version: 66.13
glider: 171
mission: 11
dive: 354
start: 10 15 119 7 46 7
data:
$ID,171
$MISSION,11
$DIVE,354
$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,410
$T_MISSION,460
$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,100
$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,59
$R_STBD_OVSHOOT,28
$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,0
$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
$GPS1,151019,073900,1023.2431,8658.0117,17,0.8,17,-1.2,0.3,234.0,9,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-73.7
$GPS2,151019,074514,1023.2709,8657.9033,2,0.7,3,-1.2,0.8,281.8,12,7.9
$SPEED_LIMITS,0.139,0.144
$TGT_NAME,R2
$TGT_LATLONG,930.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,168.9,98732,-18.5,-8.049,-29.14,1821
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,9,-0.64,-97.3,104,2498,972,880,0.0,0.0,0,78,0.00,0.00,-67.18,0.005,16386,0.000,0.000,104,2498,2517,2521,2514,0,0,0,0,0,0,14.83,28.83,14.86
$GC,82,-0.64,-97.3,104,2498,2522,2515,4.6,-11.5,14,114,9.10,2.38,-16.70,0.008,18948,0.348,0.072,2117,1112,3366,3380,3353,0,0,0,0,0,0,14.10,12.86,14.50
$GC,141,-0.64,-97.3,2116,1112,3381,3353,24.7,-33.2,26,146,0.00,2.38,0.00,0.000,1030,0.000,0.060,2108,2502,3367,3381,3353,0,0,0,0,0,0,14.62,14.50,14.65
$GC,329,-0.64,-97.3,2106,2502,3381,3353,80.6,-23.1,52,333,0.00,2.30,0.00,0.000,516,0.000,0.053,2106,1112,3367,3381,3353,0,0,0,0,0,0,14.95,14.59,14.98
$GC,364,-0.64,-97.3,2105,1111,3380,3353,87.7,-20.9,59,368,0.00,2.38,0.00,0.000,1030,0.000,0.060,2096,2505,3366,3380,3353,0,0,0,0,0,0,14.67,14.55,14.71
$GC,551,-0.64,-97.3,2094,2505,3381,3353,120.9,-16.2,78,554,0.00,2.38,0.00,0.000,260,0.000,0.083,2083,3896,3367,3381,3353,0,0,0,0,0,0,15.02,14.56,15.04
$GC,586,-0.64,-97.3,2083,3896,3380,3353,126.9,-16.3,85,592,0.15,2.20,0.00,0.000,3078,0.220,0.032,2118,2491,3366,3380,3353,0,0,0,0,0,0,14.40,14.71,14.62
$GC,772,-0.64,-97.3,2118,2489,3381,3353,150.3,-12.8,104,776,0.00,2.22,0.00,0.000,516,0.000,0.045,2118,1116,3367,3381,3353,0,0,0,0,0,0,15.05,14.67,15.07
$GC,832,-0.64,-97.3,2118,1115,3381,3353,157.9,-11.7,116,836,0.00,2.35,0.00,0.000,1030,0.000,0.059,2109,2508,3367,3381,3353,0,0,0,0,0,0,14.73,14.62,14.77
$GC,1023,-0.64,-97.3,2109,2508,3381,3353,179.8,-11.6,136,1027,0.00,2.35,0.00,0.000,260,0.000,0.081,2098,3897,3367,3381,3353,0,0,0,0,0,0,15.08,14.59,15.11
$GC,1064,-0.64,-97.3,2098,3897,3381,3352,184.6,-11.7,144,1069,0.00,2.17,0.00,0.000,1030,0.000,0.031,2099,2505,3366,3381,3352,0,0,0,0,0,0,14.79,14.76,14.81
$GC,1255,-0.64,-97.3,2099,2504,3380,3353,207.9,-11.7,164,1259,0.00,2.40,0.00,0.000,260,0.000,0.080,2088,3904,3366,3380,3352,0,0,0,0,0,0,15.09,14.60,15.12
$GC,1307,-0.64,-97.3,2088,3905,3379,3352,214.1,-12.4,174,1312,0.12,2.22,0.00,0.000,3078,0.212,0.033,2118,2493,3365,3379,3352,0,0,0,0,0,0,14.50,14.76,14.69
$GC,1501,-0.64,-97.3,2117,2491,3378,3352,232.0,-8.6,194,1505,0.00,2.42,0.00,0.000,260,0.000,0.080,2109,3897,3365,3378,3353,0,0,0,0,0,0,15.09,14.60,15.11
$GC,1522,-0.64,-97.3,2109,3897,3377,3353,234.0,-8.6,198,1527,0.00,2.20,0.00,0.000,1030,0.000,0.032,2109,2497,3365,3378,3352,0,0,0,0,0,0,14.83,14.77,14.85
$GC,1714,-0.64,-97.3,2108,2495,3375,3352,252.7,-10.2,217,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2496,3364,3376,3352,0,0,0,0,0,0,15.11,15.14,15.13
$GC,2013,-0.64,-97.3,2108,2496,3371,3352,284.8,-11.3,232,2017,0.00,2.40,0.00,0.000,260,0.000,0.080,2098,3896,3361,3371,3351,0,0,0,0,0,0,15.12,14.60,15.15
$GC,2094,-0.64,-97.3,2098,3897,3371,3351,294.1,-11.4,248,2098,0.00,2.20,0.00,0.000,1030,0.000,0.033,2098,2501,3361,3371,3351,0,0,0,0,0,0,14.83,14.78,14.85
$GC,2414,-0.64,-97.3,2098,2499,3369,3348,329.4,-10.7,267,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2499,3358,3369,3347,0,0,0,0,0,0,15.14,15.16,15.16
$GC,2715,-0.64,-97.3,2098,2500,3367,3345,360.6,-10.2,282,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2499,3356,3367,3345,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3015,-0.64,-97.3,2098,2499,3365,3342,390.8,-9.9,297,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2499,3353,3365,3342,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3315,-0.64,-97.3,2098,2499,3362,3339,420.9,-10.4,312,3319,0.00,2.42,0.00,0.000,260,0.000,0.084,2088,3896,3350,3362,3339,0,0,0,0,0,0,15.14,14.57,15.17
$GC,3370,-0.64,-97.3,2087,3896,3362,3339,426.9,-10.6,323,3375,0.12,2.22,0.00,0.000,3078,0.204,0.034,2118,2493,3350,3362,3339,0,0,0,0,0,0,14.48,14.76,14.66
$GC,3693,-0.64,-97.3,2117,2492,3360,3337,456.3,-9.2,342,3697,0.00,2.28,0.00,0.000,516,0.000,0.050,2118,1110,3348,3360,3337,0,0,0,0,0,0,15.13,14.65,15.16
$GC,3718,-0.64,-97.3,2118,1110,3360,3338,458.9,-9.6,347,3722,0.00,2.38,0.00,0.000,1030,0.000,0.060,2109,2507,3348,3360,3337,0,0,0,0,0,0,14.74,14.63,14.78
$GC,4035,-0.64,-97.3,2115,2508,3358,3335,490.4,-10.1,365,4040,0.00,2.40,0.00,0.000,260,0.000,0.084,2106,3898,3346,3358,3335,0,0,0,0,0,0,15.13,14.54,15.16
$GC,4087,-0.64,-97.3,2106,3898,3357,3335,496.1,-10.9,375,4091,0.00,2.22,0.00,0.000,1030,0.000,0.034,2106,2504,3346,3357,3335,0,0,0,0,0,0,14.80,14.73,14.82
$GC,4397,-0.64,-97.3,2106,2503,3356,3333,529.9,-10.8,392,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2503,3344,3356,3332,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4698,-0.64,-97.3,2106,2502,3355,3332,560.4,-9.8,407,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2503,3343,3355,3332,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4998,-0.64,-97.3,2106,2503,3353,3330,589.7,-9.6,422,5005,0.00,2.42,0.00,0.000,260,0.000,0.086,2095,3890,3341,3353,3330,0,0,0,0,0,0,15.14,14.50,15.16
$GC,5027,-0.64,-97.3,2095,3890,3353,3330,592.7,-10.5,428,5031,0.00,2.22,0.00,0.000,1030,0.000,0.035,2096,2500,3341,3353,3330,0,0,0,0,0,0,14.78,14.71,14.80
$GC,5339,-0.64,-97.3,2095,2499,3351,3329,624.7,-10.4,445,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2499,3340,3352,3329,0,0,0,0,0,0,15.12,15.16,15.16
$GC,5638,-0.64,-97.3,2095,2499,3350,3327,656.5,-10.6,460,5642,0.00,2.45,0.00,0.000,260,0.000,0.087,2085,3890,3338,3350,3327,0,0,0,0,0,0,15.14,14.49,15.16
$GC,5679,-0.64,-97.3,2084,3890,3350,3327,661.0,-10.8,468,5684,0.15,2.25,0.00,0.000,3078,0.202,0.036,2122,2499,3338,3350,3327,0,0,0,0,0,0,14.38,14.69,14.58
$GC,6001,-0.64,-97.3,2122,2497,3348,3326,688.4,-8.2,487,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2497,3337,3349,3326,0,0,0,0,0,0,15.13,15.16,15.16
$GC,6301,-0.64,-97.3,2122,2497,3348,3324,713.0,-8.2,502,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2497,3336,3348,3324,0,0,0,0,0,0,15.13,15.16,15.15
$GC,6602,-0.64,-97.3,2122,2497,3347,3323,737.4,-8.1,517,6604,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2497,3335,3347,3323,0,0,0,0,0,0,15.12,15.16,15.15
$GC,6901,-0.64,-97.3,2122,2497,3346,3321,761.9,-8.1,532,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2497,3333,3346,3321,0,0,0,0,0,0,15.13,15.16,15.16
$GC,7201,-0.64,-97.3,2122,2497,3345,3321,786.4,-8.3,547,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2497,3333,3345,3321,0,0,0,0,0,0,15.13,15.16,15.16
$GC,7502,-0.64,-97.3,2122,2497,3343,3320,811.1,-8.2,562,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2497,3332,3344,3320,0,0,0,0,0,0,15.11,15.15,15.14
$GC,7801,-0.64,-97.3,2122,2497,3343,3320,835.2,-8.0,577,7806,0.00,2.33,0.00,0.000,516,0.000,0.052,2123,1109,3331,3343,3319,0,0,0,0,0,0,15.13,14.53,15.16
$GC,7828,-0.64,-97.3,2122,1109,3342,3320,837.4,-8.3,582,7834,0.00,2.40,0.00,0.000,1030,0.000,0.060,2114,2499,3330,3342,3319,0,0,0,0,0,0,14.62,14.50,14.66
$GC,8143,-0.64,-97.3,2113,2499,3341,3319,864.2,-8.5,600,8147,0.00,2.47,0.00,0.000,260,0.000,0.087,2103,3900,3330,3342,3319,0,0,0,0,0,0,15.11,14.39,15.14
$GC,8190,-0.64,-97.3,2103,3900,3341,3319,868.4,-9.1,609,8196,0.00,2.28,0.00,0.000,1030,0.000,0.037,2103,2497,3330,3342,3319,0,0,0,0,0,0,14.69,14.62,14.72
$GC,8508,-0.64,-97.3,2103,2496,3342,3317,897.7,-9.3,627,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2496,3329,3342,3317,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8807,-0.64,-97.3,2103,2496,3340,3317,925.3,-9.2,642,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2496,3328,3340,3316,0,0,0,0,0,0,15.11,15.15,15.14
$GC,9107,-0.64,-97.3,2103,2496,3339,3316,952.8,-9.1,657,9109,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2496,3328,3340,3316,0,0,0,0,0,0,15.12,15.15,15.15
$GC,9408,-0.64,-97.3,2103,2495,3338,3315,979.5,-8.9,672,9410,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2495,3326,3338,3315,0,0,0,0,0,0,15.11,15.14,15.14
$STATE,9525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9525,begin apogee
$GC,9531,-0.15,0.0,2103,2496,3338,3315,990.2,-8.9,678,9625,0.60,0.00,88.97,2.017,10246,0.168,0.000,2275,2495,2967,2997,2938,0,0,0,0,0,0,14.19,14.15,13.02
$STATE,9626,end apogee,CONTROL_FINISHED_OK
$STATE,9626,begin climb
$GC,9629,0.64,97.3,2274,2496,2996,2937,993.0,0.0,683,9734,0.80,0.00,100.88,2.009,10502,0.095,0.000,2539,2495,2571,2600,2542,0,0,0,0,0,0,14.21,13.93,12.87
$GC,10027,0.65,97.3,2539,2495,2588,2537,971.9,7.4,709,10032,0.00,2.45,0.00,0.000,580,0.000,0.054,2550,1052,2562,2588,2536,0,0,0,0,0,0,14.81,14.47,14.84
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$STATE,22086,end climb,SURFACE_DEPTH_REACHED
$STATE,22086,begin surface coast
$STATE,22146,end surface coast,CONTROL_FINISHED_OK
$STATE,22146,begin surface
$SM_CCo,22166,170.75,0.659,1,0,929,500.17
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$IRIDIUM_FIX,1024.21,8655.78,151019,013024
$TT8_MAMPS,0.018725,0.15729
$HUMID,43.10
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,25.50
$XPDR_PINGS,2
$24V_AH,12.86,131.362
$10V_AH,12.61,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,968.911,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,251408
$DATA_FILE_SIZE,76545,1795
$CAP_FILE_SIZE,200170,0
$CFSIZE,260034560,154931200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9701.70,0x235770,1,24
$CURRENT,0.088,285.59,1
$GPS,151019,135930,1021.939,8657.156,22,0.7,22,-1.2,0.7,276.9,11,3.4