version: 66.11
glider: 171
mission: 4
dive: 231
start: 3 29 113 20 53 31
data:
$ID,171
$MISSION,4
$DIVE,231
$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,-20809.465
$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,57
$R_STBD_OVSHOOT,29
$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
$GPS1,290313,204700,2225.311,12232.665,50,1.7,51,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-67.8
$GPS2,290313,205307,2225.369,12232.702,14,1.7,14,-3.0
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2227.245,12221.194
$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,283.0,20000,-12.0,-8.739,-16.47,3810
$D_GRID,4928
$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,-219.0,126,2486,840,658,0.0,0.0,0,78,0.00,0.00,-58.12,0.000,16386,0.000,0.000,126,2487,2432,2496,2368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.25,-219.0,126,2487,2500,2368,4.4,-9.7,8,112,8.90,1.92,-14.05,0.000,18692,0.220,0.066,2402,3674,3278,3348,3208,0,0,0,0,0,0,25.75,26.15,26.54
$GC,274,-1.25,-219.0,2401,3674,3350,3208,73.2,-34.0,25,282,0.00,1.70,0.00,0.000,1030,0.000,0.023,2402,2484,3278,3350,3207,0,0,0,0,0,0,28.83,26.39,28.83
$GC,581,-1.25,-219.0,2401,2483,3355,3208,172.0,-29.0,41,586,0.00,1.88,0.00,0.000,260,0.000,0.054,2393,3674,3281,3355,3208,0,0,0,0,0,0,28.83,26.37,28.83
$GC,667,-1.25,-219.0,2392,3674,3355,3208,198.9,-31.2,45,672,0.00,1.67,0.00,0.000,1030,0.000,0.024,2393,2496,3281,3355,3208,0,0,0,0,0,0,28.83,26.55,28.83
$GC,992,-1.25,-219.0,2392,2495,3357,3208,291.1,-28.1,61,998,0.00,1.83,0.00,0.000,260,0.000,0.052,2384,3674,3282,3357,3208,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1032,-1.25,-219.0,2383,3674,3357,3208,298.2,-27.6,62,1040,0.12,1.67,0.00,0.000,3078,0.158,0.023,2416,2487,3282,3357,3208,0,0,0,0,0,0,26.32,26.62,28.83
$GC,1337,-1.25,-219.0,2416,2487,3357,3208,377.9,-24.1,78,1342,0.00,2.00,0.00,0.000,516,0.000,0.029,2416,1112,3284,3360,3208,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1412,-1.25,-219.0,2416,1112,3357,3208,394.1,-24.2,81,1418,0.00,2.10,0.00,0.000,1030,0.000,0.039,2406,2502,3282,3357,3208,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1726,-1.25,-219.0,2405,2501,3357,3208,473.4,-23.5,97,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2503,3282,3357,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2026,-1.25,-219.0,2406,2503,3357,3207,537.3,-21.4,112,2032,0.00,1.80,0.00,0.000,260,0.000,0.054,2396,3674,3282,3357,3208,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2181,-1.25,-219.0,1504,3673,3341,3204,568.8,-20.4,119,2187,0.00,1.67,0.00,0.000,1030,0.000,0.024,2396,2491,3282,3357,3208,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2515,-1.25,-219.0,2397,2489,3353,3206,642.3,-21.8,133,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2489,3281,3356,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2816,-1.25,-219.0,2397,2489,3357,3202,705.9,-20.6,143,2821,0.00,1.85,0.00,0.000,260,0.000,0.054,2388,3674,3279,3357,3202,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2904,-1.25,-219.0,2388,3674,3356,3201,719.0,-19.9,145,2913,0.12,1.67,0.00,0.000,3078,0.150,0.025,2422,2489,3278,3356,3201,0,0,0,0,0,0,26.40,26.70,28.83
$GC,3212,-1.25,-219.0,2422,2488,3356,3196,780.1,-18.4,156,3218,0.00,2.00,0.00,0.000,516,0.000,0.028,2422,1118,3276,3356,3196,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3261,-1.25,-219.0,2422,1118,3356,3195,786.7,-18.4,157,3267,0.00,2.10,0.00,0.000,1030,0.000,0.039,2412,2503,3275,3356,3195,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3580,-1.25,-219.0,2412,2503,3355,3191,849.9,-19.7,168,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2503,3272,3355,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3881,-1.25,-219.0,2412,2503,3353,3187,907.5,-19.2,178,3886,0.00,2.03,0.00,0.000,516,0.000,0.029,2412,1122,3270,3354,3186,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3925,-1.25,-219.0,2412,1122,3352,3186,914.2,-19.4,179,3931,0.00,2.12,0.00,0.000,1030,0.000,0.040,2402,2509,3269,3352,3186,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,4218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4218,begin apogee
$GC,4225,-0.20,0.0,2401,2008,3350,3183,973.4,-19.0,189,4571,1.05,0.00,335.65,0.757,10246,0.119,0.000,2750,2007,2378,2537,2219,0,0,0,0,0,0,26.22,28.83,24.40
$STATE,4572,end apogee,CONTROL_FINISHED_OK
$STATE,4572,begin climb
$GC,4574,1.25,219.0,2749,2007,2530,2208,994.9,0.0,200,4820,1.30,2.33,233.88,0.900,10756,0.047,0.036,3244,622,1474,1577,1371,0,0,0,0,0,0,25.20,24.82,24.07
$GC,4868,1.25,219.0,3244,622,1559,1356,958.4,21.2,209,4874,0.00,2.17,0.00,0.000,1030,0.000,0.031,3244,2009,1458,1560,1356,0,0,0,0,0,0,28.83,25.33,28.83
$GC,5187,1.25,219.0,3244,2009,1554,1348,877.4,24.5,220,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2009,1449,1551,1348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5487,1.25,219.0,3244,2009,1549,1347,805.0,24.2,230,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2009,1447,1549,1346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5788,1.25,219.0,3244,2009,1547,1345,730.3,25.0,240,5793,0.00,2.12,0.00,0.000,516,0.000,0.038,3256,625,1446,1548,1345,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5852,1.25,219.0,3256,625,1547,1345,713.4,25.4,242,5859,0.12,2.08,0.00,0.000,5126,0.174,0.031,3224,2008,1446,1547,1345,0,0,0,0,0,0,26.20,26.45,28.83
$GC,6188,1.25,219.0,3224,2008,1546,1342,635.2,22.6,253,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2008,1444,1547,1342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6489,1.25,219.0,3224,2008,1545,1342,571.4,21.4,265,6495,0.00,2.15,0.00,0.000,260,0.000,0.046,3224,3400,1444,1546,1342,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6513,1.25,219.0,3224,3400,1545,1342,565.5,21.9,266,6519,0.00,2.08,0.00,0.000,1030,0.000,0.029,3235,2007,1443,1545,1342,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6839,1.25,219.0,3235,2006,1544,1338,495.7,21.3,282,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2006,1442,1544,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7138,1.25,219.0,3235,2006,1544,1339,435.8,20.2,297,7144,0.00,2.17,0.00,0.000,260,0.000,0.047,3235,3402,1441,1543,1339,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7234,1.25,219.0,3235,3402,1542,1339,417.2,21.4,301,7240,0.00,2.08,0.00,0.000,1030,0.000,0.029,3247,1996,1440,1542,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7549,1.25,219.0,3247,1995,1541,1337,351.8,19.2,317,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1996,1439,1542,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7848,1.25,219.0,3246,1995,1541,1336,296.9,17.0,332,7854,0.00,2.10,0.00,0.000,516,0.000,0.040,3258,609,1438,1541,1336,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7882,1.25,219.0,3258,609,1541,1340,292.7,17.2,333,7888,0.12,2.05,0.00,0.000,5126,0.168,0.031,3225,1999,1438,1541,1336,0,0,0,0,0,0,26.29,26.58,28.83
$GC,8197,1.25,219.0,3227,1999,1541,1336,235.6,18.4,349,8204,0.00,2.17,0.00,0.000,260,0.000,0.046,3225,3407,1438,1541,1336,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8225,1.25,219.0,3225,3407,1541,1337,230.7,18.4,350,8232,0.00,2.08,0.00,0.000,1030,0.000,0.029,3236,1997,1438,1541,1336,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8546,1.25,219.0,3236,1996,1541,1336,167.4,19.3,366,8552,0.00,2.17,0.00,0.000,260,0.000,0.046,3236,3400,1438,1541,1336,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8694,1.25,219.0,3236,3400,1541,1336,137.4,19.9,373,8700,0.00,2.05,0.00,0.000,1030,0.000,0.028,3247,2002,1438,1541,1336,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9020,1.25,219.0,3247,2001,1542,1336,89.3,13.3,389,9026,0.00,2.17,0.00,0.000,260,0.000,0.045,3247,3408,1438,1541,1336,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9048,1.25,219.0,3247,3408,1541,1336,85.5,13.6,390,9054,0.15,2.08,0.00,0.000,5126,0.161,0.028,3219,1991,1438,1541,1336,0,0,0,0,0,0,26.27,26.61,28.83
$GC,9360,1.25,219.0,3218,1990,1541,1336,46.2,11.5,407,9365,0.00,2.17,0.00,0.000,260,0.000,0.044,3218,3400,1439,1541,1337,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9512,1.25,219.0,3218,3400,1541,1336,28.3,12.0,421,9520,0.00,2.05,0.00,0.000,1030,0.000,0.028,3229,1991,1439,1542,1336,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9829,1.60,320.2,2176,1989,1509,1331,7.1,6.0,479,9881,0.25,0.00,43.92,0.067,10502,0.050,0.000,3364,1990,1070,1174,966,0,0,0,0,0,0,26.71,28.83,26.39
$STATE,9887,end climb,SURFACE_DEPTH_REACHED
$STATE,9888,begin surface coast
$FINISH,0.3,1.022246
$STATE,9916,end surface coast,CONTROL_FINISHED_OK
$STATE,9916,begin surface
$SM_CCo,9935,40.50,0.060,0,0,748,400.08
$SM_GC,1.12,8.27,0.77,40.50,0.034,0.047,0.060,126,2488,748,-8.30,-1.41,400.08,0,0,0,0,0,0,26.57,26.51,26.37
$IRIDIUM_FIX,2213.68,12232.92,290313,171745
$TT8_MAMPS,0.047936,0.047936
$HUMID,46.22
$INTERNAL_PRESSURE,9.6425
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3946656
$24V_AH,24.1,33.704
$10V_AH,10.2,23.131
$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,20.425,69.775,613.450,40.500,0.000,0.000,0.000,214.350,0.000,0.000,15.208,1878.747,6027.110,653.686,1467.056,308.678,0.000,1612.981,0.000,1191.003,0.000,0.537,0.000
$DEVICE_MAMPS,219.555,65.790,899.640,60.435,0.000,0.000,0.000,122.400,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9909.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.158,0.000,0.000,0.000
$MEM,324156
$DATA_FILE_SIZE,16737,492
$CAP_FILE_SIZE,256114,0
$CFSIZE,260034560,230256640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290313,234105,2226.818,12230.578,33,1.1,38,-3.0