version: 66.11
glider: 171
mission: 4
dive: 237
start: 3 30 113 14 23 54
data:
$ID,171
$MISSION,4
$DIVE,237
$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,-20817.01
$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,66
$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
$GPS1,300313,141636,2235.730,12222.964,39,1.1,40,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-70.5
$GPS2,300313,142330,2235.927,12222.997,14,1.3,32,-3.0
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2237.802,12211.475
$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,4905
$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,-219.0,123,2499,836,666,0.0,0.0,0,78,0.00,0.00,-58.03,0.000,16386,0.000,0.000,123,2499,2412,2472,2353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.25,-219.0,123,2499,2478,2353,3.9,-6.8,8,113,9.00,1.92,-14.35,0.000,18692,0.223,0.073,2402,3664,3277,3347,3207,0,0,0,0,0,0,25.75,26.14,26.58
$GC,345,-1.25,-219.0,2401,3664,3350,3208,95.8,-30.6,28,351,0.00,1.67,0.00,0.000,1030,0.000,0.027,2402,2512,3277,3350,3205,0,0,0,0,0,0,28.83,26.41,28.83
$GC,665,-1.25,-219.0,2402,2512,3355,3207,194.4,-30.0,44,671,0.00,1.83,0.00,0.000,260,0.000,0.054,2393,3668,3281,3355,3207,0,0,0,0,0,0,28.83,26.39,28.83
$GC,805,-1.25,-219.0,2392,3668,3355,3208,233.5,-31.1,50,813,0.00,1.70,0.00,0.000,1030,0.000,0.025,2393,2479,3281,3354,3208,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1112,-1.25,-219.0,2392,2478,3355,3209,321.7,-25.9,66,1117,0.00,1.85,0.00,0.000,260,0.000,0.054,2384,3665,3282,3355,3209,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1201,-1.25,-219.0,2384,3664,3355,3206,345.5,-27.4,70,1208,0.12,1.67,0.00,0.000,3078,0.156,0.025,2416,2489,3282,3355,3209,0,0,0,0,0,0,26.31,26.62,28.83
$GC,1523,-1.25,-219.0,2416,2488,3355,3209,425.4,-24.4,86,1529,0.00,2.03,0.00,0.000,516,0.000,0.028,2417,1095,3282,3355,3209,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1589,-1.25,-219.0,2416,1095,3355,3209,441.7,-24.4,89,1595,0.00,2.12,0.00,0.000,1030,0.000,0.038,2407,2495,3282,3355,3209,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1915,-1.25,-219.0,2406,2495,3355,3209,514.2,-21.0,105,1920,0.00,2.05,0.00,0.000,516,0.000,0.030,2407,1102,3282,3355,3209,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1939,-1.25,-219.0,2406,1102,3355,3209,519.7,-21.5,106,1945,0.00,2.12,0.00,0.000,1030,0.000,0.039,2396,2500,3282,3355,3209,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2264,-1.25,-219.0,2395,2501,3355,3209,594.7,-23.3,122,2270,0.00,1.80,0.00,0.000,260,0.000,0.054,2387,3671,3282,3355,3209,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2360,-1.25,-219.0,2386,3671,3355,3208,617.9,-24.2,126,2367,0.12,1.67,0.00,0.000,3078,0.155,0.026,2420,2492,3281,3355,3208,0,0,0,0,0,0,26.36,26.68,28.83
$GC,2695,-1.25,-219.0,2420,2491,3354,3204,685.9,-18.9,137,2701,0.00,2.00,0.00,0.000,516,0.000,0.028,2420,1114,3279,3355,3204,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2748,-1.25,-219.0,2420,1114,3355,3203,692.1,-18.6,138,2754,0.00,2.10,0.00,0.000,1030,0.000,0.038,2410,2502,3277,3352,3203,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3064,-1.25,-219.0,2409,2502,3354,3198,752.6,-18.1,149,3070,0.00,1.83,0.00,0.000,260,0.000,0.055,2401,3675,3275,3354,3197,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3143,-1.25,-219.0,2401,3675,3354,3197,764.8,-18.4,151,3149,0.00,1.67,0.00,0.000,1030,0.000,0.025,2401,2495,3275,3354,3197,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3462,-1.25,-219.0,2401,2494,3354,3191,826.7,-18.8,162,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2494,3272,3354,3191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3763,-1.25,-219.0,2400,2494,3351,3188,883.2,-18.4,172,3768,0.00,2.03,0.00,0.000,516,0.000,0.030,2400,1115,3269,3351,3187,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3790,-1.25,-219.0,2401,1115,3351,3187,883.2,-18.4,172,3798,0.00,2.12,0.00,0.000,1030,0.000,0.040,2391,2507,3269,3351,3187,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4099,-1.25,-219.0,2390,2507,3349,3184,948.0,-19.2,183,4104,0.00,1.83,0.00,0.000,260,0.000,0.056,2382,3674,3266,3349,3184,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4157,-1.25,-219.0,2382,3675,3348,3184,954.8,-19.2,184,4165,0.12,1.67,0.00,0.000,3078,0.155,0.027,2414,2509,3266,3348,3184,0,0,0,0,0,0,26.36,26.69,28.83
$STATE,4221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4221,begin apogee
$GC,4228,-0.20,0.0,2414,1981,3348,3183,970.8,-18.2,187,4574,1.00,0.00,335.12,0.758,10246,0.115,0.000,2749,1981,2376,2535,2218,0,0,0,0,0,0,26.20,28.83,24.39
$STATE,4576,end apogee,CONTROL_FINISHED_OK
$STATE,4576,begin climb
$GC,4578,1.25,219.0,2749,1981,2530,2209,986.4,0.0,198,4825,1.30,2.20,233.45,0.898,10756,0.047,0.035,3242,629,1472,1575,1370,0,0,0,0,0,0,25.19,24.79,24.03
$GC,4933,1.25,219.0,3242,629,1555,1353,930.3,24.5,209,4939,0.00,2.15,0.00,0.000,1030,0.000,0.031,3242,2018,1454,1555,1353,0,0,0,0,0,0,28.83,25.59,28.83
$GC,5252,1.25,219.0,3242,2018,1550,1348,848.2,25.2,220,5257,0.00,2.15,0.00,0.000,516,0.000,0.037,3254,628,1449,1550,1348,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5305,1.25,219.0,3253,628,1549,1347,839.6,25.4,221,5311,0.12,2.08,0.00,0.000,5126,0.176,0.031,3222,2008,1448,1549,1347,0,0,0,0,0,0,25.98,26.22,28.83
$GC,5620,1.25,219.0,3222,2008,1547,1345,759.5,24.8,232,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2005,1446,1548,1345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5921,1.25,219.0,3222,2007,1547,1344,688.1,23.3,242,5927,0.00,2.17,0.00,0.000,260,0.000,0.047,3223,3406,1443,1544,1343,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6020,1.25,219.0,3222,3406,1546,1343,665.0,23.9,245,6026,0.00,2.05,0.00,0.000,1030,0.000,0.029,3233,2017,1444,1546,1343,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6339,1.25,219.0,3233,2017,1548,1341,595.5,22.2,256,6345,0.00,2.15,0.00,0.000,516,0.000,0.039,3245,606,1443,1545,1341,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6367,1.25,219.0,3244,606,1545,1341,590.0,22.6,257,6373,0.00,2.08,0.00,0.000,1030,0.000,0.031,3245,1999,1443,1545,1341,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6688,1.25,219.0,3245,1999,1543,1341,516.4,21.8,273,6694,0.00,2.17,0.00,0.000,260,0.000,0.046,3245,3402,1442,1544,1341,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6785,1.25,219.0,3245,3402,1543,1341,495.4,23.9,277,6791,0.12,2.08,0.00,0.000,5126,0.181,0.029,3226,1998,1442,1544,1341,0,0,0,0,0,0,26.25,26.56,28.83
$GC,7101,1.25,219.0,3225,1998,1541,1338,430.2,19.7,293,7107,0.00,2.20,0.00,0.000,260,0.000,0.046,3226,3411,1439,1541,1338,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7128,1.25,219.0,3225,3411,1541,1338,424.5,20.4,294,7134,0.00,2.10,0.00,0.000,1030,0.000,0.031,3237,1995,1439,1541,1338,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7449,1.25,219.0,3237,1995,1540,1337,357.5,20.0,310,7455,0.00,2.12,0.00,0.000,516,0.000,0.040,3248,604,1438,1540,1337,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7610,1.25,219.0,3248,604,1540,1336,326.9,20.4,317,7618,0.00,2.08,0.00,0.000,1030,0.000,0.031,3248,2005,1438,1540,1336,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7916,1.25,219.0,3247,2005,1540,1336,270.4,16.3,333,7922,0.00,2.12,0.00,0.000,516,0.000,0.039,3259,608,1438,1540,1336,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7956,1.25,219.0,3259,608,1540,1336,266.4,16.2,334,7964,0.15,2.08,0.00,0.000,5126,0.161,0.031,3219,2006,1438,1540,1336,0,0,0,0,0,0,26.25,26.56,28.83
$GC,8261,1.25,219.0,3219,2006,1540,1336,213.4,16.9,350,8266,0.00,2.15,0.00,0.000,260,0.000,0.046,3219,3402,1437,1539,1336,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8316,1.25,219.0,3219,3401,1540,1336,204.9,18.0,352,8322,0.00,2.08,0.00,0.000,1030,0.000,0.028,3230,1991,1438,1540,1336,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8630,1.25,219.0,3229,1990,1540,1336,150.7,13.9,368,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1990,1438,1540,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8931,1.25,219.0,3230,1990,1540,1336,110.3,13.4,383,8937,0.00,2.17,0.00,0.000,260,0.000,0.045,3230,3400,1438,1540,1336,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9021,1.25,219.0,3230,3400,1540,1336,97.7,14.6,387,9027,0.00,2.05,0.00,0.000,1030,0.000,0.028,3241,1992,1438,1541,1336,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9341,1.25,219.0,3241,1992,1540,1336,56.9,10.9,403,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1992,1438,1541,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9640,1.25,219.0,3241,1991,1540,1336,26.3,11.0,429,9645,0.00,2.17,0.00,0.000,260,0.000,0.044,3242,3402,1439,1542,1336,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9722,1.27,227.1,2208,3401,1510,1333,18.3,8.5,443,9730,0.00,2.05,0.00,0.000,1030,0.000,0.027,3253,1994,1439,1543,1336,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,9919,end climb,SURFACE_DEPTH_REACHED
$STATE,9919,begin surface coast
$FINISH,0.4,1.001100
$STATE,9953,end surface coast,CONTROL_FINISHED_OK
$STATE,9954,begin surface
$SM_CCo,9972,82.88,0.061,0,0,748,400.08
$SM_GC,1.19,8.05,0.77,82.88,0.040,0.045,0.061,126,2496,748,-8.30,-1.27,400.08,0,0,0,0,0,0,26.62,26.55,26.35
$IRIDIUM_FIX,2223.01,12225.05,300313,111143
$TT8_MAMPS,0.048685,0.048685
$HUMID,44.80
$INTERNAL_PRESSURE,9.66204
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,3944736
$24V_AH,24.0,34.566
$10V_AH,10.3,23.634
$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,20.125,85.850,568.575,82.875,0.000,0.000,0.000,242.225,0.000,0.000,32.947,1986.028,5872.125,683.508,1595.098,324.726,0.000,1711.151,0.000,1273.554,0.000,0.538,0.000
$DEVICE_MAMPS,222.615,73.440,898.110,61.200,0.000,0.000,0.000,120.105,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9946.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.181,0.000,0.000,0.000
$MEM,324156
$DATA_FILE_SIZE,16769,486
$CAP_FILE_SIZE,267506,0
$CFSIZE,260034560,229699584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300313,171239,2237.864,12221.561,9,7.1,29,-3.0