version: 66.13
glider: 171
mission: 11
dive: 482
start: 11 16 119 16 45 28
data:
$ID,171
$MISSION,11
$DIVE,482
$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,60
$R_STBD_OVSHOOT,32
$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
$GPS1,161119,163438,805.1179,8532.1514,20,0.9,20,-1.5,0.6,259.5,8,5.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.7
$GPS2,161119,164436,805.1416,8531.9521,3,0.6,4,-1.5,0.8,300.5,12,5.0
$SPEED_LIMITS,0.139,0.144
$TGT_NAME,R3
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,180.6,10173,-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,-97.3,124,2501,968,886,0.0,0.0,0,78,0.00,0.00,-66.72,0.005,16386,0.000,0.000,124,2501,2519,2519,2519,0,0,0,0,0,0,14.86,28.83,14.89
$GC,82,-0.64,-97.3,124,2501,2520,2518,4.4,-10.6,14,114,9.07,2.40,-16.60,0.008,18692,0.347,0.099,2107,3891,3367,3382,3353,0,0,0,0,0,0,14.00,12.68,14.42
$GC,306,-0.64,-97.3,2106,3891,3382,3352,70.0,-18.3,59,310,0.00,2.22,0.00,0.000,1030,0.000,0.036,2107,2498,3367,3382,3353,0,0,0,0,0,0,14.71,14.65,14.73
$GC,492,-0.64,-97.3,2106,2496,3381,3352,106.1,-16.2,78,496,0.00,2.42,0.00,0.000,260,0.000,0.080,2096,3896,3366,3381,3352,0,0,0,0,0,0,15.02,14.54,15.05
$GC,669,-0.64,-97.3,2095,3896,3382,3352,135.7,-14.5,113,674,0.00,2.22,0.00,0.000,1030,0.000,0.032,2096,2486,3366,3381,3352,0,0,0,0,0,0,14.78,14.72,14.80
$GC,853,-0.64,-97.3,2096,2486,3382,3352,163.1,-14.3,132,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2486,3367,3382,3352,0,0,0,0,0,0,15.07,15.11,15.10
$GC,1033,-0.64,-97.3,2095,2486,3381,3352,188.1,-12.7,150,1038,0.00,2.25,0.00,0.000,516,0.000,0.049,2096,1105,3366,3381,3352,0,0,0,0,0,0,15.09,14.67,15.11
$GC,1060,-0.64,-97.3,2095,1105,3381,3352,191.5,-12.7,155,1068,0.15,2.38,0.00,0.000,3078,0.210,0.065,2122,2492,3366,3381,3352,0,0,0,0,0,0,14.44,14.59,14.64
$GC,1256,-0.64,-97.3,2121,2492,3380,3352,213.9,-11.1,176,1260,0.00,2.40,0.00,0.000,260,0.000,0.086,2113,3897,3366,3380,3352,0,0,0,0,0,0,15.09,14.58,15.11
$GC,1317,-0.64,-97.3,2112,3897,3380,3352,221.3,-12.1,188,1321,0.00,2.20,0.00,0.000,1030,0.000,0.033,2113,2500,3365,3379,3352,0,0,0,0,0,0,14.81,14.76,14.83
$GC,1510,-0.64,-97.3,2112,2499,3378,3352,243.3,-11.4,208,1514,0.00,2.25,0.00,0.000,516,0.000,0.045,2113,1105,3365,3378,3352,0,0,0,0,0,0,15.09,14.69,15.12
$GC,1606,-0.64,-97.3,2112,1105,3376,3351,254.4,-11.4,227,1610,0.00,2.38,0.00,0.000,1030,0.000,0.057,2102,2511,3364,3376,3352,0,0,0,0,0,0,14.75,14.64,14.78
$GC,1912,-0.64,-97.3,2102,2511,3372,3352,290.3,-11.4,243,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2511,3361,3372,3351,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2211,-0.64,-97.3,2102,2511,3371,3348,323.5,-10.7,258,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2511,3359,3371,3347,0,0,0,0,0,0,15.12,15.16,15.15
$GC,2512,-0.64,-97.3,2102,2511,3369,3345,355.3,-10.8,273,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2511,3357,3369,3345,0,0,0,0,0,0,15.12,15.15,15.14
$GC,2811,-0.64,-97.3,2102,2511,3366,3341,386.5,-10.4,288,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2510,3354,3367,3341,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3111,-0.64,-97.3,2102,2511,3364,3339,416.9,-9.9,303,3115,0.00,2.38,0.00,0.000,260,0.000,0.086,2091,3892,3351,3364,3339,0,0,0,0,0,0,15.12,14.55,15.16
$GC,3137,-0.64,-97.3,2091,3891,3363,3339,419.5,-10.7,308,3142,0.12,2.22,0.00,0.000,3078,0.206,0.034,2122,2491,3351,3363,3339,0,0,0,0,0,0,14.48,14.75,14.67
$GC,3454,-0.64,-97.3,2122,2490,3362,3337,446.8,-8.6,326,3459,0.00,2.28,0.00,0.000,516,0.000,0.047,2123,1108,3349,3362,3337,0,0,0,0,0,0,15.12,14.66,15.15
$GC,3496,-0.64,-97.3,2122,1108,3361,3337,450.4,-8.8,334,3500,0.00,2.38,0.00,0.000,1030,0.000,0.056,2114,2509,3349,3361,3337,0,0,0,0,0,0,14.73,14.62,14.76
$GC,3818,-0.64,-97.3,2113,2509,3360,3334,480.8,-9.7,353,3823,0.00,2.40,0.00,0.000,260,0.000,0.086,2103,3896,3347,3360,3334,0,0,0,0,0,0,15.11,14.52,15.14
$GC,3859,-0.64,-97.3,2103,3897,3359,3334,485.1,-10.2,361,3865,0.00,2.22,0.00,0.000,1030,0.000,0.035,2103,2503,3346,3359,3334,0,0,0,0,0,0,14.79,14.73,14.81
$GC,4183,-0.64,-97.3,2103,2502,3356,3332,518.0,-10.1,380,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2502,3344,3356,3332,0,0,0,0,0,0,15.11,15.15,15.14
$GC,4481,-0.64,-97.3,2103,2502,3355,3330,547.7,-9.8,395,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2502,3342,3355,3330,0,0,0,0,0,0,15.13,15.16,15.15
$GC,4782,-0.64,-97.3,2103,2502,3354,3329,576.2,-9.2,410,4786,0.00,2.45,0.00,0.000,260,0.000,0.087,2092,3894,3341,3354,3329,0,0,0,0,0,0,15.13,14.50,15.15
$GC,4805,-0.64,-97.3,2091,3894,3353,3329,578.2,-9.8,414,4810,0.12,2.25,0.00,0.000,3078,0.204,0.035,2123,2488,3341,3353,3329,0,0,0,0,0,0,14.45,14.71,14.62
$GC,5127,-0.64,-97.3,2122,2487,3352,3327,604.9,-8.1,433,5133,0.00,2.28,0.00,0.000,516,0.000,0.048,2123,1108,3339,3352,3326,0,0,0,0,0,0,15.11,14.62,15.14
$GC,5169,-0.64,-97.3,2123,1108,3352,3326,608.4,-8.3,441,5174,0.00,2.38,0.00,0.000,1030,0.000,0.057,2114,2499,3339,3352,3326,0,0,0,0,0,0,14.69,14.57,14.72
$GC,5492,-0.64,-97.3,2114,2499,3350,3325,636.5,-8.9,460,5499,0.00,2.42,0.00,0.000,260,0.000,0.087,2104,3893,3337,3350,3325,0,0,0,0,0,0,15.11,14.47,15.14
$GC,5531,-0.64,-97.3,2103,3893,3350,3325,640.3,-9.7,468,5535,0.00,2.22,0.00,0.000,1030,0.000,0.035,2104,2504,3337,3350,3325,0,0,0,0,0,0,14.75,14.69,14.78
$GC,5853,-0.64,-97.3,2103,2502,3348,3324,672.1,-10.1,487,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2502,3336,3349,3323,0,0,0,0,0,0,15.11,15.13,15.13
$GC,6153,-0.64,-97.3,2103,2502,3348,3322,702.4,-10.2,502,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2502,3334,3347,3322,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6452,-0.64,-97.3,2103,2502,3347,3321,733.1,-10.2,517,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2502,3334,3347,3321,0,0,0,0,0,0,15.11,15.15,15.14
$GC,6753,-0.64,-97.3,2103,2502,3345,3320,762.6,-9.6,532,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2502,3332,3345,3320,0,0,0,0,0,0,15.10,15.14,15.14
$GC,7052,-0.64,-97.3,2103,2502,3344,3319,791.0,-9.3,547,7056,0.00,2.47,0.00,0.000,260,0.000,0.088,2092,3897,3331,3344,3319,0,0,0,0,0,0,15.11,14.42,15.14
$GC,7089,-0.64,-97.3,2092,3897,3344,3319,794.4,-9.8,554,7094,0.12,2.28,0.00,0.000,3078,0.203,0.037,2123,2497,3331,3343,3320,0,0,0,0,0,0,14.38,14.65,14.56
$GC,7395,-0.64,-97.3,2123,2495,3343,3319,818.6,-7.8,570,7399,0.00,2.33,0.00,0.000,516,0.000,0.049,2124,1111,3331,3343,3319,0,0,0,0,0,0,15.10,14.54,15.12
$GC,7436,-0.64,-97.3,2123,1111,3342,3319,822.0,-7.9,578,7443,0.00,2.40,0.00,0.000,1030,0.000,0.057,2115,2508,3330,3342,3319,0,0,0,0,0,0,14.62,14.50,14.66
$GC,7757,-0.64,-97.3,2114,2508,3342,3317,847.8,-8.0,597,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2508,3329,3342,3317,0,0,0,0,0,0,15.10,15.13,15.13
$GC,8056,-0.64,-97.3,2114,2508,3342,3317,871.7,-8.0,612,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2508,3329,3342,3316,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8356,-0.64,-97.3,2114,2508,3341,3315,896.5,-8.4,627,8360,0.00,2.45,0.00,0.000,260,0.000,0.089,2104,3898,3328,3341,3316,0,0,0,0,0,0,15.11,14.38,15.14
$GC,8383,-0.64,-97.3,2104,3898,3340,3315,898.8,-9.1,632,8387,0.00,2.28,0.00,0.000,1030,0.000,0.037,2104,2497,3328,3341,3315,0,0,0,0,0,0,14.69,14.62,14.71
$GC,8694,-0.64,-97.3,2104,2495,3339,3315,927.4,-9.2,649,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2495,3327,3339,3315,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8994,-0.64,-97.3,2103,2495,3339,3315,954.9,-9.2,664,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2495,3327,3339,3315,0,0,0,0,0,0,15.11,15.14,15.14
$GC,9295,-0.64,-97.3,2104,2495,3338,3314,982.0,-8.9,679,9297,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2495,3326,3338,3314,0,0,0,0,0,0,15.10,15.13,15.12
$STATE,9391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9391,begin apogee
$GC,9397,-0.15,0.0,2104,2495,3338,3314,990.8,-8.8,684,9492,0.60,0.00,90.78,2.011,10246,0.165,0.000,2277,2495,2968,2999,2938,0,0,0,0,0,0,14.21,14.03,12.66
$STATE,9493,end apogee,CONTROL_FINISHED_OK
$STATE,9493,begin climb
$GC,9496,0.64,97.3,2277,2495,2998,2938,993.6,0.0,689,9604,0.80,0.00,103.68,2.000,10246,0.091,0.000,2542,2495,2571,2601,2541,0,0,0,0,0,0,14.18,13.89,12.62
$GC,9898,0.65,97.3,2542,2495,2590,2536,973.5,7.5,709,9906,0.00,2.45,0.00,0.000,580,0.000,0.050,2553,1050,2562,2589,2536,0,0,0,0,0,0,14.84,14.49,14.87
$GC,9968,0.65,97.3,2553,1049,2588,2535,967.9,7.6,723,9974,0.00,2.40,0.00,0.000,1030,0.000,0.054,2554,2443,2561,2588,2535,0,0,0,0,0,0,14.59,14.49,14.63
$GC,10279,0.65,97.3,2553,2443,2587,2534,943.6,8.0,740,10281,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2443,2560,2587,2534,0,0,0,0,0,0,14.97,15.00,15.00
$GC,10578,0.65,97.3,2553,2442,2586,2534,919.6,7.9,755,10582,0.00,2.38,0.00,0.000,516,0.000,0.050,2565,1045,2560,2586,2534,0,0,0,0,0,0,15.02,14.56,15.05
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$STATE,21939,end climb,SURFACE_DEPTH_REACHED
$STATE,21939,begin surface coast
$STATE,21969,end surface coast,CONTROL_FINISHED_OK
$STATE,21970,begin surface
$SM_CCo,21991,127.35,0.628,1,0,929,500.17
$SM_GC,1.44,7.60,2.53,127.35,0.065,0.061,0.628,119,2503,929,-6.78,-0.79,500.17,0,0,0,0,1,0,14.64,14.50,13.71
$IRIDIUM_FIX,803.77,8533.91,161119,100857
$TT8_MAMPS,0.018725,0.161035
$HUMID,46.02
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,12.62,169.049
$10V_AH,12.61,0.000
$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
$DEVICE_SECS,18.900,174.475,445.225,127.350,0.000,0.000,0.000,337.125,0.250,0.000,15.447,1648.843,16989.408,719.541,2891.014,471.838,0.000,2457.856,0.000,2539.367,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,925.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250828
$DATA_FILE_SIZE,76584,1787
$CAP_FILE_SIZE,197490,0
$CFSIZE,260034560,143187968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.106,225.53,1
$GPS,161119,225531,802.736,8530.970,30,0.7,33,-1.5,0.3,246.1,10,2.8