version: 66.11
glider: 171
mission: 4
dive: 190
start: 3 24 113 22 50 41
data:
$ID,171
$MISSION,4
$DIVE,190
$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,-20754.676
$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,60
$R_STBD_OVSHOOT,39
$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
$GPS1,240313,224405,2157.320,12328.710,50,1.7,51,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-64.9
$GPS2,240313,225015,2157.246,12328.714,9,2.8,28,-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,301.0,242777,-12.0,-8.739,-16.47,3810
$D_GRID,4723
$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,-219.0,126,2505,834,662,0.0,0.0,0,82,0.00,0.00,-61.38,0.000,16386,0.000,0.000,126,2505,2468,2547,2389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.25,-219.0,125,2505,2549,2389,3.5,-6.3,8,117,8.82,1.83,-14.70,0.000,18692,0.220,0.068,2405,3669,3277,3349,3205,0,0,0,0,0,0,25.89,26.25,26.63
$GC,349,-1.25,-219.0,2404,3669,3351,3205,94.0,-34.6,31,356,0.00,1.67,0.00,0.000,1030,0.000,0.024,2405,2495,3278,3351,3205,0,0,0,0,0,0,28.83,26.50,28.83
$GC,670,-1.25,-219.0,2404,2494,3354,3205,199.1,-30.7,47,676,0.00,1.83,0.00,0.000,260,0.000,0.054,2396,3664,3279,3354,3205,0,0,0,0,0,0,28.83,26.47,28.83
$GC,759,-1.25,-219.0,1456,3663,3336,3201,225.2,-30.4,51,765,0.00,1.70,0.00,0.000,1030,0.000,0.025,2396,2510,3279,3354,3205,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1079,-1.25,-219.0,2396,2510,3355,3205,321.9,-29.5,67,1085,0.00,2.08,0.00,0.000,516,0.000,0.029,2396,1087,3281,3356,3206,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1107,-1.25,-219.0,2395,1087,3356,3205,329.2,-29.3,68,1114,0.12,2.12,0.00,0.000,3078,0.168,0.039,2417,2492,3280,3356,3205,0,0,0,0,0,0,26.36,26.55,28.83
$GC,1428,-1.25,-219.0,2417,2492,3356,3205,412.1,-24.7,84,1435,0.00,1.83,0.00,0.000,260,0.000,0.054,2408,3674,3280,3355,3205,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1463,-1.25,-219.0,2408,3674,3356,3205,418.2,-24.1,85,1469,0.00,1.67,0.00,0.000,1030,0.000,0.024,2409,2490,3280,3356,3205,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1777,-1.25,-219.0,2408,2489,3356,3205,495.3,-24.6,101,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2489,3280,3356,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2077,-1.25,-219.0,2408,2488,3356,3205,566.8,-24.0,116,2083,0.00,1.85,0.00,0.000,260,0.000,0.054,2399,3677,3280,3356,3205,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2104,-1.25,-219.0,2399,3677,3357,3205,572.4,-23.8,117,2110,0.00,1.67,0.00,0.000,1030,0.000,0.024,2399,2489,3280,3356,3205,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2433,-1.25,-219.0,2399,2488,3356,3205,647.7,-22.5,130,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2488,3280,3356,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2733,-1.25,-219.0,2399,2488,3356,3205,715.1,-22.5,140,2740,0.00,1.85,0.00,0.000,260,0.000,0.055,2391,3674,3280,3356,3205,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2782,-1.25,-219.0,2390,3673,3356,3205,723.0,-22.4,141,2788,0.00,1.67,0.00,0.000,1030,0.000,0.024,2391,2487,3280,3356,3205,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3101,-1.25,-219.0,2389,2487,3356,3201,791.4,-19.5,152,3107,0.00,2.00,0.00,0.000,516,0.000,0.028,2391,1120,3278,3356,3200,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3154,-1.25,-219.0,2390,1120,3356,3199,798.2,-19.4,153,3162,0.15,2.10,0.00,0.000,3078,0.156,0.039,2421,2502,3277,3356,3199,0,0,0,0,0,0,26.42,26.62,28.83
$GC,3470,-1.25,-219.0,2421,2502,3356,3195,859.5,-18.8,164,3477,0.00,1.83,0.00,0.000,260,0.000,0.056,2412,3675,3275,3356,3195,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3505,-1.25,-219.0,2412,3677,3356,3195,866.3,-19.0,165,3511,0.00,1.67,0.00,0.000,1030,0.000,0.026,2413,2506,3275,3356,3194,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3839,-1.25,-219.0,2412,2505,3356,3189,929.4,-18.7,176,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2505,3272,3356,3189,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4077,begin apogee
$GC,4083,-0.20,0.0,2412,2000,3355,3186,974.2,-18.7,184,4420,1.00,0.00,329.08,0.754,10246,0.116,0.000,2749,1997,2378,2537,2219,0,0,0,0,0,0,26.39,28.83,24.51
$STATE,4422,end apogee,CONTROL_FINISHED_OK
$STATE,4424,begin climb
$GC,4425,1.25,219.0,2748,1997,2531,2211,996.6,0.0,194,4670,1.30,2.25,228.55,0.908,10756,0.046,0.041,3246,629,1469,1572,1367,0,0,0,0,0,0,25.24,24.85,24.14
$GC,4749,1.25,219.0,3246,629,1558,1358,956.4,21.2,204,4756,0.00,2.15,0.00,0.000,1030,0.000,0.031,3246,2008,1458,1558,1358,0,0,0,0,0,0,28.83,25.54,28.83
$GC,5069,1.25,219.0,3245,2008,1553,1353,878.0,23.7,215,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2008,1453,1552,1354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5369,1.25,219.0,3245,2008,1550,1350,806.0,24.2,225,5375,0.00,2.12,0.00,0.000,516,0.000,0.038,3257,627,1450,1550,1350,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5427,1.25,219.0,2320,626,1521,1347,797.6,24.4,226,5435,0.12,2.08,0.00,0.000,5126,0.170,0.031,3226,2012,1449,1549,1350,0,0,0,0,0,0,26.19,26.40,28.83
$GC,5736,1.25,219.0,3225,2012,1549,1348,720.8,22.5,237,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2012,1448,1549,1347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6034,1.25,219.0,3225,2012,1547,1346,653.5,22.0,247,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2012,1446,1547,1346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6345,1.25,219.0,3225,2013,1547,1344,586.3,21.3,258,6351,0.00,2.15,0.00,0.000,260,0.000,0.048,3226,3400,1445,1547,1344,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6390,1.25,219.0,2224,3399,1516,1340,576.0,21.9,260,6396,0.00,2.08,0.00,0.000,1030,0.000,0.030,3237,2013,1445,1547,1344,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6716,1.25,219.0,3236,2013,1545,1342,511.4,19.2,276,6722,0.00,2.12,0.00,0.000,516,0.000,0.039,3248,610,1443,1546,1341,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6765,1.25,219.0,3247,610,1546,1342,502.8,18.4,278,6771,0.00,2.08,0.00,0.000,1030,0.000,0.031,3248,2008,1443,1545,1341,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7086,1.25,219.0,3248,2008,1544,1341,436.3,20.8,294,7093,0.00,2.17,0.00,0.000,260,0.000,0.047,3248,3403,1442,1543,1341,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7120,1.25,219.0,3248,3404,1544,1341,431.0,20.7,295,7127,0.15,2.08,0.00,0.000,5126,0.170,0.030,3218,1998,1442,1544,1341,0,0,0,0,0,0,26.34,26.63,28.83
$GC,7436,1.25,219.0,3220,1996,1543,1340,368.6,19.1,311,7442,0.00,2.10,0.00,0.000,516,0.000,0.041,3231,610,1441,1543,1339,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7502,1.25,219.0,3230,610,1543,1340,355.2,20.1,314,7508,0.00,2.08,0.00,0.000,1030,0.000,0.032,3231,1996,1441,1543,1340,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7827,1.25,219.0,3230,1996,1543,1339,293.5,17.7,330,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1996,1441,1543,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8127,1.25,219.0,3230,1996,1543,1340,241.8,17.5,345,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1996,1441,1543,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8426,1.25,219.0,3230,1996,1543,1340,188.1,18.2,360,8433,0.00,2.10,0.00,0.000,516,0.000,0.040,3242,610,1442,1544,1340,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8486,1.25,219.0,3242,610,1543,1338,180.9,16.9,362,8494,0.00,2.05,0.00,0.000,1030,0.000,0.031,3242,2001,1441,1543,1340,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8793,1.25,219.0,3242,2001,1543,1340,131.1,15.1,378,8794,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2001,1441,1544,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9093,1.25,219.0,3241,2001,1544,1340,89.7,13.5,393,9099,0.00,2.10,0.00,0.000,516,0.000,0.039,3253,610,1442,1544,1340,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9120,1.25,219.0,3253,610,1543,1340,86.9,12.6,394,9127,0.12,2.05,0.00,0.000,5126,0.158,0.030,3220,2006,1442,1544,1340,0,0,0,0,0,0,26.42,26.65,28.83
$GC,9432,1.25,219.0,3219,2006,1545,1340,44.7,12.1,411,9437,0.00,2.15,0.00,0.000,260,0.000,0.050,3219,3398,1441,1544,1339,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9529,1.40,264.4,3219,3398,1547,1340,36.8,7.5,420,9588,0.12,2.03,52.83,0.362,11270,0.083,0.027,3317,1989,1302,1409,1195,0,0,0,0,0,0,26.63,26.68,25.82
$STATE,9726,end climb,SURFACE_DEPTH_REACHED
$STATE,9726,begin surface coast
$FINISH,0.5,1.022836
$STATE,9745,end surface coast,CONTROL_FINISHED_OK
$STATE,9745,begin surface
$SM_CCo,9763,63.67,0.057,0,0,747,400.08
$SM_GC,1.22,8.15,0.77,63.67,0.032,0.047,0.057,141,2486,747,-8.30,-1.50,400.08,0,0,0,0,0,0,26.39,26.36,26.29
$IRIDIUM_FIX,2148.09,12325.29,240313,191929
$TT8_MAMPS,0.047187,0.047187
$HUMID,45.27
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3959776
$24V_AH,24.1,27.980
$10V_AH,10.3,19.844
$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,20.075,68.775,610.450,63.675,0.000,0.000,0.000,206.650,0.000,0.000,31.276,1789.460,6093.950,687.101,1369.217,253.479,0.000,1585.923,0.000,1077.794,0.000,0.538,0.000
$DEVICE_MAMPS,219.555,68.085,908.055,57.375,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9751.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.979,0.000,0.000,0.000
$MEM,329720
$DATA_FILE_SIZE,16777,452
$CAP_FILE_SIZE,237839,0
$CFSIZE,260034560,233889792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111,111.9,1
$GPS,250313,013536,2158.112,12327.721,28,1.0,29,-2.9