version: 66.13
glider: 171
mission: 11
dive: 522
start: 11 26 119 19 34 58
data:
$ID,171
$MISSION,11
$DIVE,522
$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,61
$R_STBD_OVSHOOT,29
$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
$GPS1,261119,192809,702.0924,8401.6250,21,1.3,21,-1.7,1.9,275.6,6,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.8
$GPS2,261119,193404,702.1327,8401.5137,2,0.6,3,-1.7,0.8,284.4,12,6.2
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,228.0,161486,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-0.67,-97.3,103,2499,970,880,0.0,0.0,0,84,0.00,0.00,-72.28,0.005,16386,0.000,0.000,101,2499,2608,2610,2607,0,0,0,0,0,0,14.83,28.83,14.86
$GC,88,-0.67,-97.3,101,2499,2610,2607,4.7,-13.1,15,120,9.15,2.40,-14.35,0.009,18948,0.346,0.072,2114,1109,3368,3382,3354,0,0,0,0,0,0,13.95,12.61,14.38
$GC,237,-0.67,-97.3,2113,1109,3382,3354,48.0,-17.6,45,241,0.00,2.38,0.00,0.000,1030,0.000,0.062,2105,2499,3368,3382,3354,0,0,0,0,0,0,14.60,14.50,14.64
$GC,423,-0.67,-97.3,2104,2499,3382,3354,83.1,-19.2,65,427,0.00,2.38,0.00,0.000,260,0.000,0.077,2093,3897,3368,3382,3354,0,0,0,0,0,0,15.00,14.50,15.02
$GC,604,-0.67,-97.3,2093,3897,3383,3354,111.8,-16.0,101,608,0.00,2.22,0.00,0.000,1030,0.000,0.034,2093,2495,3368,3383,3354,0,0,0,0,0,0,14.73,14.67,14.76
$GC,795,-0.67,-97.3,2093,2494,3383,3354,140.9,-14.5,121,799,0.00,2.40,0.00,0.000,260,0.000,0.080,2083,3893,3368,3383,3354,0,0,0,0,0,0,15.05,14.53,15.07
$GC,837,-0.67,-97.3,2083,3893,3383,3354,147.1,-15.0,129,841,0.12,2.20,0.00,0.000,3078,0.226,0.031,2112,2490,3368,3383,3354,0,0,0,0,0,0,14.40,14.71,14.60
$GC,1028,-0.67,-97.3,2111,2489,3384,3354,169.5,-11.2,149,1032,0.00,2.22,0.00,0.000,516,0.000,0.046,2112,1113,3369,3383,3355,0,0,0,0,0,0,15.07,14.64,15.09
$GC,1060,-0.67,-97.3,2112,1113,3383,3354,172.9,-11.1,155,1064,0.00,2.35,0.00,0.000,1030,0.000,0.058,2103,2503,3368,3383,3354,0,0,0,0,0,0,14.71,14.59,14.74
$GC,1252,-0.67,-97.3,2102,2503,3383,3354,195.8,-11.6,175,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2503,3368,3383,3354,0,0,0,0,0,0,15.07,15.10,15.09
$GC,1431,-0.67,-97.3,2103,2503,3381,3354,217.1,-12.0,193,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2503,3367,3381,3354,0,0,0,0,0,0,15.09,15.11,15.11
$GC,1613,-0.67,-97.3,2102,2503,3379,3354,237.9,-11.1,211,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2503,3367,3380,3354,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1791,-0.67,-97.3,2102,2503,3378,3354,257.6,-10.9,226,1796,0.00,2.38,0.00,0.000,260,0.000,0.083,2091,3893,3365,3377,3353,0,0,0,0,0,0,15.10,14.54,15.12
$GC,1818,-0.67,-97.3,2091,3893,3377,3354,260.6,-11.6,231,1823,0.00,2.20,0.00,0.000,1030,0.000,0.032,2091,2501,3365,3377,3353,0,0,0,0,0,0,14.79,14.73,14.81
$GC,2135,-0.67,-97.3,2091,2499,3375,3351,299.0,-12.2,249,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2499,3363,3375,3352,0,0,0,0,0,0,15.09,15.12,15.12
$GC,2434,-0.67,-97.3,2091,2499,3374,3348,335.2,-12.0,264,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2499,3361,3374,3348,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2736,-0.67,-97.3,2091,2499,3371,3346,370.3,-11.6,279,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2499,3359,3372,3346,0,0,0,0,0,0,15.10,15.13,15.12
$GC,3034,-0.67,-97.3,2091,2499,3370,3344,404.0,-11.3,294,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2499,3357,3370,3344,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3334,-0.67,-97.3,2091,2499,3367,3341,438.3,-11.4,309,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2499,3354,3367,3341,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3636,-0.67,-97.3,2091,2499,3366,3339,473.5,-11.8,324,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2499,3352,3366,3339,0,0,0,0,0,0,15.10,15.14,15.13
$GC,3935,-0.67,-97.3,2091,2499,3365,3338,507.7,-11.2,339,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2499,3351,3364,3338,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4234,-0.67,-97.3,2091,2499,3362,3336,540.9,-11.1,354,4240,0.00,2.47,0.00,0.000,260,0.000,0.093,2081,3890,3349,3362,3336,0,0,0,0,0,0,15.11,14.47,15.14
$GC,4277,-0.67,-97.3,2081,3890,3362,3336,545.8,-11.8,362,4284,0.12,2.25,0.00,0.000,3078,0.208,0.036,2111,2500,3349,3362,3336,0,0,0,0,0,0,14.40,14.68,14.59
$GC,4600,-0.67,-97.3,2111,2498,3361,3334,576.8,-9.2,381,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2498,3347,3361,3334,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4901,-0.67,-97.3,2110,2498,3360,3333,603.0,-8.4,396,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2498,3346,3360,3333,0,0,0,0,0,0,15.10,15.13,15.12
$GC,5201,-0.67,-97.3,2111,2498,3358,3332,627.3,-8.1,411,5207,0.00,2.45,0.00,0.000,260,0.000,0.086,2102,3891,3345,3358,3332,0,0,0,0,0,0,15.10,14.44,15.13
$GC,5241,-0.67,-97.3,2102,3891,3357,3332,630.7,-8.6,419,5245,0.00,2.25,0.00,0.000,1030,0.000,0.036,2102,2494,3344,3357,3332,0,0,0,0,0,0,14.73,14.66,14.75
$GC,5565,-0.67,-97.3,2102,2493,3356,3330,659.1,-9.2,438,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2493,3343,3356,3330,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5862,-0.67,-97.3,2102,2493,3356,3329,688.1,-9.7,453,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2493,3342,3356,3329,0,0,0,0,0,0,15.11,15.14,15.13
$GC,6162,-0.67,-97.3,2102,2493,3355,3328,717.5,-9.8,468,6168,0.00,2.47,0.00,0.000,260,0.000,0.089,2091,3893,3340,3354,3327,0,0,0,0,0,0,15.11,14.40,15.13
$GC,6218,-0.67,-97.3,2090,3893,3354,3327,723.2,-10.4,479,6223,0.00,2.28,0.00,0.000,1030,0.000,0.036,2091,2493,3340,3354,3327,0,0,0,0,0,0,14.70,14.63,14.72
$GC,6523,-0.67,-97.3,2090,2491,3353,3327,754.8,-10.3,495,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2491,3340,3353,3327,0,0,0,0,0,0,15.10,15.13,15.13
$GC,6822,-0.67,-97.3,2090,2491,3352,3326,785.3,-10.1,510,6827,0.00,2.33,0.00,0.000,516,0.000,0.051,2090,1108,3338,3352,3325,0,0,0,0,0,0,15.10,14.51,15.13
$GC,6871,-0.67,-97.3,2090,1108,3352,3325,790.1,-10.0,519,6876,0.12,2.42,0.00,0.000,3078,0.209,0.064,2111,2497,3338,3351,3326,0,0,0,0,0,0,14.28,14.47,14.48
$GC,7188,-0.67,-97.3,2110,2498,3352,3324,817.7,-8.5,537,7192,0.00,2.45,0.00,0.000,260,0.000,0.088,2101,3893,3337,3351,3324,0,0,0,0,0,0,15.10,14.37,15.13
$GC,7262,-0.67,-97.3,2101,3893,3350,3324,823.9,-8.8,551,7266,0.00,2.28,0.00,0.000,1030,0.000,0.037,2101,2497,3337,3351,3324,0,0,0,0,0,0,14.67,14.60,14.69
$GC,7565,-0.67,-97.3,2101,2495,3350,3323,850.2,-8.6,567,7569,0.00,2.33,0.00,0.000,516,0.000,0.051,2101,1104,3336,3350,3323,0,0,0,0,0,0,15.09,14.50,15.11
$GC,7626,-0.67,-97.3,2101,1104,3349,3323,855.8,-8.8,579,7632,0.00,2.42,0.00,0.000,1030,0.000,0.063,2090,2500,3336,3349,3323,0,0,0,0,0,0,14.57,14.45,14.62
$GC,7946,-0.67,-97.3,2090,2500,3348,3321,885.7,-9.5,598,7951,0.00,2.45,0.00,0.000,260,0.000,0.087,2080,3894,3334,3348,3321,0,0,0,0,0,0,15.08,14.34,15.11
$GC,7988,-0.67,-97.3,2079,3894,3348,3321,890.0,-10.2,606,7994,0.12,2.28,0.00,0.000,3078,0.209,0.037,2110,2495,3334,3348,3321,0,0,0,0,0,0,14.29,14.58,14.47
$GC,8312,-0.67,-97.3,2110,2494,3348,3321,917.7,-8.5,625,8316,0.00,2.50,0.00,0.000,260,0.000,0.090,2101,3891,3334,3347,3321,0,0,0,0,0,0,15.09,14.33,15.11
$GC,8343,-0.67,-97.3,2100,3892,3347,3321,920.6,-9.4,631,8347,0.00,2.28,0.00,0.000,1030,0.000,0.037,2101,2496,3334,3348,3321,0,0,0,0,0,0,14.65,14.58,14.68
$GC,8656,-0.67,-97.3,2101,2495,3347,3320,948.6,-8.9,648,8658,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2494,3334,3347,3321,0,0,0,0,0,0,15.08,15.11,15.11
$GC,8956,-0.67,-97.3,2100,2495,3345,3320,975.1,-8.8,663,8960,0.00,2.33,0.00,0.000,516,0.000,0.051,2101,1108,3332,3345,3320,0,0,0,0,0,0,15.08,14.46,15.11
$GC,9002,-0.67,-97.3,2100,1108,3344,3320,979.4,-9.0,672,9006,0.00,2.42,0.00,0.000,1030,0.000,0.061,2090,2503,3332,3344,3320,0,0,0,0,0,0,14.54,14.41,14.58
$STATE,9129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9130,begin apogee
$GC,9137,-0.15,0.0,2090,2503,3344,3320,991.6,-9.4,680,9233,0.65,0.00,92.35,2.020,10246,0.168,0.000,2276,2503,2969,3002,2936,0,0,0,0,0,0,14.15,14.00,12.60
$STATE,9234,end apogee,CONTROL_FINISHED_OK
$STATE,9234,begin climb
$GC,9238,0.67,97.3,2276,2502,3000,2936,994.2,0.0,685,9348,0.82,0.00,104.20,2.002,10758,0.093,0.000,2548,2503,2571,2604,2538,0,0,0,0,0,0,14.16,13.88,12.57
$GC,9637,0.67,97.3,2547,2503,2592,2534,973.6,7.6,720,9643,0.00,2.47,0.00,0.000,516,0.000,0.051,2559,1051,2563,2592,2534,0,0,0,0,0,0,14.83,14.46,14.86
$GC,9715,0.67,97.3,2558,1051,2591,2533,967.4,7.8,736,9719,0.00,2.40,0.00,0.000,1030,0.000,0.058,2559,2443,2562,2591,2533,0,0,0,0,0,0,14.56,14.46,14.61
$GC,10031,0.67,97.3,2559,2443,2591,2531,942.0,8.0,754,10036,0.00,2.38,0.00,0.000,516,0.000,0.050,2570,1041,2560,2590,2531,0,0,0,0,0,0,14.97,14.52,15.00
$GC,10108,0.67,97.3,2570,1041,2589,2529,935.7,8.4,769,10112,0.00,2.40,0.00,0.000,1030,0.000,0.054,2570,2440,2559,2589,2530,0,0,0,0,0,0,14.61,14.50,14.66
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$STATE,21762,end climb,SURFACE_DEPTH_REACHED
$STATE,21763,begin surface coast
$STATE,21783,end surface coast,CONTROL_FINISHED_OK
$STATE,21783,begin surface
$SM_CCo,21804,74.20,0.556,1,0,928,500.17
$SM_GC,1.14,7.60,0.10,74.20,0.050,0.168,0.556,113,2497,928,-6.78,-0.85,500.17,0,0,0,0,1,0,14.54,14.45,13.65
$IRIDIUM_FIX,704.32,8405.26,261119,130942
$TT8_MAMPS,0.018725,0.15729
$HUMID,48.74
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,12.57,180.991
$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,19.625,199.200,500.575,74.200,0.000,0.000,0.000,216.575,0.000,0.000,14.773,1689.369,16476.545,698.059,2872.968,499.277,0.000,2401.729,0.000,2638.906,0.000,0.540,0.000
$DEVICE_MAMPS,345.780,168.300,2019.600,556.155,0.000,0.000,0.000,185.130,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,935.983,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250744
$DATA_FILE_SIZE,79926,1857
$CAP_FILE_SIZE,204316,0
$CFSIZE,260034560,139497472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.035,293.21,1
$GPS,271119,014054,701.195,8359.818,16,1.0,31,-1.7,0.8,277.1,11,3.6