version: 66.13
glider: 171
mission: 11
dive: 657
start: 12 30 119 15 5 39
data:
$ID,171
$MISSION,11
$DIVE,657
$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,54
$R_STBD_OVSHOOT,23
$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
$GPS1,301219,145825,507.1020,8157.8140,15,0.7,32,-2.1,0.6,224.8,12,3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-72.3
$GPS2,301219,150446,507.0584,8157.6753,3,0.6,4,-2.1,0.5,168.8,12,8.0
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,232.4,162284,-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,-97.3,124,2501,973,879,0.0,0.0,0,88,0.00,0.00,-75.93,0.005,16386,0.000,0.000,124,2501,2676,2673,2679,0,0,0,0,0,0,14.85,28.83,14.88
$GC,92,-0.67,-97.3,124,2501,2674,2679,4.4,-12.4,16,121,9.30,2.42,-13.25,0.010,18692,0.349,0.095,2094,3903,3366,3381,3352,0,0,0,0,0,0,13.84,13.40,14.31
$GC,349,-0.67,-97.3,2094,3903,3381,3352,71.7,-14.0,67,355,0.00,2.25,0.00,0.000,1030,0.000,0.033,2094,2495,3366,3381,3352,0,0,0,0,0,0,14.64,14.59,14.66
$GC,543,-0.67,-97.3,2094,2493,3382,3352,97.4,-13.9,87,548,0.00,2.45,0.00,0.000,260,0.000,0.083,2084,3897,3366,3381,3352,0,0,0,0,0,0,15.01,14.41,15.04
$GC,775,-0.67,-97.3,2083,3898,3382,3353,131.5,-14.5,133,780,0.12,2.22,0.00,0.000,3078,0.225,0.032,2111,2491,3367,3382,3352,0,0,0,0,0,0,14.30,14.64,14.50
$GC,968,-0.67,-97.3,2111,2490,3382,3352,153.9,-10.3,153,974,0.00,2.45,0.00,0.000,260,0.000,0.081,2103,3899,3367,3382,3352,0,0,0,0,0,0,15.04,14.42,15.06
$GC,1072,-0.67,-97.3,2102,3898,3382,3352,165.7,-11.2,174,1076,0.00,2.22,0.00,0.000,1030,0.000,0.031,2103,2503,3367,3382,3352,0,0,0,0,0,0,14.71,14.64,14.72
$GC,1258,-0.67,-97.3,2102,2502,3382,3352,186.9,-11.3,193,1263,0.00,2.30,0.00,0.000,516,0.000,0.046,2103,1108,3366,3381,3352,0,0,0,0,0,0,15.05,14.55,15.07
$GC,1275,-0.67,-97.3,2102,1108,3381,3352,188.9,-11.2,196,1279,0.00,2.38,0.00,0.000,1030,0.000,0.054,2091,2507,3366,3381,3352,0,0,0,0,0,0,14.62,14.52,14.66
$GC,1460,-0.67,-97.3,2091,2507,3379,3352,212.0,-13.2,215,1464,0.00,2.30,0.00,0.000,516,0.000,0.046,2091,1112,3366,3380,3352,0,0,0,0,0,0,15.06,14.55,15.09
$GC,1489,-0.67,-97.3,2091,1112,3379,3352,215.6,-12.9,220,1496,0.12,2.38,0.00,0.000,3078,0.211,0.056,2110,2507,3365,3379,3352,0,0,0,0,0,0,14.30,14.50,14.50
$GC,1685,-0.67,-97.3,2110,2507,3377,3352,238.1,-11.4,241,1689,0.00,2.40,0.00,0.000,260,0.000,0.081,2101,3896,3365,3378,3352,0,0,0,0,0,0,15.04,14.42,15.07
$GC,1743,-0.67,-97.3,2100,3896,3377,3351,244.9,-11.5,252,1747,0.00,2.22,0.00,0.000,1030,0.000,0.032,2101,2501,3364,3377,3352,0,0,0,0,0,0,14.70,14.64,14.72
$GC,1927,-0.67,-97.3,2101,2500,3375,3352,266.0,-11.4,264,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3363,3375,3352,0,0,0,0,0,0,15.07,15.10,15.09
$GC,2226,-0.67,-97.3,2100,2500,3373,3349,301.3,-11.8,279,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3361,3374,3349,0,0,0,0,0,0,15.07,15.11,15.10
$GC,2528,-0.67,-97.3,2100,2500,3372,3347,336.4,-11.7,294,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3359,3372,3347,0,0,0,0,0,0,15.07,15.09,15.09
$GC,2826,-0.67,-97.3,2100,2500,3371,3345,371.6,-11.8,309,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3358,3371,3345,0,0,0,0,0,0,15.08,15.11,15.11
$GC,3127,-0.67,-97.3,2100,2500,3368,3342,405.9,-11.4,324,3133,0.00,2.45,0.00,0.000,260,0.000,0.083,2090,3892,3354,3368,3341,0,0,0,0,0,0,15.07,14.38,15.10
$GC,3163,-0.67,-97.3,2089,3892,3368,3342,409.9,-11.5,331,3168,0.00,2.25,0.00,0.000,1030,0.000,0.034,2089,2499,3355,3368,3342,0,0,0,0,0,0,14.68,14.62,14.70
$GC,3466,-0.67,-97.3,2089,2497,3366,3340,444.8,-11.4,347,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2497,3353,3367,3340,0,0,0,0,0,0,15.08,15.10,15.10
$GC,3766,-0.67,-97.3,2090,2497,3365,3338,478.4,-11.0,362,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2497,3352,3365,3339,0,0,0,0,0,0,15.08,15.11,15.10
$GC,4068,-0.67,-97.3,2089,2497,3363,3338,511.4,-11.3,377,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2497,3350,3363,3337,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4367,-0.67,-97.3,2089,2497,3362,3336,544.5,-11.3,392,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2497,3349,3362,3336,0,0,0,0,0,0,15.07,15.10,15.10
$GC,4668,-0.67,-97.3,2089,2497,3360,3334,578.8,-11.4,407,4673,0.00,2.47,0.00,0.000,260,0.000,0.084,2079,3893,3347,3361,3334,0,0,0,0,0,0,15.07,14.32,15.09
$GC,4700,-0.67,-97.3,2079,3893,3361,3334,582.7,-11.8,413,4704,0.12,2.28,0.00,0.000,3078,0.210,0.034,2108,2490,3347,3361,3334,0,0,0,0,0,0,14.26,14.57,14.45
$GC,5012,-0.67,-97.3,2108,2489,3360,3333,613.4,-9.8,430,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2488,3346,3360,3333,0,0,0,0,0,0,15.07,15.10,15.10
$GC,5313,-0.67,-97.3,2107,2489,3358,3332,641.7,-9.6,445,5317,0.00,2.33,0.00,0.000,516,0.000,0.050,2108,1110,3345,3358,3332,0,0,0,0,0,0,15.07,14.44,15.09
$GC,5344,-0.67,-97.3,2108,1109,3357,3332,645.1,-10.4,451,5349,0.00,2.40,0.00,0.000,1030,0.000,0.059,2099,2499,3344,3357,3332,0,0,0,0,0,0,14.52,14.40,14.57
$GC,5657,-0.67,-97.3,2099,2500,3356,3331,679.1,-11.1,468,5661,0.00,2.45,0.00,0.000,260,0.000,0.085,2088,3892,3344,3357,3331,0,0,0,0,0,0,15.07,14.28,15.09
$GC,5706,-0.67,-97.3,2088,3891,3356,3331,684.5,-11.6,477,5710,0.00,2.28,0.00,0.000,1030,0.000,0.035,2088,2495,3343,3356,3331,0,0,0,0,0,0,14.62,14.54,14.64
$GC,6022,-0.67,-97.3,2087,2494,3356,3330,722.4,-11.7,495,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2493,3343,3356,3330,0,0,0,0,0,0,15.07,15.10,15.09
$GC,6322,-0.67,-97.3,2088,2494,3355,3329,754.7,-10.5,510,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2494,3341,3355,3328,0,0,0,0,0,0,15.07,15.10,15.10
$GC,6624,-0.67,-97.3,2087,2494,3354,3327,785.5,-10.2,525,6632,0.00,2.50,0.00,0.000,260,0.000,0.087,2077,3890,3340,3354,3327,0,0,0,0,0,0,15.06,14.25,15.08
$GC,6664,-0.67,-97.3,2077,3890,3353,3327,790.0,-10.9,533,6671,0.15,2.28,0.00,0.000,3078,0.198,0.035,2114,2499,3340,3354,3327,0,0,0,0,0,0,14.17,14.52,14.37
$GC,6986,-0.67,-97.3,2114,2498,3353,3326,817.2,-8.3,552,6990,0.00,2.35,0.00,0.000,516,0.000,0.051,2114,1109,3339,3353,3326,0,0,0,0,0,0,15.05,14.39,15.08
$GC,7023,-0.67,-97.3,2114,1109,3352,3326,820.5,-8.5,559,7028,0.00,2.42,0.00,0.000,1030,0.000,0.060,2105,2499,3339,3352,3326,0,0,0,0,0,0,14.46,14.33,14.51
$GC,7327,-0.67,-97.3,2105,2499,3352,3325,847.3,-8.7,575,7332,0.00,2.47,0.00,0.000,260,0.000,0.086,2094,3892,3338,3352,3325,0,0,0,0,0,0,15.07,14.22,15.09
$GC,7416,-0.67,-97.3,2093,3892,3351,3325,855.5,-9.5,592,7420,0.00,2.30,0.00,0.000,1030,0.000,0.037,2094,2496,3338,3351,3325,0,0,0,0,0,0,14.56,14.48,14.59
$GC,7732,-0.67,-97.3,2093,2494,3351,3324,886.0,-9.7,610,7739,0.00,2.53,0.00,0.000,260,0.000,0.086,2083,3900,3337,3350,3324,0,0,0,0,0,0,15.07,14.21,15.09
$GC,7784,-0.67,-97.3,2083,3900,3350,3324,891.1,-10.3,620,7788,0.00,2.33,0.00,0.000,1030,0.000,0.037,2083,2494,3337,3350,3324,0,0,0,0,0,0,14.54,14.47,14.57
$GC,8097,-0.67,-97.3,2083,2492,3350,3323,922.3,-9.9,637,8101,0.00,2.35,0.00,0.000,516,0.000,0.052,2083,1105,3336,3350,3323,0,0,0,0,0,0,15.05,14.35,15.08
$GC,8123,-0.67,-97.3,2083,1104,3349,3323,925.1,-10.2,642,8132,0.15,2.45,0.00,0.000,3078,0.194,0.061,2108,2500,3335,3348,3323,0,0,0,0,0,0,14.09,14.31,14.29
$GC,8441,-0.67,-97.3,2108,2500,3349,3322,951.9,-8.6,660,8443,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2500,3335,3349,3322,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8739,-0.67,-97.3,2108,2500,3348,3321,977.6,-8.6,675,8741,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2500,3334,3348,3321,0,0,0,0,0,0,15.06,15.09,15.09
$STATE,8897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8898,begin apogee
$GC,8907,-0.15,0.0,2109,2429,3348,3320,991.5,-8.7,683,9004,0.60,0.00,92.47,1.987,10246,0.160,0.000,2279,2427,2968,3001,2935,0,0,0,0,0,0,14.04,13.95,12.63
$STATE,9005,end apogee,CONTROL_FINISHED_OK
$STATE,9005,begin climb
$GC,9008,0.67,97.3,2279,2427,3000,2935,994.8,0.0,688,9122,0.82,2.40,103.32,1.968,10756,0.090,0.051,2561,1049,2570,2602,2538,0,0,0,0,0,0,14.14,13.58,12.58
$GC,9196,0.71,135.9,2560,1049,2595,2535,992.1,5.9,726,9244,0.00,2.45,39.72,1.922,9254,0.000,0.060,2561,2444,2412,2450,2375,0,0,0,0,0,0,14.40,14.31,12.68
$GC,9545,0.71,135.9,2561,2444,2442,2371,959.3,9.9,751,9550,0.00,2.47,0.00,0.000,260,0.000,0.083,2561,3847,2406,2442,2370,0,0,0,0,0,0,14.88,14.34,14.90
$GC,9603,0.71,135.9,2560,3846,2439,2370,953.0,11.3,762,9607,0.00,2.33,0.00,0.000,1030,0.000,0.038,2574,2445,2404,2439,2370,0,0,0,0,0,0,14.57,14.50,14.61
$GC,9907,0.71,135.9,2574,2444,2439,2369,922.4,10.0,778,9911,0.00,2.40,0.00,0.000,516,0.000,0.054,2585,1038,2404,2439,2369,0,0,0,0,0,0,14.98,14.45,15.01
$GC,10013,0.71,135.9,2585,1038,2437,2369,912.1,9.5,799,10018,0.00,2.42,0.00,0.000,1030,0.000,0.055,2585,2441,2403,2437,2369,0,0,0,0,0,0,14.54,14.43,14.59
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$STATE,20632,end climb,SURFACE_DEPTH_REACHED
$STATE,20632,begin surface coast
$STATE,20661,end surface coast,CONTROL_FINISHED_OK
$STATE,20661,begin surface
$SM_CCo,20685,125.40,0.640,1,0,928,500.17
$SM_GC,1.14,7.53,2.58,125.40,0.054,0.062,0.640,123,2494,928,-6.79,-1.10,500.17,0,0,0,0,1,0,14.51,14.38,13.54
$IRIDIUM_FIX,508.72,8157.71,301219,094028
$TT8_MAMPS,0.018725,0.160286
$HUMID,49.64
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,12.58,221.557
$10V_AH,13.12,0.000
$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,20.400,206.050,455.900,125.400,0.000,0.000,0.000,240.925,0.000,0.000,15.503,1645.005,15432.727,732.000,2830.411,559.207,0.000,2430.631,0.000,2571.873,0.000,0.539,0.000
$DEVICE_MAMPS,348.840,147.645,1987.470,639.540,0.000,0.000,0.000,175.950,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,917.543,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250344
$DATA_FILE_SIZE,80009,1810
$CAP_FILE_SIZE,200633,0
$CFSIZE,260034560,126894080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.129,19.49,1
$GPS,301219,205339,507.470,8156.716,19,0.9,19,-2.1,0.3,257.2,8,6.3