version: 66.13
glider: 171
mission: 11
dive: 563
start: 12 7 119 3 24 30
data:
$ID,171
$MISSION,11
$DIVE,563
$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,50
$R_STBD_OVSHOOT,38
$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
$GPS1,071219,031730,617.1748,8312.7402,20,0.8,20,-1.9,1.3,261.6,9,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.7
$GPS2,071219,032337,617.1356,8312.5947,2,0.6,3,-1.9,0.9,243.6,12,6.1
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,221.0,39310,-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,6,begin dive
$GC,10,-0.67,-97.3,78,2514,970,881,0.0,0.0,0,83,0.00,0.00,-71.32,0.005,16386,0.000,0.000,75,2515,2587,2587,2588,0,0,0,0,0,0,14.83,28.83,14.86
$GC,87,-0.67,-97.3,75,2514,2589,2588,4.5,-11.2,15,119,9.32,2.42,-15.25,0.008,18948,0.344,0.070,2106,1105,3367,3382,3352,0,0,0,0,0,0,13.88,12.57,14.34
$GC,317,-0.67,-97.3,2105,1104,3383,3352,65.8,-19.2,61,321,0.00,2.38,0.00,0.000,1030,0.000,0.057,2096,2498,3367,3383,3352,0,0,0,0,0,0,14.61,14.50,14.64
$GC,509,-0.67,-97.3,2096,2498,3383,3352,100.3,-15.1,81,513,0.00,2.30,0.00,0.000,516,0.000,0.046,2096,1099,3367,3383,3352,0,0,0,0,0,0,15.00,14.57,15.02
$GC,585,-0.67,-97.3,2096,1099,3383,3352,111.5,-15.0,96,589,0.00,2.38,0.00,0.000,1030,0.000,0.055,2086,2501,3367,3383,3352,0,0,0,0,0,0,14.65,14.54,14.69
$GC,771,-0.67,-97.3,2085,2501,3384,3352,136.9,-13.9,115,775,0.00,2.38,0.00,0.000,260,0.000,0.079,2075,3896,3367,3383,3352,0,0,0,0,0,0,15.04,14.50,15.07
$GC,827,-0.67,-97.3,2074,3896,3384,3352,145.0,-14.5,126,833,0.15,2.22,0.00,0.000,3078,0.224,0.032,2110,2484,3368,3384,3352,0,0,0,0,0,0,14.32,14.69,14.55
$GC,1014,-0.67,-97.3,2109,2482,3384,3352,169.1,-12.8,145,1018,0.00,2.42,0.00,0.000,260,0.000,0.080,2100,3891,3367,3383,3352,0,0,0,0,0,0,15.04,14.50,15.07
$GC,1087,-0.67,-97.3,2100,3891,3383,3352,178.8,-13.4,159,1091,0.00,2.20,0.00,0.000,1030,0.000,0.032,2100,2498,3368,3384,3352,0,0,0,0,0,0,14.76,14.70,14.78
$GC,1278,-0.67,-97.3,2100,2497,3383,3352,202.3,-12.4,179,1283,0.00,2.25,0.00,0.000,516,0.000,0.046,2100,1111,3367,3383,3352,0,0,0,0,0,0,15.07,14.62,15.09
$GC,1316,-0.67,-97.3,2100,1111,3383,3352,206.9,-12.4,186,1321,0.00,2.35,0.00,0.000,1030,0.000,0.055,2089,2503,3367,3383,3352,0,0,0,0,0,0,14.69,14.59,14.73
$GC,1501,-0.67,-97.3,2089,2503,3381,3352,229.4,-11.4,205,1505,0.00,2.30,0.00,0.000,516,0.000,0.045,2089,1105,3366,3381,3352,0,0,0,0,0,0,15.07,14.62,15.09
$GC,1526,-0.67,-97.3,2089,1105,3380,3352,232.8,-12.5,210,1532,0.12,2.38,0.00,0.000,3078,0.218,0.055,2108,2507,3366,3381,3352,0,0,0,0,0,0,14.38,14.59,14.58
$GC,1715,-0.67,-97.3,2108,2507,3379,3352,252.9,-11.1,228,1719,0.00,2.38,0.00,0.000,260,0.000,0.082,2099,3890,3365,3379,3352,0,0,0,0,0,0,15.06,14.50,15.08
$GC,1756,-0.67,-97.3,2099,3890,3378,3352,258.1,-11.9,236,1760,0.00,2.20,0.00,0.000,1030,0.000,0.032,2099,2500,3365,3378,3352,0,0,0,0,0,0,14.76,14.71,14.78
$GC,2077,-0.67,-97.3,2099,2498,3375,3352,295.9,-11.9,255,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2499,3363,3375,3352,0,0,0,0,0,0,15.09,15.12,15.11
$GC,2378,-0.67,-97.3,2099,2498,3373,3349,330.9,-11.7,270,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2499,3360,3373,3348,0,0,0,0,0,0,15.09,15.12,15.11
$GC,2676,-0.67,-97.3,2099,2499,3372,3347,365.4,-11.4,285,2684,0.00,2.42,0.00,0.000,260,0.000,0.083,2088,3890,3358,3371,3346,0,0,0,0,0,0,15.10,14.49,15.13
$GC,2731,-0.67,-97.3,2088,3890,3371,3347,371.8,-11.7,296,2735,0.00,2.22,0.00,0.000,1030,0.000,0.034,2088,2498,3358,3371,3346,0,0,0,0,0,0,14.76,14.69,14.78
$GC,3038,-0.67,-97.3,2088,2497,3370,3344,406.4,-11.3,312,3042,0.00,2.45,0.00,0.000,260,0.000,0.083,2077,3897,3356,3369,3344,0,0,0,0,0,0,15.09,14.47,15.11
$GC,3089,-0.67,-97.3,2077,3897,3368,3344,412.6,-11.9,322,3095,0.12,2.25,0.00,0.000,3078,0.211,0.034,2108,2491,3356,3368,3344,0,0,0,0,0,0,14.40,14.69,14.58
$GC,3403,-0.67,-97.3,2108,2490,3367,3341,444.2,-10.1,339,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2490,3354,3367,3341,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3702,-0.67,-97.3,2108,2490,3366,3339,475.1,-10.2,354,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2490,3352,3366,3339,0,0,0,0,0,0,15.10,15.13,15.12
$GC,4001,-0.67,-97.3,2108,2490,3363,3338,505.5,-10.0,369,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2490,3350,3363,3338,0,0,0,0,0,0,15.11,15.13,15.13
$GC,4303,-0.67,-97.3,2108,2490,3362,3336,534.7,-9.5,384,4309,0.00,2.45,0.00,0.000,260,0.000,0.085,2099,3891,3349,3362,3336,0,0,0,0,0,0,15.09,14.43,15.11
$GC,4331,-0.67,-97.3,2098,3891,3362,3336,537.6,-10.4,390,4337,0.00,2.22,0.00,0.000,1030,0.000,0.034,2099,2502,3349,3362,3336,0,0,0,0,0,0,14.73,14.66,14.75
$GC,4645,-0.67,-97.3,2098,2501,3361,3334,568.5,-9.6,407,4649,0.00,2.33,0.00,0.000,516,0.000,0.049,2099,1105,3347,3361,3334,0,0,0,0,0,0,15.10,14.55,15.12
$GC,4668,-0.67,-97.3,2098,1105,3361,3334,570.7,-10.1,411,4674,0.00,2.40,0.00,0.000,1030,0.000,0.058,2088,2504,3347,3360,3334,0,0,0,0,0,0,14.63,14.52,14.67
$GC,4986,-0.67,-97.3,2087,2504,3359,3333,604.6,-10.8,430,4991,0.00,2.42,0.00,0.000,260,0.000,0.085,2077,3897,3346,3359,3333,0,0,0,0,0,0,15.09,14.42,15.12
$GC,5028,-0.67,-97.3,2076,3897,3358,3333,609.3,-11.4,438,5034,0.15,2.25,0.00,0.000,3078,0.202,0.035,2114,2493,3345,3358,3333,0,0,0,0,0,0,14.32,14.64,14.52
$GC,5352,-0.67,-97.3,2114,2492,3357,3332,639.9,-9.5,457,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2492,3344,3357,3332,0,0,0,0,0,0,15.09,15.12,15.11
$GC,5651,-0.67,-97.3,2113,2492,3356,3331,668.0,-9.1,472,5655,0.00,2.47,0.00,0.000,260,0.000,0.085,2105,3891,3343,3356,3330,0,0,0,0,0,0,15.10,14.39,15.12
$GC,5703,-0.67,-97.3,2105,3891,3356,3330,672.9,-9.7,482,5708,0.00,2.25,0.00,0.000,1030,0.000,0.034,2105,2498,3343,3356,3330,0,0,0,0,0,0,14.69,14.63,14.71
$GC,6016,-0.67,-97.3,2104,2497,3355,3329,702.0,-9.2,499,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2497,3342,3355,3329,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6315,-0.67,-97.3,2104,2497,3354,3328,727.8,-8.2,514,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2497,3341,3354,3328,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6615,-0.67,-97.3,2104,2496,3352,3327,752.6,-8.4,529,6622,0.00,2.47,0.00,0.000,260,0.000,0.087,2094,3891,3340,3353,3327,0,0,0,0,0,0,15.09,14.35,15.12
$GC,6640,-0.67,-97.3,2093,3892,3352,3326,754.8,-9.1,534,6645,0.00,2.25,0.00,0.000,1030,0.000,0.036,2094,2503,3340,3353,3327,0,0,0,0,0,0,14.67,14.60,14.69
$GC,6957,-0.67,-97.3,2093,2502,3352,3326,784.6,-9.7,552,6959,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2502,3339,3352,3326,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7259,-0.67,-97.3,2093,2502,3350,3325,813.4,-9.6,567,7261,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2502,3338,3351,3325,0,0,0,0,0,0,15.08,15.11,15.10
$GC,7557,-0.67,-97.3,2093,2502,3350,3324,841.6,-9.1,582,7562,0.00,2.35,0.00,0.000,516,0.000,0.051,2093,1105,3337,3350,3324,0,0,0,0,0,0,15.09,14.47,15.11
$GC,7599,-0.67,-97.3,2093,1105,3349,3324,845.5,-9.3,590,7605,0.12,2.42,0.00,0.000,3078,0.208,0.059,2113,2500,3336,3349,3324,0,0,0,0,0,0,14.23,14.42,14.43
$GC,7923,-0.67,-97.3,2113,2500,3349,3323,872.0,-8.2,609,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2500,3335,3349,3322,0,0,0,0,0,0,15.08,15.11,15.10
$GC,8222,-0.67,-97.3,2112,2500,3348,3322,897.0,-8.6,624,8228,0.00,2.47,0.00,0.000,260,0.000,0.088,2104,3896,3335,3348,3322,0,0,0,0,0,0,15.09,14.30,15.11
$GC,8263,-0.67,-97.3,2103,3896,3348,3322,900.7,-9.3,632,8267,0.00,2.28,0.00,0.000,1030,0.000,0.036,2104,2499,3335,3348,3322,0,0,0,0,0,0,14.63,14.57,14.66
$GC,8585,-0.67,-97.3,2103,2498,3347,3321,931.3,-9.6,651,8587,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2498,3334,3348,3321,0,0,0,0,0,0,15.08,15.11,15.11
$GC,8884,-0.67,-97.3,2103,2498,3347,3320,960.0,-9.5,666,8886,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2498,3333,3347,3320,0,0,0,0,0,0,15.09,15.11,15.11
$GC,9185,-0.67,-97.3,2103,2498,3346,3320,988.1,-9.2,681,9191,0.00,2.33,0.00,0.000,516,0.000,0.051,2104,1110,3333,3346,3320,0,0,0,0,0,0,15.07,14.35,15.10
$STATE,9205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9205,begin apogee
$GC,9214,-0.15,0.0,2093,2448,3345,3320,990.4,-9.9,685,9312,0.65,0.00,93.28,2.004,10246,0.164,0.000,2278,2448,2968,3000,2936,0,0,0,0,0,0,14.10,13.97,12.57
$STATE,9313,end apogee,CONTROL_FINISHED_OK
$STATE,9313,begin climb
$GC,9317,0.67,97.3,2278,2448,2999,2936,993.7,0.0,690,9426,0.82,0.00,105.03,1.991,10246,0.088,0.000,2552,2449,2570,2601,2540,0,0,0,0,0,0,14.18,13.88,12.57
$GC,9730,0.67,97.3,2552,2448,2591,2535,974.1,7.6,711,9735,0.00,2.40,0.00,0.000,516,0.000,0.052,2563,1054,2562,2590,2535,0,0,0,0,0,0,14.85,14.45,14.88
$GC,9784,0.67,97.3,2563,1054,2589,2534,969.9,7.7,721,9788,0.00,2.40,0.00,0.000,1030,0.000,0.054,2563,2446,2561,2589,2534,0,0,0,0,0,0,14.55,14.45,14.59
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$STATE,22093,end climb,SURFACE_DEPTH_REACHED
$STATE,22093,begin surface coast
$STATE,22121,end surface coast,CONTROL_FINISHED_OK
$STATE,22121,begin surface
$SM_CCo,22141,144.30,0.656,1,0,928,500.17
$SM_GC,1.26,7.50,0.10,144.30,0.041,0.152,0.656,128,2513,928,-6.77,-0.88,500.17,0,0,0,0,1,0,14.56,14.57,13.56
$IRIDIUM_FIX,618.62,8313.23,061219,205555
$TT8_MAMPS,0.019474,0.15729
$HUMID,47.40
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,12.57,193.340
$10V_AH,13.13,0.000
$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
$DEVICE_SECS,20.150,203.825,430.825,144.300,0.000,0.000,0.000,223.225,0.000,0.000,15.130,1704.698,16789.695,752.577,2881.788,529.193,0.000,2442.382,0.000,2638.664,0.000,0.540,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,936.962,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250588
$DATA_FILE_SIZE,79783,1857
$CAP_FILE_SIZE,206029,0
$CFSIZE,260034560,135647232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.069,48.56,1
$GPS,071219,093710,616.448,8312.075,23,1.8,24,-1.9,0.8,256.4,5,9.5