version: 66.11
glider: 171
mission: 4
dive: 227
start: 3 29 113 9 14 30
data:
$ID,171
$MISSION,4
$DIVE,227
$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,-8
$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,-20804.438
$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,52
$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
$GPS1,290313,090606,2220.777,12239.345,40,1.0,41,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-70.3
$GPS2,290313,091406,2220.716,12239.566,11,1.5,11,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2222.591,12228.065
$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,4724
$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,-219.0,127,2507,832,668,0.0,0.0,0,78,0.00,0.00,-58.03,0.000,16386,0.000,0.000,127,2508,2418,2478,2359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.25,-219.0,127,2508,2483,2359,4.0,-7.8,8,112,8.90,1.88,-14.70,0.000,18692,0.220,0.067,2402,3658,3278,3350,3207,0,0,0,0,0,0,25.74,26.17,26.56
$GC,317,-1.25,-219.0,2402,3658,3354,3208,84.8,-35.2,29,323,0.00,1.73,0.00,0.000,1030,0.000,0.024,2402,2490,3281,3354,3208,0,0,0,0,0,0,28.83,26.42,28.83
$GC,631,-1.25,-219.0,2402,2488,3356,3208,188.5,-32.7,45,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2488,3281,3356,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,931,-1.25,-219.0,2402,2488,3358,3208,277.4,-29.1,60,937,0.00,1.85,0.00,0.000,260,0.000,0.056,2392,3658,3283,3358,3208,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1006,-1.25,-219.0,2393,3658,3358,3208,297.3,-30.3,63,1012,0.00,1.65,0.00,0.000,1030,0.000,0.023,2393,2493,3283,3358,3208,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1320,-1.25,-219.0,2392,2492,3358,3208,388.3,-27.8,79,1326,0.00,2.03,0.00,0.000,516,0.000,0.030,2393,1107,3283,3358,3208,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1353,-1.25,-219.0,2393,1108,3358,3208,394.7,-27.4,80,1360,0.12,2.10,0.00,0.000,3078,0.168,0.039,2414,2489,3283,3358,3208,0,0,0,0,0,0,26.30,26.51,28.83
$GC,1669,-1.25,-219.0,2414,2489,3358,3208,472.1,-23.2,96,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2489,3283,3358,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1969,-1.25,-219.0,2414,2489,3358,3206,538.4,-22.3,111,1975,0.00,2.03,0.00,0.000,516,0.000,0.031,2414,1110,3283,3358,3208,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1996,-1.25,-219.0,2412,1111,3358,3208,544.4,-22.5,112,2002,0.00,2.12,0.00,0.000,1030,0.000,0.038,2404,2508,3283,3359,3208,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2325,-1.25,-219.0,2404,2508,3358,3212,620.1,-22.4,127,2331,0.00,2.05,0.00,0.000,516,0.000,0.030,2404,1111,3283,3358,3208,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2353,-1.25,-219.0,2403,1111,3358,3208,620.1,-22.4,127,2361,0.00,2.12,0.00,0.000,1030,0.000,0.038,2393,2507,3283,3358,3208,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2661,-1.25,-219.0,2393,2507,3358,3205,697.1,-22.5,138,2667,0.00,1.80,0.00,0.000,260,0.000,0.054,2384,3674,3281,3358,3204,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2749,-1.25,-219.0,2384,3674,3358,3203,712.2,-22.4,140,2758,0.12,1.67,0.00,0.000,3078,0.156,0.025,2417,2490,3280,3358,3203,0,0,0,0,0,0,26.39,26.70,28.83
$GC,3057,-1.25,-219.0,2417,2489,3358,3198,781.7,-20.2,151,3063,0.00,2.00,0.00,0.000,516,0.000,0.028,2418,1115,3278,3358,3198,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3080,-1.25,-219.0,2418,1115,3358,3198,781.7,-20.2,151,3086,0.00,2.12,0.00,0.000,1030,0.000,0.039,2408,2506,3277,3358,3197,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3395,-1.25,-219.0,2407,2506,3357,3193,846.6,-19.1,162,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2506,3275,3357,3193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3694,-1.25,-219.0,2407,2506,3354,3190,903.0,-19.6,172,3700,0.00,1.83,0.00,0.000,260,0.000,0.055,2398,3678,3272,3355,3190,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3741,-1.25,-219.0,1504,3677,3337,3185,910.0,-20.0,173,3747,0.00,1.67,0.00,0.000,1030,0.000,0.028,2399,2510,3272,3354,3190,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,4030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4030,begin apogee
$GC,4036,-0.20,0.0,2398,1981,3352,3185,973.3,-20.3,183,4368,1.05,0.00,323.85,0.759,10246,0.119,0.000,2748,1979,2379,2537,2221,0,0,0,0,0,0,26.24,28.83,24.46
$STATE,4371,end apogee,CONTROL_FINISHED_OK
$STATE,4371,begin climb
$GC,4374,1.25,219.0,2747,1979,2532,2211,996.2,0.0,193,4612,1.30,2.25,226.18,0.917,10756,0.048,0.038,3242,633,1475,1576,1374,0,0,0,0,0,0,25.23,24.84,24.11
$GC,4701,1.25,219.0,3242,632,1558,1356,948.5,23.9,204,4707,0.00,2.15,0.00,0.000,1030,0.000,0.031,3242,2014,1456,1557,1355,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5031,1.25,219.0,3242,2014,1551,1352,863.5,25.6,215,5036,0.00,2.20,0.00,0.000,260,0.000,0.047,3242,3414,1451,1551,1352,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5095,1.25,219.0,3242,3415,1550,1352,845.7,26.8,217,5102,0.12,2.10,0.00,0.000,5126,0.177,0.029,3223,2018,1451,1551,1352,0,0,0,0,0,0,26.02,26.27,28.83
$GC,5430,1.25,219.0,3225,2017,1549,1347,766.8,23.1,228,5436,0.00,2.15,0.00,0.000,516,0.000,0.038,3234,608,1448,1549,1347,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5573,1.25,219.0,3234,608,1547,1350,738.0,23.2,232,5579,0.00,2.10,0.00,0.000,1030,0.000,0.031,3234,2009,1447,1547,1347,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5890,1.25,219.0,3233,2009,1547,1345,663.5,22.5,243,5896,0.00,2.17,0.00,0.000,260,0.000,0.047,3234,3403,1446,1547,1345,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6015,1.25,219.0,3234,3403,1546,1345,633.5,23.5,247,6021,0.00,2.10,0.00,0.000,1030,0.000,0.029,3245,1995,1445,1546,1345,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6329,1.25,219.0,3245,1995,1545,1343,564.5,22.1,260,6335,0.00,2.20,0.00,0.000,260,0.000,0.046,3245,3408,1444,1545,1343,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6384,1.25,219.0,3245,3408,1545,1343,554.5,22.6,262,6391,0.12,2.08,0.00,0.000,5126,0.175,0.030,3225,2005,1444,1545,1343,0,0,0,0,0,0,26.27,26.57,28.83
$GC,6700,1.25,219.0,3226,2004,1544,1341,489.2,21.0,278,6706,0.00,2.12,0.00,0.000,516,0.000,0.040,3236,606,1442,1544,1341,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6803,1.25,219.0,3236,606,1544,1341,470.7,21.1,282,6811,0.00,2.08,0.00,0.000,1030,0.000,0.031,3236,2001,1442,1544,1341,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7106,1.25,219.0,3236,2001,1542,1340,403.5,20.3,298,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2001,1441,1543,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7407,1.25,219.0,3236,2001,1542,1339,342.7,19.6,313,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2001,1440,1541,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7707,1.25,219.0,3236,2001,1541,1339,289.4,18.5,328,7713,0.00,2.12,0.00,0.000,516,0.000,0.039,3247,606,1440,1541,1339,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7782,1.25,219.0,3247,606,1541,1339,276.8,19.1,331,7788,0.00,2.08,0.00,0.000,1030,0.000,0.030,3247,2011,1440,1541,1339,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8096,1.25,219.0,3247,2011,1541,1339,215.2,19.5,347,8102,0.00,2.15,0.00,0.000,516,0.000,0.040,3259,604,1439,1541,1338,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8171,1.25,219.0,3258,604,1541,1339,201.9,20.0,350,8178,0.15,2.05,0.00,0.000,5126,0.158,0.030,3218,2002,1440,1541,1339,0,0,0,0,0,0,26.29,26.59,28.83
$GC,8488,1.25,219.0,3217,2002,1542,1339,150.3,14.4,366,8494,0.00,2.15,0.00,0.000,260,0.000,0.045,3220,3403,1440,1542,1339,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8536,1.25,219.0,3217,3403,1542,1339,144.1,13.5,368,8542,0.00,2.08,0.00,0.000,1030,0.000,0.029,3228,1989,1440,1542,1339,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8857,1.25,219.0,3228,1990,1542,1339,102.3,13.1,384,8863,0.00,2.08,0.00,0.000,516,0.000,0.038,3240,609,1440,1542,1339,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8917,1.25,219.0,3239,609,1541,1338,95.6,13.8,386,8925,0.00,2.08,0.00,0.000,1030,0.000,0.031,3240,2006,1440,1542,1338,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9224,1.25,219.0,3239,2006,1542,1338,50.3,12.4,402,9230,0.00,2.15,0.00,0.000,260,0.000,0.045,3240,3408,1440,1542,1339,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9279,1.25,219.0,3239,3408,1542,1339,44.6,10.6,406,9286,0.12,2.05,0.00,0.000,5126,0.161,0.028,3217,1997,1440,1542,1339,0,0,0,0,0,0,26.34,26.63,28.83
$GC,9596,1.73,357.7,3217,1997,1542,1338,19.9,5.0,445,9670,0.38,2.17,65.53,0.105,10500,0.039,0.043,3417,3405,915,1011,819,0,0,0,0,0,0,26.70,26.41,26.22
$STATE,9705,end climb,SURFACE_DEPTH_REACHED
$STATE,9705,begin surface coast
$FINISH,0.4,1.008673
$STATE,9718,end surface coast,CONTROL_FINISHED_OK
$STATE,9718,begin surface
$SM_CCo,9736,24.10,0.060,0,0,747,400.08
$SM_GC,1.54,8.43,1.38,24.10,0.034,0.028,0.060,119,2490,747,-8.29,1.53,400.08,0,0,0,0,0,0,26.53,26.54,26.34
$IRIDIUM_FIX,2211.35,12238.10,290313,090936
$TT8_MAMPS,0.047936,0.047936
$HUMID,46.41
$INTERNAL_PRESSURE,9.65227
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3947936
$24V_AH,24.1,33.135
$10V_AH,10.3,22.806
$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,20.825,81.600,615.550,24.100,0.000,0.000,0.000,272.775,0.000,0.000,11.883,1830.357,5943.492,650.742,1510.469,300.091,0.000,1671.940,0.000,1179.341,0.000,0.537,0.000
$DEVICE_MAMPS,219.555,66.555,917.235,60.435,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9729.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.066,0.000,0.000,0.000
$MEM,324156
$DATA_FILE_SIZE,16781,463
$CAP_FILE_SIZE,252865,0
$CFSIZE,260034560,230617088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290313,115829,2221.846,12237.972,33,1.3,38,-2.9