version: 66.11
glider: 171
mission: 4
dive: 188
start: 3 24 113 17 7 54
data:
$ID,171
$MISSION,4
$DIVE,188
$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,-20750.4
$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,62
$R_STBD_OVSHOOT,44
$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
$GPS1,240313,170137,2156.052,12330.864,10,1.9,11,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.4
$GPS2,240313,170727,2156.063,12331.023,16,6.6,35,-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,294.8,247281,-12.0,-8.739,-16.47,3810
$D_GRID,4756
$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,-219.0,130,2488,827,668,0.0,0.0,0,81,0.00,0.00,-61.28,0.000,16386,0.000,0.000,128,2488,2488,2553,2423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.25,-219.0,128,2488,2555,2424,3.4,-5.3,8,115,8.70,0.00,-14.68,0.000,18950,0.216,0.000,2409,2489,3276,3347,3205,0,0,0,0,0,0,25.90,28.83,26.66
$GC,435,-1.25,-219.0,2408,2489,3351,3206,121.9,-32.7,35,441,0.00,1.83,0.00,0.000,260,0.000,0.054,2401,3658,3278,3351,3206,0,0,0,0,0,0,28.83,26.41,28.83
$GC,488,-1.25,-219.0,2401,3656,3351,3206,136.5,-33.5,37,495,0.00,1.67,0.00,0.000,1030,0.000,0.024,2401,2486,3279,3352,3206,0,0,0,0,0,0,28.83,26.56,28.83
$GC,804,-1.25,-219.0,2400,2484,3354,3205,240.6,-31.0,53,810,0.00,2.03,0.00,0.000,516,0.000,0.031,2401,1104,3279,3354,3205,0,0,0,0,0,0,28.83,26.58,28.83
$GC,837,-1.25,-219.0,2401,1104,3354,3206,248.0,-30.3,54,843,0.00,2.10,0.00,0.000,1030,0.000,0.040,2390,2486,3280,3354,3206,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1151,-1.25,-219.0,2390,2486,3355,3206,342.7,-29.4,70,1159,0.10,1.85,0.00,0.000,2308,0.186,0.051,2405,3674,3280,3355,3206,0,0,0,0,0,0,26.51,26.54,28.83
$GC,1201,-1.25,-219.0,2405,3673,3355,3208,354.9,-28.1,72,1207,0.00,1.67,0.00,0.000,1030,0.000,0.024,2405,2490,3281,3356,3206,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1523,-1.25,-219.0,2405,2489,3355,3206,438.8,-25.2,88,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2489,3281,3356,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1820,-1.25,-219.0,2405,2489,3357,3206,509.3,-23.0,103,1826,0.00,1.88,0.00,0.000,260,0.000,0.057,2396,3684,3281,3357,3206,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1929,-1.25,-219.0,1456,3683,3339,3201,533.3,-22.8,108,1934,0.00,1.67,0.00,0.000,1030,0.000,0.025,2396,2502,3281,3357,3206,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2261,-1.25,-219.0,2396,2501,3357,3206,608.4,-22.2,124,2267,0.00,2.05,0.00,0.000,516,0.000,0.031,2396,1104,3281,3357,3206,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2335,-1.25,-219.0,2396,1104,3357,3206,623.0,-21.8,126,2342,0.12,2.12,0.00,0.000,3078,0.161,0.041,2419,2502,3281,3357,3206,0,0,0,0,0,0,26.44,26.61,28.83
$GC,2660,-1.25,-219.0,2418,2502,3356,3206,687.0,-18.4,137,2666,0.00,1.85,0.00,0.000,260,0.000,0.055,2410,3667,3281,3356,3206,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2705,-1.25,-219.0,2410,3667,3356,3206,693.5,-18.4,138,2711,0.00,1.67,0.00,0.000,1030,0.000,0.025,2410,2489,3281,3356,3206,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3029,-1.25,-219.0,2410,2488,3356,3202,756.7,-19.2,149,3035,0.00,2.03,0.00,0.000,516,0.000,0.029,2410,1109,3278,3356,3201,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3089,-1.25,-219.0,2410,1109,3356,3201,763.4,-19.4,150,3097,0.00,2.12,0.00,0.000,1030,0.000,0.040,2399,2503,3278,3356,3200,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3397,-1.25,-219.0,2399,2503,3356,3197,829.6,-19.5,161,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2503,3276,3356,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3694,-1.25,-219.0,2399,2503,3356,3192,886.7,-18.8,171,3700,0.00,1.85,0.00,0.000,260,0.000,0.057,2391,3661,3273,3356,3191,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3743,-1.25,-219.0,1504,3660,3339,3186,893.1,-18.7,172,3750,0.00,1.67,0.00,0.000,1030,0.000,0.027,2390,2490,3273,3356,3191,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4063,-1.25,-219.0,2390,2489,3354,3187,954.3,-18.2,183,4069,0.00,2.03,0.00,0.000,516,0.000,0.029,2391,1109,3270,3354,3187,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4087,-1.25,-219.0,2391,1109,3354,3186,954.3,-18.2,183,4093,0.15,2.12,0.00,0.000,3078,0.158,0.041,2421,2501,3270,3354,3186,0,0,0,0,0,0,26.40,26.60,28.83
$STATE,4161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4161,begin apogee
$GC,4167,-0.20,0.0,2421,1997,3354,3186,970.4,-16.8,186,4502,0.98,0.00,326.40,0.752,10246,0.113,0.000,2751,1995,2378,2537,2220,0,0,0,0,0,0,26.40,28.83,24.51
$STATE,4503,end apogee,CONTROL_FINISHED_OK
$STATE,4504,begin climb
$GC,4506,1.25,219.0,2752,1995,2531,2212,985.2,0.0,196,4744,1.27,2.30,226.57,0.904,10756,0.045,0.039,3240,632,1478,1578,1379,0,0,0,0,0,0,25.25,24.87,24.19
$GC,4767,1.25,219.0,3240,631,1561,1361,949.6,20.9,204,4773,0.00,2.20,0.00,0.000,1030,0.000,0.031,3241,2015,1460,1560,1360,0,0,0,0,0,0,28.83,25.20,28.83
$GC,5091,1.25,219.0,3240,2016,1551,1353,864.8,25.0,215,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2016,1452,1551,1353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5391,1.25,219.0,3240,2019,1549,1349,792.7,24.2,225,5397,0.00,2.15,0.00,0.000,516,0.000,0.039,3252,622,1449,1549,1350,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5439,1.25,219.0,3252,622,1548,1350,784.5,24.2,226,5447,0.12,2.08,0.00,0.000,5126,0.169,0.032,3221,2005,1449,1548,1350,0,0,0,0,0,0,26.17,26.37,28.83
$GC,5760,1.25,219.0,3220,2008,1547,1347,712.0,21.8,237,5762,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2007,1447,1547,1347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6060,1.25,219.0,3220,2007,1546,1345,648.4,21.1,247,6066,0.00,2.12,0.00,0.000,516,0.000,0.039,3231,618,1445,1546,1345,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6105,1.25,219.0,3230,618,1546,1345,641.2,21.2,248,6110,0.00,2.08,0.00,0.000,1030,0.000,0.032,3231,2004,1445,1546,1345,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6429,1.25,219.0,3231,2004,1545,1343,569.3,21.9,261,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2004,1444,1546,1343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6729,1.25,219.0,3231,2004,1544,1342,505.0,22.5,276,6735,0.00,2.10,0.00,0.000,516,0.000,0.039,3246,628,1443,1544,1342,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6761,1.25,219.0,3243,628,1544,1342,499.9,22.3,277,6768,0.00,2.05,0.00,0.000,1030,0.000,0.031,3243,2007,1443,1544,1342,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7077,1.25,219.0,3243,2007,1543,1341,431.9,21.8,293,7083,0.00,2.17,0.00,0.000,260,0.000,0.047,3243,3411,1442,1543,1341,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7116,1.25,219.0,3241,3411,1542,1339,426.4,21.6,294,7126,0.12,2.05,0.00,0.000,5126,0.172,0.031,3223,2016,1441,1542,1341,0,0,0,0,0,0,26.37,26.63,28.83
$GC,7422,1.25,219.0,3222,2016,1541,1339,364.1,19.0,310,7429,0.00,2.12,0.00,0.000,516,0.000,0.039,3233,609,1440,1541,1339,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7549,1.25,219.0,3233,609,1541,1339,339.2,19.5,316,7555,0.00,2.08,0.00,0.000,1030,0.000,0.031,3233,2003,1439,1541,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7875,1.25,219.0,3233,2002,1541,1339,278.6,18.5,332,7881,0.00,2.12,0.00,0.000,516,0.000,0.039,3245,606,1440,1541,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7930,1.25,219.0,3244,606,1541,1339,270.4,17.6,334,7936,0.00,2.08,0.00,0.000,1030,0.000,0.031,3245,2009,1439,1541,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8244,1.25,219.0,3244,2009,1541,1339,208.9,19.0,350,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2012,1439,1541,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8545,1.25,219.0,3244,2009,1541,1339,160.0,14.6,365,8551,0.00,2.15,0.00,0.000,260,0.000,0.047,3244,3408,1439,1541,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8612,1.25,219.0,3244,3408,1541,1339,148.1,17.1,368,8619,0.12,2.08,0.00,0.000,5126,0.168,0.029,3224,2001,1439,1541,1338,0,0,0,0,0,0,26.41,26.67,28.83
$GC,8938,1.25,219.0,3223,2001,1541,1338,97.8,15.6,384,8945,0.00,2.17,0.00,0.000,260,0.000,0.047,3223,3410,1439,1541,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9053,1.25,219.0,3223,3410,1541,1338,80.6,16.1,389,9059,0.00,2.08,0.00,0.000,1030,0.000,0.029,3235,1997,1440,1541,1339,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9367,1.25,219.0,3234,1996,1542,1338,34.7,15.4,410,9374,0.00,2.17,0.00,0.000,260,0.000,0.046,3235,3402,1440,1543,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9466,1.25,219.0,3235,3402,1544,1338,19.8,15.2,422,9474,0.00,2.05,0.00,0.000,1030,0.000,0.028,3246,1999,1441,1544,1338,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,9590,end climb,SURFACE_DEPTH_REACHED
$STATE,9590,begin surface coast
$FINISH,0.5,1.016808
$STATE,9613,end surface coast,CONTROL_FINISHED_OK
$STATE,9613,begin surface
$SM_CCo,9631,82.55,0.059,0,0,748,400.08
$SM_GC,1.27,7.97,0.77,82.55,0.039,0.046,0.059,138,2501,748,-8.28,-1.13,400.08,0,0,0,0,0,0,26.66,26.62,26.48
$IRIDIUM_FIX,2145.77,12332.39,240313,141415
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.03
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3960416
$24V_AH,24.2,27.702
$10V_AH,10.2,19.687
$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,19.675,78.100,552.975,82.550,0.000,0.000,0.000,182.275,0.000,0.000,36.947,1829.830,5928.494,675.493,1365.213,261.510,0.000,1553.728,0.000,1089.703,0.000,0.537,0.000
$DEVICE_MAMPS,216.495,57.375,904.230,58.905,0.000,0.000,0.000,125.460,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9614.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.925,0.000,0.000,0.000
$MEM,329700
$DATA_FILE_SIZE,16796,449
$CAP_FILE_SIZE,240741,0
$CFSIZE,260034560,234065920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,102.0,1
$GPS,240313,195106,2156.763,12329.879,38,1.0,39,-2.9