version: 66.11
glider: 171
mission: 4
dive: 32
start: 2 28 113 20 27 15
data:
$ID,171
$MISSION,4
$DIVE,32
$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,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,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,-20429.523
$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,2790
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,50
$R_STBD_OVSHOOT,33
$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,0.0020000001
$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
$GPS1,280213,202135,2301.677,12136.503,79,1.2,79,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-72.1
$GPS2,280213,202648,2301.774,12136.541,11,1.2,16,-3.0
$SPEED_LIMITS,0.170,0.276
$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,61.6,250988,-15.8,-9.798,-19.54,2646
$D_GRID,2009
$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,-1.13,-170.3,135,2500,1210,999,0.0,0.0,0,65,0.00,0.00,-44.97,0.000,16386,0.000,0.000,133,2500,2412,2477,2347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-1.13,-170.3,135,2500,2482,2347,3.6,-7.8,6,99,8.82,1.92,-15.88,0.000,18692,0.226,0.079,2409,3670,3407,3427,3388,0,0,0,0,0,0,26.01,26.21,26.52
$GC,244,-1.13,-170.3,2408,3669,3427,3397,77.2,-38.3,28,248,0.00,1.77,0.00,0.000,1030,0.000,0.028,2409,2495,3412,3427,3397,0,0,0,0,0,0,28.83,26.37,28.83
$GC,564,-1.13,-170.3,2408,2493,3427,3406,177.1,-28.4,44,568,0.00,2.10,0.00,0.000,516,0.000,0.039,2409,1098,3416,3427,3406,0,0,0,0,0,0,28.83,26.49,28.83
$GC,609,-1.13,-170.3,2408,1097,3427,3409,188.0,-27.4,46,613,0.00,2.20,0.00,0.000,1030,0.000,0.045,2398,2488,3417,3427,3407,0,0,0,0,0,0,28.83,26.48,28.83
$GC,924,-1.13,-170.3,2397,2488,3427,3410,282.4,-28.6,62,928,0.00,1.90,0.00,0.000,260,0.000,0.063,2389,3669,3418,3427,3410,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1154,-1.13,-170.3,2388,3668,3427,3410,344.7,-27.6,73,1159,0.10,1.75,0.00,0.000,3078,0.137,0.029,2422,2496,3419,3427,3411,0,0,0,0,0,0,26.53,26.65,28.83
$GC,1464,-1.13,-170.3,2422,2495,3432,3411,418.6,-21.4,89,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2495,3419,3427,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1764,-1.13,-170.3,2422,2495,3427,3411,485.4,-21.9,104,1768,0.00,1.88,0.00,0.000,260,0.000,0.063,2414,3681,3419,3427,3411,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1809,-1.13,-170.3,2414,3681,3427,3412,492.8,-21.4,106,1813,0.00,1.75,0.00,0.000,1030,0.000,0.028,2416,2499,3419,3427,3411,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2119,-1.13,-170.3,2413,2498,3427,3411,558.3,-19.8,122,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2498,3419,3427,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2429,-1.13,-170.3,2414,2498,3423,3410,621.5,-20.7,136,2433,0.00,1.88,0.00,0.000,260,0.000,0.063,2405,3680,3416,3423,3410,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2499,-1.13,-170.3,2404,3680,3422,3410,634.7,-21.4,138,2503,0.00,1.75,0.00,0.000,1030,0.000,0.026,2405,2491,3416,3422,3410,0,0,0,0,0,0,28.83,26.81,28.83
$GC,2819,-1.13,-170.3,2404,2488,3421,3406,704.1,-20.7,149,2823,0.00,1.88,0.00,0.000,260,0.000,0.061,2396,3676,3413,3421,3406,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2844,-1.13,-170.3,2396,3676,3420,3406,704.1,-20.7,149,2849,0.08,1.73,0.00,0.000,3078,0.135,0.026,2422,2496,3413,3420,3406,0,0,0,0,0,0,26.67,26.83,28.83
$GC,3149,-1.13,-170.3,2422,2495,3418,3403,763.9,-17.1,160,3153,0.00,1.85,0.00,0.000,260,0.000,0.060,2414,3678,3410,3418,3403,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3174,-1.13,-170.3,2414,3678,3418,3402,763.9,-17.1,160,3178,0.00,1.73,0.00,0.000,1030,0.000,0.028,2414,2509,3410,3418,3403,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3479,-1.13,-170.3,2416,2508,3415,3397,820.6,-16.8,171,3483,0.00,2.08,0.00,0.000,516,0.000,0.033,2414,1102,3407,3415,3399,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3504,-1.13,-170.3,2413,1102,3414,3400,825.1,-17.0,172,3508,0.00,2.15,0.00,0.000,1030,0.000,0.046,2403,2506,3406,3413,3399,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3835,-1.13,-170.3,2403,2506,3413,3397,888.8,-19.8,183,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2506,3405,3413,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4134,-1.13,-170.3,2403,2506,3410,3394,949.9,-20.5,193,4138,0.00,1.88,0.00,0.000,260,0.000,0.061,2394,3676,3402,3410,3394,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4169,-1.13,-170.3,2394,3676,3410,3394,956.3,-20.7,194,4174,0.08,1.75,0.00,0.000,3078,0.135,0.028,2421,2489,3402,3410,3394,0,0,0,0,0,0,26.71,26.86,28.83
$STATE,4253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4253,begin apogee
$GC,4257,-0.25,0.0,2421,1995,3408,3392,973.8,-19.8,197,4538,0.82,0.00,273.23,0.721,10246,0.116,0.000,2703,1993,2727,2852,2602,0,0,0,0,0,0,26.72,28.83,24.29
$STATE,4541,end apogee,CONTROL_FINISHED_OK
$STATE,4541,begin climb
$GC,4542,1.13,170.3,2703,1993,2847,2597,997.2,0.0,206,4715,1.25,0.00,166.93,0.744,11010,0.049,0.000,3161,1993,2284,2456,2112,0,0,0,0,0,0,25.06,28.83,28.83
$STATE,4716,end climb,ABORT_DEPTH_EXCEEDED
$SM_CCo,4727,483.38,0.990,38,0,413,567.87
$SM_GC,0.82,7.65,0.00,0.00,0.031,0.000,0.000,137,1993,471,-8.21,-0.23,554.38,0,0,0,0,0,0,26.73,28.83,28.83
$IRIDIUM_FIX,2251.04,12131.54,280213,161609
$TT8_MAMPS,0.050183,0.050183
$HUMID,46.14
$INTERNAL_PRESSURE,9.56438
$TCM_TEMP,17.00
$XPDR_PINGS,0
$SC_FREEKB,4010336
$24V_AH,23.7,6.472
$10V_AH,10.5,4.144
$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,18.800,34.600,440.150,483.375,0.000,0.000,0.000,181.625,0.000,0.000,17.588,376.036,7126.613,1060.022,844.149,56.907,0.000,1732.214,0.000,607.374,0.000,0.537,0.000
$DEVICE_MAMPS,225.675,78.795,743.580,989.910,0.000,0.000,0.000,127.755,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4553.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.974,0.000,0.000,0.000
$MEM,323960
$DATA_FILE_SIZE,6810,212
$CAP_FILE_SIZE,80289,0
$CFSIZE,260034560,250798080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,38,0,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,280213,230103,2302.709,12137.837,11,2.5,31,-3.0