version: 66.11
glider: 171
mission: 4
dive: 244
start: 3 31 113 10 46 20
data:
$ID,171
$MISSION,4
$DIVE,244
$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,-20825.809
$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,62
$R_STBD_OVSHOOT,37
$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
$GPS1,310313,103643,2249.460,12211.129,40,4.0,60,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-67.9
$GPS2,310313,104556,2249.581,12210.981,11,3.2,30,-3.0
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,2251.456,12159.439
$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,4935
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.25,-219.0,126,2499,838,669,0.0,0.0,0,78,0.00,0.00,-57.62,0.000,16386,0.000,0.000,126,2499,2432,2504,2360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.25,-219.0,126,2500,2510,2360,3.9,-7.0,8,112,8.95,1.92,-14.27,0.000,18692,0.220,0.068,2402,3674,3278,3349,3207,0,0,0,0,0,0,25.69,26.12,26.54
$GC,345,-1.25,-219.0,2403,3674,3350,3207,93.1,-32.5,30,351,0.00,1.70,0.00,0.000,1030,0.000,0.024,2402,2488,3278,3350,3207,0,0,0,0,0,0,28.83,26.41,28.83
$GC,664,-1.25,-219.0,2402,2487,3354,3207,196.3,-29.7,46,670,0.00,1.85,0.00,0.000,260,0.000,0.052,2393,3673,3280,3354,3207,0,0,0,0,0,0,28.83,26.36,28.83
$GC,760,-1.25,-219.0,2392,3673,3354,3207,219.8,-27.3,50,766,0.00,1.73,0.00,0.000,1030,0.000,0.024,2393,2495,3280,3354,3207,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1075,-1.25,-219.0,2393,2493,3355,3207,309.2,-25.6,66,1081,0.00,1.83,0.00,0.000,260,0.000,0.054,2384,3665,3282,3355,3210,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1125,-1.25,-219.0,2384,3665,3355,3208,320.8,-25.1,68,1132,0.12,1.67,0.00,0.000,3078,0.157,0.025,2417,2490,3281,3355,3207,0,0,0,0,0,0,26.29,26.60,28.83
$GC,1447,-1.25,-219.0,2417,2489,3354,3207,400.7,-24.5,84,1453,0.00,1.83,0.00,0.000,260,0.000,0.053,2408,3665,3281,3355,3207,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1527,-1.25,-219.0,2408,3665,3355,3207,415.4,-21.8,87,1534,0.00,1.67,0.00,0.000,1030,0.000,0.026,2408,2490,3281,3355,3207,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1833,-1.25,-219.0,2408,2490,3354,3206,481.3,-21.7,103,1838,0.00,1.83,0.00,0.000,260,0.000,0.053,2399,3665,3281,3355,3207,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1860,-1.25,-219.0,2399,3665,3355,3207,486.5,-21.9,104,1866,0.00,1.67,0.00,0.000,1030,0.000,0.025,2399,2485,3281,3355,3207,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2180,-1.25,-219.0,2399,2486,3355,3207,560.2,-22.1,120,2186,0.00,2.03,0.00,0.000,516,0.000,0.028,2399,1104,3281,3355,3207,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2229,-1.25,-219.0,2399,1104,3355,3207,570.7,-22.7,122,2236,0.12,2.10,0.00,0.000,3078,0.158,0.038,2422,2495,3280,3354,3207,0,0,0,0,0,0,26.31,26.51,28.83
$GC,2539,-1.25,-219.0,2422,2495,3354,3204,634.3,-21.4,135,2545,0.00,1.83,0.00,0.000,260,0.000,0.055,2414,3670,3279,3355,3204,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2678,-1.25,-219.0,2411,3670,3354,3202,662.8,-22.8,139,2684,0.00,1.70,0.00,0.000,1030,0.000,0.026,2414,2513,3278,3354,3202,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2998,-1.25,-219.0,2413,2512,3354,3198,729.5,-18.3,150,3004,0.00,2.05,0.00,0.000,516,0.000,0.028,2413,1106,3275,3354,3197,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3083,-1.25,-219.0,2413,1106,3354,3196,740.9,-17.7,152,3088,0.00,2.12,0.00,0.000,1030,0.000,0.039,2403,2501,3275,3354,3196,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3398,-1.25,-219.0,2403,2501,3354,3191,800.8,-18.5,163,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2501,3272,3354,3191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3698,-1.25,-219.0,2402,2501,3350,3187,856.7,-18.7,173,3703,0.00,1.83,0.00,0.000,260,0.000,0.056,2395,3670,3268,3350,3187,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3765,-1.25,-219.0,2393,3669,3350,3187,869.1,-18.8,175,3771,0.00,1.67,0.00,0.000,1030,0.000,0.027,2394,2503,3268,3350,3186,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4094,-1.25,-219.0,2393,2501,3348,3184,929.5,-17.7,186,4100,0.00,2.08,0.00,0.000,516,0.000,0.030,2394,1096,3264,3348,3180,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4122,-1.25,-219.0,2394,1096,3348,3182,929.5,-17.7,186,4131,0.12,2.15,0.00,0.000,3078,0.159,0.040,2417,2501,3265,3348,3182,0,0,0,0,0,0,26.28,26.48,28.83
$STATE,4366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4367,begin apogee
$GC,4373,-0.20,0.0,2416,1987,3345,3180,974.7,-16.3,195,4728,0.98,0.00,344.80,0.752,10246,0.114,0.000,2744,1986,2376,2535,2217,0,0,0,0,0,0,26.17,28.83,24.38
$STATE,4729,end apogee,CONTROL_FINISHED_OK
$STATE,4729,begin climb
$GC,4732,1.25,219.0,2744,1986,2531,2209,997.2,0.0,206,5075,1.33,2.25,329.33,0.747,10756,0.050,0.036,3243,627,1478,1581,1375,0,0,0,0,0,0,25.15,24.89,24.22
$GC,5133,1.25,219.0,3242,628,1568,1361,942.2,22.9,220,5139,0.00,2.15,0.00,0.000,1030,0.000,0.031,3243,2008,1463,1566,1361,0,0,0,0,0,0,28.83,25.41,28.83
$GC,5462,1.25,219.0,3242,2008,1558,1354,859.2,25.7,231,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2008,1456,1558,1354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5762,1.25,219.0,3243,2008,1556,1352,781.3,25.9,241,5768,0.00,2.20,0.00,0.000,260,0.000,0.047,3243,3406,1454,1556,1352,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5863,1.25,219.0,3243,3406,1555,1351,755.8,26.3,244,5870,0.12,2.08,0.00,0.000,5126,0.179,0.028,3223,2011,1453,1554,1352,0,0,0,0,0,0,26.10,26.39,28.83
$GC,6194,1.25,219.0,3223,2010,1553,1348,682.0,21.9,255,6199,0.00,2.12,0.00,0.000,516,0.000,0.037,3234,610,1450,1553,1348,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6308,1.25,219.0,3234,610,1553,1348,660.8,22.1,258,6314,0.00,2.08,0.00,0.000,1030,0.000,0.031,3234,2004,1450,1553,1348,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6622,1.25,219.0,3234,2004,1552,1347,586.3,22.3,270,6628,0.00,2.17,0.00,0.000,260,0.000,0.046,3234,3405,1449,1552,1346,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6688,1.25,219.0,3234,3405,1552,1347,569.8,24.0,273,6694,0.00,2.10,0.00,0.000,1030,0.000,0.029,3246,1999,1449,1552,1346,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7014,1.25,219.0,3246,1998,1550,1344,495.4,21.8,289,7019,0.00,2.12,0.00,0.000,516,0.000,0.040,3258,607,1447,1551,1344,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7080,1.25,219.0,3258,606,1550,1344,480.4,21.8,292,7087,0.12,2.10,0.00,0.000,5126,0.171,0.032,3225,2003,1447,1551,1344,0,0,0,0,0,0,26.24,26.51,28.83
$GC,7407,1.25,219.0,3225,2003,1549,1342,415.0,20.6,308,7413,0.00,2.17,0.00,0.000,260,0.000,0.047,3225,3405,1446,1550,1342,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7522,1.25,219.0,3225,3405,1549,1342,393.1,20.3,313,7528,0.00,2.08,0.00,0.000,1030,0.000,0.030,3236,2001,1445,1549,1342,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7837,1.25,219.0,3236,2001,1549,1341,331.7,19.1,329,7843,0.00,2.20,0.00,0.000,260,0.000,0.047,3236,3406,1445,1549,1341,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7855,1.25,219.0,3236,3406,1549,1341,331.7,19.1,329,7863,0.00,2.08,0.00,0.000,1030,0.000,0.030,3247,2002,1445,1549,1341,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8161,1.25,219.0,3248,2002,1549,1341,267.0,17.5,345,8167,0.00,2.12,0.00,0.000,516,0.000,0.041,3259,606,1445,1549,1341,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8221,1.25,219.0,3259,606,1548,1341,258.7,17.9,347,8230,0.15,2.08,0.00,0.000,5126,0.158,0.031,3218,2009,1445,1549,1341,0,0,0,0,0,0,26.23,26.55,28.83
$GC,8528,1.25,219.0,3218,2009,1549,1341,204.7,17.1,363,8534,0.00,2.15,0.00,0.000,260,0.000,0.046,3218,3400,1445,1550,1341,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8598,1.25,219.0,3218,3400,1549,1341,191.8,18.9,366,8604,0.00,2.08,0.00,0.000,1030,0.000,0.028,3230,1992,1445,1549,1341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8919,1.25,219.0,3229,1991,1549,1341,142.7,14.2,382,8925,0.00,2.20,0.00,0.000,260,0.000,0.045,3230,3408,1445,1549,1341,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8995,1.25,219.0,3229,3408,1549,1341,133.6,13.1,385,9001,0.00,2.08,0.00,0.000,1030,0.000,0.028,3242,1991,1445,1549,1341,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9309,1.25,219.0,3241,1991,1549,1341,87.1,14.1,401,9315,0.00,2.08,0.00,0.000,516,0.000,0.038,3252,612,1445,1549,1341,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9444,1.25,219.0,3252,612,1549,1341,69.9,12.7,407,9451,0.12,2.05,0.00,0.000,5126,0.158,0.029,3219,2005,1445,1549,1341,0,0,0,0,0,0,26.29,26.56,28.83
$GC,9761,1.25,219.0,3219,2005,1549,1341,32.5,10.1,430,9767,0.00,2.15,0.00,0.000,260,0.000,0.045,3219,3403,1445,1549,1341,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9789,1.25,219.0,3218,3403,1549,1341,30.0,9.7,432,9797,0.00,2.05,0.00,0.000,1030,0.000,0.026,3230,1990,1445,1550,1341,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10107,1.25,219.0,2176,1988,1517,1337,6.2,10.8,488,10115,0.00,2.17,0.00,0.000,260,0.000,0.046,3230,3400,1446,1552,1341,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,10149,end climb,SURFACE_DEPTH_REACHED
$STATE,10149,begin surface coast
$FINISH,0.4,1.010722
$STATE,10192,end surface coast,CONTROL_FINISHED_OK
$STATE,10192,begin surface
$SM_CCo,10211,83.65,0.059,0,0,748,400.08
$SM_GC,1.22,7.82,1.35,83.65,0.028,0.027,0.059,138,2499,748,-8.30,1.72,400.08,0,0,0,0,0,0,26.57,26.63,26.34
$IRIDIUM_FIX,2239.35,12209.99,310313,101021
$TT8_MAMPS,0.048685,0.048685
$HUMID,44.44
$INTERNAL_PRESSURE,9.65227
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3942496
$24V_AH,24.2,35.591
$10V_AH,10.3,24.217
$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,19.975,92.425,674.125,83.650,0.000,0.000,0.000,321.275,0.000,0.000,31.823,2057.418,5928.495,776.505,1733.663,344.019,0.000,1927.810,0.000,1335.196,0.000,0.538,0.000
$DEVICE_MAMPS,220.320,68.085,751.995,58.905,0.000,0.000,0.000,123.165,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10194.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.176,0.000,0.000,0.000
$MEM,324116
$DATA_FILE_SIZE,16785,503
$CAP_FILE_SIZE,280529,0
$CFSIZE,260034560,229060608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310313,133905,2252.218,12210.035,13,0.9,30,-3.0