version: 66.11
glider: 171
mission: 4
dive: 151
start: 3 20 113 5 46 20
data:
$ID,171
$MISSION,4
$DIVE,151
$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,-20696.582
$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,53
$R_STBD_OVSHOOT,30
$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
$GPS1,200313,054030,2146.260,12359.354,37,1.9,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.3
$GPS2,200313,054554,2146.266,12359.383,16,1.0,16,-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,184.0,30143,-12.0,-8.739,-16.47,3810
$D_GRID,5404
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.25,-219.0,137,2495,829,667,0.0,0.0,0,81,0.00,0.00,-60.88,0.000,16386,0.000,0.000,137,2495,2470,2542,2398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.25,-219.0,137,2495,2547,2398,3.2,-5.0,8,116,8.73,1.85,-15.12,0.000,18692,0.218,0.066,2414,3673,3275,3344,3206,0,0,0,0,0,0,25.96,26.30,26.66
$GC,156,-1.25,-219.0,2414,3673,3347,3206,29.1,-36.6,18,162,0.00,1.70,0.00,0.000,1030,0.000,0.025,2414,2485,3276,3347,3205,0,0,0,0,0,0,28.83,26.43,28.83
$GC,480,-1.25,-219.0,2414,2483,3349,3205,142.9,-35.1,37,485,0.00,1.85,0.00,0.000,260,0.000,0.052,2406,3674,3276,3348,3205,0,0,0,0,0,0,28.83,26.47,28.83
$GC,584,-1.25,-219.0,2405,3675,3349,3206,181.0,-36.3,42,590,0.00,1.73,0.00,0.000,1030,0.000,0.024,2409,2496,3277,3349,3206,0,0,0,0,0,0,28.83,26.61,28.83
$GC,909,-1.25,-219.0,2405,2495,3348,3206,278.9,-28.7,58,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2495,3278,3350,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1208,-1.25,-219.0,2405,2497,3352,3206,365.9,-29.2,73,1214,0.00,1.83,0.00,0.000,260,0.000,0.052,2396,3676,3279,3353,3206,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1368,-1.25,-219.0,2396,3675,3352,3206,407.6,-27.3,80,1377,0.10,1.70,0.00,0.000,3078,0.139,0.024,2430,2499,3279,3352,3206,0,0,0,0,0,0,26.46,26.72,28.83
$GC,1675,-1.25,-219.0,2430,2498,3354,3206,479.5,-20.6,96,1681,0.00,1.83,0.00,0.000,260,0.000,0.053,2422,3676,3280,3354,3206,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1761,-1.25,-219.0,2421,3676,3354,3206,500.4,-23.9,100,1767,0.00,1.67,0.00,0.000,1030,0.000,0.024,2422,2496,3280,3354,3206,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2086,-1.25,-219.0,2421,2494,3355,3206,581.5,-24.5,116,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2494,3280,3355,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2396,-1.25,-219.0,2421,2495,3355,3206,647.3,-20.2,128,2402,0.00,1.83,0.00,0.000,260,0.000,0.053,2413,3671,3280,3355,3206,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2449,-1.25,-219.0,2413,3671,3355,3206,654.7,-20.2,129,2456,0.00,1.70,0.00,0.000,1030,0.000,0.026,2413,2504,3280,3355,3206,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2765,-1.25,-219.0,2412,2502,3355,3206,720.1,-19.0,140,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2502,3280,3355,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3065,-1.25,-219.0,2412,2502,3355,3202,777.7,-19.4,150,3070,0.00,1.83,0.00,0.000,260,0.000,0.055,2404,3674,3277,3354,3201,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3087,-1.25,-219.0,2404,3674,3355,3202,777.7,-19.4,150,3093,0.10,1.67,0.00,0.000,3078,0.158,0.028,2430,2496,3278,3355,3201,0,0,0,0,0,0,26.56,26.78,28.83
$GC,3401,-1.25,-219.0,2430,2495,3355,3197,837.0,-16.8,161,3407,0.00,2.03,0.00,0.000,516,0.000,0.030,2430,1111,3275,3355,3196,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3480,-1.25,-219.0,2430,1111,3355,3196,847.7,-17.1,163,3486,0.00,2.12,0.00,0.000,1030,0.000,0.040,2420,2504,3275,3354,3196,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3799,-1.25,-219.0,2420,2504,3354,3191,906.5,-17.8,174,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2504,3272,3354,3191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4098,-1.25,-219.0,2420,2504,3354,3185,959.8,-17.5,184,4105,0.00,2.05,0.00,0.000,516,0.000,0.029,2420,1111,3269,3354,3185,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4117,-1.25,-219.0,2420,1112,3354,3185,959.8,-17.5,184,4123,0.00,2.12,0.00,0.000,1030,0.000,0.041,2409,2504,3269,3354,3185,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,4164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4164,begin apogee
$GC,4170,-0.20,0.0,2409,2003,3354,3183,971.7,-17.7,186,4504,1.05,0.00,325.35,0.757,10246,0.116,0.000,2764,2002,2378,2538,2218,0,0,0,0,0,0,26.47,28.83,24.53
$STATE,4506,end apogee,CONTROL_FINISHED_OK
$STATE,4507,begin climb
$GC,4509,1.25,219.0,2764,2002,2533,2204,993.1,0.0,196,4750,1.27,2.22,229.90,0.905,10756,0.043,0.037,3258,628,1476,1575,1378,0,0,0,0,0,0,25.25,24.88,24.20
$GC,4809,1.25,219.0,3258,627,1554,1358,953.1,22.5,205,4815,0.00,2.17,0.00,0.000,1030,0.000,0.032,3258,2009,1455,1553,1358,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5128,1.25,219.0,3258,2009,1547,1353,863.5,27.4,216,5134,0.00,2.15,0.00,0.000,516,0.000,0.037,3270,622,1450,1547,1353,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5167,1.25,219.0,3269,622,1547,1352,853.9,27.8,217,5173,0.12,2.10,0.00,0.000,5126,0.174,0.032,3238,2005,1449,1547,1352,0,0,0,0,0,0,26.02,26.20,28.83
$GC,5497,1.25,219.0,3238,2005,1546,1349,767.5,25.2,228,5503,0.00,2.12,0.00,0.000,516,0.000,0.037,3249,618,1447,1546,1349,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5582,1.25,219.0,3249,618,1545,1348,751.8,24.3,230,5587,0.00,2.08,0.00,0.000,1030,0.000,0.033,3249,2001,1446,1545,1348,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5897,1.25,219.0,3249,2001,1544,1346,674.3,23.0,241,5903,0.00,2.20,0.00,0.000,260,0.000,0.047,3249,3409,1445,1544,1346,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5965,1.25,219.0,3249,3409,1542,1346,658.2,23.4,243,5971,0.00,2.08,0.00,0.000,1030,0.000,0.029,3261,2012,1444,1543,1346,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6275,1.25,219.0,3260,2012,1540,1344,588.8,21.7,254,6281,0.00,2.17,0.00,0.000,260,0.000,0.047,3261,3408,1442,1541,1344,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6330,1.25,219.0,3261,3408,1540,1344,578.6,22.1,256,6337,0.12,2.10,0.00,0.000,5126,0.175,0.030,3240,1992,1440,1540,1341,0,0,0,0,0,0,26.38,26.60,28.83
$GC,6646,1.25,219.0,3240,1991,1539,1341,508.3,23.6,272,6652,0.00,2.10,0.00,0.000,516,0.000,0.040,3251,606,1440,1539,1341,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6679,1.25,219.0,3250,606,1539,1341,502.3,23.3,273,6685,0.00,2.08,0.00,0.000,1030,0.000,0.032,3250,2002,1440,1539,1341,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6993,1.25,219.0,3250,2002,1538,1340,427.8,21.3,289,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2002,1439,1538,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7293,1.25,219.0,3250,2002,1538,1339,375.3,17.1,304,7299,0.00,2.17,0.00,0.000,260,0.000,0.046,3251,3415,1438,1538,1338,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7389,1.25,219.0,3250,3415,1538,1339,360.3,17.6,308,7396,0.00,2.10,0.00,0.000,1030,0.000,0.030,3262,2000,1438,1538,1339,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7705,1.25,219.0,3261,2000,1538,1338,303.7,19.4,324,7710,0.00,2.17,0.00,0.000,260,0.000,0.047,3262,3412,1438,1538,1338,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7775,1.25,219.0,3261,3412,1538,1338,289.2,21.1,327,7782,0.15,2.08,0.00,0.000,5126,0.165,0.031,3233,1998,1437,1537,1338,0,0,0,0,0,0,26.44,26.68,28.83
$GC,8096,1.25,219.0,3233,1997,1538,1341,225.8,19.6,343,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1997,1438,1538,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8395,1.25,219.0,3233,1997,1538,1338,170.1,16.0,358,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1996,1437,1537,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8695,1.25,219.0,3236,1997,1538,1338,133.6,12.4,373,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1997,1438,1538,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8995,1.25,219.0,3233,1997,1538,1338,94.5,13.4,388,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1997,1437,1538,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9295,1.25,219.0,3233,1997,1539,1338,53.0,12.6,403,9302,0.00,2.17,0.00,0.000,260,0.000,0.046,3233,3411,1439,1540,1338,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9320,1.25,219.0,3233,3411,1541,1338,50.1,11.9,404,9326,0.00,2.08,0.00,0.000,1030,0.000,0.029,3244,1994,1439,1541,1338,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9634,1.25,219.0,3244,1994,1542,1338,9.8,14.7,443,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1996,1440,1543,1338,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9682,end climb,SURFACE_DEPTH_REACHED
$STATE,9682,begin surface coast
$FINISH,0.5,1.009713
$STATE,9705,end surface coast,CONTROL_FINISHED_OK
$STATE,9705,begin surface
$SM_CCo,9722,82.20,0.058,0,0,747,400.08
$SM_GC,1.23,7.90,0.77,82.20,0.034,0.045,0.058,138,2492,747,-8.34,-1.22,400.08,0,0,0,0,0,0,26.70,26.66,26.52
$IRIDIUM_FIX,2141.13,12359.43,200313,020222
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.60
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3972256
$24V_AH,24.2,22.631
$10V_AH,10.3,16.732
$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,19.550,69.325,555.250,82.200,0.000,0.000,0.000,182.825,0.000,0.000,16.924,1845.620,6029.015,666.235,1353.420,231.165,0.000,1539.546,0.000,1100.219,0.000,0.537,0.000
$DEVICE_MAMPS,218.025,65.790,904.995,58.140,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9705.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.979,0.000,0.000,0.000
$MEM,329732
$DATA_FILE_SIZE,16825,456
$CAP_FILE_SIZE,241034,0
$CFSIZE,260034560,237318144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,211.3,1
$GPS,200313,083105,2143.810,12358.880,41,1.1,42,-2.9