version: 66.11
glider: 171
mission: 4
dive: 157
start: 3 20 113 22 58 13
data:
$ID,171
$MISSION,4
$DIVE,157
$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,-20705.758
$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,51
$R_STBD_OVSHOOT,32
$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
$GPS1,200313,225145,2133.469,12359.237,7,7.5,27,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.6
$GPS2,200313,225735,2133.494,12359.203,13,1.5,30,-2.8
$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,155.7,6616,-12.4,-8.739,-16.84,3609
$D_GRID,4966
$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,16,begin dive
$GC,18,-1.23,-208.4,131,2488,832,665,0.0,0.0,0,81,0.00,0.00,-61.15,0.000,16386,0.000,0.000,131,2487,2482,2549,2416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.26,-219.0,130,2488,2550,2418,3.1,-4.4,8,116,8.77,1.85,-14.93,0.000,18692,0.220,0.064,2413,3676,3275,3345,3206,0,0,0,0,0,0,25.96,26.31,26.66
$GC,185,-1.26,-219.0,2413,3676,3347,3206,38.4,-36.3,21,194,0.00,1.73,0.00,0.000,1030,0.000,0.025,2413,2475,3276,3347,3206,0,0,0,0,0,0,28.83,26.46,28.83
$GC,503,-1.26,-219.0,2413,2473,3349,3206,145.1,-34.6,39,508,0.00,1.85,0.00,0.000,260,0.000,0.051,2404,3671,3277,3349,3206,0,0,0,0,0,0,28.83,26.48,28.83
$GC,570,-1.26,-219.0,2404,3671,3349,3207,168.6,-35.4,42,576,0.00,1.67,0.00,0.000,1030,0.000,0.025,2404,2496,3277,3349,3206,0,0,0,0,0,0,28.83,26.61,28.83
$GC,891,-1.26,-219.0,2404,2496,3350,3206,271.7,-30.2,58,897,0.00,1.83,0.00,0.000,260,0.000,0.051,2395,3673,3279,3351,3207,0,0,0,0,0,0,28.83,26.56,28.83
$GC,988,-1.26,-219.0,2395,3673,3351,3206,298.1,-29.9,62,995,0.12,1.67,0.00,0.000,3078,0.164,0.024,2427,2489,3278,3351,3206,0,0,0,0,0,0,26.41,26.68,28.83
$GC,1304,-1.26,-219.0,2427,2489,3354,3206,377.3,-22.7,78,1310,0.00,1.83,0.00,0.000,260,0.000,0.052,2419,3673,3279,3353,3206,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1359,-1.26,-219.0,2418,3673,3354,3207,388.0,-23.6,80,1364,0.00,1.65,0.00,0.000,1030,0.000,0.024,2418,2502,3280,3354,3206,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1672,-1.26,-219.0,2418,2499,3354,3207,463.2,-23.8,96,1678,0.00,2.05,0.00,0.000,516,0.000,0.031,2419,1104,3280,3354,3207,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1721,-1.26,-219.0,2418,1104,3354,3206,473.4,-23.1,98,1728,0.00,2.12,0.00,0.000,1030,0.000,0.040,2408,2507,3280,3354,3206,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2042,-1.26,-219.0,2407,2507,3354,3206,550.7,-24.6,114,2048,0.00,1.83,0.00,0.000,260,0.000,0.054,2398,3685,3280,3354,3207,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2107,-1.26,-219.0,2398,3686,3354,3206,566.8,-24.2,117,2114,0.10,1.67,0.00,0.000,3078,0.164,0.025,2424,2497,3280,3354,3207,0,0,0,0,0,0,26.53,26.75,28.83
$GC,2422,-1.26,-219.0,2424,2495,3354,3206,634.1,-20.4,130,2428,0.00,1.83,0.00,0.000,260,0.000,0.053,2416,3674,3280,3354,3207,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2486,-1.26,-219.0,2415,3674,3354,3204,646.8,-19.8,132,2492,0.00,1.67,0.00,0.000,1030,0.000,0.025,2416,2496,3281,3356,3206,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2820,-1.26,-219.0,2415,2495,3354,3206,710.3,-19.8,143,2826,0.00,2.03,0.00,0.000,516,0.000,0.030,2416,1108,3280,3354,3206,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2843,-1.26,-219.0,2415,1108,3354,3206,710.3,-19.8,143,2849,0.00,2.12,0.00,0.000,1030,0.000,0.040,2405,2506,3279,3354,3205,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3158,-1.26,-219.0,2405,2506,3354,3203,778.3,-19.8,154,3164,0.00,1.80,0.00,0.000,260,0.000,0.054,2396,3673,3278,3354,3203,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3196,-1.26,-219.0,2396,3673,3354,3202,785.5,-20.0,155,3203,0.12,1.67,0.00,0.000,3078,0.152,0.026,2430,2490,3278,3354,3202,0,0,0,0,0,0,26.53,26.78,28.83
$GC,3526,-1.26,-219.0,2430,2489,3354,3197,844.7,-17.4,166,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2489,3275,3353,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3826,-1.26,-219.0,2429,2489,3354,3192,900.1,-18.4,176,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2489,3273,3354,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4126,-1.26,-219.0,2430,2489,3354,3187,953.8,-17.8,186,4133,0.00,1.85,0.00,0.000,260,0.000,0.055,2422,3673,3270,3353,3187,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4164,-1.26,-219.0,1480,3672,3335,3182,959.9,-17.6,187,4170,0.00,1.70,0.00,0.000,1030,0.000,0.027,2422,2512,3269,3353,3186,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,4224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4224,begin apogee
$GC,4229,-0.20,0.0,2421,1994,3352,3185,971.0,-17.5,189,4569,1.00,0.00,328.25,0.760,10246,0.112,0.000,2762,1993,2372,2533,2212,0,0,0,0,0,0,26.48,28.83,24.51
$STATE,4571,end apogee,CONTROL_FINISHED_OK
$STATE,4571,begin climb
$GC,4573,1.26,219.0,2762,1993,2532,2199,991.2,0.0,199,4817,1.30,2.28,230.35,0.900,10756,0.043,0.038,3265,634,1472,1570,1374,0,0,0,0,0,0,25.27,24.89,24.20
$GC,4925,1.26,219.0,2320,633,1522,1352,933.9,25.5,210,4931,0.00,2.15,0.00,0.000,1030,0.000,0.031,3265,2018,1453,1552,1355,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5244,1.26,219.0,3265,2018,1547,1352,852.4,23.5,221,5250,0.00,2.17,0.00,0.000,260,0.000,0.047,3265,3405,1449,1547,1352,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5267,1.26,219.0,3265,3405,1547,1352,852.4,23.5,221,5273,0.12,2.08,0.00,0.000,5126,0.175,0.029,3245,2019,1449,1547,1352,0,0,0,0,0,0,26.06,26.26,28.83
$GC,5581,1.26,219.0,3244,2019,1546,1349,780.8,20.7,232,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2019,1447,1546,1348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5882,1.26,219.0,3245,2019,1544,1346,718.1,21.4,242,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2019,1446,1545,1347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6182,1.26,219.0,3245,2019,1544,1345,653.2,21.7,252,6187,0.00,2.15,0.00,0.000,516,0.000,0.041,3256,609,1444,1544,1344,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6281,1.26,219.0,3256,609,1543,1344,632.0,22.4,255,6287,0.00,2.10,0.00,0.000,1030,0.000,0.032,3256,2011,1444,1543,1345,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6590,1.26,219.0,3256,2011,1541,1339,566.0,19.7,268,6596,0.00,2.17,0.00,0.000,260,0.000,0.048,3256,3415,1441,1541,1342,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6638,1.26,219.0,3255,3413,1541,1342,556.4,20.8,270,6645,0.00,2.10,0.00,0.000,1030,0.000,0.031,3267,2003,1441,1540,1342,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6959,1.26,219.0,3267,2003,1540,1341,485.6,22.7,286,6965,0.00,2.12,0.00,0.000,516,0.000,0.041,3278,606,1440,1539,1341,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6977,1.26,219.0,3277,606,1539,1340,485.6,22.7,286,6986,0.12,2.08,0.00,0.000,5126,0.172,0.032,3246,2003,1440,1539,1341,0,0,0,0,0,0,26.41,26.63,28.83
$GC,7284,1.26,219.0,3249,2002,1539,1339,411.7,22.5,302,7290,0.00,2.12,0.00,0.000,516,0.000,0.040,3258,606,1439,1538,1340,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7372,1.26,219.0,3257,606,1538,1339,392.0,22.6,306,7378,0.00,2.08,0.00,0.000,1030,0.000,0.031,3258,2001,1438,1538,1339,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7697,1.26,219.0,3257,2001,1538,1339,325.4,18.9,322,7703,0.00,2.17,0.00,0.000,260,0.000,0.047,3257,3414,1438,1538,1339,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7817,1.26,219.0,3257,3414,1538,1339,303.5,20.5,327,7825,0.00,2.10,0.00,0.000,1030,0.000,0.030,3269,1993,1438,1538,1339,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8124,1.26,219.0,3268,1993,1538,1338,244.1,17.7,343,8130,0.00,2.10,0.00,0.000,516,0.000,0.040,3279,604,1438,1538,1338,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8169,1.26,219.0,3279,604,1538,1338,236.5,17.3,345,8176,0.15,2.08,0.00,0.000,5126,0.158,0.031,3238,2010,1438,1538,1338,0,0,0,0,0,0,26.44,26.67,28.83
$GC,8495,1.26,219.0,3238,2010,1538,1339,182.7,17.0,361,8501,0.00,2.15,0.00,0.000,260,0.000,0.047,3238,3409,1438,1538,1338,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8554,1.26,219.0,3238,3407,1538,1338,174.9,17.1,363,8562,0.00,2.08,0.00,0.000,1030,0.000,0.030,3250,1996,1438,1538,1338,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8861,1.26,219.0,3250,1996,1538,1338,120.1,16.7,379,8867,0.00,2.17,0.00,0.000,260,0.000,0.045,3250,3405,1437,1538,1337,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8900,1.26,219.0,3250,3405,1538,1337,115.8,17.1,380,8909,0.00,2.08,0.00,0.000,1030,0.000,0.030,3262,1997,1438,1539,1338,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9206,1.26,219.0,3261,1997,1539,1338,61.7,16.7,396,9212,0.00,2.17,0.00,0.000,260,0.000,0.045,3262,3408,1439,1540,1338,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9349,1.26,219.0,3262,3408,1540,1338,36.2,18.2,406,9358,0.12,2.08,0.00,0.000,5126,0.162,0.028,3239,1991,1439,1541,1338,0,0,0,0,0,0,26.48,26.70,28.83
$STATE,9576,end climb,SURFACE_DEPTH_REACHED
$STATE,9576,begin surface coast
$FINISH,0.7,1.008839
$STATE,9598,end surface coast,CONTROL_FINISHED_OK
$STATE,9598,begin surface
$SM_CCo,9616,81.72,0.059,0,0,748,400.08
$SM_GC,1.44,7.93,0.77,81.72,0.037,0.039,0.059,119,2503,748,-8.33,-1.19,400.08,0,0,0,0,0,0,26.72,26.68,26.51
$IRIDIUM_FIX,2124.90,12400.68,200313,202017
$TT8_MAMPS,0.047936,0.047936
$HUMID,44.32
$INTERNAL_PRESSURE,9.62297
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3970336
$24V_AH,24.2,23.454
$10V_AH,10.3,17.202
$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,19.875,84.675,558.600,81.725,0.000,0.000,0.000,194.850,0.000,0.000,31.622,1891.793,5804.758,697.694,1424.628,238.557,0.000,1614.911,0.000,1142.977,0.000,0.538,0.000
$DEVICE_MAMPS,219.555,64.260,900.405,58.905,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9604.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.797,0.000,0.000,0.000
$MEM,329716
$DATA_FILE_SIZE,16780,447
$CAP_FILE_SIZE,247684,0
$CFSIZE,260034560,236789760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,146.3,1
$GPS,210313,014100,2131.468,12400.134,12,1.7,30,-2.8