version: 66.11
glider: 171
mission: 4
dive: 225
start: 3 29 113 3 30 48
data:
$ID,171
$MISSION,4
$DIVE,225
$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,-8
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,280
$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,-20801.93
$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
$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,60
$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
$GPS1,290313,032348,2218.292,12242.740,10,1.6,28,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.1
$GPS2,290313,033024,2218.422,12242.827,35,1.6,35,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2220.297,12231.329
$TGT_RADIUS,1852.000
$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,282.9,20000,-12.0,-8.739,-16.47,3810
$D_GRID,4772
$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,-219.0,122,2499,831,663,0.0,0.0,0,78,0.00,0.00,-58.30,0.000,16386,0.000,0.000,122,2499,2388,2437,2340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.25,-219.0,122,2498,2440,2340,3.1,-5.0,8,113,8.90,2.17,-16.83,0.000,18948,0.219,0.044,2413,1092,3278,3350,3206,0,0,0,0,0,0,25.78,26.28,26.60
$GC,160,-1.25,-219.0,1440,1090,3332,3201,29.8,-36.0,19,168,0.00,2.17,0.00,0.000,1030,0.000,0.038,2402,2505,3280,3351,3209,0,0,0,0,0,0,28.83,26.24,28.83
$GC,477,-1.25,-219.0,2402,2505,3354,3206,138.5,-37.0,38,483,0.00,1.83,0.00,0.000,260,0.000,0.052,2393,3681,3280,3354,3206,0,0,0,0,0,0,28.83,26.36,28.83
$GC,653,-1.25,-219.0,2393,3681,3355,3206,195.2,-35.0,46,659,0.00,1.70,0.00,0.000,1030,0.000,0.025,2393,2491,3281,3355,3207,0,0,0,0,0,0,28.83,26.55,28.83
$GC,967,-1.25,-219.0,2393,2490,3356,3207,288.9,-27.4,62,973,0.00,2.03,0.00,0.000,516,0.000,0.028,2393,1106,3281,3356,3207,0,0,0,0,0,0,28.83,26.56,28.83
$GC,985,-1.25,-219.0,2393,1106,3356,3207,288.9,-27.4,62,994,0.12,2.12,0.00,0.000,3078,0.167,0.040,2414,2504,3283,3356,3210,0,0,0,0,0,0,26.27,26.47,28.83
$GC,1291,-1.25,-219.0,2413,2504,3357,3207,374.0,-26.2,78,1297,0.00,1.80,0.00,0.000,260,0.000,0.051,2406,3674,3282,3357,3207,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1377,-1.25,-219.0,2405,3674,3357,3207,395.5,-24.9,82,1383,0.00,1.67,0.00,0.000,1030,0.000,0.024,2406,2496,3280,3357,3204,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1703,-1.25,-219.0,2405,2495,3358,3207,478.1,-24.9,98,1709,0.00,1.83,0.00,0.000,260,0.000,0.052,2397,3674,3282,3358,3207,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1730,-1.25,-219.0,2396,3674,3358,3207,484.7,-25.1,99,1736,0.00,1.67,0.00,0.000,1030,0.000,0.024,2397,2489,3282,3358,3207,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2051,-1.25,-219.0,2396,2488,3358,3207,556.2,-21.0,115,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2488,3282,3358,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2369,-1.25,-219.0,2397,2488,3358,3207,627.2,-22.0,129,2375,0.00,2.00,0.00,0.000,516,0.000,0.028,2397,1111,3282,3357,3207,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2427,-1.25,-219.0,2396,1110,3357,3207,634.1,-21.8,130,2436,0.12,2.12,0.00,0.000,3078,0.161,0.038,2419,2507,3282,3357,3207,0,0,0,0,0,0,26.35,26.55,28.83
$GC,2735,-1.25,-219.0,2418,2507,3358,3204,699.7,-20.0,141,2741,0.00,1.80,0.00,0.000,260,0.000,0.054,2410,3673,3280,3357,3204,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2844,-1.25,-219.0,2410,3673,3357,3202,718.3,-19.5,144,2850,0.00,1.67,0.00,0.000,1030,0.000,0.025,2410,2494,3279,3357,3202,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3163,-1.25,-219.0,2410,2492,3357,3198,780.2,-18.9,155,3169,0.00,2.03,0.00,0.000,516,0.000,0.029,2410,1109,3277,3357,3197,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3185,-1.25,-219.0,2410,1109,3357,3197,780.2,-18.9,155,3191,0.00,2.12,0.00,0.000,1030,0.000,0.040,2400,2502,3277,3357,3197,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3501,-1.25,-219.0,2399,2502,3357,3193,846.3,-19.4,166,3507,0.00,1.83,0.00,0.000,260,0.000,0.054,2391,3676,3274,3356,3192,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3548,-1.25,-219.0,1488,3674,3339,3187,853.5,-19.6,167,3554,0.00,1.67,0.00,0.000,1030,0.000,0.027,2391,2503,3273,3355,3192,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3867,-1.25,-219.0,2391,2502,3354,3189,915.8,-18.6,178,3873,0.00,2.05,0.00,0.000,516,0.000,0.029,2391,1109,3271,3354,3188,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3895,-1.25,-219.0,2390,1111,3354,3188,915.8,-18.6,178,3904,0.15,2.12,0.00,0.000,3078,0.156,0.040,2420,2502,3271,3354,3188,0,0,0,0,0,0,26.30,26.53,28.83
$STATE,4201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4201,begin apogee
$GC,4207,-0.20,0.0,2421,1995,3351,3185,971.1,-16.3,189,4548,1.00,0.00,331.75,0.757,10246,0.116,0.000,2755,1993,2379,2537,2221,0,0,0,0,0,0,26.24,28.83,24.39
$STATE,4550,end apogee,CONTROL_FINISHED_OK
$STATE,4550,begin climb
$GC,4552,1.25,219.0,2755,1992,2531,2210,991.7,0.0,200,4796,1.27,2.28,231.60,0.903,10756,0.047,0.037,3245,630,1475,1576,1374,0,0,0,0,0,0,25.20,24.80,24.05
$GC,4926,1.25,219.0,3244,630,1553,1353,931.2,24.9,212,4932,0.00,2.15,0.00,0.000,1030,0.000,0.030,3245,2011,1453,1553,1354,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5260,1.25,219.0,3244,2011,1550,1352,844.0,26.5,223,5266,0.00,2.15,0.00,0.000,516,0.000,0.037,3256,629,1451,1550,1352,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5278,1.25,219.0,3256,629,1550,1351,844.0,26.5,223,5285,0.12,2.08,0.00,0.000,5126,0.173,0.031,3225,2002,1450,1550,1351,0,0,0,0,0,0,26.00,26.22,28.83
$GC,5599,1.25,219.0,3225,2002,1548,1349,766.5,21.8,234,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2002,1448,1548,1349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5899,1.25,219.0,3225,2002,1547,1346,700.8,21.0,244,5905,0.00,2.10,0.00,0.000,516,0.000,0.037,3236,628,1447,1548,1346,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5927,1.25,219.0,3235,628,1548,1346,700.8,21.0,244,5935,0.00,2.05,0.00,0.000,1030,0.000,0.031,3236,2000,1446,1547,1346,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6235,1.25,219.0,3235,2001,1546,1345,630.0,21.5,255,6241,0.00,2.17,0.00,0.000,260,0.000,0.047,3236,3402,1445,1546,1345,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6404,1.25,219.0,3235,3402,1546,1345,591.4,22.5,261,6411,0.00,2.08,0.00,0.000,1030,0.000,0.029,3247,2011,1445,1546,1345,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6725,1.25,219.0,3247,2011,1545,1343,520.0,22.0,277,6731,0.00,2.12,0.00,0.000,516,0.000,0.038,3258,610,1444,1545,1343,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6815,1.25,219.0,3258,609,1545,1343,499.8,23.3,281,6821,0.15,2.08,0.00,0.000,5126,0.165,0.032,3218,2002,1444,1545,1343,0,0,0,0,0,0,26.26,26.55,28.83
$GC,7136,1.25,219.0,3218,2002,1544,1341,435.9,16.7,297,7142,0.00,2.12,0.00,0.000,516,0.000,0.038,3229,609,1442,1544,1341,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7191,1.25,219.0,3229,609,1544,1339,427.5,17.5,299,7197,0.00,2.08,0.00,0.000,1030,0.000,0.031,3229,1999,1442,1543,1341,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7506,1.25,219.0,3229,1999,1542,1341,360.9,20.3,315,7511,0.00,2.12,0.00,0.000,516,0.000,0.039,3245,607,1441,1542,1341,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7552,1.25,219.0,3241,607,1542,1341,352.1,19.8,317,7558,0.00,2.10,0.00,0.000,1030,0.000,0.031,3241,2008,1441,1542,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7877,1.25,219.0,3242,2008,1541,1341,296.7,16.6,333,7883,0.00,2.15,0.00,0.000,260,0.000,0.047,3241,3401,1441,1541,1341,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7895,1.25,219.0,3241,3401,1541,1341,296.7,16.6,333,7905,0.12,2.08,0.00,0.000,5126,0.168,0.030,3221,1995,1440,1541,1340,0,0,0,0,0,0,26.31,26.60,28.83
$GC,8201,1.25,219.0,3221,1995,1541,1339,239.9,17.8,349,8207,0.00,2.17,0.00,0.000,260,0.000,0.046,3221,3402,1440,1541,1339,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8225,1.25,219.0,3220,3402,1541,1339,235.4,17.9,350,8231,0.00,2.08,0.00,0.000,1030,0.000,0.029,3232,1996,1440,1541,1339,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8551,1.25,219.0,3232,1994,1541,1339,176.6,18.2,366,8557,0.00,2.10,0.00,0.000,516,0.000,0.039,3243,608,1440,1541,1339,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8626,1.25,219.0,3242,608,1541,1339,164.8,17.4,369,8632,0.00,2.05,0.00,0.000,1030,0.000,0.031,3243,2001,1440,1541,1339,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8940,1.25,219.0,3243,2001,1541,1339,113.1,14.4,385,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2001,1440,1541,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9240,1.25,219.0,3243,2001,1541,1339,71.9,14.2,400,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2000,1438,1541,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9540,1.25,219.0,3243,2001,1542,1339,31.4,12.6,422,9542,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2001,1440,1542,1339,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9773,end climb,SURFACE_DEPTH_REACHED
$STATE,9773,begin surface coast
$FINISH,0.4,1.009266
$STATE,9806,end surface coast,CONTROL_FINISHED_OK
$STATE,9806,begin surface
$SM_CCo,9824,83.28,0.060,0,0,747,400.08
$SM_GC,1.02,7.82,0.75,83.28,0.027,0.045,0.060,135,2489,747,-8.29,-1.30,400.08,0,0,0,0,0,0,26.63,26.55,26.39
$IRIDIUM_FIX,2206.70,12243.27,290313,000029
$TT8_MAMPS,0.048685,0.048685
$HUMID,45.03
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3948576
$24V_AH,24.0,32.868
$10V_AH,10.2,22.649
$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,19.800,82.175,563.350,83.275,0.000,0.000,0.000,224.275,0.000,0.000,35.953,1840.484,6010.003,673.567,1472.314,301.157,0.000,1634.404,0.000,1165.108,0.000,0.537,0.000
$DEVICE_MAMPS,218.790,54.315,902.700,60.435,0.000,0.000,0.000,121.635,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9794.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.024,0.000,0.000,0.000
$MEM,324156
$DATA_FILE_SIZE,16739,468
$CAP_FILE_SIZE,252084,0
$CFSIZE,260034560,230789120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290313,061705,2219.650,12241.204,29,1.7,30,-2.9