version: 66.11
glider: 171
mission: 4
dive: 241
start: 3 31 113 1 54 31
data:
$ID,171
$MISSION,4
$DIVE,241
$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,-20822.033
$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,59
$R_STBD_OVSHOOT,44
$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
$GPS1,310313,014748,2242.980,12215.575,8,1.7,14,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-67.4
$GPS2,310313,015407,2243.020,12215.599,15,2.0,15,-3.0
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2244.895,12204.066
$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,283.0,20000,-12.0,-8.739,-16.47,3810
$D_GRID,4890
$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,-1.25,-219.0,111,2491,829,670,0.0,0.0,0,78,0.00,0.00,-57.95,0.000,16386,0.000,0.000,111,2491,2383,2429,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.25,-219.0,111,2491,2433,2337,3.3,-5.5,8,113,9.02,1.92,-16.08,0.000,18692,0.220,0.069,2404,3664,3276,3349,3204,0,0,0,0,0,0,25.72,26.13,26.55
$GC,346,-1.25,-219.0,2404,3664,3353,3206,97.2,-35.8,30,352,0.00,1.67,0.00,0.000,1030,0.000,0.025,2404,2493,3280,3354,3206,0,0,0,0,0,0,28.83,26.41,28.83
$GC,661,-1.25,-219.0,2404,2491,3356,3206,196.7,-28.7,46,667,0.00,1.85,0.00,0.000,260,0.000,0.052,2395,3667,3281,3356,3206,0,0,0,0,0,0,28.83,26.36,28.83
$GC,727,-1.25,-219.0,2395,3667,3356,3206,214.8,-27.9,49,732,0.00,1.67,0.00,0.000,1030,0.000,0.025,2395,2496,3281,3356,3207,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1052,-1.25,-219.0,2395,2494,3356,3209,305.7,-29.8,65,1058,0.00,2.03,0.00,0.000,516,0.000,0.029,2395,1105,3282,3356,3208,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1091,-1.25,-219.0,2395,1105,3357,3209,313.4,-29.9,66,1100,0.12,2.10,0.00,0.000,3078,0.164,0.039,2417,2491,3283,3357,3209,0,0,0,0,0,0,26.25,26.46,28.83
$GC,1397,-1.25,-219.0,2416,2491,3357,3209,392.3,-23.8,82,1402,0.00,1.83,0.00,0.000,260,0.000,0.053,2408,3672,3283,3357,3209,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1457,-1.25,-219.0,2408,3673,3357,3209,402.9,-23.8,84,1465,0.00,1.67,0.00,0.000,1030,0.000,0.024,2408,2488,3283,3357,3209,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1763,-1.25,-219.0,2408,2488,3357,3209,478.0,-23.6,100,1769,0.00,2.00,0.00,0.000,516,0.000,0.027,2408,1109,3283,3357,3209,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1818,-1.25,-219.0,2408,1109,3357,3208,487.9,-23.2,102,1824,0.00,2.10,0.00,0.000,1030,0.000,0.037,2397,2502,3282,3357,3207,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2132,-1.25,-219.0,2397,2502,3357,3211,566.6,-24.9,118,2138,0.00,1.85,0.00,0.000,260,0.000,0.054,2389,3693,3282,3356,3208,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2303,-1.25,-219.0,2388,3693,3356,3209,605.0,-23.3,126,2309,0.12,1.70,0.00,0.000,3078,0.152,0.026,2422,2496,3282,3356,3208,0,0,0,0,0,0,26.36,26.67,28.83
$GC,2623,-1.25,-219.0,2421,2495,3356,3206,667.9,-18.7,137,2629,0.00,1.88,0.00,0.000,260,0.000,0.054,2413,3694,3281,3356,3206,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2662,-1.25,-219.0,2413,3695,3356,3206,674.3,-18.6,138,2668,0.00,1.70,0.00,0.000,1030,0.000,0.026,2413,2502,3280,3356,3205,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2991,-1.25,-219.0,2413,2500,3356,3200,737.8,-18.4,149,2997,0.00,2.05,0.00,0.000,516,0.000,0.030,2413,1109,3278,3356,3201,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3065,-1.25,-219.0,2413,1109,3356,3199,749.3,-17.8,151,3071,0.00,2.12,0.00,0.000,1030,0.000,0.038,2403,2506,3277,3356,3199,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3389,-1.25,-219.0,2402,2506,3356,3194,810.8,-19.0,162,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2506,3275,3356,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3689,-1.25,-219.0,2402,2506,3354,3190,868.3,-19.4,172,3695,0.00,1.83,0.00,0.000,260,0.000,0.055,2393,3675,3272,3355,3189,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3712,-1.25,-219.0,2392,3676,3354,3190,868.3,-19.4,172,3718,0.00,1.67,0.00,0.000,1030,0.000,0.027,2393,2505,3274,3359,3189,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4028,-1.25,-219.0,2393,2506,3352,3186,935.5,-19.7,183,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2505,3269,3352,3186,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4204,begin apogee
$GC,4210,-0.20,0.0,2393,1994,3350,3184,972.0,-20.5,189,4560,1.08,0.00,338.27,0.757,10246,0.119,0.000,2749,1993,2375,2533,2217,0,0,0,0,0,0,26.16,28.83,24.38
$STATE,4562,end apogee,CONTROL_FINISHED_OK
$STATE,4562,begin climb
$GC,4564,1.25,219.0,2748,1993,2529,2209,997.1,0.0,200,4812,1.30,2.25,237.00,0.904,10756,0.047,0.036,3243,625,1476,1578,1375,0,0,0,0,0,0,25.17,24.70,23.95
$GC,4843,1.25,219.0,2304,625,1530,1353,964.0,19.5,209,4850,0.00,2.20,0.00,0.000,1030,0.000,0.030,3243,2008,1458,1561,1356,0,0,0,0,0,0,28.83,25.11,28.83
$GC,5173,1.25,219.0,3243,2009,1551,1348,883.7,24.0,220,5179,0.00,2.15,0.00,0.000,516,0.000,0.037,3255,628,1449,1551,1348,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5211,1.25,219.0,3254,628,1550,1348,875.4,23.8,221,5218,0.12,2.10,0.00,0.000,5126,0.174,0.031,3224,2014,1449,1550,1348,0,0,0,0,0,0,25.89,26.12,28.83
$GC,5542,1.25,219.0,3223,2014,1549,1346,796.3,24.2,232,5547,0.00,2.17,0.00,0.000,260,0.000,0.047,3224,3399,1447,1549,1346,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5610,1.25,219.0,3223,3399,1548,1346,779.6,24.4,234,5616,0.00,2.05,0.00,0.000,1030,0.000,0.029,3234,2017,1446,1547,1345,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5939,1.25,219.0,3235,2014,1547,1344,699.6,23.4,245,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2014,1445,1547,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6239,1.25,219.0,3234,2014,1546,1342,633.6,21.4,255,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2014,1444,1546,1342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6550,1.25,219.0,3234,2014,1545,1341,559.2,24.8,268,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2014,1443,1545,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6849,1.25,219.0,3234,2014,1544,1340,492.5,19.9,283,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2014,1442,1544,1340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7149,1.25,219.0,3234,2013,1542,1338,435.3,20.2,298,7155,0.00,2.17,0.00,0.000,260,0.000,0.047,3234,3407,1440,1543,1338,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7381,1.25,219.0,3234,3406,1540,1338,385.2,22.0,309,7387,0.00,2.10,0.00,0.000,1030,0.000,0.030,3246,1991,1439,1541,1338,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7701,1.25,219.0,3246,1991,1540,1336,319.5,21.1,325,7707,0.00,2.10,0.00,0.000,516,0.000,0.040,3257,609,1438,1540,1336,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7726,1.25,219.0,3257,609,1540,1336,314.1,21.2,326,7733,0.12,2.08,0.00,0.000,5126,0.171,0.031,3225,1999,1438,1540,1336,0,0,0,0,0,0,26.26,26.55,28.83
$GC,8053,1.25,219.0,3225,1999,1540,1336,262.3,16.0,342,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1999,1438,1540,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8352,1.25,219.0,3225,1999,1540,1336,202.4,19.4,357,8358,0.00,2.12,0.00,0.000,516,0.000,0.039,3236,606,1438,1540,1336,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8467,1.25,219.0,3236,606,1540,1336,183.3,17.6,362,8473,0.00,2.08,0.00,0.000,1030,0.000,0.030,3236,2008,1438,1541,1336,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8781,1.25,219.0,3236,2008,1540,1336,138.3,13.5,378,8787,0.00,2.15,0.00,0.000,260,0.000,0.045,3236,3400,1438,1540,1336,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8821,1.25,219.0,2240,3399,1509,1333,134.9,13.5,379,8829,0.00,2.05,0.00,0.000,1030,0.000,0.028,3247,1994,1438,1540,1336,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9126,1.25,219.0,3247,1994,1540,1336,82.9,16.5,395,9132,0.00,2.17,0.00,0.000,260,0.000,0.044,3247,3400,1438,1541,1336,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9222,1.25,219.0,3247,3401,1540,1336,69.8,15.2,399,9229,0.15,2.05,0.00,0.000,5126,0.161,0.028,3218,1997,1438,1541,1336,0,0,0,0,0,0,26.25,26.60,28.83
$GC,9540,1.34,245.6,3218,1995,1541,1336,29.4,8.0,423,9574,0.00,2.17,27.73,0.373,8452,0.000,0.044,3218,3400,1370,1480,1260,0,0,0,0,0,0,28.83,26.39,25.86
$GC,9810,1.44,273.7,2144,3399,1432,1245,6.8,8.0,469,9827,0.15,2.05,11.07,0.066,11270,0.072,0.027,3321,2000,1264,1373,1155,0,0,0,0,0,0,26.46,26.50,26.28
$STATE,9848,end climb,SURFACE_DEPTH_REACHED
$STATE,9848,begin surface coast
$FINISH,0.3,1.000574
$STATE,9872,end surface coast,CONTROL_FINISHED_OK
$STATE,9872,begin surface
$SM_CCo,9890,63.33,0.060,0,0,748,400.08
$SM_GC,1.40,8.25,0.77,63.33,0.038,0.047,0.060,137,2493,748,-8.30,-1.13,400.08,0,0,0,0,0,0,26.47,26.39,26.28
$IRIDIUM_FIX,2232.34,12215.92,300313,222201
$TT8_MAMPS,0.047936,0.047936
$HUMID,46.49
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3943456
$24V_AH,24.0,35.148
$10V_AH,10.3,23.953
$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,20.450,73.350,614.075,63.325,0.000,0.000,0.000,223.775,0.000,0.000,16.595,1891.028,5944.944,676.107,1496.746,316.666,0.000,1657.143,0.000,1212.138,0.000,0.537,0.000
$DEVICE_MAMPS,220.320,68.850,904.230,59.670,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9869.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.077,0.000,0.000,0.000
$MEM,324156
$DATA_FILE_SIZE,16815,479
$CAP_FILE_SIZE,257123,0
$CFSIZE,260034560,229359616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310313,044154,2245.180,12213.942,49,1.5,50,-3.0