version: 66.11
glider: 171
mission: 4
dive: 257
start: 4 1 113 23 30 34
data:
$ID,171
$MISSION,4
$DIVE,257
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$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,380
$T_MISSION,410
$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,250
$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,-20842.139
$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,61
$R_STBD_OVSHOOT,31
$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
$GPS1,010413,232415,2303.625,12202.550,8,3.5,28,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-68.7
$GPS2,010413,233003,2303.647,12202.481,12,3.8,31,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,228.0,62438,-10.6,-8.333,-15.41,4401
$D_GRID,4425
$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,-1.28,-243.3,112,2490,837,665,0.0,0.0,0,83,0.00,0.00,-62.00,0.000,16386,0.000,0.000,112,2491,2589,2653,2526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.28,-243.3,111,2491,2657,2526,4.7,-8.8,8,118,8.90,2.12,-12.50,0.000,19204,0.217,0.046,2401,1106,3378,3436,3320,0,0,0,0,0,0,25.75,26.27,26.60
$GC,282,-1.28,-243.3,2401,1106,3438,3320,74.5,-35.0,24,290,0.00,2.12,0.00,0.000,1030,0.000,0.038,2391,2501,3378,3437,3320,0,0,0,0,0,0,28.83,26.27,28.83
$GC,589,-1.28,-243.3,2391,2500,3441,3320,175.4,-30.6,40,594,0.00,1.83,0.00,0.000,260,0.000,0.053,2382,3677,3381,3442,3321,0,0,0,0,0,0,28.83,26.34,28.83
$GC,607,-1.28,-243.3,2382,3677,3442,3321,175.4,-30.6,40,615,0.00,1.70,0.00,0.000,1030,0.000,0.024,2383,2484,3381,3442,3321,0,0,0,0,0,0,28.83,26.51,28.83
$GC,913,-1.28,-243.3,2382,2483,3442,3323,270.5,-29.5,56,919,0.00,1.85,0.00,0.000,260,0.000,0.052,2374,3672,3382,3442,3323,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1022,-1.28,-243.3,2371,3672,3442,3323,303.2,-29.4,61,1029,0.12,1.67,0.00,0.000,3078,0.158,0.024,2405,2494,3383,3443,3323,0,0,0,0,0,0,26.27,26.59,28.83
$GC,1349,-1.28,-243.3,2405,2494,3442,3323,387.3,-24.7,77,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2494,3383,3443,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1648,-1.28,-243.3,2406,2494,3443,3323,457.0,-22.5,92,1654,0.00,1.85,0.00,0.000,260,0.000,0.053,2397,3678,3383,3443,3323,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1714,-1.28,-243.3,2397,3678,3442,3323,472.5,-23.0,95,1720,0.00,1.67,0.00,0.000,1030,0.000,0.024,2398,2497,3383,3443,3323,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2040,-1.28,-243.3,2397,2496,3442,3323,543.4,-21.0,111,2046,0.00,2.03,0.00,0.000,516,0.000,0.029,2397,1111,3383,3443,3323,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2065,-1.28,-243.3,2397,1110,3442,3323,548.6,-20.9,112,2070,0.00,2.10,0.00,0.000,1030,0.000,0.039,2387,2501,3382,3442,3323,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2389,-1.28,-243.3,2386,2501,3442,3321,615.7,-21.6,127,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2501,3381,3443,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2689,-1.28,-243.3,2386,2501,3442,3318,679.9,-21.0,137,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2501,3379,3442,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2990,-1.28,-243.3,2386,2501,3443,3312,742.6,-20.7,147,2996,0.00,2.05,0.00,0.000,516,0.000,0.029,2387,1113,3376,3442,3311,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3048,-1.28,-243.3,2386,1112,3442,3310,749.9,-20.6,148,3057,0.12,2.12,0.00,0.000,3078,0.161,0.041,2409,2503,3376,3442,3310,0,0,0,0,0,0,26.27,26.47,28.83
$GC,3356,-1.28,-243.3,2409,2503,3442,3305,813.5,-19.3,159,3362,0.00,1.83,0.00,0.000,260,0.000,0.055,2401,3671,3373,3442,3305,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3424,-1.28,-243.3,1476,3670,3428,3300,826.2,-19.3,161,3430,0.00,1.70,0.00,0.000,1030,0.000,0.028,2401,2517,3372,3441,3304,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3754,-1.28,-243.3,2401,2517,3439,3300,890.7,-19.6,172,3759,0.00,2.08,0.00,0.000,516,0.000,0.029,2401,1109,3369,3439,3300,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3873,-1.28,-243.3,2401,1109,3438,3298,908.4,-18.9,175,3881,0.00,2.12,0.00,0.000,1030,0.000,0.040,2391,2499,3367,3437,3298,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,4087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4087,begin apogee
$GC,4094,-0.20,0.0,2390,1997,3437,3295,955.5,-19.8,183,4471,1.08,0.00,368.73,0.761,10246,0.119,0.000,2746,1996,2380,2535,2225,0,0,0,0,0,0,26.11,28.83,24.30
$STATE,4473,end apogee,CONTROL_FINISHED_OK
$STATE,4473,begin climb
$GC,4475,1.28,243.3,2746,1996,2529,2214,976.6,0.0,194,4752,1.33,2.25,264.70,0.894,10756,0.046,0.038,3249,629,1376,1485,1267,0,0,0,0,0,0,25.10,24.65,23.91
$GC,4827,1.28,243.3,2304,629,1438,1247,921.1,25.1,205,4833,0.00,2.17,0.00,0.000,1030,0.000,0.030,3249,2019,1356,1464,1249,0,0,0,0,0,0,28.83,25.35,28.83
$GC,5147,1.28,243.3,3249,2019,1456,1244,834.4,25.6,216,5153,0.00,2.17,0.00,0.000,516,0.000,0.037,3261,619,1350,1456,1244,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5201,1.28,243.3,3261,619,1455,1244,825.6,25.5,217,5208,0.12,2.10,0.00,0.000,5126,0.170,0.031,3230,2008,1349,1455,1243,0,0,0,0,0,0,25.93,26.15,28.83
$GC,5516,1.28,243.3,3230,2008,1453,1241,750.2,22.0,228,5522,0.00,2.17,0.00,0.000,260,0.000,0.046,3230,3400,1347,1453,1241,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5592,1.28,243.3,3230,3400,1452,1241,734.0,23.4,230,5597,0.00,2.08,0.00,0.000,1030,0.000,0.028,3241,2010,1346,1452,1241,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5917,1.28,243.3,3241,2010,1451,1240,655.7,23.5,241,5923,0.00,2.15,0.00,0.000,516,0.000,0.038,3252,603,1345,1451,1239,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6022,1.28,243.3,2304,603,1423,1237,633.1,23.6,244,6028,0.00,2.10,0.00,0.000,1030,0.000,0.031,3252,1999,1345,1450,1240,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6346,1.28,243.3,3252,1999,1449,1238,550.6,24.7,258,6352,0.00,2.17,0.00,0.000,260,0.000,0.046,3252,3402,1344,1450,1238,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6432,1.28,243.3,3252,3402,1449,1238,528.8,25.5,262,6439,0.12,2.10,0.00,0.000,5126,0.181,0.029,3233,1994,1343,1449,1238,0,0,0,0,0,0,26.20,26.51,28.83
$GC,6760,1.28,243.3,3232,1994,1448,1236,457.5,21.0,278,6766,0.00,2.12,0.00,0.000,516,0.000,0.040,3244,606,1342,1448,1236,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6806,1.28,243.3,3243,606,1448,1236,447.6,21.0,280,6812,0.00,2.08,0.00,0.000,1030,0.000,0.031,3244,1998,1342,1448,1236,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7133,1.28,243.3,3243,1998,1447,1236,374.5,22.8,296,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1998,1341,1447,1235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7431,1.28,243.3,3243,1998,1447,1234,310.9,21.5,311,7437,0.00,2.12,0.00,0.000,516,0.000,0.040,3255,612,1340,1447,1234,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7477,1.28,243.3,3255,609,1446,1234,301.1,21.4,313,7483,0.00,2.10,0.00,0.000,1030,0.000,0.031,3255,2003,1340,1446,1234,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7803,1.28,243.3,3255,2003,1447,1234,236.7,18.2,329,7808,0.00,2.17,0.00,0.000,260,0.000,0.046,3255,3409,1340,1446,1234,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7951,1.28,243.3,2240,3408,1419,1231,204.7,22.6,336,7958,0.12,2.10,0.00,0.000,5126,0.173,0.029,3234,1994,1340,1446,1234,0,0,0,0,0,0,26.23,26.56,28.83
$GC,8278,1.28,243.3,3234,1994,1446,1234,152.1,15.0,352,8284,0.00,2.10,0.00,0.000,516,0.000,0.040,3246,609,1340,1446,1234,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8318,1.28,243.3,3245,609,1446,1234,148.0,14.9,353,8327,0.00,2.08,0.00,0.000,1030,0.000,0.031,3245,2000,1340,1446,1234,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8623,1.28,243.3,3245,2000,1446,1234,98.2,13.5,369,8630,0.00,2.10,0.00,0.000,516,0.000,0.039,3257,609,1340,1446,1234,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8730,1.28,243.3,3256,609,1446,1234,86.4,10.5,374,8737,0.00,2.08,0.00,0.000,1030,0.000,0.030,3257,2006,1340,1446,1234,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9057,1.28,243.3,3257,2005,1447,1234,53.0,10.4,390,9062,0.00,2.15,0.00,0.000,260,0.000,0.044,3257,3403,1340,1446,1234,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9302,1.28,243.3,2240,3402,1419,1231,21.6,11.5,413,9311,0.15,2.05,0.00,0.000,5126,0.155,0.027,3226,1990,1340,1447,1234,0,0,0,0,0,0,26.25,26.59,28.83
$STATE,9498,end climb,SURFACE_DEPTH_REACHED
$STATE,9498,begin surface coast
$FINISH,0.4,1.022269
$STATE,9540,end surface coast,CONTROL_FINISHED_OK
$STATE,9540,begin surface
$SM_CCo,9558,73.03,0.060,0,0,748,400.08
$SM_GC,1.27,7.95,0.77,73.03,0.037,0.049,0.060,111,2486,748,-8.31,-1.50,400.08,0,0,0,0,0,0,26.60,26.48,26.32
$IRIDIUM_FIX,2253.38,12203.30,010413,202031
$TT8_MAMPS,0.048685,0.048685
$HUMID,45.82
$INTERNAL_PRESSURE,9.66204
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,3938400
$24V_AH,23.9,37.576
$10V_AH,10.3,25.288
$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,20.025,79.050,633.425,73.025,0.000,0.000,0.000,186.200,0.000,0.000,32.973,1963.783,5493.551,719.594,1486.689,317.795,0.000,1670.103,0.000,1220.314,0.000,0.538,0.000
$DEVICE_MAMPS,217.260,55.080,894.285,59.670,0.000,0.000,0.000,120.105,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9542.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.174,0.000,0.000,0.000
$MEM,324272
$DATA_FILE_SIZE,16752,456
$CAP_FILE_SIZE,253070,0
$CFSIZE,260034560,227942400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.321, 11.4,1
$GPS,020413,021229,2304.246,12201.684,37,1.1,43,-3.1