version: 66.11
glider: 171
mission: 4
dive: 212
start: 3 27 113 14 13 19
data:
$ID,171
$MISSION,4
$DIVE,212
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,280
$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,-20785.588
$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,61
$R_STBD_OVSHOOT,37
$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
$GPS1,270313,140653,2207.356,12304.960,25,1.0,43,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-68.6
$GPS2,270313,141255,2207.328,12305.035,22,1.2,22,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2209.203,12253.553
$TGT_RADIUS,1852.000
$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,282.9,20000,-12.0,-8.739,-16.47,3810
$D_GRID,4009
$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,-219.0,126,2497,846,661,0.0,0.0,0,85,0.00,0.00,-64.80,0.000,16386,0.000,0.000,126,2498,2599,2664,2534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.25,-219.0,126,2498,2666,2534,3.8,-6.1,9,119,8.80,1.88,-11.75,0.000,18692,0.217,0.069,2404,3655,3277,3347,3208,0,0,0,0,0,0,25.83,26.23,26.63
$GC,353,-1.25,-219.0,2404,3655,3350,3208,95.4,-32.2,31,359,0.00,1.67,0.00,0.000,1030,0.000,0.024,2404,2483,3278,3349,3208,0,0,0,0,0,0,28.83,26.48,28.83
$GC,667,-1.25,-219.0,2404,2482,3351,3208,198.7,-30.7,47,673,0.00,1.85,0.00,0.000,260,0.000,0.051,2395,3672,3279,3351,3208,0,0,0,0,0,0,28.83,26.45,28.83
$GC,754,-1.25,-219.0,2395,3672,3353,3208,224.7,-30.1,51,760,0.00,1.70,0.00,0.000,1030,0.000,0.024,2395,2513,3280,3353,3208,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1079,-1.25,-219.0,2395,2511,3355,3208,320.1,-28.6,67,1085,0.00,1.80,0.00,0.000,260,0.000,0.050,2387,3675,3281,3354,3208,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1128,-1.25,-219.0,2387,3676,3354,3208,333.3,-28.9,69,1134,0.12,1.67,0.00,0.000,3078,0.161,0.023,2420,2488,3281,3354,3208,0,0,0,0,0,0,26.35,26.65,28.83
$GC,1449,-1.25,-219.0,2419,2488,3355,3208,417.8,-24.9,85,1455,0.00,1.83,0.00,0.000,260,0.000,0.052,2411,3666,3281,3355,3208,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1508,-1.25,-219.0,2410,3666,3355,3208,429.1,-25.2,87,1516,0.00,1.70,0.00,0.000,1030,0.000,0.024,2410,2504,3281,3355,3208,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1816,-1.25,-219.0,2410,2502,3355,3211,504.9,-22.9,103,1821,0.00,2.05,0.00,0.000,516,0.000,0.029,2410,1099,3281,3355,3208,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1849,-1.25,-219.0,2409,1099,3355,3208,511.0,-23.2,104,1854,0.00,2.12,0.00,0.000,1030,0.000,0.039,2399,2502,3281,3355,3208,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2163,-1.25,-219.0,2399,2502,3354,3208,585.7,-22.4,120,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2502,3281,3355,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2484,-1.25,-219.0,2399,2502,3355,3208,658.9,-22.1,132,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2502,3281,3355,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2783,-1.25,-219.0,2399,2502,3355,3206,724.4,-21.9,142,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2502,3281,3355,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3083,-1.25,-219.0,2399,2502,3354,3203,788.8,-20.6,152,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2502,3278,3354,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3383,-1.25,-219.0,2399,2502,3354,3198,848.9,-19.8,162,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2502,3276,3354,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3683,-1.25,-219.0,2399,2502,3354,3194,909.1,-20.0,172,3688,0.00,1.83,0.00,0.000,260,0.000,0.055,2391,3675,3273,3354,3193,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3796,-1.25,-219.0,2390,3675,3354,3192,928.4,-20.4,175,3802,0.00,1.70,0.00,0.000,1030,0.000,0.026,2391,2486,3273,3354,3192,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,3988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3988,begin apogee
$GC,3994,-0.20,0.0,2390,1990,3354,3189,970.3,-19.4,182,4339,1.08,0.00,333.60,0.746,10246,0.122,0.000,2747,1987,2377,2537,2217,0,0,0,0,0,0,26.29,28.83,24.49
$STATE,4340,end apogee,CONTROL_FINISHED_OK
$STATE,4340,begin climb
$GC,4342,1.25,219.0,2747,1987,2532,2208,993.2,0.0,193,4588,1.30,2.25,230.68,0.897,10756,0.047,0.037,3242,632,1469,1574,1365,0,0,0,0,0,0,25.25,24.89,24.18
$GC,4657,1.25,219.0,3242,632,1559,1356,955.3,20.2,203,4663,0.00,2.15,0.00,0.000,1030,0.000,0.031,3242,2012,1457,1559,1355,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4986,1.25,219.0,3242,2012,1552,1349,883.8,21.8,214,4993,0.00,2.20,0.00,0.000,260,0.000,0.047,3242,3409,1450,1552,1349,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5031,1.25,219.0,3242,3409,1551,1349,875.4,22.7,215,5038,0.12,2.08,0.00,0.000,5126,0.180,0.028,3223,2018,1450,1551,1349,0,0,0,0,0,0,26.01,26.26,28.83
$GC,5356,1.25,219.0,3223,2018,1549,1346,798.4,23.0,226,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2018,1447,1549,1345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5656,1.25,219.0,3222,2018,1548,1344,727.0,23.3,236,5662,0.00,2.17,0.00,0.000,260,0.000,0.047,3223,3403,1444,1547,1342,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5704,1.25,219.0,3222,3403,1547,1344,719.0,23.4,237,5710,0.00,2.08,0.00,0.000,1030,0.000,0.028,3234,2003,1445,1547,1344,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6023,1.25,219.0,3233,2003,1546,1342,645.9,21.0,248,6028,0.00,2.12,0.00,0.000,516,0.000,0.039,3245,607,1444,1546,1342,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6076,1.25,219.0,3245,608,1546,1342,638.3,21.4,249,6082,0.00,2.08,0.00,0.000,1030,0.000,0.031,3245,2003,1444,1546,1342,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6400,1.25,219.0,3245,2003,1545,1341,562.6,22.5,263,6406,0.00,2.12,0.00,0.000,516,0.000,0.038,3256,609,1443,1545,1341,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6460,1.25,219.0,3256,609,1545,1341,552.1,23.3,265,6469,0.12,2.08,0.00,0.000,5126,0.171,0.031,3224,2006,1442,1545,1340,0,0,0,0,0,0,26.32,26.58,28.83
$GC,6766,1.25,219.0,3224,2006,1545,1338,484.4,19.8,281,6772,0.00,2.15,0.00,0.000,260,0.000,0.047,3225,3400,1441,1545,1338,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6867,1.25,219.0,3224,3400,1544,1338,466.1,21.4,285,6875,0.00,2.08,0.00,0.000,1030,0.000,0.029,3235,1996,1441,1545,1338,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7173,1.25,219.0,3235,1996,1544,1337,403.7,20.4,301,7179,0.00,2.10,0.00,0.000,516,0.000,0.040,3246,611,1440,1544,1337,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7212,1.25,219.0,3246,610,1543,1337,398.4,20.6,302,7220,0.00,2.05,0.00,0.000,1030,0.000,0.031,3246,1999,1440,1543,1337,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7518,1.25,219.0,3246,1999,1543,1337,337.2,19.2,318,7524,0.00,2.17,0.00,0.000,260,0.000,0.047,3246,3411,1440,1543,1337,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7604,1.25,219.0,3246,3411,1543,1337,318.6,21.6,322,7611,0.15,2.10,0.00,0.000,5126,0.168,0.029,3218,1992,1440,1543,1337,0,0,0,0,0,0,26.31,26.63,28.83
$GC,7930,1.25,219.0,3218,1991,1542,1338,260.2,16.6,338,7936,0.00,2.20,0.00,0.000,260,0.000,0.046,3218,3409,1439,1542,1336,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7985,1.25,219.0,3218,3409,1542,1336,251.9,17.1,340,7991,0.00,2.08,0.00,0.000,1030,0.000,0.029,3229,1999,1439,1542,1336,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8299,1.25,219.0,3229,1997,1542,1336,197.5,16.8,356,8305,0.00,2.10,0.00,0.000,516,0.000,0.040,3240,610,1439,1542,1336,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8327,1.25,219.0,3240,610,1542,1336,193.1,17.4,357,8333,0.00,2.05,0.00,0.000,1030,0.000,0.031,3240,2000,1439,1542,1336,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8647,1.25,219.0,3240,2000,1542,1336,140.7,14.5,373,8653,0.00,2.15,0.00,0.000,260,0.000,0.045,3240,3404,1438,1542,1335,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8763,1.25,219.0,3240,3403,1542,1336,123.3,16.2,378,8770,0.12,2.08,0.00,0.000,5126,0.166,0.028,3219,1990,1439,1542,1336,0,0,0,0,0,0,26.36,26.65,28.83
$GC,9079,1.25,219.0,3219,1990,1542,1336,81.4,12.3,394,9085,0.00,2.17,0.00,0.000,260,0.000,0.045,3219,3400,1439,1542,1336,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9139,1.25,219.0,3218,3401,1543,1336,75.6,12.3,396,9147,0.00,2.05,0.00,0.000,1030,0.000,0.028,3230,1995,1439,1543,1335,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9446,1.25,219.0,3229,1994,1544,1335,34.5,12.4,418,9452,0.00,2.17,0.00,0.000,260,0.000,0.045,3229,3404,1440,1544,1336,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9533,1.25,219.0,3230,3403,1545,1335,23.5,12.3,427,9541,0.00,2.05,0.00,0.000,1030,0.000,0.027,3241,1999,1440,1544,1336,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,9708,end climb,SURFACE_DEPTH_REACHED
$STATE,9708,begin surface coast
$FINISH,0.5,1.023308
$STATE,9735,end surface coast,CONTROL_FINISHED_OK
$STATE,9736,begin surface
$SM_CCo,9754,83.70,0.060,0,0,747,400.08
$SM_GC,1.37,7.85,0.77,83.70,0.028,0.051,0.060,113,2490,747,-8.31,-1.30,400.08,0,0,0,0,0,0,26.65,26.56,26.42
$IRIDIUM_FIX,2157.39,12305.92,270313,111158
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.23
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3952736
$24V_AH,24.2,31.058
$10V_AH,10.3,21.614
$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,19.675,78.325,564.275,83.700,0.000,0.000,0.000,201.675,0.000,0.000,23.099,1832.695,5949.891,677.556,1448.480,284.270,0.000,1614.739,0.000,1165.883,0.000,0.538,0.000
$DEVICE_MAMPS,217.260,68.850,896.580,59.670,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9730.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.988,0.000,0.000,0.000
$MEM,329792
$DATA_FILE_SIZE,16794,465
$CAP_FILE_SIZE,251133,0
$CFSIZE,260034560,231936000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,270313,165807,2207.874,12303.495,10,2.0,11,-2.9