version: 66.13
glider: 171
mission: 11
dive: 466
start: 11 12 119 13 30 52
data:
$ID,171
$MISSION,11
$DIVE,466
$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,69
$R_STBD_OVSHOOT,52
$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
$GPS1,121119,132329,832.2029,8553.6328,30,1.8,30,-1.4,0.4,311.3,7,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-73.4
$GPS2,121119,133000,832.2932,8553.6094,2,0.5,2,-1.4,0.5,347.3,12,8.0
$SPEED_LIMITS,0.139,0.144
$TGT_NAME,R3
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,205.5,73835,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.64,-97.3,124,2526,968,884,0.0,0.0,0,83,0.00,0.00,-71.38,0.005,16386,0.000,0.000,124,2526,2626,2628,2625,0,0,0,0,0,0,14.84,28.83,14.87
$GC,87,-0.64,-97.3,124,2526,2628,2625,4.8,-12.9,15,118,9.10,2.42,-14.23,0.009,18948,0.348,0.067,2122,1110,3368,3383,3354,0,0,0,0,0,0,13.98,12.63,14.42
$GC,230,-0.64,-97.3,2122,1110,3383,3354,47.7,-22.9,44,234,0.00,2.33,0.00,0.000,1030,0.000,0.059,2114,2476,3368,3383,3354,0,0,0,0,0,0,14.63,14.51,14.66
$GC,416,-0.64,-97.3,2113,2476,3383,3354,95.8,-25.6,64,420,0.00,2.40,0.00,0.000,260,0.000,0.073,2103,3900,3368,3383,3354,0,0,0,0,0,0,15.00,14.54,15.02
$GC,507,-0.64,-97.3,2102,3900,3383,3354,112.6,-17.1,82,513,0.00,2.20,0.00,0.000,1030,0.000,0.032,2103,2505,3369,3384,3354,0,0,0,0,0,0,14.76,14.70,14.78
$GC,699,-0.64,-97.3,2102,2504,3383,3355,143.3,-15.6,102,704,0.00,2.40,0.00,0.000,260,0.000,0.076,2092,3906,3368,3383,3354,0,0,0,0,0,0,15.05,14.57,15.08
$GC,777,-0.64,-97.3,2091,3906,3384,3354,154.6,-12.7,117,782,0.12,2.22,0.00,0.000,3078,0.225,0.031,2120,2490,3368,3383,3354,0,0,0,0,0,0,14.43,14.73,14.64
$GC,961,-0.64,-97.3,2120,2489,3384,3354,174.0,-10.3,136,965,0.00,2.42,0.00,0.000,260,0.000,0.080,2112,3900,3369,3384,3355,0,0,0,0,0,0,15.07,14.58,15.10
$GC,1090,-0.64,-97.3,2111,3900,3383,3354,188.8,-12.1,161,1094,0.00,2.20,0.00,0.000,1030,0.000,0.032,2112,2506,3368,3383,3354,0,0,0,0,0,0,14.81,14.75,14.83
$GC,1272,-0.64,-97.3,2111,2505,3384,3354,210.4,-12.5,180,1276,0.00,2.28,0.00,0.000,516,0.000,0.047,2111,1107,3368,3383,3354,0,0,0,0,0,0,15.09,14.69,15.12
$GC,1298,-0.64,-97.3,2111,1107,3383,3354,213.7,-12.8,185,1302,0.00,2.35,0.00,0.000,1030,0.000,0.056,2101,2506,3368,3383,3354,0,0,0,0,0,0,14.76,14.65,14.79
$GC,1484,-0.64,-97.3,2100,2506,3381,3354,238.2,-13.1,204,1488,0.00,2.35,0.00,0.000,260,0.000,0.080,2090,3893,3367,3381,3354,0,0,0,0,0,0,15.09,14.59,15.11
$GC,1625,-0.64,-97.3,2089,3893,3380,3354,257.9,-13.5,232,1630,0.12,2.20,0.00,0.000,3078,0.214,0.033,2120,2493,3367,3380,3354,0,0,0,0,0,0,14.49,14.76,14.68
$GC,1948,-0.64,-97.3,2120,2491,3377,3354,292.0,-10.1,251,1952,0.00,2.25,0.00,0.000,516,0.000,0.046,2120,1101,3365,3376,3354,0,0,0,0,0,0,15.11,14.69,15.14
$GC,2024,-0.64,-97.3,2120,1101,3375,3354,299.7,-9.6,266,2028,0.00,2.35,0.00,0.000,1030,0.000,0.055,2111,2500,3364,3375,3354,0,0,0,0,0,0,14.76,14.64,14.80
$GC,2330,-0.64,-97.3,2111,2501,3374,3350,329.5,-9.5,282,2335,0.00,2.40,0.00,0.000,260,0.000,0.082,2100,3894,3362,3374,3350,0,0,0,0,0,0,15.11,14.59,15.14
$GC,2361,-0.64,-97.3,2100,3893,3373,3350,332.7,-10.2,288,2366,0.00,2.20,0.00,0.000,1030,0.000,0.033,2100,2502,3361,3373,3350,0,0,0,0,0,0,14.83,14.76,14.85
$GC,2672,-0.64,-97.3,2100,2501,3371,3347,364.2,-10.4,305,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2501,3359,3371,3347,0,0,0,0,0,0,15.12,15.16,15.15
$GC,2973,-0.64,-97.3,2100,2501,3369,3345,397.2,-11.4,320,2977,0.00,2.28,0.00,0.000,516,0.000,0.047,2100,1107,3357,3369,3345,0,0,0,0,0,0,15.11,14.67,15.14
$GC,2994,-0.64,-97.3,2100,1107,3368,3345,399.7,-11.6,324,2999,0.12,2.35,0.00,0.000,3078,0.210,0.056,2120,2500,3356,3368,3344,0,0,0,0,0,0,14.47,14.64,14.66
$GC,3312,-0.64,-97.3,2120,2500,3366,3341,432.2,-10.3,342,3316,0.00,2.40,0.00,0.000,260,0.000,0.084,2111,3896,3354,3367,3341,0,0,0,0,0,0,15.12,14.56,15.15
$GC,3339,-0.64,-97.3,2111,3896,3366,3341,435.1,-10.4,347,3343,0.00,2.22,0.00,0.000,1030,0.000,0.034,2111,2501,3353,3366,3341,0,0,0,0,0,0,14.81,14.74,14.83
$GC,3655,-0.64,-97.3,2111,2500,3364,3339,468.9,-10.7,365,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2500,3351,3364,3339,0,0,0,0,0,0,15.13,15.16,15.15
$GC,3956,-0.64,-97.3,2111,2500,3362,3338,500.0,-10.2,380,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2500,3350,3362,3338,0,0,0,0,0,0,15.12,15.15,15.15
$GC,4255,-0.64,-97.3,2110,2500,3361,3335,530.0,-9.9,395,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2500,3348,3361,3335,0,0,0,0,0,0,15.12,15.16,15.16
$GC,4555,-0.64,-97.3,2111,2500,3359,3334,560.0,-10.1,410,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2500,3346,3359,3334,0,0,0,0,0,0,15.13,15.16,15.16
$GC,4856,-0.64,-97.3,2111,2500,3356,3332,591.0,-10.3,425,4860,0.00,2.30,0.00,0.000,516,0.000,0.049,2111,1106,3344,3356,3332,0,0,0,0,0,0,15.13,14.63,15.14
$GC,4901,-0.64,-97.3,2111,1106,3356,3332,595.9,-10.4,434,4906,0.00,2.38,0.00,0.000,1030,0.000,0.057,2100,2499,3344,3356,3332,0,0,0,0,0,0,14.70,14.59,14.74
$GC,5218,-0.64,-97.3,2100,2499,3355,3331,629.8,-10.8,452,5222,0.00,2.42,0.00,0.000,260,0.000,0.086,2089,3899,3343,3356,3331,0,0,0,0,0,0,15.12,14.49,15.14
$GC,5260,-0.64,-97.3,2089,3899,3355,3331,634.4,-11.0,460,5265,0.12,2.25,0.00,0.000,3078,0.210,0.036,2120,2495,3343,3355,3331,0,0,0,0,0,0,14.42,14.70,14.61
$GC,5576,-0.64,-97.3,2120,2494,3354,3329,663.2,-8.7,478,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2493,3341,3354,3329,0,0,0,0,0,0,15.12,15.16,15.15
$GC,5878,-0.64,-97.3,2120,2494,3353,3327,688.4,-8.2,493,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2494,3340,3353,3327,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6176,-0.64,-97.3,2119,2494,3352,3326,713.0,-8.1,508,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2494,3338,3351,3326,0,0,0,0,0,0,15.12,15.14,15.15
$GC,6477,-0.64,-97.3,2120,2494,3351,3325,737.2,-8.1,523,6482,0.00,2.30,0.00,0.000,516,0.000,0.049,2120,1108,3337,3350,3325,0,0,0,0,0,0,15.11,14.58,15.14
$GC,6513,-0.64,-97.3,2120,1109,3350,3325,740.3,-8.2,530,6518,0.00,2.40,0.00,0.000,1030,0.000,0.057,2111,2506,3337,3350,3325,0,0,0,0,0,0,14.65,14.54,14.69
$GC,6818,-0.64,-97.3,2111,2506,3349,3324,766.7,-8.7,546,6823,0.00,2.42,0.00,0.000,260,0.000,0.087,2100,3893,3336,3348,3324,0,0,0,0,0,0,15.11,14.44,15.14
$GC,6850,-0.64,-97.3,2100,3893,3348,3324,769.6,-9.2,552,6854,0.00,2.25,0.00,0.000,1030,0.000,0.036,2101,2500,3336,3348,3324,0,0,0,0,0,0,14.73,14.66,14.75
$GC,7164,-0.64,-97.3,2100,2498,3348,3323,798.0,-9.1,569,7168,0.00,2.33,0.00,0.000,516,0.000,0.050,2100,1102,3335,3348,3322,0,0,0,0,0,0,15.09,14.56,15.12
$GC,7189,-0.64,-97.3,2100,1102,3347,3322,800.8,-9.7,574,7195,0.12,2.40,0.00,0.000,3078,0.207,0.058,2120,2499,3334,3347,3322,0,0,0,0,0,0,14.33,14.51,14.53
$GC,7508,-0.64,-97.3,2120,2499,3347,3321,826.6,-8.2,592,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2499,3334,3347,3321,0,0,0,0,0,0,15.10,15.14,15.13
$GC,7807,-0.64,-97.3,2120,2499,3346,3321,851.4,-8.2,607,7814,0.00,2.45,0.00,0.000,260,0.000,0.088,2111,3896,3333,3346,3321,0,0,0,0,0,0,15.11,14.40,15.14
$GC,7837,-0.64,-97.3,2110,3896,3345,3321,854.0,-9.1,613,7841,0.00,2.28,0.00,0.000,1030,0.000,0.037,2111,2491,3333,3345,3321,0,0,0,0,0,0,14.71,14.64,14.73
$GC,8148,-0.64,-97.3,2111,2490,3344,3320,881.8,-9.0,630,8153,0.00,2.30,0.00,0.000,516,0.000,0.050,2111,1109,3332,3344,3321,0,0,0,0,0,0,15.10,14.53,15.13
$GC,8175,-0.64,-97.3,2110,1108,3343,3320,884.4,-9.3,635,8180,0.00,2.40,0.00,0.000,1030,0.000,0.058,2100,2501,3331,3343,3320,0,0,0,0,0,0,14.61,14.49,14.65
$GC,8491,-0.64,-97.3,2100,2501,3343,3320,914.8,-9.7,653,8496,0.00,2.45,0.00,0.000,260,0.000,0.087,2089,3897,3331,3343,3320,0,0,0,0,0,0,15.10,14.38,15.13
$GC,8513,-0.64,-97.3,2088,3897,3342,3320,916.9,-10.1,657,8518,0.12,2.28,0.00,0.000,3078,0.206,0.037,2120,2495,3331,3343,3320,0,0,0,0,0,0,14.33,14.61,14.51
$GC,8830,-0.64,-97.3,2119,2494,3343,3319,943.6,-8.2,675,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2494,3331,3343,3319,0,0,0,0,0,0,15.10,15.14,15.13
$GC,9130,-0.64,-97.3,2119,2494,3343,3317,967.6,-7.8,690,9132,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2494,3330,3343,3318,0,0,0,0,0,0,15.11,15.14,15.14
$STATE,9427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9427,begin apogee
$GC,9435,-0.15,0.0,2120,2494,3342,3317,990.2,-7.3,705,9531,0.52,0.00,92.10,2.018,10246,0.161,0.000,2276,2493,2968,2999,2938,0,0,0,0,0,0,14.25,14.04,12.67
$STATE,9532,end apogee,CONTROL_FINISHED_OK
$STATE,9532,begin climb
$GC,9535,0.64,97.3,2276,2493,2997,2938,992.5,0.0,710,9649,0.80,2.50,102.55,2.002,10500,0.088,0.089,2545,3848,2570,2599,2541,0,0,0,0,0,0,14.18,13.60,12.62
$GC,9676,0.67,97.3,2544,3848,2593,2541,990.5,6.9,738,9680,0.00,2.35,0.00,0.000,1094,0.000,0.036,2555,2440,2567,2593,2541,0,0,0,0,0,0,14.29,14.23,14.31
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$STATE,21275,end climb,SURFACE_DEPTH_REACHED
$STATE,21275,begin surface coast
$STATE,21318,end surface coast,CONTROL_FINISHED_OK
$STATE,21318,begin surface
$SM_CCo,21338,99.00,0.586,1,0,929,500.17
$SM_GC,1.32,7.22,0.10,99.00,0.055,0.152,0.586,118,2522,929,-6.78,-0.88,500.17,0,0,0,0,1,0,14.67,14.64,13.77
$IRIDIUM_FIX,832.22,8553.31,121119,070138
$TT8_MAMPS,0.017227,0.154294
$HUMID,46.22
$INTERNAL_PRESSURE,9.55612
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,12.62,164.219
$10V_AH,12.53,0.000
$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,19.400,203.025,476.250,99.000,0.000,0.000,0.000,252.200,0.000,0.000,14.374,1662.820,16138.515,712.420,2832.080,484.450,0.000,2408.010,0.000,2562.938,0.000,0.542,0.000
$DEVICE_MAMPS,348.075,152.235,2018.070,585.990,0.000,0.000,0.000,177.480,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,927.046,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250808
$DATA_FILE_SIZE,79856,1803
$CAP_FILE_SIZE,200706,0
$CFSIZE,260034560,144678912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,5262.83,0x214798,0,24
$CURRENT,0.058,244.47,1
$GPS,121119,192931,830.587,8552.305,35,0.7,35,-1.4,0.5,338.4,11,2.8