version: 66.11
glider: 171
mission: 4
dive: 153
start: 3 20 113 11 27 1
data:
$ID,171
$MISSION,4
$DIVE,153
$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,-9
$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,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,-20699.945
$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,2835
$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,57
$R_STBD_OVSHOOT,34
$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
$GPS1,200313,112057,2141.652,12358.835,12,3.9,32,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.0
$GPS2,200313,112635,2141.621,12358.850,16,1.2,26,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,161.5,21613,-12.0,-8.739,-16.47,3810
$D_GRID,5417
$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,-219.0,119,2499,828,666,0.0,0.0,0,87,0.00,0.00,-67.07,0.000,16386,0.000,0.000,119,2499,2687,2753,2622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-1.25,-219.0,118,2499,2755,2622,4.0,-6.4,9,115,8.85,1.92,-9.93,0.000,18692,0.220,0.071,2417,3676,3277,3342,3213,0,0,0,0,0,0,25.95,26.29,26.65
$GC,190,-1.25,-219.0,2417,3676,3349,3213,46.2,-37.0,21,197,0.00,1.70,0.00,0.000,1030,0.000,0.025,2418,2489,3281,3349,3213,0,0,0,0,0,0,28.83,26.45,28.83
$GC,506,-1.25,-219.0,2417,2488,3354,3214,151.9,-34.3,37,512,0.00,1.88,0.00,0.000,260,0.000,0.052,2408,3686,3283,3354,3213,0,0,0,0,0,0,28.83,26.48,28.83
$GC,535,-1.25,-219.0,2408,3686,3354,3214,160.5,-34.5,38,541,0.00,1.70,0.00,0.000,1030,0.000,0.025,2408,2500,3283,3354,3213,0,0,0,0,0,0,28.83,26.59,28.83
$GC,854,-1.25,-219.0,2408,2499,3356,3214,258.6,-28.1,54,861,0.00,1.83,0.00,0.000,260,0.000,0.053,2399,3675,3284,3356,3213,0,0,0,0,0,0,28.83,26.55,28.83
$GC,900,-1.25,-219.0,2399,3675,3357,3214,271.8,-29.2,56,908,0.12,1.70,0.00,0.000,3078,0.162,0.024,2432,2478,3285,3357,3214,0,0,0,0,0,0,26.41,26.66,28.83
$GC,1227,-1.25,-219.0,2432,2476,3357,3213,359.2,-25.3,72,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2475,3285,3357,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1526,-1.25,-219.0,2431,2474,3357,3214,433.4,-24.1,87,1532,0.00,1.85,0.00,0.000,260,0.000,0.054,2423,3671,3286,3358,3214,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1676,-1.25,-219.0,2423,3671,3358,3214,466.3,-21.6,94,1682,0.00,1.65,0.00,0.000,1030,0.000,0.025,2423,2509,3286,3358,3214,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1997,-1.25,-219.0,2423,2509,3360,3214,529.5,-18.2,110,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2509,3286,3358,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2295,-1.25,-219.0,2423,2509,3355,3214,585.9,-19.6,125,2301,0.00,1.80,0.00,0.000,260,0.000,0.054,2414,3669,3286,3358,3214,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2370,-1.25,-219.0,2414,3669,3359,3214,600.5,-22.0,128,2376,0.00,1.67,0.00,0.000,1030,0.000,0.026,2414,2491,3286,3359,3214,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2694,-1.25,-219.0,2414,2490,3359,3214,674.8,-22.4,139,2700,0.00,2.03,0.00,0.000,516,0.000,0.028,2414,1099,3286,3358,3214,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2739,-1.25,-219.0,2414,1099,3358,3214,682.4,-22.2,140,2747,0.12,2.12,0.00,0.000,3078,0.161,0.040,2436,2499,3286,3358,3214,0,0,0,0,0,0,26.51,26.65,28.83
$GC,3065,-1.25,-219.0,2436,2498,3358,3212,747.2,-18.3,151,3071,0.00,1.83,0.00,0.000,260,0.000,0.057,2428,3674,3284,3358,3211,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3173,-1.25,-219.0,2428,3674,3358,3210,763.8,-17.8,154,3179,0.00,1.67,0.00,0.000,1030,0.000,0.026,2428,2495,3283,3358,3209,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3492,-1.25,-219.0,2428,2494,3358,3206,821.0,-16.9,165,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2494,3282,3358,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3792,-1.25,-219.0,2428,2495,3358,3201,872.0,-17.0,175,3797,0.00,1.83,0.00,0.000,260,0.000,0.055,2418,3670,3279,3358,3201,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3819,-1.25,-219.0,2419,3670,3358,3201,872.0,-17.0,175,3827,0.00,1.67,0.00,0.000,1030,0.000,0.028,2419,2505,3279,3358,3201,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4127,-1.25,-219.0,2419,2504,3358,3196,930.4,-17.6,186,4132,0.00,1.83,0.00,0.000,260,0.000,0.057,2410,3671,3277,3358,3196,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4179,-1.25,-219.0,2409,3671,3358,3195,936.7,-17.6,187,4185,0.00,1.70,0.00,0.000,1030,0.000,0.028,2410,2491,3276,3358,3195,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4372,begin apogee
$GC,4377,-0.20,0.0,2409,1980,3357,3191,974.5,-17.8,194,4721,1.05,0.00,333.12,0.757,10246,0.115,0.000,2765,1977,2373,2534,2213,0,0,0,0,0,0,26.47,28.83,24.49
$STATE,4724,end apogee,CONTROL_FINISHED_OK
$STATE,4724,begin climb
$GC,4726,1.25,219.0,2764,1978,2532,2200,994.0,0.0,204,4971,1.27,2.28,233.65,0.900,10756,0.043,0.039,3259,628,1479,1577,1382,0,0,0,0,0,0,25.27,24.87,24.18
$GC,5054,1.25,219.0,3259,628,1553,1357,950.1,22.4,214,5062,0.00,2.15,0.00,0.000,1030,0.000,0.031,3258,2007,1454,1553,1356,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5362,1.25,219.0,3258,2007,1551,1352,867.7,25.2,225,5368,0.00,2.20,0.00,0.000,260,0.000,0.047,3259,3405,1449,1547,1352,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5435,1.25,219.0,3258,3405,1547,1352,850.7,25.6,227,5442,0.12,2.08,0.00,0.000,5126,0.176,0.028,3238,2017,1449,1547,1352,0,0,0,0,0,0,26.06,26.26,28.83
$GC,5761,1.25,219.0,3237,2016,1545,1348,773.9,22.1,238,5762,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2016,1447,1546,1348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6061,1.25,219.0,3238,2016,1545,1346,706.2,22.3,248,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2016,1445,1544,1346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6361,1.25,219.0,3239,2016,1543,1344,640.8,21.8,258,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2016,1443,1543,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6672,1.25,219.0,3242,2016,1541,1342,577.4,19.7,270,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2016,1441,1541,1342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6970,1.25,219.0,3238,2016,1539,1341,516.2,21.0,285,6977,0.00,2.17,0.00,0.000,260,0.000,0.047,3239,3415,1440,1539,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6995,1.25,219.0,3238,3415,1539,1341,510.5,21.9,286,7001,0.00,2.10,0.00,0.000,1030,0.000,0.030,3250,2005,1441,1539,1343,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7321,1.25,219.0,3249,2005,1538,1340,439.2,22.1,302,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2005,1439,1538,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7620,1.25,219.0,3249,2004,1538,1338,381.8,18.9,317,7625,0.00,2.17,0.00,0.000,260,0.000,0.046,3250,3408,1437,1537,1338,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7673,1.25,219.0,3250,3406,1539,1338,373.3,19.2,319,7680,0.00,2.08,0.00,0.000,1030,0.000,0.030,3261,1996,1438,1538,1338,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7989,1.25,219.0,3261,1996,1538,1338,308.4,20.3,335,7994,0.00,2.10,0.00,0.000,516,0.000,0.041,3272,609,1439,1538,1341,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8043,1.25,219.0,3272,609,1538,1338,299.7,19.8,337,8050,0.15,2.08,0.00,0.000,5126,0.157,0.031,3231,2008,1439,1542,1337,0,0,0,0,0,0,26.44,26.66,28.83
$GC,8359,1.25,219.0,3230,2008,1538,1338,240.8,18.0,353,8360,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2008,1437,1538,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8658,1.25,219.0,3230,2009,1538,1337,187.3,16.2,368,8664,0.00,2.15,0.00,0.000,260,0.000,0.046,3231,3411,1438,1538,1338,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8827,1.25,219.0,3230,3411,1538,1337,161.3,14.2,376,8834,0.00,2.08,0.00,0.000,1030,0.000,0.030,3242,1996,1438,1538,1338,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9148,1.25,219.0,3242,1996,1538,1338,116.9,13.7,392,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1996,1438,1538,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9447,1.25,219.0,3242,1995,1539,1338,75.0,13.8,407,9453,0.00,2.17,0.00,0.000,260,0.000,0.046,3242,3405,1438,1539,1337,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9578,1.25,219.0,3242,3405,1544,1337,56.0,14.6,413,9585,0.00,2.05,0.00,0.000,1030,0.000,0.028,3254,2002,1438,1540,1337,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9889,1.25,219.0,2224,2000,1509,1334,18.8,13.8,445,9898,0.00,2.10,0.00,0.000,516,0.000,0.039,3265,606,1440,1542,1338,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9984,1.25,219.0,2240,606,1509,1334,5.9,13.9,462,9992,0.00,2.05,0.00,0.000,1030,0.000,0.030,3265,2005,1439,1542,1337,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,10003,end climb,SURFACE_DEPTH_REACHED
$STATE,10003,begin surface coast
$FINISH,0.4,1.023293
$STATE,10026,end surface coast,CONTROL_FINISHED_OK
$STATE,10026,begin surface
$SM_CCo,10044,82.28,0.059,0,0,747,400.08
$SM_GC,1.25,7.80,0.75,82.28,0.023,0.048,0.059,132,2493,747,-8.35,-1.19,400.08,0,0,0,0,0,0,26.70,26.65,26.51
$IRIDIUM_FIX,2134.17,12400.06,200313,080830
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.56
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3971616
$24V_AH,24.2,22.906
$10V_AH,10.3,16.891
$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,19.500,67.825,566.775,82.275,0.000,0.000,0.000,186.900,0.000,0.000,27.358,1902.598,6241.199,680.386,1407.429,229.398,0.000,1576.969,0.000,1137.312,0.000,0.538,0.000
$DEVICE_MAMPS,219.555,71.145,900.405,58.905,0.000,0.000,0.000,126.225,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10035.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.926,0.000,0.000,0.000
$MEM,329668
$DATA_FILE_SIZE,16796,469
$CAP_FILE_SIZE,247666,0
$CFSIZE,260034560,237133824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,143.8,1
$GPS,200313,141706,2139.638,12359.521,39,1.2,40,-2.9