version: 66.11
glider: 171
mission: 4
dive: 170
start: 3 22 113 13 26 13
data:
$ID,171
$MISSION,4
$DIVE,170
$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,-20723.885
$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,2820
$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,35
$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
$GPS1,220313,131803,2140.137,12348.327,10,5.1,30,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-69.9
$GPS2,220313,132548,2140.187,12348.307,12,1.1,12,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,327.3,287748,-12.0,-8.739,-16.47,3810
$D_GRID,4941
$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,19,-1.25,-219.0,129,2502,829,666,0.0,0.0,0,82,0.00,0.00,-61.03,0.000,16386,0.000,0.000,129,2502,2471,2543,2400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.25,-219.0,129,2503,2547,2400,3.1,-3.9,8,117,8.88,1.83,-15.05,0.000,18692,0.223,0.068,2402,3668,3275,3345,3206,0,0,0,0,0,0,25.87,26.24,26.61
$GC,348,-1.25,-219.0,2402,3668,3350,3206,95.4,-33.3,31,355,0.00,1.70,0.00,0.000,1030,0.000,0.024,2402,2489,3278,3350,3206,0,0,0,0,0,0,28.83,26.49,28.83
$GC,669,-1.25,-219.0,2402,2487,3350,3206,206.2,-33.6,47,675,0.00,1.85,0.00,0.000,260,0.000,0.052,2393,3676,3278,3350,3206,0,0,0,0,0,0,28.83,26.49,28.83
$GC,905,-1.25,-219.0,2393,3676,3354,3206,278.0,-31.4,58,912,0.00,1.67,0.00,0.000,1030,0.000,0.024,2393,2492,3280,3354,3206,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1221,-1.25,-219.0,2393,2491,3354,3206,364.5,-25.2,74,1227,0.00,1.83,0.00,0.000,260,0.000,0.054,2384,3667,3280,3354,3206,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1276,-1.25,-219.0,2384,3667,3354,3206,376.9,-26.0,76,1283,0.10,1.70,0.00,0.000,3078,0.144,0.025,2417,2508,3280,3354,3206,0,0,0,0,0,0,26.41,26.70,28.83
$GC,1592,-1.25,-219.0,2414,2508,3355,3206,456.5,-23.9,92,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2508,3280,3355,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1891,-1.25,-219.0,2416,2508,3356,3205,525.5,-22.9,107,1897,0.00,2.08,0.00,0.000,516,0.000,0.033,2417,1106,3280,3355,3206,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1919,-1.25,-219.0,2417,1105,3355,3206,530.8,-22.5,108,1925,0.00,2.12,0.00,0.000,1030,0.000,0.042,2407,2499,3280,3355,3206,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2239,-1.25,-219.0,2407,2498,3355,3206,601.8,-20.2,124,2245,0.00,1.85,0.00,0.000,260,0.000,0.057,2398,3689,3280,3355,3206,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2336,-1.25,-219.0,2397,3689,3354,3206,622.3,-21.2,127,2342,0.00,1.73,0.00,0.000,1030,0.000,0.027,2398,2493,3280,3355,3206,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2671,-1.25,-219.0,2397,2489,3354,3206,694.6,-22.2,138,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2489,3280,3355,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2971,-1.25,-219.0,2398,2493,3355,3202,758.4,-20.8,148,2977,0.00,1.88,0.00,0.000,260,0.000,0.056,2389,3681,3278,3354,3202,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3050,-1.25,-219.0,2389,3681,3355,3201,772.1,-20.7,150,3056,0.12,1.70,0.00,0.000,3078,0.151,0.026,2423,2479,3278,3355,3201,0,0,0,0,0,0,26.51,26.77,28.83
$GC,3369,-1.25,-219.0,2422,2478,3355,3196,832.6,-17.7,161,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2478,3275,3354,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3670,-1.25,-219.0,2422,2477,3354,3191,883.2,-16.2,171,3676,0.00,1.88,0.00,0.000,260,0.000,0.057,2415,3674,3272,3354,3191,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3709,-1.25,-219.0,1472,3673,3336,3186,888.7,-16.2,172,3715,0.00,1.70,0.00,0.000,1030,0.000,0.028,2414,2516,3272,3354,3191,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4038,-1.25,-219.0,2414,2516,3354,3185,946.0,-17.9,183,4044,0.00,2.08,0.00,0.000,516,0.000,0.032,2414,1111,3269,3354,3185,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4083,-1.25,-219.0,2414,1111,3354,3185,952.2,-18.2,184,4089,0.00,2.15,0.00,0.000,1030,0.000,0.049,2404,2499,3269,3354,3184,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,4166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4166,begin apogee
$GC,4172,-0.20,0.0,2404,2004,3353,3184,970.0,-18.7,187,4506,1.02,0.00,326.05,0.757,10246,0.119,0.000,2748,2001,2379,2539,2220,0,0,0,0,0,0,26.44,28.83,24.51
$STATE,4508,end apogee,CONTROL_FINISHED_OK
$STATE,4508,begin climb
$GC,4510,1.25,219.0,2747,2001,2532,2211,990.1,0.0,197,4751,1.30,2.35,229.12,0.910,10756,0.048,0.044,3242,617,1479,1578,1381,0,0,0,0,0,0,25.24,24.88,24.18
$GC,4793,1.25,219.0,3241,618,1559,1361,951.1,21.9,206,4800,0.00,2.20,0.00,0.000,1030,0.000,0.035,3241,2004,1459,1559,1360,0,0,0,0,0,0,28.83,25.35,28.83
$GC,5124,1.25,219.0,3241,2004,1550,1354,870.0,23.5,217,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2004,1452,1550,1354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5424,1.25,219.0,3241,2004,1548,1351,801.0,23.3,227,5430,0.00,2.20,0.00,0.000,260,0.000,0.048,3241,3411,1449,1548,1351,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5458,1.25,219.0,3241,3411,1548,1351,792.0,24.0,228,5465,0.12,2.10,0.00,0.000,5126,0.177,0.028,3222,2012,1449,1548,1351,0,0,0,0,0,0,26.19,26.41,28.83
$GC,5793,1.25,219.0,3222,2012,1546,1348,714.8,22.8,239,5799,0.00,2.20,0.00,0.000,260,0.000,0.048,3222,3416,1447,1547,1347,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5842,1.25,219.0,3222,3414,1547,1347,706.1,23.5,240,5849,0.00,2.12,0.00,0.000,1030,0.000,0.030,3234,1990,1447,1547,1347,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6162,1.25,219.0,3233,1991,1546,1345,625.8,23.8,251,6168,0.00,2.22,0.00,0.000,260,0.000,0.047,3232,3415,1445,1545,1345,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6186,1.25,219.0,3232,3415,1546,1345,625.8,23.8,251,6191,0.00,2.10,0.00,0.000,1030,0.000,0.030,3245,2000,1445,1545,1345,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6510,1.25,219.0,3245,2000,1544,1344,549.3,22.0,266,6516,0.00,2.20,0.00,0.000,260,0.000,0.047,3246,3412,1443,1544,1343,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6543,1.25,219.0,3245,3412,1543,1344,544.0,22.1,267,6549,0.12,2.10,0.00,0.000,5126,0.175,0.031,3225,1999,1444,1544,1344,0,0,0,0,0,0,26.37,26.61,28.83
$GC,6859,1.25,219.0,3225,1999,1542,1341,475.0,21.8,283,6866,0.00,2.22,0.00,0.000,260,0.000,0.047,3225,3421,1440,1540,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6893,1.25,219.0,3225,3421,1542,1341,469.2,21.6,284,6899,0.00,2.12,0.00,0.000,1030,0.000,0.031,3237,1994,1441,1542,1341,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7207,1.25,219.0,3236,1995,1541,1340,402.2,19.4,300,7213,0.00,2.20,0.00,0.000,260,0.000,0.047,3237,3411,1440,1541,1340,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7361,1.25,219.0,2304,3409,1512,1337,373.4,18.8,307,7367,0.00,2.10,0.00,0.000,1030,0.000,0.030,3248,1997,1440,1540,1340,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7675,1.25,219.0,3248,1996,1540,1338,314.5,17.3,323,7681,0.00,2.20,0.00,0.000,260,0.000,0.046,3248,3416,1439,1540,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7687,1.25,219.0,3248,3416,1540,1338,314.5,17.3,323,7694,0.15,2.10,0.00,0.000,5126,0.169,0.030,3220,1996,1439,1540,1338,0,0,0,0,0,0,26.39,26.66,28.83
$GC,8005,1.25,219.0,3220,1996,1539,1339,258.3,18.1,339,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1994,1439,1540,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8302,1.25,219.0,3220,1996,1544,1338,209.5,13.7,354,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1996,1439,1540,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8603,1.25,219.0,3220,1996,1541,1338,160.4,15.6,369,8609,0.00,2.20,0.00,0.000,260,0.000,0.047,3220,3415,1439,1540,1338,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8682,1.25,219.0,2240,3414,1511,1335,150.6,14.9,372,8690,0.00,2.08,0.00,0.000,1030,0.000,0.029,3231,1997,1439,1540,1338,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8988,1.25,219.0,3231,1998,1540,1338,111.0,13.4,388,8994,0.00,2.20,0.00,0.000,260,0.000,0.047,3231,3418,1439,1540,1338,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9048,1.25,219.0,3231,3418,1540,1338,103.8,15.3,390,9056,0.00,2.08,0.00,0.000,1030,0.000,0.028,3243,2002,1439,1540,1339,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9354,1.25,219.0,3242,2002,1542,1338,49.8,15.8,406,9360,0.00,2.12,0.00,0.000,516,0.000,0.044,3254,605,1440,1542,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9414,1.25,219.0,3254,605,1542,1338,41.5,14.1,411,9424,0.12,2.08,0.00,0.000,5126,0.154,0.033,3220,2008,1440,1543,1338,0,0,0,0,0,0,26.47,26.66,28.83
$GC,9727,1.25,219.0,2176,2006,1511,1335,3.4,11.4,459,9735,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2008,1442,1545,1339,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9741,end climb,SURFACE_DEPTH_REACHED
$STATE,9741,begin surface coast
$FINISH,0.5,1.011543
$STATE,9769,end surface coast,CONTROL_FINISHED_OK
$STATE,9769,begin surface
$SM_CCo,9786,82.03,0.059,0,0,748,400.08
$SM_GC,1.32,7.78,0.75,82.03,0.029,0.049,0.059,132,2503,748,-8.30,-1.10,400.08,0,0,0,0,0,0,26.68,26.65,26.49
$IRIDIUM_FIX,2129.53,12350.40,220313,101050
$TT8_MAMPS,0.049434,0.049434
$HUMID,44.40
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3966176
$24V_AH,24.2,25.171
$10V_AH,10.3,18.260
$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,19.725,78.675,555.175,82.025,0.000,0.000,0.000,262.175,0.000,0.000,12.978,1950.615,5936.448,681.268,1507.132,253.149,0.000,1673.883,0.000,1177.606,0.000,0.538,0.000
$DEVICE_MAMPS,223.380,68.085,910.350,58.905,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9770.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.956,0.000,0.000,0.000
$MEM,329696
$DATA_FILE_SIZE,16780,466
$CAP_FILE_SIZE,253408,0
$CFSIZE,260034560,235618304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024,227.9,1
$GPS,220313,161200,2141.522,12347.423,38,1.1,39,-2.9