version: 66.11
glider: 171
mission: 4
dive: 184
start: 3 24 113 5 44 23
data:
$ID,171
$MISSION,4
$DIVE,184
$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,-20745.271
$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,65
$R_STBD_OVSHOOT,46
$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
$GPS1,240313,053751,2152.715,12334.871,14,2.2,34,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.6
$GPS2,240313,054357,2152.759,12335.015,11,6.9,30,-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,297.9,256250,-12.0,-8.739,-16.47,3810
$D_GRID,4778
$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,-219.0,122,2490,829,666,0.0,0.0,0,88,0.00,0.00,-67.40,0.000,16386,0.000,0.000,122,2490,2711,2775,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-1.25,-219.0,122,2490,2778,2647,4.3,-7.5,9,117,8.88,2.12,-9.43,0.000,18948,0.220,0.042,2415,1094,3277,3342,3213,0,0,0,0,0,0,25.88,26.35,26.64
$GC,194,-1.25,-219.0,2415,1094,3345,3213,43.9,-32.6,21,199,0.00,2.12,0.00,0.000,1030,0.000,0.041,2405,2483,3279,3345,3213,0,0,0,0,0,0,28.83,26.33,28.83
$GC,519,-1.25,-219.0,2404,2483,3350,3213,154.0,-33.0,38,524,0.00,1.85,0.00,0.000,260,0.000,0.052,2395,3673,3281,3350,3213,0,0,0,0,0,0,28.83,26.45,28.83
$GC,552,-1.25,-219.0,2395,3673,3350,3213,162.2,-33.3,39,558,0.00,1.67,0.00,0.000,1030,0.000,0.024,2396,2495,3281,3350,3213,0,0,0,0,0,0,28.83,26.58,28.83
$GC,866,-1.25,-219.0,2395,2493,3352,3212,259.2,-28.8,55,872,0.00,1.88,0.00,0.000,260,0.000,0.052,2387,3696,3282,3352,3213,0,0,0,0,0,0,28.83,26.51,28.83
$GC,905,-1.25,-219.0,2387,3696,3352,3213,266.2,-29.0,56,913,0.12,1.70,0.00,0.000,3078,0.164,0.023,2419,2492,3282,3352,3212,0,0,0,0,0,0,26.36,26.65,28.83
$GC,1211,-1.25,-219.0,2418,2490,3354,3213,350.7,-25.0,72,1216,0.00,1.83,0.00,0.000,260,0.000,0.054,2409,3671,3283,3354,3212,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1244,-1.25,-219.0,2410,3671,3353,3213,356.9,-24.7,73,1250,0.00,1.65,0.00,0.000,1030,0.000,0.024,2410,2501,3283,3354,3212,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1558,-1.25,-219.0,2410,2499,3354,3213,442.8,-25.9,89,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2499,3282,3354,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1858,-1.25,-219.0,2410,2499,3354,3213,510.1,-20.4,104,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2499,3283,3354,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2158,-1.25,-219.0,2410,2499,3354,3213,573.6,-21.1,119,2164,0.00,2.03,0.00,0.000,516,0.000,0.031,2410,1114,3283,3354,3213,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2182,-1.25,-219.0,2410,1114,3354,3213,578.5,-20.9,120,2188,0.00,2.12,0.00,0.000,1030,0.000,0.040,2399,2506,3283,3354,3213,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2497,-1.25,-219.0,2399,2506,3354,3213,647.4,-21.7,132,2503,0.00,1.80,0.00,0.000,260,0.000,0.053,2391,3673,3283,3354,3213,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2554,-1.25,-219.0,2390,3671,3354,3213,654.9,-21.5,133,2563,0.00,1.67,0.00,0.000,1030,0.000,0.024,2391,2488,3283,3354,3213,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2862,-1.25,-219.0,2390,2488,3354,3210,725.3,-21.2,144,2868,0.00,2.00,0.00,0.000,516,0.000,0.028,2391,1115,3281,3354,3209,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2890,-1.25,-219.0,2390,1114,3354,3209,725.3,-21.2,144,2899,0.15,2.10,0.00,0.000,3078,0.163,0.039,2420,2503,3281,3354,3208,0,0,0,0,0,0,26.42,26.62,28.83
$GC,3197,-1.25,-219.0,2420,2503,3354,3206,788.4,-17.8,155,3203,0.00,2.03,0.00,0.000,516,0.000,0.028,2421,1116,3279,3354,3205,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3215,-1.25,-219.0,2420,1116,3352,3205,788.4,-17.8,155,3221,0.00,2.10,0.00,0.000,1030,0.000,0.040,2410,2501,3279,3354,3205,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3533,-1.25,-219.0,2410,2501,3354,3201,850.8,-18.3,166,3539,0.00,1.80,0.00,0.000,260,0.000,0.054,2402,3669,3277,3354,3200,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3578,-1.25,-219.0,2401,3670,3354,3200,857.0,-18.3,167,3584,0.00,1.67,0.00,0.000,1030,0.000,0.027,2402,2507,3276,3354,3199,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3903,-1.25,-219.0,2401,2507,3354,3195,916.9,-17.8,178,3908,0.00,1.83,0.00,0.000,260,0.000,0.054,2391,3676,3274,3354,3194,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3968,-1.25,-219.0,2392,3676,3353,3194,928.8,-18.2,180,3973,0.00,1.70,0.00,0.000,1030,0.000,0.027,2393,2495,3273,3353,3193,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4211,begin apogee
$GC,4217,-0.20,0.0,2392,1987,3353,3189,973.8,-18.3,188,4551,1.08,0.00,324.80,0.758,10246,0.119,0.000,2752,1986,2376,2536,2217,0,0,0,0,0,0,26.39,28.83,24.49
$STATE,4553,end apogee,CONTROL_FINISHED_OK
$STATE,4554,begin climb
$GC,4556,1.25,219.0,2751,1986,2532,2212,994.4,0.0,198,4798,1.27,2.25,228.10,0.910,10756,0.046,0.037,3240,636,1473,1574,1372,0,0,0,0,0,0,25.25,24.88,24.17
$GC,4878,1.25,219.0,3240,635,1553,1356,951.7,21.5,208,4884,0.00,2.15,0.00,0.000,1030,0.000,0.032,3240,2014,1454,1553,1356,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5202,1.25,219.0,3240,2014,1550,1352,872.9,23.8,219,5208,0.00,2.20,0.00,0.000,260,0.000,0.047,3240,3411,1450,1549,1352,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5251,1.25,219.0,3240,3411,1549,1352,864.5,23.9,220,5258,0.12,2.10,0.00,0.000,5126,0.181,0.028,3221,2011,1450,1549,1352,0,0,0,0,0,0,26.03,26.27,28.83
$GC,5571,1.25,219.0,3221,2011,1547,1348,787.8,23.3,231,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2008,1447,1547,1348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5871,1.25,219.0,3221,2010,1546,1347,716.5,23.5,241,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2010,1446,1546,1347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6171,1.25,219.0,3221,2010,1545,1345,651.5,21.4,251,6177,0.00,2.15,0.00,0.000,516,0.000,0.039,3232,596,1445,1545,1345,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6198,1.25,219.0,3231,596,1548,1345,651.5,21.4,251,6208,0.00,2.10,0.00,0.000,1030,0.000,0.033,3232,2001,1445,1545,1345,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6516,1.25,219.0,3231,2002,1544,1343,580.1,20.0,264,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2002,1443,1544,1343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6815,1.25,219.0,3232,2002,1542,1341,514.4,22.3,279,6821,0.00,2.17,0.00,0.000,260,0.000,0.046,3232,3411,1441,1542,1341,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6861,1.25,219.0,3231,3411,1541,1341,503.9,22.7,281,6868,0.00,2.10,0.00,0.000,1030,0.000,0.030,3243,1996,1441,1541,1341,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7188,1.25,219.0,3243,1996,1540,1341,434.3,18.9,297,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1996,1440,1540,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7487,1.25,219.0,3243,1996,1539,1340,376.1,21.1,312,7493,0.00,2.20,0.00,0.000,260,0.000,0.045,3246,3415,1439,1539,1340,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7561,1.25,219.0,3243,3415,1539,1340,361.8,21.5,315,7568,0.12,2.10,0.00,0.000,5126,0.173,0.030,3223,1993,1439,1539,1340,0,0,0,0,0,0,26.39,26.65,28.83
$GC,7878,1.25,219.0,3223,1993,1539,1338,301.3,18.0,331,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1993,1438,1539,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8176,1.25,219.0,3223,1993,1539,1338,248.3,17.4,346,8183,0.00,2.10,0.00,0.000,516,0.000,0.040,3234,604,1440,1540,1341,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8248,1.25,219.0,3234,604,1539,1338,237.5,16.3,349,8254,0.00,2.08,0.00,0.000,1030,0.000,0.031,3234,2005,1439,1539,1339,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8568,1.25,219.0,3234,2005,1539,1338,182.9,17.1,365,8574,0.00,2.15,0.00,0.000,260,0.000,0.044,3234,3406,1438,1539,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8634,1.25,219.0,3234,3406,1539,1338,171.4,17.4,368,8641,0.00,2.08,0.00,0.000,1030,0.000,0.028,3246,1994,1438,1539,1338,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8960,1.25,219.0,3245,1994,1539,1339,119.7,16.4,384,8965,0.00,2.17,0.00,0.000,260,0.000,0.045,3246,3403,1438,1539,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8993,1.25,219.0,3245,3403,1536,1338,115.5,16.4,385,9000,0.12,2.05,0.00,0.000,5126,0.166,0.028,3224,1998,1438,1539,1338,0,0,0,0,0,0,26.42,26.68,28.83
$GC,9309,1.25,219.0,3224,1997,1539,1339,68.7,13.9,401,9316,0.00,2.10,0.00,0.000,516,0.000,0.040,3235,608,1438,1539,1338,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9391,1.25,219.0,3235,608,1539,1338,60.1,12.9,404,9399,0.00,2.05,0.00,0.000,1030,0.000,0.030,3235,2006,1438,1539,1338,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9700,1.25,219.0,2224,2004,1510,1335,16.6,13.0,438,9708,0.00,2.12,0.00,0.000,260,0.000,0.044,3235,3400,1440,1543,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9811,1.25,219.0,2240,3399,1513,1335,3.3,11.9,458,9819,0.00,2.03,0.00,0.000,1030,0.000,0.027,3247,1994,1441,1544,1338,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,9824,end climb,SURFACE_DEPTH_REACHED
$STATE,9824,begin surface coast
$FINISH,0.3,1.011459
$STATE,9847,end surface coast,CONTROL_FINISHED_OK
$STATE,9847,begin surface
$SM_CCo,9865,81.60,0.058,0,0,748,400.08
$SM_GC,1.21,7.88,0.77,81.60,0.031,0.047,0.058,112,2494,748,-8.29,-1.30,400.08,0,0,0,0,0,0,26.67,26.63,26.47
$IRIDIUM_FIX,2143.45,12334.32,240313,020246
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.07
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3961696
$24V_AH,24.2,27.162
$10V_AH,10.3,19.378
$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,19.750,81.600,552.900,81.600,0.000,0.000,0.000,204.000,0.000,0.000,32.211,1822.871,6174.248,688.463,1368.380,256.654,0.000,1586.997,0.000,1076.702,0.000,0.537,0.000
$DEVICE_MAMPS,219.555,54.315,910.350,58.140,0.000,0.000,0.000,121.635,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9847.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.003,0.000,0.000,0.000
$MEM,329720
$DATA_FILE_SIZE,16816,464
$CAP_FILE_SIZE,243544,0
$CFSIZE,260034560,234405888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,137.7,1
$GPS,240313,083130,2153.122,12333.739,40,0.9,41,-2.9