version: 66.13
glider: 171
mission: 11
dive: 252
start: 9 20 119 4 56 31
data:
$ID,171
$MISSION,11
$DIVE,252
$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,47
$R_STBD_OVSHOOT,57
$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
$GPS1,200919,044830,1330.6171,8703.3135,31,0.8,31,-0.9,1.1,177.8,9,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.5
$GPS2,200919,045546,1330.4899,8703.3926,3,0.6,4,-0.9,1.4,159.6,12,4.2
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,322.6,29819,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.62,-116.8,121,2530,969,881,0.0,0.0,0,97,0.00,0.00,-77.32,0.005,16386,0.000,0.000,121,2530,2752,2751,2754,0,0,0,0,0,0,14.80,28.83,14.83
$GC,100,-0.62,-116.8,121,2530,2752,2754,4.7,-12.4,16,130,9.02,2.42,-12.90,0.010,18948,0.358,0.062,2121,1080,3446,3455,3438,0,0,0,0,0,0,14.20,13.18,14.55
$GC,230,-0.62,-116.8,2118,1080,3455,3438,46.9,-27.8,42,234,0.00,2.40,0.00,0.000,1030,0.000,0.060,2109,2473,3446,3455,3438,0,0,0,0,0,0,14.67,14.56,14.70
$GC,421,-0.62,-116.8,2109,2473,3455,3438,95.8,-20.5,62,425,0.00,2.42,0.00,0.000,260,0.000,0.084,2098,3897,3447,3456,3438,0,0,0,0,0,0,14.92,14.57,14.94
$GC,456,-0.62,-116.8,2098,3897,3455,3438,103.2,-20.9,69,461,0.00,2.28,0.00,0.000,1030,0.000,0.037,2099,2485,3446,3455,3438,0,0,0,0,0,0,14.69,14.68,14.69
$GC,643,-0.62,-116.8,2098,2484,3455,3438,141.3,-21.4,88,647,0.00,2.45,0.00,0.000,260,0.000,0.086,2087,3900,3446,3454,3438,0,0,0,0,0,0,14.95,14.61,14.97
$GC,674,-0.62,-116.8,2087,3900,3455,3438,147.1,-18.9,94,679,0.15,2.22,0.00,0.000,3078,0.223,0.033,2123,2488,3446,3455,3438,0,0,0,0,0,0,14.48,14.73,14.69
$GC,866,-0.62,-116.8,2122,2486,3455,3438,177.5,-13.8,114,874,0.00,2.42,0.00,0.000,260,0.000,0.083,2114,3902,3446,3455,3438,0,0,0,0,0,0,14.97,14.55,15.00
$GC,897,-0.62,-116.8,2114,3902,3455,3437,181.3,-12.2,120,901,0.00,2.20,0.00,0.000,1030,0.000,0.032,2114,2501,3446,3455,3438,0,0,0,0,0,0,14.71,14.67,14.73
$GC,1089,-0.62,-116.8,2114,2500,3455,3438,208.7,-14.5,140,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2500,3446,3455,3438,0,0,0,0,0,0,15.00,15.03,15.02
$GC,1268,-0.62,-116.8,2114,2500,3455,3438,232.8,-13.2,158,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2500,3446,3454,3438,0,0,0,0,0,0,15.01,15.04,15.04
$GC,1449,-0.62,-116.8,2114,2500,3453,3438,255.0,-12.0,174,1453,0.00,2.40,0.00,0.000,260,0.000,0.083,2104,3901,3445,3453,3438,0,0,0,0,0,0,15.02,14.66,15.04
$GC,1494,-0.62,-116.8,2103,3902,3452,3438,260.6,-12.0,183,1499,0.00,2.20,0.00,0.000,1030,0.000,0.033,2104,2509,3444,3452,3437,0,0,0,0,0,0,14.84,14.78,14.86
$GC,1811,-0.62,-116.8,2103,2507,3449,3437,299.3,-12.4,201,1815,0.00,2.28,0.00,0.000,516,0.000,0.047,2104,1098,3443,3449,3438,0,0,0,0,0,0,15.04,14.75,15.07
$GC,1847,-0.62,-116.8,2103,1098,3448,3438,303.9,-12.2,208,1853,0.12,2.40,0.00,0.000,3078,0.216,0.059,2122,2505,3442,3447,3438,0,0,0,0,0,0,14.57,14.69,14.76
$GC,2153,-0.62,-116.8,2122,2505,3444,3437,337.5,-11.0,224,2158,0.00,2.40,0.00,0.000,260,0.000,0.087,2113,3903,3440,3443,3438,0,0,0,0,0,0,15.05,14.67,15.08
$GC,2196,-0.62,-116.8,2112,3904,3443,3437,342.2,-11.2,232,2200,0.00,2.25,0.00,0.000,1030,0.000,0.037,2113,2496,3440,3443,3437,0,0,0,0,0,0,14.85,14.79,14.88
$GC,2517,-0.62,-116.8,2113,2494,3442,3433,378.4,-11.2,251,2522,0.00,2.28,0.00,0.000,516,0.000,0.050,2113,1095,3437,3442,3433,0,0,0,0,0,0,15.05,14.75,15.09
$GC,2559,-0.62,-116.8,2113,1095,3440,3433,383.1,-11.0,259,2564,0.00,2.38,0.00,0.000,1030,0.000,0.060,2103,2498,3436,3441,3431,0,0,0,0,0,0,14.81,14.69,14.85
$GC,2881,-0.62,-116.8,2103,2498,3438,3429,420.7,-11.5,278,2885,0.00,2.40,0.00,0.000,260,0.000,0.090,2092,3897,3434,3439,3429,0,0,0,0,0,0,15.06,14.66,15.09
$GC,2926,-0.62,-116.8,2092,3897,3438,3429,426.1,-11.8,287,2932,0.15,2.25,0.00,0.000,3078,0.197,0.040,2129,2500,3432,3438,3427,0,0,0,0,0,0,14.57,14.76,14.76
$GC,3244,-0.62,-116.8,2133,2497,3436,3425,455.9,-9.0,305,3248,0.00,2.30,0.00,0.000,516,0.000,0.051,2133,1093,3430,3435,3425,0,0,0,0,0,0,15.05,14.73,15.09
$GC,3285,-0.62,-116.8,2132,1093,3435,3425,459.6,-8.9,313,3289,0.00,2.40,0.00,0.000,1030,0.000,0.062,2124,2506,3430,3435,3425,0,0,0,0,0,0,14.81,14.69,14.84
$GC,3607,-0.62,-116.8,2123,2506,3432,3423,490.4,-9.7,332,3611,0.00,2.40,0.00,0.000,260,0.000,0.089,2112,3902,3428,3432,3424,0,0,0,0,0,0,15.06,14.64,15.09
$GC,3637,-0.62,-116.8,2113,3901,3432,3424,493.4,-9.8,338,3641,0.00,2.28,0.00,0.000,1030,0.000,0.038,2113,2487,3427,3432,3423,0,0,0,0,0,0,14.85,14.77,14.87
$GC,3948,-0.62,-116.8,2113,2485,3431,3421,523.8,-9.7,355,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2485,3426,3431,3421,0,0,0,0,0,0,15.05,15.09,15.09
$GC,4248,-0.62,-116.8,2113,2485,3430,3421,551.9,-9.3,370,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2486,3425,3429,3421,0,0,0,0,0,0,15.05,15.09,15.08
$GC,4548,-0.62,-116.8,2113,2485,3428,3420,581.1,-9.9,385,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2485,3424,3428,3420,0,0,0,0,0,0,15.05,15.09,15.08
$GC,4849,-0.62,-116.8,2112,2485,3426,3418,612.5,-10.7,400,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2485,3422,3427,3418,0,0,0,0,0,0,15.05,15.09,15.08
$GC,5148,-0.62,-116.8,2113,2486,3424,3415,644.3,-10.6,415,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2485,3420,3424,3416,0,0,0,0,0,0,15.05,15.08,15.07
$GC,5448,-0.62,-116.8,2113,2485,3422,3415,676.2,-10.7,430,5452,0.00,2.28,0.00,0.000,516,0.000,0.051,2113,1103,3418,3422,3415,0,0,0,0,0,0,15.04,14.68,15.07
$GC,5474,-0.62,-116.8,2113,1103,3421,3414,679.1,-11.0,435,5479,0.00,2.40,0.00,0.000,1030,0.000,0.063,2102,2504,3418,3422,3414,0,0,0,0,0,0,14.78,14.66,14.81
$GC,5792,-0.62,-116.8,2102,2504,3421,3413,714.5,-11.3,453,5798,0.00,2.42,0.00,0.000,260,0.000,0.090,2091,3900,3417,3421,3413,0,0,0,0,0,0,15.04,14.58,15.07
$GC,5832,-0.62,-116.8,2090,3900,3421,3413,719.2,-11.8,461,5837,0.15,2.28,0.00,0.000,3078,0.199,0.042,2129,2498,3417,3421,3413,0,0,0,0,0,0,14.50,14.73,14.69
$GC,6155,-0.62,-116.8,2128,2496,3420,3412,749.7,-9.2,480,6159,0.00,2.30,0.00,0.000,516,0.000,0.051,2129,1103,3415,3420,3411,0,0,0,0,0,0,15.04,14.67,15.07
$GC,6205,-0.62,-116.8,2129,1103,3419,3412,754.5,-9.0,490,6210,0.00,2.40,0.00,0.000,1030,0.000,0.063,2120,2502,3415,3418,3412,0,0,0,0,0,0,14.76,14.64,14.79
$GC,6512,-0.62,-116.8,2120,2502,3418,3410,782.8,-9.1,506,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2502,3414,3418,3410,0,0,0,0,0,0,15.03,15.07,15.06
$GC,6812,-0.62,-116.8,2120,2502,3417,3409,809.0,-8.7,521,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2502,3413,3417,3409,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7112,-0.62,-116.8,2120,2503,3416,3408,836.0,-9.1,536,7116,0.00,2.35,0.00,0.000,516,0.000,0.052,2120,1098,3412,3416,3408,0,0,0,0,0,0,15.04,14.65,15.06
$GC,7147,-0.62,-116.8,2120,1097,3416,3408,839.3,-9.2,543,7152,0.00,2.45,0.00,0.000,1030,0.000,0.063,2110,2505,3411,3415,3408,0,0,0,0,0,0,14.75,14.63,14.78
$GC,7453,-0.62,-116.8,2109,2505,3415,3407,869.5,-10.0,559,7458,0.00,2.42,0.00,0.000,260,0.000,0.093,2099,3897,3411,3415,3407,0,0,0,0,0,0,15.03,14.55,15.06
$GC,7504,-0.62,-116.8,2098,3896,3414,3407,875.0,-10.8,569,7508,0.00,2.28,0.00,0.000,1030,0.000,0.039,2098,2500,3411,3415,3407,0,0,0,0,0,0,14.78,14.71,14.81
$GC,7815,-0.62,-116.8,2099,2498,3413,3406,909.0,-11.0,586,7823,0.12,2.33,0.00,0.000,2564,0.225,0.050,2128,1104,3409,3413,3406,0,0,0,0,0,0,14.50,14.64,14.62
$GC,7855,-0.62,-116.8,2128,1104,3413,3406,913.0,-9.6,594,7859,0.00,2.40,0.00,0.000,1030,0.000,0.064,2119,2501,3409,3413,3406,0,0,0,0,0,0,14.73,14.61,14.77
$GC,8176,-0.62,-116.8,2119,2501,3413,3406,944.5,-9.8,613,8178,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2501,3409,3413,3406,0,0,0,0,0,0,15.02,15.05,15.04
$GC,8477,-0.62,-116.8,2119,2501,3412,3405,973.8,-9.7,628,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2501,3409,3415,3404,0,0,0,0,0,0,15.02,15.05,15.05
$STATE,8654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8654,begin apogee
$GC,8660,-0.15,0.0,2119,2422,3411,3404,991.2,-9.6,637,8769,0.55,0.00,105.32,2.030,10246,0.167,0.000,2277,2422,2968,2994,2943,0,0,0,0,0,0,14.45,14.14,13.17
$STATE,8771,end apogee,CONTROL_FINISHED_OK
$STATE,8771,begin climb
$GC,8774,0.62,116.8,2277,2421,2992,2942,994.7,0.0,642,8899,0.80,2.42,114.28,2.017,10756,0.095,0.054,2549,1056,2489,2519,2459,0,0,0,0,0,0,14.17,13.78,13.04
$GC,8921,0.66,116.8,2549,1056,2515,2457,992.3,6.7,675,8927,0.00,2.47,0.00,0.000,1094,0.000,0.056,2549,2448,2486,2515,2457,0,0,0,0,0,0,14.20,14.12,14.22
$GC,9239,0.66,116.8,2549,2448,2510,2453,960.8,10.2,693,9245,0.00,2.47,0.00,0.000,260,0.000,0.089,2549,3854,2481,2510,2453,0,0,0,0,0,0,14.78,14.47,14.81
$GC,9260,0.66,116.8,2549,3854,2509,2453,958.7,10.8,697,9264,0.00,2.33,0.00,0.000,1030,0.000,0.040,2560,2449,2481,2509,2453,0,0,0,0,0,0,14.63,14.57,14.65
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$STATE,19882,end climb,SURFACE_DEPTH_REACHED
$STATE,19882,begin surface coast
$STATE,19914,end surface coast,CONTROL_FINISHED_OK
$STATE,19914,begin surface
$SM_CCo,19932,116.70,0.617,1,0,929,500.17
$SM_GC,1.33,7.18,0.08,116.70,0.054,0.153,0.617,124,2553,929,-6.78,-0.96,500.17,0,0,0,0,1,0,14.68,14.69,13.99
$IRIDIUM_FIX,1328.66,8704.71,190919,225437
$TT8_MAMPS,0.018725,0.176764
$HUMID,42.71
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,25.70
$XPDR_PINGS,3
$SC_FREEKB,3797216
$24V_AH,13.04,97.025
$10V_AH,13.35,0.000
$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
$DEVICE_SECS,18.825,189.150,451.800,116.700,0.000,0.000,0.000,246.775,0.750,0.000,15.558,1514.862,14056.651,670.281,3703.202,531.497,0.000,2280.973,0.000,3339.295,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,2962.874,0.000,0.000,0.000,0.000,0.000,19929.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.229,0.000,0.000,0.000
$MEM,251844
$DATA_FILE_SIZE,73291,1638
$CAP_FILE_SIZE,286573,0
$CFSIZE,260034560,166121472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.106,141.84,1
$GPS,200919,103159,1330.965,8702.913,30,1.1,30,-0.9,0.3,127.8,8,5.8