version: 66.13
glider: 171
mission: 11
dive: 173
start: 9 1 119 3 47 23
data:
$ID,171
$MISSION,11
$DIVE,173
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2
$T_BOOST,0
$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,390
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53930
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00177828
$HD_B,0.019109501
$HD_C,5.7000002e-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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3600
$C_PITCH,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,350
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,86
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,3
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-152.46104
$PRESSURE_SLOPE,0.00010631012
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,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,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.63
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,5
$LOGGERDEVICE1,53
$LOGGERDEVICE2,70
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044193882
$SEABIRD_T_H,0.00064798427
$SEABIRD_T_I,2.6719992e-05
$SEABIRD_T_J,3.3115991e-06
$SEABIRD_C_G,-9.8059483
$SEABIRD_C_H,1.1280893
$SEABIRD_C_I,-0.003824637
$SEABIRD_C_J,0.00035372932
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,010919,033739,1339.3563,8700.3271,35,1.1,35,-0.9,1.3,195.4,6,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-66.2
$GPS2,010919,034631,1339.3073,8700.4570,3,1.1,5,-0.9,1.2,136.3,6,7.8
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,S
$TGT_LATLONG,1300.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,185.9,72802,-17.1,-8.462,-27.86,2074
$D_GRID,990
$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
$WARN,HPMAR logging already started
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.62,-116.8,54,2514,978,871,0.0,0.0,0,103,0.00,0.00,-77.50,0.005,16386,0.000,0.000,44,2514,2770,2768,2773,0,0,0,0,0,0,14.85,28.83,14.88
$GC,106,-0.62,-116.8,44,2514,2770,2773,4.6,-11.4,16,138,9.15,2.28,-12.35,0.012,18692,0.359,0.090,2110,3874,3447,3453,3442,0,0,0,0,0,0,14.37,13.88,14.56
$GC,282,-0.62,-116.8,2109,3874,3453,3442,62.1,-27.6,51,289,0.00,2.17,0.00,0.000,1030,0.000,0.037,2110,2539,3448,3453,3444,0,0,0,0,0,0,14.71,14.67,14.72
$GC,468,-0.62,-116.8,2112,2538,3453,3442,103.2,-20.7,70,475,0.00,2.28,0.00,0.000,260,0.000,0.083,2099,3877,3447,3453,3442,0,0,0,0,0,0,14.95,14.69,14.98
$GC,648,-0.62,-116.8,2100,3877,3453,3442,136.0,-17.6,105,655,0.00,2.22,0.00,0.000,1030,0.000,0.034,2100,2497,3447,3453,3442,0,0,0,0,0,0,14.77,14.73,14.78
$GC,834,-0.62,-116.8,2099,2496,3453,3442,164.4,-15.0,124,839,0.00,2.25,0.00,0.000,516,0.000,0.048,2100,1097,3447,3453,3442,0,0,0,0,0,0,14.99,14.77,15.02
$GC,948,-0.62,-116.8,2100,1097,3453,3442,180.4,-13.2,146,955,0.15,2.33,0.00,0.000,3078,0.230,0.057,2125,2495,3447,3453,3442,0,0,0,0,0,0,14.64,14.77,14.81
$GC,1143,-0.62,-116.8,2124,2495,3453,3442,203.5,-11.3,166,1150,0.00,2.35,0.00,0.000,260,0.000,0.085,2116,3893,3447,3453,3442,0,0,0,0,0,0,15.01,14.74,15.03
$GC,1188,-0.62,-116.8,2116,3893,3453,3442,208.8,-12.0,174,1196,0.00,2.20,0.00,0.000,1030,0.000,0.033,2116,2486,3447,3453,3442,0,0,0,0,0,0,14.89,14.84,14.90
$GC,1385,-0.62,-116.8,2115,2484,3451,3442,231.9,-11.8,194,1391,0.00,2.22,0.00,0.000,516,0.000,0.048,2116,1099,3446,3451,3442,0,0,0,0,0,0,15.01,14.81,15.04
$GC,1409,-0.62,-116.8,2115,1099,3451,3442,235.1,-12.2,198,1416,0.00,2.33,0.00,0.000,1030,0.000,0.057,2105,2500,3446,3451,3442,0,0,0,0,0,0,14.88,14.80,14.90
$GC,1615,-0.62,-116.8,2105,2500,3449,3442,260.6,-12.7,215,1620,0.00,2.35,0.00,0.000,260,0.000,0.085,2094,3896,3446,3449,3443,0,0,0,0,0,0,15.04,14.77,15.07
$GC,1639,-0.62,-116.8,2094,3896,3448,3441,263.8,-12.7,219,1645,0.12,2.20,0.00,0.000,3078,0.215,0.034,2125,2489,3445,3449,3441,0,0,0,0,0,0,14.71,14.86,14.86
$GC,1963,-0.62,-116.8,2124,2487,3446,3438,300.9,-11.4,238,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2487,3442,3446,3438,0,0,0,0,0,0,15.05,15.09,15.08
$GC,2263,-0.62,-116.8,2125,2487,3445,3435,334.7,-11.2,253,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2487,3439,3444,3435,0,0,0,0,0,0,15.07,15.10,15.09
$GC,2563,-0.62,-116.8,2125,2487,3443,3433,367.0,-10.7,268,2568,0.00,2.40,0.00,0.000,260,0.000,0.090,2116,3890,3437,3443,3432,0,0,0,0,0,0,15.07,14.80,15.09
$GC,2586,-0.62,-116.8,2115,3890,3442,3432,369.6,-10.6,272,2592,0.00,2.17,0.00,0.000,1030,0.000,0.035,2116,2501,3437,3442,3432,0,0,0,0,0,0,14.94,14.88,14.95
$GC,2910,-0.62,-116.8,2116,2500,3439,3428,404.9,-11.0,291,2916,0.00,2.28,0.00,0.000,516,0.000,0.051,2116,1106,3434,3440,3428,0,0,0,0,0,0,15.07,14.83,15.10
$GC,2935,-0.62,-116.8,2116,1108,3439,3429,407.6,-10.9,295,2941,0.00,2.33,0.00,0.000,1030,0.000,0.059,2106,2498,3434,3439,3430,0,0,0,0,0,0,14.92,14.82,14.94
$GC,3259,-0.62,-116.8,2106,2498,3436,3425,444.2,-11.3,314,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2498,3431,3437,3425,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3559,-0.62,-116.8,2105,2498,3434,3423,479.2,-11.8,329,3565,0.00,2.38,0.00,0.000,260,0.000,0.090,2094,3897,3428,3434,3423,0,0,0,0,0,0,15.07,14.78,15.10
$GC,3586,-0.62,-116.8,2094,3897,3434,3423,482.7,-12.3,334,3593,0.12,2.20,0.00,0.000,3078,0.210,0.037,2125,2498,3428,3434,3423,0,0,0,0,0,0,14.71,14.88,14.88
$GC,3906,-0.62,-116.8,2125,2497,3432,3421,517.1,-10.8,352,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2497,3426,3432,3421,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4207,-0.62,-116.8,2125,2497,3432,3420,549.4,-10.7,367,4212,0.00,2.25,0.00,0.000,516,0.000,0.050,2125,1109,3425,3430,3420,0,0,0,0,0,0,15.07,14.83,15.10
$GC,4231,-0.62,-116.8,2125,1109,3430,3420,552.0,-11.0,371,4237,0.00,2.35,0.00,0.000,1030,0.000,0.060,2116,2508,3425,3430,3420,0,0,0,0,0,0,14.90,14.81,14.93
$GC,4555,-0.62,-116.8,2115,2508,3430,3416,588.5,-11.4,390,4561,0.00,2.38,0.00,0.000,260,0.000,0.090,2106,3899,3423,3430,3417,0,0,0,0,0,0,15.07,14.77,15.09
$GC,4584,-0.62,-116.8,2106,3899,3429,3417,591.9,-11.9,395,4590,0.00,2.22,0.00,0.000,1030,0.000,0.037,2106,2501,3423,3429,3417,0,0,0,0,0,0,14.92,14.86,14.94
$GC,4903,-0.62,-116.8,2105,2500,3428,3415,630.1,-12.2,413,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2500,3421,3428,3415,0,0,0,0,0,0,15.06,15.09,15.09
$GC,5203,-0.62,-116.8,2106,2500,3426,3414,666.2,-11.8,428,5208,0.00,2.28,0.00,0.000,516,0.000,0.050,2106,1103,3420,3426,3414,0,0,0,0,0,0,15.07,14.82,15.09
$GC,5227,-0.62,-116.8,2105,1102,3426,3414,669.0,-11.8,432,5236,0.12,2.35,0.00,0.000,3078,0.219,0.062,2125,2498,3420,3426,3414,0,0,0,0,0,0,14.68,14.79,14.85
$GC,5549,-0.62,-116.8,2124,2499,3424,3413,702.1,-10.0,451,5555,0.00,2.40,0.00,0.000,260,0.000,0.092,2116,3893,3418,3423,3413,0,0,0,0,0,0,15.06,14.75,15.09
$GC,5582,-0.62,-116.8,2116,3893,3424,3412,705.6,-10.5,457,5588,0.00,2.22,0.00,0.000,1030,0.000,0.038,2116,2501,3417,3423,3412,0,0,0,0,0,0,14.91,14.85,14.93
$GC,5896,-0.62,-116.8,2116,2500,3422,3411,737.2,-9.7,474,5902,0.00,2.28,0.00,0.000,516,0.000,0.051,2116,1106,3416,3422,3411,0,0,0,0,0,0,15.05,14.81,15.08
$GC,5929,-0.62,-116.8,2115,1106,3422,3411,740.6,-9.6,480,5935,0.00,2.35,0.00,0.000,1030,0.000,0.062,2105,2500,3416,3422,3411,0,0,0,0,0,0,14.88,14.78,14.91
$GC,6243,-0.62,-116.8,2105,2500,3421,3410,772.0,-9.9,497,6248,0.00,2.40,0.00,0.000,260,0.000,0.092,2094,3899,3415,3421,3410,0,0,0,0,0,0,15.05,14.73,15.08
$GC,6276,-0.62,-116.8,2094,3900,3421,3410,775.4,-10.8,503,6282,0.12,2.22,0.00,0.000,3078,0.210,0.038,2125,2500,3415,3421,3410,0,0,0,0,0,0,14.66,14.84,14.83
$GC,6590,-0.62,-116.8,2125,2499,3420,3409,803.3,-8.9,520,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2499,3414,3420,3409,0,0,0,0,0,0,15.04,15.08,15.07
$GC,6890,-0.62,-116.8,2124,2499,3417,3408,830.8,-9.3,535,6896,0.00,2.28,0.00,0.000,516,0.000,0.051,2125,1106,3413,3418,3408,0,0,0,0,0,0,15.05,14.79,15.07
$GC,6927,-0.62,-116.8,2125,1106,3418,3408,834.5,-9.4,542,6935,0.00,2.42,0.00,0.000,1030,0.000,0.062,2117,2503,3413,3418,3408,0,0,0,0,0,0,14.73,14.68,14.77
$GC,7234,-0.62,-116.8,2116,2502,3417,3408,865.0,-10.1,558,7240,0.00,2.40,0.00,0.000,260,0.000,0.093,2106,3897,3412,3416,3408,0,0,0,0,0,0,15.04,14.71,15.07
$GC,7282,-0.62,-116.8,2105,3897,3416,3408,870.2,-10.7,567,7288,0.00,2.25,0.00,0.000,1030,0.000,0.040,2106,2498,3411,3416,3407,0,0,0,0,0,0,14.89,14.83,14.91
$GC,7601,-0.62,-116.8,2105,2497,3416,3406,903.1,-10.1,585,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2497,3411,3416,3406,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7901,-0.62,-116.8,2105,2497,3415,3406,932.9,-9.9,600,7907,0.00,2.30,0.00,0.000,516,0.000,0.052,2105,1096,3410,3415,3405,0,0,0,0,0,0,15.04,14.77,15.06
$GC,7928,-0.62,-116.8,2105,1096,3414,3405,935.8,-10.4,605,7939,0.12,2.40,0.00,0.000,3078,0.218,0.064,2124,2503,3409,3414,3405,0,0,0,0,0,0,14.62,14.74,14.81
$GC,8247,-0.62,-116.8,2124,2503,3414,3404,963.8,-8.7,623,8253,0.00,2.42,0.00,0.000,260,0.000,0.094,2115,3904,3408,3413,3404,0,0,0,0,0,0,15.03,14.69,15.06
$GC,8279,-0.62,-116.8,2115,3904,3413,3404,967.0,-9.8,629,8286,0.00,2.28,0.00,0.000,1030,0.000,0.039,2115,2496,3408,3413,3403,0,0,0,0,0,0,14.84,14.78,14.86
$STATE,8532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8532,begin apogee
$GC,8537,-0.15,0.0,2115,2494,3413,3403,991.2,-9.8,643,8647,0.55,0.00,104.32,2.047,10246,0.169,0.000,2277,2494,2967,2997,2938,0,0,0,0,0,0,14.62,14.16,13.21
$STATE,8650,end apogee,CONTROL_FINISHED_OK
$STATE,8650,begin climb
$GC,8652,0.62,116.8,2277,2494,2996,2938,994.9,0.0,648,8782,0.77,2.55,112.15,2.037,10500,0.101,0.089,2529,3848,2489,2522,2457,0,0,0,0,0,0,14.21,14.03,13.14
$GC,8817,0.62,116.8,2529,3848,2515,2456,991.0,8.9,684,8823,0.00,2.35,0.00,0.000,1030,0.000,0.039,2540,2443,2485,2515,2456,0,0,0,0,0,0,14.32,14.27,14.33
$GC,9141,0.62,116.8,2540,2442,2511,2452,960.3,9.5,703,9147,0.00,2.35,0.00,0.000,516,0.000,0.054,2551,1041,2481,2511,2452,0,0,0,0,0,0,14.81,14.60,14.84
$GC,9198,0.62,116.8,2551,1041,2509,2452,954.5,9.6,714,9206,0.00,2.45,0.00,0.000,1030,0.000,0.057,2551,2443,2480,2509,2451,0,0,0,0,0,0,14.60,14.55,14.64
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$STATE,20207,end climb,SURFACE_DEPTH_REACHED
$STATE,20207,begin surface coast
$STATE,20229,end surface coast,CONTROL_FINISHED_OK
$STATE,20229,begin surface
$SM_CCo,20254,111.35,0.615,1,0,929,500.17
$SM_GC,1.17,7.28,0.08,111.35,0.045,0.174,0.615,124,2506,929,-6.78,-1.05,500.17,0,0,0,0,1,0,14.66,14.63,14.00
$IRIDIUM_FIX,1341.78,8700.17,310819,215414
$TT8_MAMPS,0.018725,0.293608
$HUMID,41.29
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,25.30
$XPDR_PINGS,2
$SC_FREEKB,3832608
$PM_FREEKB_00,52934336
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.14,67.313
$10V_AH,13.53,0.000
$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
$DEVICE_SECS,19.700,214.775,447.950,111.350,0.000,0.000,0.000,300.150,0.500,0.000,18.522,1568.015,13120.980,610.506,5038.779,573.390,0.000,2567.833,0.000,4391.242,0.000,0.542,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,4011.557,0.000,0.000,0.000,0.000,0.000,20234.000,0.000,20247.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,2.507,0.000,3.463,0.000
$MEM,251872
$DATA_FILE_SIZE,73329,1659
$CAP_FILE_SIZE,297152,0
$CFSIZE,260034560,175693824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.067,157.25,1
$GPS,010919,092855,1336.966,8700.552,59,1.1,59,-0.9,0.8,209.8,6,8.4