version: 66.13
glider: 171
mission: 11
dive: 504
start: 11 22 119 7 27 7
data:
$ID,171
$MISSION,11
$DIVE,504
$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,0.00223872
$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,56
$R_STBD_OVSHOOT,35
$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
$GPS1,221119,072025,732.5499,8441.6738,15,0.6,31,-1.6,0.2,0.0,12,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-73.5
$GPS2,221119,072615,732.5993,8441.5723,3,0.5,4,-1.6,0.5,279.4,12,6.5
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R4
$TGT_LATLONG,700.000,8400.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,231.2,97389,-19.5,-8.049,-26.91,1839
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,11,-0.67,-97.3,112,2504,968,884,0.0,0.0,0,84,0.00,0.00,-71.35,0.005,16386,0.000,0.000,112,2505,2653,2653,2654,0,0,0,0,0,0,14.84,28.83,14.87
$GC,88,-0.67,-97.3,112,2504,2654,2654,5.5,-15.3,15,116,9.12,2.33,-13.00,0.010,18948,0.347,0.064,2108,1100,3367,3381,3353,0,0,0,0,0,0,13.97,13.47,14.40
$GC,197,-0.67,-97.3,2108,1100,3381,3353,41.0,-26.9,37,201,0.00,2.40,0.00,0.000,1030,0.000,0.058,2099,2499,3367,3381,3353,0,0,0,0,0,0,14.61,14.50,14.64
$GC,389,-0.67,-97.3,2098,2499,3381,3353,88.9,-19.6,59,393,0.00,2.40,0.00,0.000,260,0.000,0.084,2088,3900,3367,3381,3353,0,0,0,0,0,0,14.99,14.49,15.02
$GC,616,-0.67,-97.3,2087,3900,3381,3353,125.0,-13.7,104,620,0.00,2.22,0.00,0.000,1030,0.000,0.032,2088,2490,3367,3381,3353,0,0,0,0,0,0,14.76,14.69,14.77
$GC,802,-0.67,-97.3,2087,2489,3381,3353,152.5,-14.7,123,806,0.00,2.42,0.00,0.000,260,0.000,0.080,2077,3894,3367,3382,3353,0,0,0,0,0,0,15.05,14.55,15.08
$GC,884,-0.67,-97.3,2077,3894,3381,3353,164.8,-14.2,139,889,0.15,2.20,0.00,0.000,3078,0.226,0.031,2113,2477,3367,3381,3353,0,0,0,0,0,0,14.38,14.73,14.61
$GC,1078,-0.67,-97.3,2112,2476,3382,3353,187.9,-12.0,159,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2476,3367,3381,3353,0,0,0,0,0,0,15.07,15.09,15.09
$GC,1267,-0.67,-97.3,2112,2476,3380,3353,210.5,-11.7,178,1272,0.00,2.42,0.00,0.000,260,0.000,0.080,2103,3893,3366,3380,3353,0,0,0,0,0,0,15.08,14.56,15.11
$GC,1334,-0.67,-97.3,2103,3893,3380,3353,218.5,-11.3,191,1338,0.00,2.17,0.00,0.000,1030,0.000,0.032,2103,2511,3366,3380,3353,0,0,0,0,0,0,14.80,14.74,14.82
$GC,1519,-0.67,-97.3,2103,2509,3378,3353,238.2,-10.6,210,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2509,3365,3378,3353,0,0,0,0,0,0,15.09,15.12,15.11
$GC,1708,-0.67,-97.3,2103,2509,3376,3353,259.6,-11.3,225,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2509,3364,3376,3353,0,0,0,0,0,0,15.11,15.14,15.13
$GC,2009,-0.67,-97.3,2103,2509,3373,3351,293.4,-11.4,240,2013,0.00,2.28,0.00,0.000,516,0.000,0.050,2103,1113,3362,3373,3351,0,0,0,0,0,0,15.11,14.64,15.14
$GC,2050,-0.67,-97.3,2103,1113,3372,3351,298.1,-11.0,248,2054,0.00,2.33,0.00,0.000,1030,0.000,0.054,2092,2503,3361,3372,3350,0,0,0,0,0,0,14.74,14.64,14.78
$GC,2372,-0.67,-97.3,2092,2503,3371,3347,335.6,-11.6,267,2376,0.00,2.38,0.00,0.000,260,0.000,0.083,2082,3892,3359,3371,3347,0,0,0,0,0,0,15.11,14.55,15.14
$GC,2413,-0.67,-97.3,2082,3892,3370,3347,340.6,-12.1,275,2418,0.12,2.20,0.00,0.000,3078,0.213,0.034,2112,2493,3358,3370,3347,0,0,0,0,0,0,14.46,14.74,14.65
$GC,2736,-0.67,-97.3,2112,2491,3369,3345,371.9,-9.2,294,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2491,3356,3369,3344,0,0,0,0,0,0,15.11,15.14,15.13
$GC,3035,-0.67,-97.3,2111,2491,3366,3341,398.8,-9.0,309,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2491,3354,3367,3341,0,0,0,0,0,0,15.12,15.15,15.14
$GC,3336,-0.67,-97.3,2111,2491,3365,3339,427.3,-9.8,324,3340,0.00,2.25,0.00,0.000,516,0.000,0.048,2112,1118,3352,3365,3339,0,0,0,0,0,0,15.11,14.63,15.14
$GC,3372,-0.67,-97.3,2112,1118,3364,3339,431.0,-9.9,331,3377,0.00,2.35,0.00,0.000,1030,0.000,0.056,2103,2503,3351,3363,3339,0,0,0,0,0,0,14.71,14.60,14.76
$GC,3677,-0.67,-97.3,2103,2503,3362,3338,462.4,-10.3,347,3681,0.00,2.40,0.00,0.000,260,0.000,0.085,2092,3896,3349,3362,3337,0,0,0,0,0,0,15.11,14.51,15.14
$GC,3734,-0.67,-97.3,2091,3896,3362,3337,468.3,-10.6,358,3739,0.00,2.22,0.00,0.000,1030,0.000,0.034,2092,2503,3349,3362,3337,0,0,0,0,0,0,14.78,14.71,14.80
$GC,4038,-0.67,-97.3,2091,2502,3361,3335,500.6,-10.6,374,4043,0.00,2.30,0.00,0.000,516,0.000,0.049,2092,1108,3347,3360,3335,0,0,0,0,0,0,15.11,14.62,15.14
$GC,4074,-0.67,-97.3,2091,1108,3360,3335,504.6,-10.7,381,4079,0.12,2.38,0.00,0.000,3078,0.211,0.057,2112,2502,3347,3360,3335,0,0,0,0,0,0,14.40,14.58,14.59
$GC,4397,-0.67,-97.3,2112,2502,3358,3333,534.5,-9.3,400,4401,0.00,2.40,0.00,0.000,260,0.000,0.086,2103,3891,3345,3358,3333,0,0,0,0,0,0,15.10,14.48,15.13
$GC,4429,-0.67,-97.3,2103,3891,3358,3333,537.6,-10.2,406,4434,0.00,2.22,0.00,0.000,1030,0.000,0.035,2103,2500,3345,3357,3333,0,0,0,0,0,0,14.76,14.69,14.78
$GC,4744,-0.67,-97.3,2103,2498,3356,3332,568.7,-10.0,423,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2498,3344,3356,3332,0,0,0,0,0,0,15.10,15.13,15.12
$GC,5042,-0.67,-97.3,2102,2498,3356,3330,599.4,-10.2,438,5047,0.00,2.30,0.00,0.000,516,0.000,0.050,2103,1105,3342,3355,3330,0,0,0,0,0,0,15.11,14.59,15.14
$GC,5079,-0.67,-97.3,2103,1104,3355,3330,603.2,-10.3,445,5083,0.00,2.40,0.00,0.000,1030,0.000,0.057,2091,2505,3342,3355,3330,0,0,0,0,0,0,14.66,14.54,14.71
$GC,5385,-0.67,-97.3,2091,2505,3354,3329,636.3,-11.2,461,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2505,3341,3353,3329,0,0,0,0,0,0,15.10,15.14,15.13
$GC,5684,-0.67,-97.3,2091,2505,3352,3327,670.3,-11.5,476,5688,0.00,2.42,0.00,0.000,260,0.000,0.087,2081,3894,3339,3352,3327,0,0,0,0,0,0,15.11,14.45,15.14
$GC,5710,-0.67,-97.3,2081,3894,3352,3327,673.4,-12.5,481,5714,0.12,2.25,0.00,0.000,3078,0.207,0.037,2111,2494,3339,3352,3327,0,0,0,0,0,0,14.38,14.66,14.57
$GC,6028,-0.67,-97.3,2111,2493,3352,3326,705.3,-9.8,499,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2492,3338,3351,3326,0,0,0,0,0,0,15.09,15.12,15.12
$GC,6326,-0.67,-97.3,2111,2492,3351,3325,732.1,-8.6,514,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2492,3337,3350,3325,0,0,0,0,0,0,15.11,15.14,15.13
$GC,6626,-0.67,-97.3,2111,2492,3349,3324,757.0,-8.2,529,6630,0.00,2.28,0.00,0.000,516,0.000,0.049,2112,1110,3336,3349,3324,0,0,0,0,0,0,15.11,14.55,15.13
$GC,6660,-0.67,-97.3,2112,1110,3349,3324,759.6,-8.6,535,6664,0.00,2.38,0.00,0.000,1030,0.000,0.057,2103,2500,3336,3348,3324,0,0,0,0,0,0,14.62,14.50,14.66
$GC,6971,-0.67,-97.3,2102,2501,3348,3322,787.0,-8.8,552,6975,0.00,2.42,0.00,0.000,260,0.000,0.087,2091,3892,3335,3348,3322,0,0,0,0,0,0,15.11,14.40,15.13
$GC,7032,-0.67,-97.3,2091,3891,3348,3322,792.6,-9.3,564,7036,0.00,2.25,0.00,0.000,1030,0.000,0.037,2091,2504,3334,3347,3322,0,0,0,0,0,0,14.69,14.62,14.72
$GC,7355,-0.67,-97.3,2091,2503,3347,3321,822.4,-9.5,583,7359,0.00,2.30,0.00,0.000,516,0.000,0.050,2091,1108,3334,3347,3321,0,0,0,0,0,0,15.09,14.53,15.11
$GC,7385,-0.67,-97.3,2091,1108,3347,3321,825.7,-9.8,589,7390,0.12,2.40,0.00,0.000,3078,0.207,0.058,2111,2503,3334,3347,3321,0,0,0,0,0,0,14.31,14.48,14.50
$GC,7691,-0.67,-97.3,2111,2503,3346,3320,851.4,-8.5,605,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2503,3333,3346,3321,0,0,0,0,0,0,15.10,15.14,15.13
$GC,7991,-0.67,-97.3,2111,2503,3344,3320,876.6,-8.2,620,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2504,3332,3345,3320,0,0,0,0,0,0,15.11,15.14,15.13
$GC,8291,-0.67,-97.3,2111,2503,3343,3320,901.7,-8.5,635,8293,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2503,3331,3343,3320,0,0,0,0,0,0,15.10,15.13,15.13
$GC,8592,-0.67,-97.3,2111,2504,3343,3319,927.7,-8.9,650,8594,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2503,3331,3343,3319,0,0,0,0,0,0,15.09,15.13,15.12
$GC,8891,-0.67,-97.3,2111,2503,3343,3317,955.5,-9.3,665,8893,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2504,3330,3343,3317,0,0,0,0,0,0,15.11,15.14,15.14
$GC,9192,-0.67,-97.3,2111,2504,3343,3317,982.6,-9.0,680,9198,0.00,2.45,0.00,0.000,260,0.000,0.089,2102,3896,3329,3342,3317,0,0,0,0,0,0,15.09,14.33,15.12
$GC,9231,-0.67,-97.3,2102,3896,3342,3317,986.3,-9.5,688,9235,0.00,2.28,0.00,0.000,1030,0.000,0.037,2102,2500,3329,3342,3317,0,0,0,0,0,0,14.64,14.57,14.67
$STATE,9268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9269,begin apogee
$GC,9275,-0.15,0.0,2102,2499,3342,3317,990.1,-9.2,693,9372,0.60,0.00,91.85,2.003,10246,0.163,0.000,2274,2499,2968,2999,2938,0,0,0,0,0,0,14.19,14.02,12.64
$STATE,9373,end apogee,CONTROL_FINISHED_OK
$STATE,9373,begin climb
$GC,9377,0.67,97.3,2275,2498,2998,2937,993.3,0.0,698,9493,0.85,2.55,103.18,1.994,10500,0.093,0.090,2553,3849,2570,2599,2541,0,0,0,0,0,0,14.17,13.95,12.62
$GC,9505,0.73,159.5,2553,3849,2595,2541,992.2,4.6,724,9578,0.00,2.35,63.88,1.975,9254,0.000,0.036,2564,2433,2316,2355,2278,0,0,0,0,0,0,14.26,14.21,12.62
$GC,9894,0.73,159.5,2564,2433,2346,2271,949.1,12.0,757,9899,0.00,2.33,0.00,0.000,516,0.000,0.053,2575,1052,2308,2346,2271,0,0,0,0,0,0,14.87,14.49,14.90
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$STATE,19742,end climb,SURFACE_DEPTH_REACHED
$STATE,19743,begin surface coast
$STATE,19781,end surface coast,CONTROL_FINISHED_OK
$STATE,19781,begin surface
$SM_CCo,19800,95.70,0.583,1,0,929,500.17
$SM_GC,1.39,7.35,0.10,95.70,0.060,0.152,0.583,118,2525,929,-6.77,-0.74,500.17,0,0,0,0,1,0,14.60,14.59,13.72
$IRIDIUM_FIX,732.81,8446.37,221119,012423
$TT8_MAMPS,0.018725,0.15729
$HUMID,45.94
$INTERNAL_PRESSURE,9.55612
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,12.62,175.633
$10V_AH,13.16,0.000
$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,19.550,188.250,486.350,95.700,0.000,0.000,0.000,214.200,0.000,0.000,15.516,1563.108,14889.642,687.512,2644.881,464.972,0.000,2276.189,0.000,2414.946,0.000,0.541,0.000
$DEVICE_MAMPS,347.310,152.235,2002.770,582.930,0.000,0.000,0.000,182.070,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,894.472,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250788
$DATA_FILE_SIZE,73363,1698
$CAP_FILE_SIZE,190222,0
$CFSIZE,260034560,141160448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.087,253.57,1
$GPS,221119,130000,731.256,8439.140,29,0.7,29,-1.6,0.5,312.5,11,5.1