version: 66.13
glider: 171
mission: 11
dive: 659
start: 12 31 119 2 59 30
data:
$ID,171
$MISSION,11
$DIVE,659
$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,52
$R_STBD_OVSHOOT,44
$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
$GPS1,311219,024800,507.3525,8155.6289,20,0.9,20,-2.1,0.8,250.5,9,4.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.0
$GPS2,311219,025838,507.2989,8155.3838,2,0.6,3,-2.1,0.7,302.5,12,9.0
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,232.3,158108,-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,-97.3,112,2521,974,877,0.0,0.0,0,89,0.00,0.00,-76.90,0.005,16386,0.000,0.000,111,2522,2734,2733,2735,0,0,0,0,0,0,14.85,28.83,14.88
$GC,94,-0.67,-97.3,111,2522,2735,2736,5.0,-14.4,16,120,9.35,2.33,-11.73,0.010,18692,0.350,0.093,2096,3880,3367,3380,3354,0,0,0,0,0,0,13.85,12.59,14.31
$GC,349,-0.67,-97.3,2096,3880,3380,3354,71.1,-14.3,67,354,0.00,2.22,0.00,0.000,1030,0.000,0.031,2096,2483,3367,3381,3354,0,0,0,0,0,0,14.65,14.60,14.67
$GC,533,-0.67,-97.3,2096,2481,3381,3354,95.9,-12.2,86,540,0.00,2.42,0.00,0.000,260,0.000,0.079,2086,3881,3367,3381,3354,0,0,0,0,0,0,15.01,14.42,15.04
$GC,769,-0.67,-97.3,2085,3881,3381,3354,130.2,-14.1,133,773,0.00,2.20,0.00,0.000,1030,0.000,0.033,2086,2501,3367,3381,3354,0,0,0,0,0,0,14.69,14.64,14.71
$GC,954,-0.67,-97.3,2085,2500,3381,3354,154.5,-12.9,152,958,0.00,2.40,0.00,0.000,260,0.000,0.081,2075,3878,3367,3381,3354,0,0,0,0,0,0,15.04,14.42,15.07
$GC,1071,-0.67,-97.3,2075,3878,3381,3354,170.2,-13.4,175,1077,0.15,2.20,0.00,0.000,3078,0.213,0.033,2111,2497,3367,3381,3354,0,0,0,0,0,0,14.28,14.64,14.49
$GC,1255,-0.67,-97.3,2111,2496,3380,3354,190.4,-10.9,194,1259,0.00,2.28,0.00,0.000,516,0.000,0.047,2111,1107,3367,3380,3354,0,0,0,0,0,0,15.06,14.55,15.09
$GC,1296,-0.67,-97.3,2111,1108,3379,3354,195.0,-11.0,202,1300,0.00,2.35,0.00,0.000,1030,0.000,0.057,2102,2491,3366,3379,3354,0,0,0,0,0,0,14.62,14.50,14.66
$GC,1489,-0.67,-97.3,2102,2491,3378,3354,216.1,-11.3,222,1493,0.00,2.42,0.00,0.000,260,0.000,0.080,2091,3897,3366,3378,3354,0,0,0,0,0,0,15.05,14.42,15.08
$GC,1549,-0.67,-97.3,2090,3897,3377,3354,223.5,-11.7,234,1554,0.00,2.22,0.00,0.000,1030,0.000,0.032,2091,2503,3365,3377,3354,0,0,0,0,0,0,14.70,14.64,14.72
$GC,1742,-0.67,-97.3,2090,2502,3375,3354,246.7,-12.4,254,1749,0.00,2.45,0.00,0.000,260,0.000,0.083,2080,3900,3364,3374,3354,0,0,0,0,0,0,15.04,14.41,15.07
$GC,1786,-0.67,-97.3,2080,3900,3374,3354,252.5,-12.7,263,1792,0.12,2.25,0.00,0.000,3078,0.209,0.034,2109,2498,3364,3374,3354,0,0,0,0,0,0,14.33,14.63,14.52
$GC,2105,-0.67,-97.3,2109,2496,3374,3349,288.7,-11.4,281,2109,0.00,2.30,0.00,0.000,516,0.000,0.047,2110,1108,3361,3373,3349,0,0,0,0,0,0,15.07,14.53,15.09
$GC,2131,-0.67,-97.3,2109,1108,3372,3348,291.9,-11.6,286,2135,0.00,2.38,0.00,0.000,1030,0.000,0.056,2100,2500,3360,3372,3349,0,0,0,0,0,0,14.61,14.49,14.64
$GC,2448,-0.67,-97.3,2100,2500,3371,3347,329.8,-11.8,304,2452,0.00,2.42,0.00,0.000,260,0.000,0.083,2089,3896,3358,3371,3346,0,0,0,0,0,0,15.07,14.40,15.09
$GC,2495,-0.67,-97.3,2089,3896,3370,3347,335.5,-12.3,313,2499,0.00,2.25,0.00,0.000,1030,0.000,0.034,2089,2498,3358,3370,3346,0,0,0,0,0,0,14.69,14.62,14.71
$GC,2811,-0.67,-97.3,2089,2497,3369,3344,372.9,-11.4,331,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2497,3357,3369,3345,0,0,0,0,0,0,15.07,15.10,15.10
$GC,3111,-0.67,-97.3,2089,2497,3367,3341,406.9,-11.3,346,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2497,3354,3367,3341,0,0,0,0,0,0,15.07,15.11,15.10
$GC,3413,-0.67,-97.3,2089,2497,3365,3340,440.8,-11.3,361,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2497,3352,3366,3339,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3712,-0.67,-97.3,2089,2497,3363,3338,473.8,-10.8,376,3717,0.00,2.45,0.00,0.000,260,0.000,0.086,2079,3886,3350,3363,3338,0,0,0,0,0,0,15.07,14.28,15.10
$GC,3744,-0.67,-97.3,2078,3886,3363,3338,477.5,-11.3,382,3749,0.12,2.25,0.00,0.000,3078,0.207,0.035,2108,2498,3350,3363,3338,0,0,0,0,0,0,14.28,14.59,14.47
$GC,4057,-0.67,-97.3,2108,2497,3362,3336,508.2,-9.9,399,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2497,3349,3362,3337,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4356,-0.67,-97.3,2108,2497,3361,3335,537.5,-9.6,414,4361,0.00,2.33,0.00,0.000,516,0.000,0.049,2108,1109,3348,3361,3335,0,0,0,0,0,0,15.07,14.47,15.10
$GC,4398,-0.67,-97.3,2108,1109,3360,3335,541.6,-9.6,422,4402,0.00,2.40,0.00,0.000,1030,0.000,0.058,2099,2500,3347,3360,3335,0,0,0,0,0,0,14.54,14.42,14.59
$GC,4720,-0.67,-97.3,2098,2500,3359,3334,573.4,-10.2,441,4726,0.00,2.45,0.00,0.000,260,0.000,0.085,2088,3892,3346,3359,3334,0,0,0,0,0,0,15.06,14.31,15.09
$GC,4779,-0.67,-97.3,2087,3892,3358,3334,579.9,-10.7,453,4784,0.00,2.25,0.00,0.000,1030,0.000,0.034,2088,2496,3345,3358,3333,0,0,0,0,0,0,14.54,14.52,14.57
$GC,5103,-0.67,-97.3,2087,2495,3356,3333,614.7,-10.9,472,5107,0.00,2.33,0.00,0.000,516,0.000,0.049,2088,1107,3344,3357,3332,0,0,0,0,0,0,15.06,14.45,15.09
$GC,5124,-0.67,-97.3,2087,1107,3356,3332,617.3,-11.1,476,5132,0.15,2.42,0.00,0.000,3078,0.203,0.060,2112,2507,3344,3356,3332,0,0,0,0,0,0,14.17,14.40,14.38
$GC,5444,-0.67,-97.3,2112,2507,3356,3331,648.1,-9.7,495,5449,0.00,2.45,0.00,0.000,260,0.000,0.086,2104,3894,3343,3356,3331,0,0,0,0,0,0,15.08,14.28,15.10
$GC,5487,-0.67,-97.3,2103,3894,3356,3331,652.3,-10.3,503,5492,0.00,2.28,0.00,0.000,1030,0.000,0.036,2104,2497,3343,3356,3331,0,0,0,0,0,0,14.61,14.54,14.64
$GC,5809,-0.67,-97.3,2103,2495,3355,3330,685.8,-10.5,522,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2495,3343,3356,3330,0,0,0,0,0,0,15.07,15.10,15.10
$GC,6109,-0.67,-97.3,2103,2495,3354,3328,716.8,-10.2,537,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2495,3341,3354,3328,0,0,0,0,0,0,15.07,15.11,15.10
$GC,6409,-0.67,-97.3,2103,2495,3353,3327,746.8,-9.8,552,6414,0.00,2.33,0.00,0.000,516,0.000,0.050,2104,1111,3340,3353,3327,0,0,0,0,0,0,15.07,14.40,15.09
$GC,6436,-0.67,-97.3,2103,1110,3353,3327,749.5,-10.2,557,6442,0.00,2.42,0.00,0.000,1030,0.000,0.063,2092,2499,3339,3352,3327,0,0,0,0,0,0,14.48,14.35,14.52
$GC,6752,-0.67,-97.3,2092,2499,3352,3326,780.7,-9.9,575,6757,0.00,2.47,0.00,0.000,260,0.000,0.086,2082,3890,3339,3352,3326,0,0,0,0,0,0,15.06,14.23,15.09
$GC,6789,-0.67,-97.3,2082,3890,3352,3326,784.8,-10.7,582,6794,0.12,2.30,0.00,0.000,3078,0.203,0.036,2111,2498,3339,3352,3326,0,0,0,0,0,0,14.19,14.49,14.37
$GC,7094,-0.67,-97.3,2111,2496,3351,3325,811.5,-8.6,598,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2496,3338,3352,3325,0,0,0,0,0,0,15.07,15.09,15.09
$GC,7395,-0.67,-97.3,2111,2497,3351,3324,838.3,-9.3,613,7402,0.00,2.50,0.00,0.000,260,0.000,0.087,2102,3890,3337,3351,3324,0,0,0,0,0,0,15.05,14.21,15.08
$GC,7454,-0.67,-97.3,2102,3890,3350,3324,844.1,-9.9,625,7458,0.00,2.28,0.00,0.000,1030,0.000,0.037,2103,2503,3337,3350,3324,0,0,0,0,0,0,14.55,14.48,14.58
$GC,7777,-0.67,-97.3,2102,2502,3349,3323,876.5,-9.9,644,7779,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2502,3336,3349,3323,0,0,0,0,0,0,15.04,15.08,15.07
$GC,8075,-0.67,-97.3,2102,2502,3348,3322,905.7,-9.6,659,8080,0.00,2.50,0.00,0.000,260,0.000,0.088,2091,3890,3335,3348,3322,0,0,0,0,0,0,15.07,14.18,15.09
$GC,8117,-0.67,-97.3,2091,3890,3348,3321,910.0,-10.2,667,8122,0.00,2.30,0.00,0.000,1030,0.000,0.037,2091,2494,3335,3348,3322,0,0,0,0,0,0,14.54,14.46,14.57
$GC,8440,-0.67,-97.3,2091,2492,3347,3321,941.7,-9.7,686,8445,0.00,2.38,0.00,0.000,516,0.000,0.051,2091,1107,3334,3347,3321,0,0,0,0,0,0,15.05,14.33,15.07
$GC,8466,-0.67,-97.3,2090,1106,3347,3321,944.5,-10.1,691,8472,0.12,2.45,0.00,0.000,3078,0.204,0.064,2110,2497,3334,3347,3321,0,0,0,0,0,0,14.09,14.28,14.28
$GC,8784,-0.67,-97.3,2109,2497,3347,3321,971.1,-8.2,709,8787,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2497,3334,3347,3321,0,0,0,0,0,0,15.05,15.09,15.08
$STATE,9021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9021,begin apogee
$GC,9030,-0.15,0.0,2109,2497,3345,3321,990.3,-8.0,721,9126,0.60,0.00,92.12,1.984,10246,0.164,0.000,2279,2497,2968,3000,2936,0,0,0,0,0,0,14.00,13.95,12.64
$STATE,9127,end apogee,CONTROL_FINISHED_OK
$STATE,9127,begin climb
$GC,9131,0.67,97.3,2279,2497,2999,2935,992.8,0.0,726,9247,0.82,2.60,103.03,1.964,10756,0.087,0.050,2563,1050,2569,2601,2538,0,0,0,0,0,0,14.15,13.96,12.60
$GC,9289,0.71,139.4,2562,1050,2595,2537,991.4,5.7,758,9338,0.00,2.45,43.33,1.920,9254,0.000,0.057,2563,2444,2399,2438,2361,0,0,0,0,0,0,14.36,14.26,12.66
$GC,9652,0.71,139.4,2563,2444,2427,2356,955.4,10.6,785,9658,0.00,2.47,0.00,0.000,260,0.000,0.084,2563,3845,2392,2427,2357,0,0,0,0,0,0,14.88,14.33,14.90
$GC,9715,0.71,139.4,2563,3845,2425,2356,947.7,12.0,798,9720,0.00,2.33,0.00,0.000,1030,0.000,0.038,2575,2437,2391,2425,2357,0,0,0,0,0,0,14.57,14.51,14.61
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$STATE,20488,end climb,SURFACE_DEPTH_REACHED
$STATE,20488,begin surface coast
$STATE,20493,end surface coast,CONTROL_FINISHED_OK
$STATE,20493,begin surface
$SM_CCo,20516,93.72,0.596,1,0,928,500.17
$SM_GC,1.11,7.80,2.55,93.72,0.086,0.054,0.596,137,2498,928,-6.76,-1.05,500.17,0,0,0,0,1,0,14.47,14.38,13.55
$IRIDIUM_FIX,504.40,8157.71,311219,025257
$TT8_MAMPS,0.018725,0.163282
$HUMID,50.23
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,12.59,222.161
$10V_AH,12.53,0.000
$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,20.575,219.975,487.100,93.725,0.000,0.000,0.000,370.000,0.250,0.000,14.743,1635.267,15377.040,721.519,2961.399,554.068,0.000,2567.125,0.000,2577.619,0.000,0.540,0.000
$DEVICE_MAMPS,349.605,93.330,1984.410,595.935,0.000,0.000,0.000,187.425,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,911.322,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250348
$DATA_FILE_SIZE,80056,1814
$CAP_FILE_SIZE,202852,0
$CFSIZE,260034560,126701568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.150,33.92,1
$GPS,311219,084410,507.760,8154.859,20,1.3,21,-2.1,0.6,326.6,6,8.3