version: 66.11
glider: 171
mission: 4
dive: 14
start: 2 26 113 17 44 5
data:
$ID,171
$MISSION,4
$DIVE,14
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,980
$D_ABORT,1020
$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,330
$T_MISSION,360
$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,-20310.523
$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,0.02
$PITCH_ADJ_DBAND,1
$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,47
$R_STBD_OVSHOOT,31
$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,3
$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
$GPS1,260213,173835,2225.138,12114.826,13,1.5,29,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-70.3
$GPS2,260213,174337,2225.311,12114.873,11,1.4,11,-2.8
$SPEED_LIMITS,0.171,0.281
$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,22.5,73332,-15.7,-9.899,-19.44,2693
$D_GRID,617
$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,-0.84,-175.2,134,2506,508,344,0.0,0.0,0,87,0.00,0.00,-67.72,0.000,16386,0.000,0.000,134,2507,2357,2420,2294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.84,-175.2,134,2507,2422,2295,3.3,-4.3,9,123,9.30,2.20,-17.95,0.000,18948,0.228,0.048,2543,1089,3408,3435,3382,0,0,0,0,0,0,26.14,26.34,26.62
$GC,233,-0.74,-175.2,2542,1089,3430,3408,46.1,-24.6,27,241,0.17,2.17,0.00,0.000,3078,0.148,0.043,2582,2498,3419,3431,3408,0,0,0,0,0,0,26.33,26.41,28.83
$GC,559,-0.69,-175.2,2581,2499,3431,3410,116.4,-18.1,44,565,0.00,1.85,0.00,0.000,260,0.000,0.063,2574,3672,3420,3430,3410,0,0,0,0,0,0,28.83,26.54,28.83
$GC,793,-0.71,-175.2,2574,3673,3432,3413,155.7,-16.5,55,800,0.00,1.70,0.00,0.000,1030,0.000,0.027,2574,2474,3422,3431,3413,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1109,-0.75,-175.2,2574,2474,3431,3417,194.1,-10.7,71,1115,0.00,1.90,0.00,0.000,260,0.000,0.062,2565,3670,3424,3431,3417,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1350,-0.81,-175.2,2565,3670,3432,3417,222.1,-13.8,82,1356,0.00,1.65,0.00,0.000,1030,0.000,0.028,2565,2506,3424,3431,3417,0,0,0,0,0,0,28.83,26.78,28.83
$GC,1664,-0.86,-175.2,2564,2507,3431,3417,265.4,-11.6,98,1671,0.00,2.08,0.00,0.000,516,0.000,0.033,2565,1106,3424,3431,3417,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1694,-0.93,-175.2,2564,1106,3431,3417,267.9,-10.8,99,1700,0.00,2.12,0.00,0.000,1030,0.000,0.044,2554,2506,3424,3431,3417,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2013,-0.97,-175.2,2554,2506,3431,3417,305.4,-13.5,115,2019,0.12,2.08,0.00,0.000,4612,0.084,0.032,2472,1108,3424,3431,3417,0,0,0,0,0,0,26.85,26.79,28.83
$GC,2040,-0.97,-175.2,2471,1108,3426,3417,309.7,-14.4,116,2048,0.17,2.12,0.00,0.000,3078,0.143,0.045,2511,2502,3424,3431,3417,0,0,0,0,0,0,26.70,26.77,28.83
$GC,2361,-0.97,-175.2,2511,2502,3430,3417,366.3,-17.7,132,2367,0.00,1.83,0.00,0.000,260,0.000,0.062,2503,3668,3423,3430,3417,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2405,-0.97,-175.2,2503,3665,3430,3417,373.7,-17.1,134,2410,0.00,1.67,0.00,0.000,1030,0.000,0.027,2505,2496,3423,3430,3417,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2729,-0.94,-175.2,2503,2495,3429,3413,428.8,-15.7,150,2735,0.00,2.05,0.00,0.000,516,0.000,0.034,2503,1114,3421,3429,3414,0,0,0,0,0,0,28.83,26.83,28.83
$GC,2783,-0.94,-175.2,2503,1114,3428,3413,435.5,-14.9,152,2789,0.00,2.10,0.00,0.000,1030,0.000,0.046,2493,2499,3420,3428,3413,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3097,-0.91,-175.2,2492,2500,3426,3411,489.9,-19.1,168,3104,0.12,2.08,0.00,0.000,2564,0.150,0.034,2535,1116,3418,3426,3411,0,0,0,0,0,0,26.77,26.84,28.83
$GC,3131,-0.91,-175.2,2534,1116,3426,3411,494.6,-19.0,169,3137,0.00,2.10,0.00,0.000,1030,0.000,0.047,2525,2499,3418,3426,3411,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3446,-0.94,-175.2,2524,2499,3424,3409,537.1,-7.4,185,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2499,3417,3425,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3745,-0.97,-175.2,2524,2499,3422,3406,550.9,1.9,200,3751,0.00,1.83,0.00,0.000,260,0.000,0.066,2516,3664,3415,3425,3406,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3778,-0.99,-175.2,2516,3664,3421,3406,548.7,4.9,201,3785,0.00,1.67,0.00,0.000,1030,0.000,0.028,2515,2496,3414,3422,3406,0,0,0,0,0,0,28.83,26.90,28.83
$GC,4094,-1.04,-175.2,2515,2495,3420,3405,561.3,-15.9,217,4100,0.00,1.85,0.00,0.000,260,0.000,0.062,2506,3665,3412,3420,3404,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4148,-1.04,-175.2,2506,3665,3420,3404,569.7,-17.0,219,4153,0.00,1.67,0.00,0.000,1030,0.000,0.028,2506,2497,3412,3420,3404,0,0,0,0,0,0,28.83,26.90,28.83
$GC,4471,-1.04,-175.2,2506,2497,3418,3402,608.0,-9.3,234,4477,0.00,2.05,0.00,0.000,516,0.000,0.037,2507,1112,3410,3418,3402,0,0,0,0,0,0,28.83,26.86,28.83
$GC,4519,-1.07,-175.2,2506,1111,3417,3401,613.0,-9.9,235,4526,0.00,2.12,0.00,0.000,1030,0.000,0.049,2496,2498,3409,3417,3402,0,0,0,0,0,0,28.83,26.84,28.83
$STATE,4537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4538,begin apogee
$GC,4542,-0.20,0.0,2496,1992,3417,3402,617.1,-10.8,236,4702,0.73,0.00,144.35,0.905,10246,0.103,0.000,2751,1991,2728,2849,2608,0,0,0,0,1,0,26.79,28.83,24.38
$STATE,4704,end apogee,CONTROL_FINISHED_OK
$STATE,4704,begin climb
$GC,4705,0.84,175.2,2750,1991,2850,2608,626.2,0.0,241,4877,0.93,2.47,155.65,0.938,11012,0.049,0.053,3103,3414,2013,2159,1867,0,0,0,0,1,0,25.25,24.89,24.20
$GC,5107,0.65,239.9,3102,3414,2151,1867,618.7,7.4,254,5191,0.28,2.12,71.40,0.701,13318,0.150,0.029,3034,2003,1742,1878,1606,0,0,0,0,0,0,25.93,26.08,24.79
$GC,5485,0.68,339.3,3034,2003,1854,1605,580.7,6.1,270,5605,0.00,0.00,111.18,0.649,8198,0.000,0.000,3034,2003,1344,1468,1220,0,0,0,0,1,0,28.83,28.83,24.56
$GC,5904,0.64,339.3,3034,2001,1471,1220,536.0,10.3,291,5910,0.00,2.15,0.00,0.000,516,0.000,0.043,3045,615,1345,1471,1220,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5957,0.60,339.3,3044,615,1471,1220,530.7,11.2,293,5964,0.12,2.15,0.00,0.000,5126,0.142,0.039,3011,2015,1345,1471,1220,0,0,0,0,0,0,26.14,26.22,28.83
$GC,6272,0.65,381.2,3012,2016,1471,1224,499.7,8.3,309,6334,0.00,2.20,54.85,0.632,8452,0.000,0.058,3011,3402,1166,1294,1039,0,0,0,0,0,0,28.83,25.75,25.29
$GC,6362,0.68,406.7,3010,3402,1283,1034,491.6,8.9,313,6400,0.00,2.15,28.67,0.618,9222,0.000,0.033,3021,2010,1062,1190,934,0,0,0,0,0,0,28.83,25.91,25.13
$GC,6709,0.68,406.7,3020,2010,1174,921,454.3,10.7,330,6715,0.00,2.20,0.00,0.000,516,0.000,0.041,3031,594,1047,1174,921,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6763,0.68,406.7,3031,594,1174,925,449.7,10.6,332,6768,0.00,2.15,0.00,0.000,1030,0.000,0.037,3031,2001,1047,1173,921,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7076,0.68,406.7,3031,2000,1172,919,414.6,11.4,348,7083,0.00,2.22,0.00,0.000,260,0.000,0.057,3031,3403,1046,1172,920,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7109,0.68,406.7,3031,3403,1172,920,411.6,11.6,349,7115,0.00,2.10,0.00,0.000,1030,0.000,0.031,3042,1995,1045,1172,919,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7423,0.68,406.7,3041,1995,1171,919,371.5,12.6,365,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1995,1045,1171,919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7723,0.68,406.7,3041,1995,1171,918,332.9,13.4,380,7729,0.00,2.12,0.00,0.000,516,0.000,0.044,3051,604,1044,1171,918,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7740,0.68,406.7,3051,605,1171,918,332.9,13.4,380,7748,0.00,2.10,0.00,0.000,1030,0.000,0.037,3052,1999,1044,1171,918,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8048,0.66,406.7,3051,1999,1170,918,293.7,11.2,396,8053,0.00,2.20,0.00,0.000,260,0.000,0.057,3052,3407,1044,1170,918,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8075,0.63,406.7,3051,3407,1170,918,290.8,11.3,397,8082,0.15,2.10,0.00,0.000,5126,0.142,0.032,3018,1993,1044,1170,918,0,0,0,0,0,0,26.60,26.70,28.83
$GC,8395,0.66,406.7,3019,1992,1171,918,258.4,10.0,413,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1990,1044,1170,918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8695,0.69,406.7,3018,1992,1170,918,226.3,10.6,428,8700,0.00,2.22,0.00,0.000,260,0.000,0.057,3019,3402,1044,1170,918,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8749,0.72,406.7,3018,3402,1170,918,222.1,10.1,430,8754,0.00,2.08,0.00,0.000,1030,0.000,0.031,3028,1999,1044,1170,918,0,0,0,0,0,0,28.83,26.76,28.83
$GC,9063,0.83,470.6,3028,1997,1169,918,195.1,7.5,446,9147,0.15,2.17,69.10,0.472,10756,0.075,0.045,3138,605,808,923,693,0,0,0,0,1,0,26.81,26.10,25.64
$GC,9169,0.76,470.6,3138,605,923,693,182.5,13.9,450,9178,0.25,2.15,0.00,0.000,5126,0.131,0.037,3063,2004,807,922,693,0,0,0,0,0,0,26.06,26.16,28.83
$GC,9475,0.76,470.6,3063,2004,925,693,140.4,12.3,466,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2004,809,925,693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9776,0.80,470.6,3063,2004,926,693,108.6,11.1,481,9782,0.00,2.12,0.00,0.000,516,0.000,0.042,3074,606,810,927,693,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9855,0.83,470.6,3074,606,927,693,101.2,11.3,484,9863,0.00,2.12,0.00,0.000,1030,0.000,0.038,3073,2013,810,927,693,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10161,1.04,578.7,3073,2009,928,693,73.5,5.8,500,10243,0.22,0.00,74.43,0.457,10246,0.057,0.000,3196,2009,413,497,329,0,0,0,0,1,0,26.70,28.83,25.60
$GC,10542,0.94,578.7,3196,2009,514,347,12.6,17.1,535,10559,0.22,2.22,8.43,0.037,12804,0.131,0.042,3133,606,413,496,330,0,0,0,0,0,0,26.29,26.34,26.35
$GC,10581,0.94,578.7,2128,606,496,330,7.2,12.8,541,10590,0.00,2.12,0.00,0.000,1030,0.000,0.037,3133,2002,413,497,330,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,10617,end climb,SURFACE_DEPTH_REACHED
$STATE,10617,begin surface coast
$FINISH,0.3,1.021598
$STATE,10644,end surface coast,CONTROL_FINISHED_OK
$STATE,10644,begin surface
$SM_CCo,10720,0.00,0.000,0,0,413,568.36
$SM_GC,1.15,7.72,0.77,0.00,0.034,0.052,0.000,127,2499,413,-8.31,-1.07,568.36,0,0,0,0,0,0,26.44,26.40,28.83
$IRIDIUM_FIX,2213.68,12114.61,260213,151543
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.32
$INTERNAL_PRESSURE,9.58391
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,4015712
$24V_AH,24.2,3.723
$10V_AH,10.5,2.779
$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,20.675,92.075,718.050,0.000,0.000,0.000,0.000,188.525,0.000,0.000,12.050,2220.314,6275.258,813.242,1576.364,136.365,0.000,1802.316,0.000,1300.872,0.000,0.537,0.000
$DEVICE_MAMPS,227.970,65.790,937.890,0.000,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10629.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.293,0.000,0.000,0.000
$MEM,323952
$DATA_FILE_SIZE,20085,552
$CAP_FILE_SIZE,290815,0
$CFSIZE,260034560,252133376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.326, 18.5,1
$GPS,260213,204400,2228.518,12116.349,39,1.4,40,-2.9