version: 66.13
glider: 171
mission: 11
dive: 422
start: 11 1 119 12 37 31
data:
$ID,171
$MISSION,11
$DIVE,422
$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,67
$R_STBD_OVSHOOT,43
$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,9
$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
$GPS1,011119,123100,905.0521,8625.3955,28,0.6,28,-1.3,0.9,2.2,12,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-72.8
$GPS2,011119,123638,905.1820,8625.3799,2,0.6,3,-1.3,0.9,19.8,12,6.0
$SPEED_LIMITS,0.139,0.144
$TGT_NAME,R3
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,195.0,157760,-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,-97.3,118,2513,975,878,0.0,0.0,0,83,0.00,0.00,-72.25,0.005,16386,0.000,0.000,118,2513,2627,2626,2628,0,0,0,0,0,0,14.84,28.83,14.87
$GC,87,-0.64,-97.3,118,2514,2627,2629,5.0,-13.8,15,116,9.18,2.35,-13.95,0.009,18692,0.354,0.093,2106,3887,3367,3380,3354,0,0,0,0,0,0,14.03,13.52,14.45
$GC,343,-0.64,-97.3,2105,3887,3380,3354,70.4,-18.6,66,348,0.00,2.20,0.00,0.000,1030,0.000,0.031,2106,2498,3367,3380,3354,0,0,0,0,0,0,14.73,14.66,14.74
$GC,535,-0.64,-97.3,2105,2497,3381,3354,102.7,-18.1,86,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2497,3367,3380,3354,0,0,0,0,0,0,15.02,15.04,15.04
$GC,715,-0.64,-97.3,2105,2497,3382,3354,127.6,-12.9,104,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2497,3367,3381,3354,0,0,0,0,0,0,15.04,15.08,15.08
$GC,895,-0.64,-97.3,2105,2497,3380,3354,150.7,-12.7,122,900,0.00,2.38,0.00,0.000,260,0.000,0.077,2095,3878,3367,3381,3354,0,0,0,0,0,0,15.07,14.59,15.09
$GC,907,-0.64,-97.3,2094,3878,3381,3354,152.0,-12.3,124,911,0.00,2.17,0.00,0.000,1030,0.000,0.031,2095,2491,3367,3381,3354,0,0,0,0,0,0,14.81,14.76,14.83
$GC,1097,-0.64,-97.3,2094,2490,3381,3354,175.9,-13.2,144,1101,0.00,2.38,0.00,0.000,260,0.000,0.079,2084,3878,3367,3381,3354,0,0,0,0,0,0,15.09,14.60,15.11
$GC,1178,-0.64,-97.3,2084,3878,3381,3354,187.0,-13.8,160,1183,0.15,2.17,0.00,0.000,3078,0.212,0.032,2120,2500,3367,3381,3354,0,0,0,0,0,0,14.47,14.76,14.67
$GC,1372,-0.64,-97.3,2121,2498,3380,3354,210.0,-12.1,180,1377,0.00,2.38,0.00,0.000,260,0.000,0.082,2112,3878,3366,3379,3354,0,0,0,0,0,0,15.07,14.59,15.10
$GC,1403,-0.64,-97.3,2112,3878,3379,3354,214.1,-12.2,186,1409,0.00,2.17,0.00,0.000,1030,0.000,0.034,2112,2507,3366,3379,3354,0,0,0,0,0,0,14.81,14.75,14.83
$GC,1596,-0.64,-97.3,2112,2506,3378,3354,236.7,-11.2,206,1601,0.00,2.38,0.00,0.000,260,0.000,0.090,2102,3874,3366,3378,3354,0,0,0,0,0,0,15.09,14.55,15.11
$GC,1628,-0.64,-97.3,2102,3874,3377,3354,240.4,-11.4,212,1632,0.00,2.22,0.00,0.000,1030,0.000,0.044,2102,2505,3366,3378,3354,0,0,0,0,0,0,14.78,14.70,14.81
$GC,1819,-0.64,-97.3,2102,2504,3376,3354,262.3,-11.4,227,1823,0.00,2.30,0.00,0.000,516,0.000,0.050,2102,1094,3365,3376,3354,0,0,0,0,0,0,15.11,14.67,15.14
$GC,1855,-0.64,-97.3,2101,1094,3375,3354,266.5,-11.4,234,1861,0.12,2.35,0.00,0.000,3078,0.215,0.058,2121,2485,3365,3376,3354,0,0,0,0,0,0,14.48,14.65,14.67
$GC,2160,-0.64,-97.3,2120,2485,3372,3352,297.5,-10.0,250,2165,0.00,2.42,0.00,0.000,260,0.000,0.084,2112,3900,3362,3373,3351,0,0,0,0,0,0,15.12,14.59,15.15
$GC,2181,-0.64,-97.3,2112,3900,3372,3352,299.7,-10.0,254,2187,0.00,2.28,0.00,0.000,1030,0.000,0.037,2112,2481,3362,3372,3352,0,0,0,0,0,0,14.82,14.75,14.84
$GC,2504,-0.64,-97.3,2112,2480,3371,3348,332.6,-10.2,273,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2479,3359,3371,3348,0,0,0,0,0,0,15.11,15.15,15.14
$GC,2803,-0.64,-97.3,2111,2480,3369,3346,362.1,-9.9,288,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2479,3358,3370,3346,0,0,0,0,0,0,15.13,15.16,15.15
$GC,3105,-0.64,-97.3,2111,2480,3367,3344,391.7,-10.0,303,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2479,3355,3367,3344,0,0,0,0,0,0,15.12,15.15,15.14
$GC,3403,-0.64,-97.3,2112,2480,3366,3342,423.4,-11.2,318,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2480,3354,3366,3342,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3703,-0.64,-97.3,2112,2480,3364,3340,457.7,-11.6,333,3707,0.00,2.28,0.00,0.000,516,0.000,0.050,2112,1096,3351,3363,3339,0,0,0,0,0,0,15.13,14.66,15.16
$GC,3725,-0.64,-97.3,2112,1096,3363,3340,460.2,-12.4,337,3732,0.00,2.40,0.00,0.000,1030,0.000,0.060,2101,2504,3351,3363,3339,0,0,0,0,0,0,14.74,14.63,14.78
$GC,4044,-0.64,-97.3,2101,2503,3362,3338,497.6,-11.3,356,4048,0.00,2.40,0.00,0.000,260,0.000,0.086,2090,3894,3350,3362,3338,0,0,0,0,0,0,15.13,14.54,15.16
$GC,4100,-0.64,-97.3,2089,3894,3362,3338,504.0,-11.5,367,4105,0.12,2.25,0.00,0.000,3078,0.210,0.037,2121,2494,3350,3362,3338,0,0,0,0,0,0,14.45,14.72,14.64
$GC,4406,-0.64,-97.3,2121,2493,3361,3336,531.8,-8.4,383,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2492,3348,3360,3336,0,0,0,0,0,0,15.11,15.15,15.14
$GC,4705,-0.64,-97.3,2121,2493,3359,3335,554.9,-7.2,398,4707,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2492,3346,3359,3334,0,0,0,0,0,0,15.13,15.16,15.15
$GC,5006,-0.64,-97.3,2121,2493,3357,3333,577.0,-7.6,413,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2493,3345,3357,3333,0,0,0,0,0,0,15.12,15.15,15.15
$GC,5305,-0.64,-97.3,2120,2493,3356,3332,601.6,-8.4,428,5309,0.00,2.30,0.00,0.000,516,0.000,0.050,2121,1104,3344,3356,3332,0,0,0,0,0,0,15.13,14.62,15.16
$GC,5330,-0.64,-97.3,2121,1104,3356,3332,603.9,-8.8,433,5335,0.00,2.42,0.00,0.000,1030,0.000,0.067,2112,2508,3344,3356,3332,0,0,0,0,0,0,14.69,14.57,14.73
$GC,5642,-0.64,-97.3,2112,2508,3355,3331,632.7,-9.6,450,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2508,3343,3355,3331,0,0,0,0,0,0,15.12,15.15,15.14
$GC,5941,-0.64,-97.3,2112,2508,3354,3330,661.9,-9.8,465,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2508,3342,3354,3330,0,0,0,0,0,0,15.13,15.16,15.16
$GC,6241,-0.64,-97.3,2112,2508,3353,3328,691.6,-9.9,480,6246,0.00,2.38,0.00,0.000,516,0.000,0.060,2112,1108,3340,3352,3328,0,0,0,0,0,0,15.13,14.57,15.16
$GC,6268,-0.64,-97.3,2111,1108,3352,3328,694.3,-10.5,485,6276,0.00,2.40,0.00,0.000,1030,0.000,0.060,2101,2506,3340,3352,3328,0,0,0,0,0,0,14.67,14.56,14.71
$GC,6583,-0.64,-97.3,2101,2507,3352,3327,726.7,-10.2,503,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2506,3339,3351,3327,0,0,0,0,0,0,15.12,15.15,15.15
$GC,6882,-0.64,-97.3,2101,2507,3350,3326,756.7,-10.0,518,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2506,3338,3350,3326,0,0,0,0,0,0,15.13,15.16,15.15
$GC,7182,-0.64,-97.3,2101,2506,3349,3325,786.4,-9.8,533,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2506,3337,3350,3325,0,0,0,0,0,0,15.12,15.16,15.15
$GC,7482,-0.64,-97.3,2101,2507,3348,3323,814.7,-9.2,548,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2506,3336,3348,3324,0,0,0,0,0,0,15.12,15.16,15.15
$GC,7784,-0.64,-97.3,2101,2506,3347,3323,841.0,-8.3,563,7788,0.00,2.38,0.00,0.000,516,0.000,0.053,2101,1109,3335,3347,3323,0,0,0,0,0,0,15.11,14.54,15.14
$GC,7810,-0.64,-97.3,2101,1108,3347,3323,843.4,-9.1,568,7817,0.12,2.42,0.00,0.000,3078,0.209,0.067,2121,2502,3335,3347,3323,0,0,0,0,0,0,14.33,14.50,14.52
$GC,8126,-0.64,-97.3,2120,2503,3348,3322,864.7,-6.6,586,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2502,3334,3347,3321,0,0,0,0,0,0,15.11,15.14,15.13
$GC,8426,-0.64,-97.3,2120,2502,3346,3321,885.2,-7.1,601,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2502,3333,3346,3321,0,0,0,0,0,0,15.11,15.14,15.13
$GC,8725,-0.64,-97.3,2120,2502,3345,3321,908.3,-8.0,616,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2502,3333,3345,3321,0,0,0,0,0,0,15.11,15.14,15.14
$GC,9026,-0.64,-97.3,2121,2502,3343,3320,933.5,-8.5,631,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2502,3332,3344,3320,0,0,0,0,0,0,15.11,15.14,15.14
$GC,9326,-0.64,-97.3,2120,2502,3343,3320,958.7,-8.2,646,9328,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2502,3331,3343,3320,0,0,0,0,0,0,15.10,15.14,15.13
$GC,9625,-0.64,-97.3,2120,2502,3343,3319,981.9,-7.4,661,9629,0.00,2.38,0.00,0.000,516,0.000,0.055,2121,1105,3330,3343,3318,0,0,0,0,0,0,15.11,14.49,15.14
$GC,9656,-0.64,-97.3,2121,1104,3343,3318,984.2,-7.5,667,9662,0.00,2.45,0.00,0.000,1030,0.000,0.066,2112,2505,3330,3343,3318,0,0,0,0,0,0,14.57,14.45,14.62
$STATE,9742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9743,begin apogee
$GC,9751,-0.15,0.0,2112,2439,3343,3318,991.0,-7.6,673,9846,0.57,0.00,90.57,2.013,10246,0.162,0.000,2278,2438,2968,2999,2937,0,0,0,0,0,0,14.21,14.04,12.57
$STATE,9847,end apogee,CONTROL_FINISHED_OK
$STATE,9847,begin climb
$GC,9850,0.64,97.3,2278,2438,2997,2936,993.2,0.0,678,9960,0.80,2.45,102.85,1.997,10756,0.090,0.051,2556,1044,2570,2601,2539,0,0,0,0,0,0,14.18,13.56,12.55
$GC,9985,0.69,143.4,2555,1044,2595,2538,991.4,5.4,702,10039,0.00,2.50,47.83,1.960,9254,0.000,0.058,2555,2449,2383,2420,2346,0,0,0,0,0,0,14.21,14.13,12.59
$GC,10345,0.69,143.4,2555,2448,2410,2340,952.1,11.3,729,10349,0.00,2.40,0.00,0.000,516,0.000,0.051,2567,1044,2375,2410,2340,0,0,0,0,0,0,14.84,14.49,14.86
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$STATE,20722,end climb,SURFACE_DEPTH_REACHED
$STATE,20722,begin surface coast
$STATE,20766,end surface coast,CONTROL_FINISHED_OK
$STATE,20766,begin surface
$SM_CCo,20785,82.32,0.563,1,0,928,500.17
$SM_GC,1.36,7.32,0.08,82.32,0.049,0.174,0.563,125,2514,928,-6.78,-1.07,500.17,0,0,0,0,1,0,14.59,14.60,13.69
$IRIDIUM_FIX,907.23,8628.01,011119,065750
$TT8_MAMPS,0.018725,0.153545
$HUMID,46.37
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,12.55,151.137
$10V_AH,12.40,0.000
$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
$DEVICE_SECS,19.375,189.700,500.175,82.325,0.000,0.000,0.000,208.825,0.000,0.000,14.830,1561.414,15879.340,712.325,2633.661,426.497,0.000,2298.409,0.000,2405.932,0.000,0.540,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,931.709,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,251232
$DATA_FILE_SIZE,73352,1692
$CAP_FILE_SIZE,194434,0
$CFSIZE,260034560,148774912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.108,357.34,1
$GPS,011119,182630,904.753,8624.836,26,0.6,26,-1.3,0.9,345.5,12,2.8