version: 66.13
glider: 171
mission: 11
dive: 246
start: 9 18 119 18 27 6
data:
$ID,171
$MISSION,11
$DIVE,246
$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,0.0019952599
$HD_B,0.0163117
$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,58
$R_STBD_OVSHOOT,23
$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,1
$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
$GPS1,180919,181901,1327.0686,8703.2246,30,0.8,32,-0.9,0.3,16.9,11,3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-67.4
$GPS2,180919,182619,1326.9321,8703.3018,2,0.6,3,-0.9,0.7,170.5,12,6.8
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,320.3,36266,-17.3,-8.462,-25.76,2103
$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
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.62,-116.8,92,2494,968,883,0.0,0.0,0,95,0.00,0.00,-77.18,0.005,16386,0.000,0.000,91,2495,2755,2753,2758,0,0,0,0,0,0,14.81,28.83,14.83
$GC,98,-0.62,-116.8,91,2495,2754,2759,5.0,-14.1,16,126,9.00,2.30,-12.90,0.010,18948,0.350,0.065,2126,1099,3446,3456,3437,0,0,0,0,0,0,14.26,13.67,14.61
$GC,179,-0.62,-116.8,2126,1099,3456,3437,31.6,-27.4,32,183,0.00,2.40,0.00,0.000,1030,0.000,0.060,2117,2502,3446,3456,3437,0,0,0,0,0,0,14.67,14.57,14.70
$GC,371,-0.62,-116.8,2117,2504,3455,3437,85.6,-21.9,57,378,0.00,2.35,0.00,0.000,260,0.000,0.073,2107,3906,3446,3455,3437,0,0,0,0,0,0,14.91,14.60,14.94
$GC,464,-0.62,-116.8,2106,3906,3455,3437,106.8,-19.9,76,469,0.00,2.25,0.00,0.000,1030,0.000,0.034,2106,2493,3446,3456,3437,0,0,0,0,0,0,14.77,14.71,14.78
$GC,652,-0.62,-116.8,2106,2492,3456,3437,141.6,-17.3,95,656,0.00,2.40,0.00,0.000,260,0.000,0.080,2095,3901,3446,3456,3437,0,0,0,0,0,0,14.95,14.64,14.98
$GC,693,-0.62,-116.8,2095,3901,3456,3437,149.0,-17.6,103,698,0.12,2.22,0.00,0.000,3078,0.231,0.033,2123,2480,3446,3456,3437,0,0,0,0,0,0,14.51,14.75,14.70
$GC,885,-0.62,-116.8,2122,2478,3456,3437,175.1,-12.7,123,892,0.00,2.42,0.00,0.000,260,0.000,0.081,2114,3900,3446,3456,3437,0,0,0,0,0,0,14.99,14.58,15.01
$GC,906,-0.62,-116.8,2114,3901,3456,3437,177.7,-12.9,127,910,0.00,2.20,0.00,0.000,1030,0.000,0.032,2114,2509,3447,3456,3439,0,0,0,0,0,0,14.72,14.68,14.73
$GC,1098,-0.62,-116.8,2114,2507,3456,3437,203.1,-13.2,147,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2507,3446,3456,3437,0,0,0,0,0,0,15.00,15.04,15.03
$GC,1277,-0.62,-116.8,2114,2507,3455,3435,226.4,-12.8,165,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2507,3446,3455,3437,0,0,0,0,0,0,15.02,15.04,15.04
$GC,1458,-0.62,-116.8,2114,2507,3453,3437,248.9,-12.6,183,1462,0.00,2.38,0.00,0.000,260,0.000,0.083,2104,3899,3445,3453,3437,0,0,0,0,0,0,15.02,14.68,15.04
$GC,1480,-0.62,-116.8,2103,3899,3453,3437,251.6,-12.3,187,1484,0.00,2.20,0.00,0.000,1030,0.000,0.033,2104,2493,3445,3453,3437,0,0,0,0,0,0,14.85,14.79,14.87
$GC,1801,-0.62,-116.8,2103,2492,3449,3437,294.2,-13.5,206,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2492,3443,3450,3437,0,0,0,0,0,0,15.04,15.08,15.07
$GC,2101,-0.62,-116.8,2102,2491,3446,3434,333.4,-12.7,221,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2491,3440,3446,3434,0,0,0,0,0,0,15.06,15.09,15.09
$GC,2401,-0.62,-116.8,2102,2491,3442,3434,370.0,-12.0,236,2405,0.00,2.42,0.00,0.000,260,0.000,0.086,2092,3903,3437,3442,3433,0,0,0,0,0,0,15.07,14.69,15.09
$GC,2431,-0.62,-116.8,2092,3903,3442,3433,373.8,-12.4,242,2437,0.12,2.22,0.00,0.000,3078,0.210,0.034,2123,2491,3437,3442,3433,0,0,0,0,0,0,14.59,14.81,14.78
$GC,2745,-0.62,-116.8,2123,2490,3441,3429,406.4,-10.3,259,2749,0.00,2.25,0.00,0.000,516,0.000,0.047,2124,1102,3434,3440,3429,0,0,0,0,0,0,15.07,14.76,15.09
$GC,2770,-0.62,-116.8,2123,1102,3439,3429,409.2,-10.4,264,2774,0.00,2.35,0.00,0.000,1030,0.000,0.057,2115,2504,3434,3439,3429,0,0,0,0,0,0,14.84,14.73,14.87
$GC,3086,-0.62,-116.8,2114,2504,3437,3425,444.3,-11.2,282,3091,0.00,2.38,0.00,0.000,260,0.000,0.084,2104,3900,3431,3437,3425,0,0,0,0,0,0,15.07,14.67,15.09
$GC,3128,-0.62,-116.8,2104,3900,3437,3425,449.1,-11.6,290,3133,0.00,2.22,0.00,0.000,1030,0.000,0.035,2102,2493,3430,3436,3425,0,0,0,0,0,0,14.87,14.81,14.89
$GC,3450,-0.62,-116.8,2104,2491,3434,3424,487.2,-11.9,309,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2492,3428,3434,3423,0,0,0,0,0,0,15.06,15.09,15.09
$GC,3750,-0.62,-116.8,2104,2491,3432,3421,523.1,-12.0,324,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2491,3426,3432,3421,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4051,-0.62,-116.8,2103,2491,3430,3421,559.5,-12.0,339,4055,0.00,2.28,0.00,0.000,516,0.000,0.049,2104,1103,3425,3430,3420,0,0,0,0,0,0,15.06,14.73,15.09
$GC,4076,-0.62,-116.8,2103,1103,3430,3420,562.8,-12.2,344,4081,0.12,2.38,0.00,0.000,3078,0.216,0.060,2123,2506,3425,3430,3420,0,0,0,0,0,0,14.56,14.71,14.75
$GC,4389,-0.62,-116.8,2122,2506,3429,3419,595.7,-10.3,361,4393,0.00,2.40,0.00,0.000,260,0.000,0.086,2114,3897,3423,3429,3418,0,0,0,0,0,0,15.06,14.64,15.08
$GC,4431,-0.62,-116.8,2115,3897,3429,3418,600.3,-10.7,369,4435,0.00,2.22,0.00,0.000,1030,0.000,0.036,2114,2498,3423,3428,3418,0,0,0,0,0,0,14.85,14.79,14.88
$GC,4753,-0.62,-116.8,2114,2498,3427,3416,633.9,-10.3,388,4757,0.00,2.30,0.00,0.000,516,0.000,0.051,2114,1102,3421,3427,3416,0,0,0,0,0,0,15.05,14.72,15.08
$GC,4799,-0.62,-116.8,2114,1103,3427,3416,638.8,-10.2,397,4803,0.00,2.38,0.00,0.000,1030,0.000,0.059,2103,2504,3421,3426,3416,0,0,0,0,0,0,14.81,14.70,14.84
$GC,5115,-0.62,-116.8,2103,2504,3424,3414,672.1,-10.5,415,5119,0.00,2.40,0.00,0.000,260,0.000,0.088,2092,3897,3419,3424,3414,0,0,0,0,0,0,15.05,14.62,15.08
$GC,5157,-0.62,-116.8,2092,3898,3424,3414,676.7,-11.1,423,5161,0.12,2.25,0.00,0.000,3078,0.207,0.038,2123,2491,3418,3423,3414,0,0,0,0,0,0,14.55,14.78,14.73
$GC,5478,-0.62,-116.8,2123,2490,3422,3413,706.9,-9.4,442,5483,0.00,2.28,0.00,0.000,516,0.000,0.050,2124,1103,3417,3422,3412,0,0,0,0,0,0,15.05,14.71,15.07
$GC,5505,-0.62,-116.8,2123,1103,3422,3412,709.5,-9.9,447,5509,0.00,2.38,0.00,0.000,1030,0.000,0.059,2115,2501,3417,3422,3412,0,0,0,0,0,0,14.80,14.69,14.83
$GC,5821,-0.62,-116.8,2116,2501,3421,3412,740.3,-9.8,465,5825,0.00,2.42,0.00,0.000,260,0.000,0.089,2104,3899,3416,3421,3412,0,0,0,0,0,0,15.05,14.62,15.07
$GC,5856,-0.62,-116.8,2104,3899,3421,3413,744.0,-10.3,472,5861,0.00,2.28,0.00,0.000,1030,0.000,0.037,2104,2494,3416,3421,3412,0,0,0,0,0,0,14.83,14.76,14.85
$GC,6162,-0.62,-116.8,2103,2493,3420,3410,774.9,-10.0,488,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2493,3415,3420,3410,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6463,-0.62,-116.8,2104,2493,3419,3409,804.1,-9.6,503,6467,0.00,2.28,0.00,0.000,516,0.000,0.050,2104,1106,3413,3418,3408,0,0,0,0,0,0,15.04,14.69,15.07
$GC,6493,-0.62,-116.8,2103,1106,3418,3409,807.2,-9.8,509,6499,0.12,2.38,0.00,0.000,3078,0.216,0.060,2123,2499,3413,3418,3408,0,0,0,0,0,0,14.52,14.67,14.71
$GC,6800,-0.62,-116.8,2122,2499,3417,3408,830.7,-7.4,525,6802,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2499,3412,3417,3407,0,0,0,0,0,0,15.04,15.07,15.06
$GC,7100,-0.62,-116.8,2122,2499,3417,3407,852.4,-7.3,540,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2499,3411,3417,3406,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7400,-0.62,-116.8,2122,2499,3415,3406,874.6,-7.6,555,7404,0.00,2.33,0.00,0.000,516,0.000,0.050,2123,1104,3411,3416,3406,0,0,0,0,0,0,15.04,14.66,15.07
$GC,7430,-0.62,-116.8,2122,1103,3415,3406,877.0,-7.4,561,7434,0.00,2.40,0.00,0.000,1030,0.000,0.060,2114,2508,3410,3415,3406,0,0,0,0,0,0,14.76,14.65,14.80
$GC,7741,-0.62,-116.8,2113,2508,3414,3404,902.8,-8.6,578,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2508,3409,3413,3405,0,0,0,0,0,0,15.04,15.07,15.06
$GC,8042,-0.62,-116.8,2113,2508,3413,3404,929.0,-8.9,593,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2508,3408,3413,3403,0,0,0,0,0,0,15.03,15.06,15.05
$GC,8341,-0.62,-116.8,2113,2508,3412,3403,955.2,-8.7,608,8345,0.00,2.35,0.00,0.000,516,0.000,0.050,2115,1102,3407,3412,3403,0,0,0,0,0,0,15.03,14.65,15.05
$GC,8378,-0.62,-116.8,2113,1101,3412,3402,958.4,-8.8,615,8382,0.00,2.42,0.00,0.000,1030,0.000,0.060,2103,2507,3407,3412,3403,0,0,0,0,0,0,14.76,14.64,14.78
$GC,8683,-0.62,-116.8,2103,2507,3411,3403,985.9,-8.9,631,8685,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2507,3406,3411,3402,0,0,0,0,0,0,15.02,15.06,15.05
$STATE,8740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8740,begin apogee
$GC,8747,-0.15,0.0,2103,2433,3410,3402,991.4,-9.2,634,8855,0.60,0.00,104.12,2.029,10246,0.173,0.000,2275,2433,2968,2995,2942,0,0,0,0,0,0,14.47,14.14,13.18
$STATE,8857,end apogee,CONTROL_FINISHED_OK
$STATE,8857,begin climb
$GC,8859,0.62,116.8,2275,2433,2993,2942,993.9,0.0,639,8984,0.80,2.45,113.75,2.010,10756,0.096,0.054,2546,1052,2489,2520,2459,0,0,0,0,0,0,14.17,14.00,13.05
$GC,8995,0.67,158.4,2546,1052,2516,2458,990.4,6.4,666,9044,0.00,2.47,40.20,1.954,9254,0.000,0.055,2546,2443,2321,2359,2283,0,0,0,0,0,0,14.17,14.09,13.11
$GC,9347,0.67,158.4,2546,2443,2352,2277,948.0,12.6,691,9351,0.00,2.38,0.00,0.000,516,0.000,0.053,2557,1054,2314,2352,2277,0,0,0,0,0,0,14.77,14.52,14.80
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$STATE,18519,end climb,SURFACE_DEPTH_REACHED
$STATE,18519,begin surface coast
$STATE,18560,end surface coast,CONTROL_FINISHED_OK
$STATE,18561,begin surface
$SM_CCo,18578,136.93,0.636,1,0,928,500.17
$SM_GC,1.34,6.95,0.12,136.93,0.036,0.124,0.636,121,2529,928,-6.79,-0.96,500.17,0,0,0,0,1,0,14.71,14.67,13.97
$IRIDIUM_FIX,1326.47,8658.07,180919,122709
$TT8_MAMPS,0.019474,0.176764
$HUMID,41.49
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,25.90
$XPDR_PINGS,2
$SC_FREEKB,3799904
$24V_AH,13.05,94.986
$10V_AH,12.97,0.000
$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,18.425,169.250,431.975,136.925,0.000,0.000,0.000,250.825,0.500,0.000,14.625,1402.516,13124.552,672.260,3463.492,486.895,0.000,2173.197,0.000,3096.138,0.000,0.541,0.000
$DEVICE_MAMPS,349.605,207.315,2028.780,635.715,0.000,0.000,0.000,185.895,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,2838.531,0.000,0.000,0.000,0.000,0.000,18578.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.304,0.000,0.000,0.000
$MEM,251856
$DATA_FILE_SIZE,66644,1499
$CAP_FILE_SIZE,271802,0
$CFSIZE,260034560,166821888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.123,140.20,1
$GPS,180919,234023,1327.451,8702.946,17,1.2,32,-0.9,1.2,154.3,8,3.9