version: 66.11
glider: 171
mission: 4
dive: 4
start: 2 25 113 6 47 57
data:
$ID,171
$MISSION,4
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,250
$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,180
$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,557.86951
$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,-20209.717
$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,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,415
$VBD_MAX,3400
$C_VBD,2730
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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
$GPS1,250213,064403,2201.935,12101.471,8,2.8,27,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-68.0
$GPS2,250213,064731,2201.926,12101.511,14,1.1,14,-2.7
$SPEED_LIMITS,0.173,0.282
$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,23.5,121511,-15.8,-10.000,-19.55,2669
$D_GRID,1150
$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,17,-0.74,-175.2,143,2305,511,341,0.0,0.0,0,87,0.00,0.00,-67.80,0.000,16386,0.000,0.000,141,2305,2368,2433,2304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.74,-175.2,141,2305,2435,2304,3.3,-4.6,9,122,9.40,0.00,-18.80,0.000,18438,0.231,0.000,2578,2305,3411,3446,3377,0,0,0,0,0,0,26.39,28.83,26.90
$GC,436,-0.65,-175.2,2574,2308,3442,3414,79.6,-18.5,42,442,0.12,2.15,0.00,0.000,2308,0.145,0.060,2608,3672,3428,3442,3414,0,0,0,0,0,0,26.67,26.69,28.83
$GC,678,-0.82,-175.2,2607,3673,3442,3415,108.9,-11.3,53,684,0.15,2.03,0.00,0.000,5126,0.074,0.031,2510,2296,3428,3442,3415,0,0,0,0,0,0,26.80,26.79,28.83
$GC,993,-0.68,-175.2,2510,2293,3442,3416,170.5,-17.9,69,1000,0.25,2.17,0.00,0.000,2308,0.125,0.061,2584,3673,3429,3442,3416,0,0,0,0,0,0,26.72,26.77,28.83
$GC,1228,-0.85,-175.2,2584,3673,3442,3416,191.5,-9.4,80,1235,0.12,2.03,0.00,0.000,5126,0.086,0.031,2501,2294,3429,3442,3416,0,0,0,0,0,0,26.84,26.85,28.83
$GC,1544,-0.75,-175.2,2501,2293,3442,3416,250.6,-18.1,96,1550,0.22,2.17,0.00,0.000,2308,0.125,0.060,2568,3678,3429,3441,3417,0,0,0,0,0,0,26.77,26.81,28.83
$GC,1678,-0.90,-175.2,2568,3679,3442,3416,265.2,-10.3,102,1685,0.12,2.03,0.00,0.000,5126,0.085,0.031,2487,2292,3429,3442,3416,0,0,0,0,0,0,26.87,26.87,28.83
$GC,1993,-0.79,-175.2,2487,2292,3442,3416,317.3,-17.9,118,2000,0.22,2.17,0.00,0.000,2308,0.125,0.061,2554,3671,3431,3447,3416,0,0,0,0,0,0,26.77,26.84,28.83
$GC,2142,-0.92,-175.2,2554,3672,3441,3416,336.0,-11.9,125,2148,0.00,2.00,0.00,0.000,1030,0.000,0.032,2554,2305,3428,3441,3416,0,0,0,0,0,0,28.83,26.89,28.83
$GC,2461,-1.02,-175.2,2554,2303,3438,3416,373.4,-11.8,141,2468,0.15,2.15,0.00,0.000,4356,0.077,0.063,2457,3671,3427,3438,3416,0,0,0,0,0,0,26.94,26.84,28.83
$GC,2521,-1.02,-175.2,2457,3671,3438,3416,380.6,-13.7,143,2530,0.12,2.03,0.00,0.000,3078,0.142,0.031,2493,2289,3427,3438,3416,0,0,0,0,0,0,26.78,26.89,28.83
$GC,2828,-0.94,-175.2,2492,2288,3435,3415,433.5,-15.8,159,2835,0.00,2.17,0.00,0.000,260,0.000,0.065,2482,3671,3425,3435,3416,0,0,0,0,0,0,28.83,26.84,28.83
$GC,2958,-0.88,-175.2,2482,3671,3439,3415,453.6,-15.7,165,2964,0.17,2.03,0.00,0.000,3078,0.129,0.032,2537,2299,3424,3434,3415,0,0,0,0,0,0,26.79,26.90,28.83
$GC,3278,-0.95,-175.2,2537,2298,3434,3412,494.2,-12.6,181,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2298,3422,3434,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3578,-1.02,-175.2,2537,2298,3430,3410,531.7,-12.1,196,3584,0.12,2.17,0.00,0.000,4356,0.090,0.067,2456,3670,3420,3430,3410,0,0,0,0,0,0,26.94,26.85,28.83
$GC,3697,-0.92,-175.2,2456,3669,3429,3410,548.5,-16.7,201,3705,0.22,2.03,0.00,0.000,3078,0.127,0.033,2526,2294,3419,3429,3410,0,0,0,0,0,0,26.78,26.90,28.83
$GC,4003,-0.98,-175.2,2526,2292,3427,3407,590.8,-13.3,217,4009,0.00,2.20,0.00,0.000,260,0.000,0.069,2516,3674,3419,3431,3407,0,0,0,0,0,0,28.83,26.84,28.83
$GC,4103,-1.05,-175.2,2516,3674,3427,3406,604.5,-14.0,221,4110,0.10,2.03,0.00,0.000,5126,0.101,0.031,2457,2299,3417,3427,3407,0,0,0,0,0,0,26.89,26.91,28.83
$STATE,4432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4432,begin apogee
$GC,4436,-0.17,0.0,2456,2146,3423,3405,662.6,-17.4,232,4590,0.88,0.00,140.98,0.942,10246,0.112,0.000,2758,2145,2729,2850,2608,0,0,0,0,1,0,26.79,28.83,24.55
$STATE,4592,end apogee,CONTROL_FINISHED_OK
$STATE,4592,begin climb
$GC,4593,0.74,175.2,2758,2144,2850,2609,675.0,0.0,236,4760,0.80,0.00,154.75,0.974,10758,0.049,0.000,3065,2144,2014,2163,1865,0,0,0,0,1,0,25.41,28.83,24.43
$GC,5039,0.67,319.1,3065,2145,2152,1865,684.5,4.5,252,5177,0.00,2.42,123.32,0.960,8452,0.000,0.063,3065,3560,1428,1552,1304,0,0,0,0,1,0,28.83,25.13,24.45
$GC,5204,0.44,319.6,3065,3561,1551,1304,669.7,10.0,257,5211,0.38,2.20,0.00,0.000,5126,0.137,0.031,2966,2154,1427,1551,1304,0,0,0,0,0,0,25.48,25.59,28.83
$GC,5535,0.66,342.0,2966,2153,1547,1304,638.5,9.1,268,5573,0.17,2.28,23.65,0.737,10756,0.069,0.051,3068,751,1335,1461,1210,0,0,0,0,1,0,26.44,26.03,25.33
$GC,5656,0.66,342.0,3067,752,1461,1210,626.4,11.8,271,5665,0.12,2.22,0.00,0.000,5126,0.152,0.053,3034,2157,1335,1460,1210,0,0,0,0,0,0,26.15,26.24,28.83
$GC,5973,0.66,342.0,3034,2157,1460,1210,588.5,11.2,284,5979,0.00,2.25,0.00,0.000,260,0.000,0.065,3034,3559,1333,1456,1210,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5997,0.66,342.0,3034,3559,1460,1210,585.7,11.2,285,6003,0.00,2.12,0.00,0.000,1030,0.000,0.034,3045,2154,1335,1460,1210,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6321,0.66,342.0,3044,2154,1459,1211,545.9,12.7,301,6327,0.00,2.17,0.00,0.000,516,0.000,0.054,3055,744,1334,1459,1210,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6420,0.66,342.0,3055,745,1458,1210,534.4,13.4,305,6428,0.00,2.20,0.00,0.000,1030,0.000,0.052,3055,2154,1334,1458,1210,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6726,0.66,342.0,3055,2154,1458,1210,493.0,13.1,321,6732,0.00,2.25,0.00,0.000,260,0.000,0.069,3055,3562,1334,1457,1211,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6844,0.57,342.0,2080,3561,1432,1208,476.5,16.1,326,6853,0.20,2.15,0.00,0.000,5126,0.148,0.035,3008,2145,1334,1458,1210,0,0,0,0,0,0,26.63,26.74,28.83
$GC,7152,0.67,342.0,3008,2145,1456,1210,438.1,10.7,342,7157,0.00,2.28,0.00,0.000,260,0.000,0.068,3008,3562,1331,1453,1210,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7225,0.74,342.0,3008,3562,1456,1210,430.3,11.9,345,7232,0.12,2.12,0.00,0.000,3078,0.088,0.037,3088,2150,1333,1456,1210,0,0,0,0,0,0,26.79,26.77,28.83
$GC,7541,0.62,342.0,3087,2150,1455,1210,385.2,13.7,361,7547,0.17,2.17,0.00,0.000,4612,0.146,0.055,3040,742,1332,1455,1210,0,0,0,0,0,0,26.70,26.77,28.83
$GC,7649,0.67,342.0,3040,742,1454,1210,373.2,10.7,366,7655,0.00,2.17,0.00,0.000,1030,0.000,0.054,3040,2149,1332,1454,1210,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7973,0.67,342.0,3039,2149,1454,1210,339.3,10.8,382,7979,0.00,2.20,0.00,0.000,516,0.000,0.058,3051,740,1332,1454,1210,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8062,0.67,342.0,3050,740,1454,1210,330.2,10.5,386,8068,0.00,2.20,0.00,0.000,1030,0.000,0.055,3050,2153,1332,1454,1210,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8381,0.67,342.0,3050,2153,1454,1210,292.6,12.0,402,8386,0.00,2.25,0.00,0.000,260,0.000,0.070,3050,3563,1332,1454,1210,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8434,0.67,342.0,3050,3563,1454,1210,286.9,12.2,404,8440,0.00,2.12,0.00,0.000,1030,0.000,0.037,3061,2147,1332,1454,1210,0,0,0,0,0,0,28.83,26.83,28.83
$GC,8747,0.67,342.0,3061,2148,1454,1210,248.9,11.9,420,8754,0.00,2.17,0.00,0.000,516,0.000,0.057,3072,742,1332,1454,1210,0,0,0,0,0,0,28.83,26.81,28.83
$GC,8840,0.67,342.0,3072,742,1453,1210,239.9,10.7,424,8847,0.12,2.17,0.00,0.000,5126,0.152,0.054,3037,2149,1331,1453,1210,0,0,0,0,0,0,26.74,26.82,28.83
$GC,9157,0.87,441.7,3037,2149,1453,1210,215.8,6.2,440,9253,0.15,2.35,84.53,0.695,10756,0.079,0.058,3141,742,927,1049,805,0,0,1,0,1,0,26.90,25.72,25.18
$GC,9337,0.74,441.7,3141,740,1049,804,189.4,17.5,448,9344,0.28,2.25,0.00,0.000,5126,0.129,0.052,3058,2153,926,1049,804,0,0,0,0,0,0,25.98,26.05,28.83
$GC,9657,0.86,441.7,3057,2153,1048,801,148.9,10.4,464,9659,0.12,0.00,0.00,0.000,2054,0.085,0.000,3131,2153,924,1048,801,0,0,0,0,0,0,26.51,28.83,28.83
$GC,9957,0.75,441.7,3131,2157,1048,801,106.0,16.0,479,9963,0.20,2.20,0.00,0.000,4612,0.134,0.056,3075,743,924,1048,801,0,0,0,0,0,0,26.49,26.55,28.83
$GC,10193,0.90,446.5,3074,743,1048,800,82.1,9.8,490,10207,0.10,2.20,6.60,0.373,11270,0.097,0.052,3140,2151,904,1030,779,0,0,0,0,0,0,26.65,26.63,26.15
$GC,10504,0.95,487.9,3140,2151,1026,773,52.7,8.4,506,10562,0.00,2.30,43.00,0.552,8452,0.000,0.066,3141,3563,740,847,633,0,0,0,0,1,0,28.83,26.14,25.63
$GC,10615,0.95,487.9,3140,3563,847,633,39.5,13.0,514,10621,0.00,2.17,0.00,0.000,1030,0.000,0.037,3151,2145,740,847,633,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,10899,end climb,SURFACE_DEPTH_REACHED
$STATE,10899,begin surface coast
$FINISH,0.9,1.022807
$STATE,10922,end surface coast,CONTROL_FINISHED_OK
$STATE,10922,begin surface
$SM_CCo,10937,37.65,0.060,0,0,454,558.06
$SM_GC,1.02,7.70,0.25,37.65,0.034,0.065,0.060,147,2304,454,-8.28,-0.90,558.06,0,0,0,0,0,0,26.52,26.54,26.46
$IRIDIUM_FIX,2152.74,12103.41,250213,060647
$TT8_MAMPS,0.046438,0.046438
$HUMID,47.99
$INTERNAL_PRESSURE,9.59367
$TCM_TEMP,22.90
$XPDR_PINGS,20
$SC_FREEKB,4018816
$24V_AH,24.4,1.964
$10V_AH,10.4,1.853
$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,23.050,91.625,576.825,37.650,0.000,0.000,0.000,0.000,5.000,0.000,15.804,2508.072,6129.221,705.930,1592.281,117.884,0.000,1583.259,0.000,1514.782,0.000,0.538,0.000
$DEVICE_MAMPS,231.030,70.380,973.845,60.435,0.000,0.000,0.000,0.000,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10906.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.399,0.000,0.000,0.000
$MEM,323988
$DATA_FILE_SIZE,20093,562
$CAP_FILE_SIZE,325168,0
$CFSIZE,260034560,253161472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,6,1,0
$CURRENT,0.131,154.7,1
$GPS,250213,095143,2202.377,12103.155,12,2.0,12,-2.7