version: 66.13
glider: 171
mission: 11
dive: 518
start: 11 25 119 18 45 50
data:
$ID,171
$MISSION,11
$DIVE,518
$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,53
$R_STBD_OVSHOOT,36
$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
$GPS1,251119,183830,708.7914,8409.3809,23,0.9,23,-1.7,0.8,232.9,8,3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.1
$GPS2,251119,184457,708.7851,8409.2598,2,0.7,3,-1.7,0.8,269.6,12,5.3
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R4
$TGT_LATLONG,700.000,8400.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,238.9,23546,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,9,-0.67,-97.3,104,2511,968,883,0.0,0.0,0,80,0.00,0.00,-68.25,0.005,16386,0.000,0.000,104,2511,2550,2553,2548,0,0,0,0,0,0,14.85,28.83,14.88
$GC,84,-0.67,-97.3,104,2511,2554,2548,4.6,-11.4,14,114,9.10,2.38,-15.50,0.008,19204,0.343,0.072,2108,1096,3368,3381,3355,0,0,0,0,0,0,13.95,12.62,14.38
$GC,267,-0.67,-97.3,2108,1095,3381,3354,58.2,-17.2,51,272,0.00,2.38,0.00,0.000,1030,0.000,0.057,2099,2494,3368,3381,3355,0,0,0,0,0,0,14.63,14.52,14.66
$GC,452,-0.67,-97.3,2099,2495,3381,3354,94.7,-19.3,70,456,0.00,2.28,0.00,0.000,516,0.000,0.054,2099,1108,3367,3381,3354,0,0,0,0,0,0,15.01,14.54,15.04
$GC,525,-0.67,-97.3,2099,1108,3381,3354,105.6,-15.2,84,529,0.00,2.35,0.00,0.000,1030,0.000,0.055,2088,2508,3367,3380,3354,0,0,0,0,0,0,14.69,14.59,14.72
$GC,716,-0.67,-97.3,2088,2508,3381,3355,135.9,-14.7,104,720,0.00,2.35,0.00,0.000,260,0.000,0.077,2077,3897,3367,3381,3354,0,0,0,0,0,0,15.05,14.54,15.08
$GC,738,-0.67,-97.3,2078,3896,3382,3354,138.7,-13.2,108,743,0.15,2.22,0.00,0.000,3078,0.225,0.031,2112,2475,3368,3382,3354,0,0,0,0,0,0,14.37,14.71,14.59
$GC,930,-0.67,-97.3,2112,2474,3382,3354,160.2,-11.0,128,934,0.00,2.42,0.00,0.000,260,0.000,0.078,2104,3892,3368,3382,3354,0,0,0,0,0,0,15.07,14.55,15.10
$GC,965,-0.67,-97.3,2103,3892,3381,3354,164.4,-12.1,135,969,0.00,2.20,0.00,0.000,1030,0.000,0.032,2103,2498,3367,3381,3354,0,0,0,0,0,0,14.78,14.73,14.81
$GC,1152,-0.67,-97.3,2103,2496,3382,3354,188.8,-13.5,154,1156,0.00,2.42,0.00,0.000,260,0.000,0.080,2092,3899,3367,3381,3354,0,0,0,0,0,0,15.07,14.55,15.10
$GC,1199,-0.67,-97.3,2092,3899,3381,3354,195.4,-13.9,163,1203,0.00,2.22,0.00,0.000,1030,0.000,0.032,2092,2491,3367,3381,3354,0,0,0,0,0,0,14.79,14.73,14.81
$GC,1385,-0.67,-97.3,2092,2490,3379,3354,219.5,-12.7,182,1389,0.00,2.25,0.00,0.000,516,0.000,0.049,2092,1113,3366,3379,3354,0,0,0,0,0,0,15.08,14.64,15.11
$GC,1426,-0.67,-97.3,2092,1113,3378,3354,224.9,-12.3,190,1433,0.12,2.33,0.00,0.000,3078,0.218,0.056,2112,2501,3366,3378,3354,0,0,0,0,0,0,14.43,14.64,14.63
$GC,1616,-0.67,-97.3,2111,2501,3377,3354,246.2,-11.0,210,1620,0.00,2.40,0.00,0.000,260,0.000,0.081,2103,3896,3365,3377,3354,0,0,0,0,0,0,15.09,14.55,15.11
$GC,1659,-0.67,-97.3,2102,3896,3376,3353,251.0,-11.3,218,1664,0.00,2.25,0.00,0.000,1030,0.000,0.032,2103,2494,3365,3377,3354,0,0,0,0,0,0,14.71,14.69,14.74
$GC,1981,-0.67,-97.3,2102,2492,3374,3351,288.1,-11.8,237,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2492,3362,3374,3351,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2281,-0.67,-97.3,2102,2492,3372,3348,322.0,-11.0,252,2285,0.00,2.42,0.00,0.000,260,0.000,0.083,2091,3896,3360,3373,3348,0,0,0,0,0,0,15.11,14.55,15.14
$GC,2327,-0.67,-97.3,2091,3896,3371,3348,327.2,-11.5,261,2332,0.00,2.22,0.00,0.000,1030,0.000,0.034,2091,2493,3359,3371,3348,0,0,0,0,0,0,14.81,14.74,14.83
$GC,2646,-0.67,-97.3,2091,2492,3370,3345,362.8,-11.3,279,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2492,3357,3370,3345,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2946,-0.67,-97.3,2091,2493,3367,3342,397.1,-11.2,294,2950,0.00,2.42,0.00,0.000,260,0.000,0.081,2081,3894,3354,3367,3342,0,0,0,0,0,0,15.11,14.54,15.13
$GC,3001,-0.67,-97.3,2081,3894,3367,3342,403.7,-11.7,305,3007,0.12,2.22,0.00,0.000,3078,0.210,0.034,2111,2495,3354,3367,3342,0,0,0,0,0,0,14.45,14.73,14.64
$GC,3306,-0.67,-97.3,2111,2493,3365,3339,433.5,-9.8,321,3311,0.00,2.28,0.00,0.000,516,0.000,0.050,2111,1114,3352,3365,3339,0,0,0,0,0,0,15.12,14.61,15.15
$GC,3339,-0.67,-97.3,2111,1113,3364,3339,436.7,-10.2,327,3343,0.00,2.35,0.00,0.000,1030,0.000,0.055,2102,2501,3351,3364,3339,0,0,0,0,0,0,14.71,14.60,14.75
$GC,3650,-0.67,-97.3,2102,2501,3362,3337,468.2,-10.2,344,3654,0.00,2.42,0.00,0.000,260,0.000,0.084,2091,3899,3349,3362,3337,0,0,0,0,0,0,15.11,14.50,15.14
$GC,3691,-0.67,-97.3,2091,3899,3362,3338,472.5,-10.6,352,3696,0.00,2.22,0.00,0.000,1030,0.000,0.035,2091,2505,3349,3362,3337,0,0,0,0,0,0,14.77,14.71,14.79
$GC,4013,-0.67,-97.3,2091,2504,3361,3335,506.2,-10.5,371,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2504,3348,3361,3335,0,0,0,0,0,0,15.10,15.14,15.13
$GC,4313,-0.67,-97.3,2091,2504,3360,3333,538.4,-10.7,386,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2504,3346,3360,3333,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4613,-0.67,-97.3,2090,2504,3357,3332,571.4,-11.2,401,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2504,3344,3356,3332,0,0,0,0,0,0,15.10,15.14,15.13
$GC,4912,-0.67,-97.3,2090,2503,3356,3331,603.6,-10.6,416,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2504,3343,3356,3331,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5212,-0.67,-97.3,2091,2504,3355,3329,634.1,-10.0,431,5217,0.00,2.45,0.00,0.000,260,0.000,0.086,2080,3899,3341,3354,3329,0,0,0,0,0,0,15.11,14.45,15.14
$GC,5239,-0.67,-97.3,2081,3899,3354,3329,636.8,-10.6,436,5244,0.12,2.25,0.00,0.000,3078,0.206,0.036,2111,2498,3341,3354,3329,0,0,0,0,0,0,14.39,14.67,14.58
$GC,5551,-0.67,-97.3,2110,2497,3353,3327,664.7,-8.9,453,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2497,3340,3353,3327,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5851,-0.67,-97.3,2110,2497,3352,3326,692.1,-9.3,468,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2497,3339,3352,3326,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6152,-0.67,-97.3,2110,2497,3351,3325,719.8,-9.2,483,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2497,3338,3351,3325,0,0,0,0,0,0,15.10,15.13,15.13
$GC,6451,-0.67,-97.3,2110,2497,3350,3324,745.9,-8.6,498,6456,0.00,2.47,0.00,0.000,260,0.000,0.086,2102,3893,3337,3350,3324,0,0,0,0,0,0,15.11,14.40,15.13
$GC,6488,-0.67,-97.3,2101,3893,3349,3324,749.2,-9.0,505,6493,0.00,2.25,0.00,0.000,1030,0.000,0.036,2102,2502,3337,3350,3324,0,0,0,0,0,0,14.71,14.64,14.73
$GC,6794,-0.67,-97.3,2101,2500,3348,3323,776.2,-8.8,521,6799,0.00,2.33,0.00,0.000,516,0.000,0.050,2102,1108,3335,3348,3322,0,0,0,0,0,0,15.10,14.52,15.12
$GC,6821,-0.67,-97.3,2101,1108,3348,3322,778.8,-9.4,526,6825,0.00,2.40,0.00,0.000,1030,0.000,0.060,2090,2500,3335,3348,3322,0,0,0,0,0,0,14.62,14.50,14.66
$GC,7138,-0.67,-97.3,2090,2501,3347,3321,809.3,-9.9,544,7142,0.00,2.42,0.00,0.000,260,0.000,0.086,2080,3893,3334,3347,3321,0,0,0,0,0,0,15.09,14.39,15.11
$GC,7164,-0.67,-97.3,2080,3893,3347,3321,812.0,-10.4,549,7170,0.12,2.28,0.00,0.000,3078,0.209,0.037,2110,2492,3334,3347,3321,0,0,0,0,0,0,14.33,14.62,14.52
$GC,7482,-0.67,-97.3,2110,2492,3346,3321,841.8,-9.5,567,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2492,3333,3346,3321,0,0,0,0,0,0,15.10,15.14,15.13
$GC,7783,-0.67,-97.3,2110,2492,3345,3320,870.1,-9.3,582,7790,0.00,2.50,0.00,0.000,260,0.000,0.088,2101,3898,3332,3344,3320,0,0,0,0,0,0,15.09,14.37,15.12
$GC,7817,-0.67,-97.3,2101,3897,3344,3320,873.5,-9.9,589,7822,0.00,2.28,0.00,0.000,1030,0.000,0.037,2101,2500,3332,3344,3320,0,0,0,0,0,0,14.67,14.60,14.70
$GC,8122,-0.67,-97.3,2100,2499,3343,3320,903.1,-9.7,605,8128,0.00,2.30,0.00,0.000,516,0.000,0.051,2101,1111,3331,3344,3319,0,0,0,0,0,0,15.10,14.42,15.13
$GC,8156,-0.67,-97.3,2100,1111,3343,3319,906.3,-9.5,611,8160,0.00,2.40,0.00,0.000,1030,0.000,0.060,2090,2500,3331,3343,3319,0,0,0,0,0,0,14.58,14.45,14.62
$GC,8467,-0.67,-97.3,2089,2501,3343,3318,937.0,-9.9,628,8471,0.00,2.45,0.00,0.000,260,0.000,0.086,2079,3893,3330,3343,3318,0,0,0,0,0,0,15.10,14.35,15.12
$GC,8519,-0.67,-97.3,2079,3893,3343,3318,942.3,-10.5,638,8524,0.12,2.28,0.00,0.000,3078,0.210,0.037,2109,2494,3330,3343,3318,0,0,0,0,0,0,14.29,14.58,14.47
$GC,8832,-0.67,-97.3,2109,2493,3343,3317,970.1,-8.8,655,8834,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2492,3330,3343,3317,0,0,0,0,0,0,15.09,15.12,15.11
$STATE,9067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9068,begin apogee
$GC,9074,-0.15,0.0,2110,2492,3342,3317,991.5,-9.0,667,9171,0.57,0.00,91.88,1.997,10246,0.164,0.000,2276,2492,2968,3000,2936,0,0,0,0,0,0,14.20,14.02,12.64
$STATE,9171,end apogee,CONTROL_FINISHED_OK
$STATE,9172,begin climb
$GC,9176,0.67,97.3,2276,2492,2999,2935,995.0,0.0,672,9284,0.82,0.00,103.10,1.984,10502,0.092,0.000,2549,2492,2570,2603,2538,0,0,0,0,0,0,14.18,13.89,12.60
$GC,9595,0.69,97.3,2548,2492,2592,2534,976.4,7.0,711,9598,0.00,2.45,0.00,0.000,580,0.000,0.053,2559,1052,2563,2592,2534,0,0,0,0,0,0,14.86,14.47,14.89
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$STATE,21966,end climb,SURFACE_DEPTH_REACHED
$STATE,21966,begin surface coast
$STATE,21991,end surface coast,CONTROL_FINISHED_OK
$STATE,21991,begin surface
$SM_CCo,22010,124.55,0.627,1,0,928,500.17
$SM_GC,1.27,7.50,0.10,124.55,0.053,0.160,0.627,110,2526,928,-6.78,-0.85,500.17,0,0,0,0,1,0,14.62,14.58,13.66
$IRIDIUM_FIX,708.92,8407.20,251119,124019
$TT8_MAMPS,0.018725,0.156541
$HUMID,46.73
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,12.60,179.813
$10V_AH,12.20,0.000
$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
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250852
$DATA_FILE_SIZE,80023,1832
$CAP_FILE_SIZE,207143,0
$CFSIZE,260034560,139857920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.048,221.79,1
$GPS,261119,005630,707.502,8407.332,54,0.7,54,-1.7,0.8,245.6,10,3.1