2.15,0.00,0.000,260,0.000,0.045,3232,3406,1445,1543,1348,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9232,1.25,219.0,3231,3406,1544,1348,85.6,17.0,397,9238,0.00,2.08,0.00,0.000,1030,0.000,0.029,3243,1993,1445,1543,1348,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9547,1.25,219.0,3243,1993,1545,1348,34.0,14.7,418,9552,0.00,2.08,0.00,0.000,516,0.000,0.039,3254,606,1446,1545,1348,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9635,1.25,219.0,3254,606,1545,1347,23.2,12.2,427,9643,0.00,2.05,0.00,0.000,1030,0.000,0.030,3254,2007,1447,1546,1348,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,9785,end climb,SURFACE_DEPTH_REACHED
$STATE,9786,begin surface coast
$FINISH,0.4,1.013661
$STATE,9803,end surface coast,CONTROL_FINISHED_OK
$STATE,9803,begin surface
$SM_CCo,9821,83.15,0.059,0,0,747,400.08
$SM_GC,1.17,7.95,0.75,83.15,0.035,0.051,0.059,139,2492,747,-8.33,-1.19,400.08,0,0,0,0,0,0,26.70,26.65,26.51
$IRIDIUM_FIX,2143.45,12359.43,200313,000020
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.05
$INTERNAL_PRESSURE,9.61321
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3972576
$24V_AH,24.3,22.496
$10V_AH,10.3,16.656
$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,19.725,77.000,567.000,83.150,0.000,0.000,0.000,190.200,0.000,0.000,18.075,1972.739,5864.540,706.979,1449.982,237.787,0.000,1619.187,0.000,1183.363,0.000,0.538,0.000
$DEVICE_MAMPS,220.320,55.845,882.045,58.905,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9807.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.914,0.000,0.000,0.000
$MEM,329660
$DATA_FILE_SIZE,16803,458
$CAP_FILE_SIZE,251950,0
$CFSIZE,260034560,237391872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.141,171.2,1
$GPS,200313,054030,2146.260,12359.354,37,1.9,38,-2.9