version: 66.11
glider: 171
mission: 4
dive: 27
start: 2 28 113 3 41 15
data:
$ID,171
$MISSION,4
$DIVE,27
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,380
$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,175
$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,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,-20326.865
$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,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,34
$R_STBD_OVSHOOT,21
$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,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$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
$GPS1,280213,033543,2259.270,12127.042,10,1.4,10,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-67.5
$GPS2,280213,034048,2259.443,12127.173,13,1.4,30,-3.0
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,117.5,267361,-16.1,-10.000,-19.78,2593
$D_GRID,627
$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,-1.12,-170.3,126,2495,1091,874,0.0,0.0,0,73,0.00,0.00,-54.35,0.000,16386,0.000,0.000,127,2495,2582,2656,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.12,-170.3,126,2495,2657,2510,4.4,-7.5,7,108,8.73,2.17,-13.15,0.000,18948,0.227,0.050,2391,1045,3408,3425,3391,0,0,0,0,0,0,26.22,26.41,26.68
$GC,129,-1.12,-170.3,1448,1044,3408,3389,28.9,-44.2,14,137,0.00,2.25,0.00,0.000,1030,0.000,0.047,2380,2503,3408,3424,3393,0,0,0,0,0,0,28.83,26.41,28.83
$GC,447,-1.12,-170.3,2380,2503,3424,3397,135.3,-27.6,33,453,0.00,1.85,0.00,0.000,260,0.000,0.060,2372,3680,3410,3424,3397,0,0,0,0,0,0,28.83,26.58,28.83
$GC,683,-1.12,-170.3,2372,3680,3424,3404,204.2,-30.5,44,689,0.00,1.73,0.00,0.000,1030,0.000,0.027,2372,2482,3414,3424,3404,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1001,-1.12,-170.3,2372,2480,3423,3406,301.0,-29.6,60,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2480,3414,3424,3405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1301,-1.12,-170.3,2371,2480,3424,3406,386.2,-27.4,75,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2480,3415,3424,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1601,-1.12,-170.3,2371,2480,3423,3406,465.4,-25.4,90,1608,0.10,1.88,0.00,0.000,2308,0.176,0.060,2389,3674,3414,3423,3406,0,0,0,0,0,0,26.72,26.77,28.83
$GC,1694,-1.12,-170.3,2388,3674,3423,3406,485.2,-23.6,94,1701,0.00,1.70,0.00,0.000,1030,0.000,0.028,2389,2496,3414,3422,3406,0,0,0,0,0,0,28.83,26.83,28.83
$GC,2009,-1.12,-170.3,2388,2495,3421,3406,559.1,-22.7,110,2015,0.00,1.85,0.00,0.000,260,0.000,0.063,2379,3671,3413,3421,3405,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2068,-1.12,-170.3,2379,3671,3420,3406,569.1,-22.7,112,2077,0.00,1.73,0.00,0.000,1030,0.000,0.028,2379,2512,3413,3420,3406,0,0,0,0,0,0,28.83,26.84,28.83
$STATE,2313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2313,begin apogee
$GC,2318,-0.29,0.0,2380,1994,3418,3403,627.6,-21.5,123,2551,0.82,0.00,223.90,0.613,10246,0.126,0.000,2655,1994,2724,2846,2602,0,0,0,0,0,0,26.73,28.83,24.90
$STATE,2553,end apogee,CONTROL_FINISHED_OK
$STATE,2553,begin climb
$GC,2554,1.12,170.3,2655,1994,2841,2598,641.1,0.0,130,2729,1.30,2.45,165.82,0.708,11012,0.076,0.055,3111,3415,2026,2176,1877,0,0,0,0,0,0,25.43,25.21,24.67
$GC,2962,1.12,170.3,3111,3415,2134,1862,626.7,10.4,143,2968,0.00,2.15,0.00,0.000,1030,0.000,0.034,3124,2010,1998,2134,1862,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3285,1.12,170.3,3123,2011,2131,1859,593.1,10.1,155,3292,0.00,2.22,0.00,0.000,260,0.000,0.057,3123,3415,1995,2131,1859,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3512,1.12,170.3,3123,3415,2129,1857,566.9,11.6,166,3519,0.00,2.15,0.00,0.000,1030,0.000,0.037,3135,1998,1993,2129,1857,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3838,1.12,177.3,3134,1997,2126,1854,534.1,9.7,182,3844,0.00,2.25,0.00,0.000,260,0.000,0.060,3134,3414,1990,2126,1854,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3892,1.12,177.3,3134,3414,2126,1854,529.3,10.1,184,3898,0.00,2.15,0.00,0.000,1030,0.000,0.038,3146,1992,1989,2125,1854,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4206,1.14,194.7,3145,1991,2123,1852,498.1,9.3,200,4239,0.00,2.28,26.35,0.565,8452,0.000,0.060,3146,3414,1931,2072,1790,0,0,0,0,0,0,28.83,26.39,25.98
$GC,4386,1.14,194.7,3145,3414,2054,1777,481.2,10.2,208,4395,0.12,2.15,0.00,0.000,5126,0.169,0.038,3126,2002,1915,2054,1776,0,0,0,0,0,0,26.42,26.53,28.83
$GC,4694,1.16,214.3,3125,2002,2050,1774,452.3,9.2,224,4722,0.00,0.00,26.90,0.542,8198,0.000,0.000,3126,2001,1856,1997,1716,0,0,0,0,0,0,28.83,28.83,25.92
$GC,5013,1.16,214.3,3125,2002,1966,1701,418.4,10.9,240,5019,0.00,2.20,0.00,0.000,516,0.000,0.051,3136,582,1833,1966,1701,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5046,1.16,214.3,3136,582,1965,1701,415.8,11.0,241,5052,0.00,2.17,0.00,0.000,1030,0.000,0.043,3136,2004,1833,1965,1701,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5359,1.16,214.3,3136,2003,1962,1701,381.8,10.5,257,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2004,1831,1962,1701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5659,1.16,214.3,3139,2004,1960,1701,350.2,10.4,272,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2004,1829,1958,1701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5959,1.18,231.0,3136,2004,1958,1701,323.1,9.3,287,5981,0.00,0.00,18.42,0.519,8198,0.000,0.000,3137,2004,1786,1916,1656,0,0,0,0,0,0,28.83,28.83,26.13
$GC,6279,1.18,231.0,3135,2004,1889,1645,287.8,11.0,303,6285,0.00,2.20,0.00,0.000,260,0.000,0.056,3136,3411,1767,1890,1645,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6367,1.18,231.0,2128,3411,1841,1639,278.1,11.4,307,6373,0.00,2.12,0.00,0.000,1030,0.000,0.032,3147,1988,1766,1888,1645,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6687,1.18,231.0,3147,1988,1886,1646,241.0,11.2,323,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1988,1766,1886,1646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6986,1.18,231.0,3147,1988,1885,1645,206.4,11.7,338,6992,0.00,2.22,0.00,0.000,260,0.000,0.054,3147,3414,1765,1885,1646,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7014,1.18,231.0,3147,3414,1885,1645,203.6,11.7,339,7020,0.00,2.10,0.00,0.000,1030,0.000,0.033,3159,2002,1765,1885,1645,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7333,1.18,231.0,3158,2002,1885,1645,167.0,10.1,355,7339,0.00,2.22,0.00,0.000,260,0.000,0.057,3159,3416,1765,1885,1645,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7569,1.21,266.7,3158,3415,1884,1646,150.2,8.6,366,7627,0.00,2.12,49.40,0.430,9222,0.000,0.036,3170,1993,1635,1744,1526,0,0,0,0,0,0,28.83,26.80,25.98
$GC,7920,1.25,300.5,3170,1994,1719,1514,120.0,8.7,384,7971,0.00,2.33,41.97,0.413,8964,0.000,0.057,3170,3412,1496,1607,1385,0,0,0,0,0,0,28.83,26.20,25.85
$GC,8199,1.27,320.3,3170,3410,1589,1372,91.8,9.2,397,8228,0.00,2.15,21.62,0.396,9222,0.000,0.036,3181,1993,1418,1530,1307,0,0,0,0,0,0,28.83,26.45,25.92
$GC,8534,1.31,366.7,3181,1992,1509,1290,65.8,8.2,414,8598,0.00,2.33,56.60,0.379,8452,0.000,0.057,3182,3402,1226,1336,1117,0,0,0,0,0,0,28.83,26.08,25.76
$GC,8734,1.31,366.7,3181,3402,1319,1106,44.3,13.3,426,8739,0.00,2.12,0.00,0.000,1030,0.000,0.036,3193,2003,1213,1320,1106,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9039,1.34,390.3,3193,2003,1318,1105,12.7,9.1,468,9053,0.00,2.25,9.10,0.080,8452,0.000,0.059,3193,3412,1135,1245,1026,0,0,0,0,0,0,28.83,26.48,26.42
$STATE,9117,end climb,SURFACE_DEPTH_REACHED
$STATE,9117,begin surface coast
$FINISH,0.5,0.000000
$STATE,9137,end surface coast,CONTROL_FINISHED_OK
$STATE,9138,begin surface
$SM_CCo,9154,5.53,0.057,0,0,1098,400.08
$SM_GC,2.92,7.82,1.42,5.53,0.036,0.035,0.057,139,2490,1098,-8.10,1.13,400.08,0,0,0,0,0,0,26.55,26.55,26.49
$IRIDIUM_FIX,2251.04,12121.11,280213,020235
$TT8_MAMPS,0.048685,0.048685
$HUMID,45.66
$INTERNAL_PRESSURE,9.6718
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,4011648
$24V_AH,24.7,5.563
$10V_AH,10.4,3.737
$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,18.900,63.675,640.100,5.525,0.000,0.000,0.000,189.300,0.000,0.000,31.759,1831.500,5306.532,641.400,1564.850,134.183,0.000,1587.691,0.000,1284.435,0.000,0.538,0.000
$DEVICE_MAMPS,227.205,62.730,708.390,57.375,0.000,0.000,0.000,118.575,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9127.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.686,0.000,0.000,0.000
$MEM,324048
$DATA_FILE_SIZE,16809,488
$CAP_FILE_SIZE,238981,0
$CFSIZE,260034560,251076608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.258, 40.9,1
$GPS,280213,061559,2259.955,12128.903,87,0.9,88,-3.0