version: 66.13
glider: 171
mission: 11
dive: 664
start: 1 1 120 9 10 19
data:
$ID,171
$MISSION,11
$DIVE,664
$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,73
$R_STBD_OVSHOOT,34
$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
$GPS1,010120,090300,507.7393,8151.3281,25,0.6,25,-2.1,0.4,233.3,12,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.5
$GPS2,010120,090925,507.7039,8151.2500,2,0.5,3,-2.1,0.6,241.6,12,6.6
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,237.8,150580,-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,-97.3,114,2503,972,880,0.0,0.0,0,83,0.00,0.00,-71.45,0.005,16386,0.000,0.000,114,2504,2582,2585,2579,0,0,0,0,0,0,14.83,28.83,14.85
$GC,87,-0.67,-97.3,114,2504,2587,2579,4.2,-10.6,15,119,9.35,2.38,-15.70,0.008,18948,0.350,0.073,2106,1128,3367,3383,3352,0,0,0,0,0,0,13.83,12.57,14.31
$GC,248,-0.67,-97.3,2106,1127,3383,3351,50.3,-23.4,47,253,0.00,2.33,0.00,0.000,1030,0.000,0.058,2097,2494,3367,3383,3351,0,0,0,0,0,0,14.52,14.40,14.57
$GC,441,-0.67,-97.3,2096,2494,3383,3351,86.1,-16.7,67,447,0.00,2.40,0.00,0.000,260,0.000,0.078,2086,3894,3367,3383,3352,0,0,0,0,0,0,15.00,14.39,15.02
$GC,622,-0.67,-97.3,2086,3894,3384,3351,116.7,-14.0,103,626,0.00,2.22,0.00,0.000,1030,0.000,0.031,2086,2500,3367,3384,3351,0,0,0,0,0,0,14.66,14.61,14.69
$GC,814,-0.67,-97.3,2086,2498,3384,3352,144.3,-14.0,123,818,0.00,2.42,0.00,0.000,260,0.000,0.078,2075,3899,3367,3384,3351,0,0,0,0,0,0,15.04,14.41,15.06
$GC,955,-0.67,-97.3,2075,3899,3384,3351,165.2,-15.3,150,960,0.15,2.22,0.00,0.000,3078,0.215,0.032,2111,2500,3367,3384,3351,0,0,0,0,0,0,14.25,14.62,14.46
$GC,1137,-0.67,-97.3,2110,2499,3384,3351,188.5,-11.1,169,1145,0.00,2.42,0.00,0.000,260,0.000,0.080,2101,3893,3367,3383,3351,0,0,0,0,0,0,15.05,14.40,15.07
$GC,1174,-0.67,-97.3,2101,3893,3384,3351,192.5,-12.1,176,1178,0.00,2.22,0.00,0.000,1030,0.000,0.031,2101,2503,3367,3384,3351,0,0,0,0,0,0,14.69,14.62,14.71
$GC,1358,-0.67,-97.3,2101,2501,3383,3351,213.8,-11.5,195,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2501,3367,3383,3351,0,0,0,0,0,0,15.05,15.08,15.08
$GC,1539,-0.67,-97.3,2101,2501,3381,3351,233.6,-10.9,213,1543,0.00,2.30,0.00,0.000,516,0.000,0.047,2101,1110,3365,3380,3351,0,0,0,0,0,0,15.04,14.52,15.07
$GC,1591,-0.67,-97.3,2101,1110,3380,3351,239.5,-11.3,223,1595,0.00,2.38,0.00,0.000,1030,0.000,0.057,2090,2501,3365,3379,3351,0,0,0,0,0,0,14.59,14.48,14.64
$GC,1782,-0.67,-97.3,2090,2501,3378,3351,262.5,-12.2,238,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2501,3364,3378,3351,0,0,0,0,0,0,15.07,15.10,15.09
$GC,2083,-0.67,-97.3,2090,2501,3375,3351,297.7,-11.3,253,2087,0.00,2.42,0.00,0.000,260,0.000,0.082,2080,3900,3362,3374,3351,0,0,0,0,0,0,15.07,14.38,15.09
$GC,2264,-0.67,-97.3,2080,3900,3371,3351,319.3,-12.3,289,2269,0.12,2.25,0.00,0.000,3078,0.214,0.034,2108,2500,3361,3372,3351,0,0,0,0,0,0,14.28,14.61,14.48
$GC,2587,-0.67,-97.3,2108,2498,3371,3346,353.8,-10.8,308,2593,0.00,2.47,0.00,0.000,260,0.000,0.084,2099,3909,3359,3372,3346,0,0,0,0,0,0,15.07,14.33,15.09
$GC,2823,-0.67,-97.3,2099,3910,3369,3346,380.9,-11.6,355,2827,0.00,2.30,0.00,0.000,1030,0.000,0.034,2099,2493,3357,3369,3346,0,0,0,0,0,0,14.65,14.59,14.68
$GC,3127,-0.67,-97.3,2098,2491,3368,3342,415.2,-11.1,371,3131,0.00,2.50,0.00,0.000,260,0.000,0.083,2088,3893,3355,3368,3342,0,0,0,0,0,0,15.07,14.34,15.09
$GC,3360,-0.67,-97.3,2087,3893,3366,3341,442.8,-11.8,417,3364,0.00,2.25,0.00,0.000,1030,0.000,0.034,2088,2500,3353,3366,3341,0,0,0,0,0,0,14.64,14.57,14.66
$GC,3671,-0.67,-97.3,2088,2499,3366,3339,479.1,-11.6,434,3675,0.00,2.47,0.00,0.000,260,0.000,0.085,2077,3894,3352,3366,3338,0,0,0,0,0,0,15.07,14.32,15.09
$GC,3904,-0.67,-97.3,2077,3894,3363,3338,506.9,-11.6,480,3910,0.15,2.30,0.00,0.000,3078,0.203,0.035,2113,2492,3350,3363,3338,0,0,0,0,0,0,14.21,14.55,14.41
$GC,4218,-0.67,-97.3,2113,2491,3362,3336,535.2,-8.7,497,4225,0.00,2.50,0.00,0.000,260,0.000,0.084,2104,3899,3349,3362,3336,0,0,0,0,0,0,15.06,14.30,15.09
$GC,4282,-0.67,-97.3,2104,3899,3362,3336,541.3,-9.5,510,4288,0.00,2.28,0.00,0.000,1030,0.000,0.035,2104,2500,3349,3362,3336,0,0,0,0,0,0,14.62,14.55,14.64
$GC,4600,-0.67,-97.3,2104,2499,3362,3334,571.2,-9.5,528,4606,0.00,2.50,0.00,0.000,260,0.000,0.086,2093,3897,3348,3362,3334,0,0,0,0,0,0,15.07,14.28,15.09
$GC,4681,-0.67,-97.3,2093,3897,3361,3334,579.4,-10.5,544,4685,0.00,2.30,0.00,0.000,1030,0.000,0.036,2093,2494,3347,3361,3334,0,0,0,0,0,0,14.60,14.53,14.63
$GC,5003,-0.67,-97.3,2093,2493,3360,3333,612.8,-10.4,563,5009,0.00,2.50,0.00,0.000,260,0.000,0.086,2083,3893,3346,3360,3333,0,0,0,0,0,0,15.07,14.27,15.09
$GC,5215,-0.67,-97.3,2082,3893,3358,3332,636.5,-11.2,605,5220,0.12,2.28,0.00,0.000,3078,0.204,0.036,2112,2498,3345,3358,3333,0,0,0,0,0,0,14.21,14.52,14.40
$GC,5527,-0.67,-97.3,2112,2497,3357,3331,666.8,-9.8,622,5532,0.00,2.53,0.00,0.000,260,0.000,0.087,2103,3894,3343,3357,3330,0,0,0,0,0,0,15.07,14.23,15.09
$GC,5560,-0.67,-97.3,2103,3894,3356,3331,670.1,-10.3,628,5564,0.00,2.28,0.00,0.000,1030,0.000,0.036,2103,2503,3344,3357,3331,0,0,0,0,0,0,14.59,14.51,14.61
$GC,5871,-0.67,-97.3,2103,2502,3356,3330,702.0,-10.2,645,5876,0.00,2.38,0.00,0.000,516,0.000,0.050,2103,1108,3342,3356,3329,0,0,0,0,0,0,15.06,14.39,15.09
$GC,5908,-0.67,-97.3,2103,1107,3356,3329,705.7,-9.9,652,5915,0.00,2.42,0.00,0.000,1030,0.000,0.057,2092,2499,3342,3356,3329,0,0,0,0,0,0,14.47,14.34,14.51
$GC,6234,-0.67,-97.3,2091,2499,3355,3328,739.3,-10.5,672,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2499,3341,3355,3327,0,0,0,0,0,0,15.05,15.08,15.08
$GC,6534,-0.67,-97.3,2091,2499,3354,3328,771.0,-10.6,687,6540,0.00,2.47,0.00,0.000,260,0.000,0.087,2082,3891,3340,3354,3327,0,0,0,0,0,0,15.06,14.21,15.09
$GC,6595,-0.67,-97.3,2081,3892,3353,3327,777.7,-11.2,699,6600,0.12,2.30,0.00,0.000,3078,0.201,0.037,2110,2499,3340,3353,3327,0,0,0,0,0,0,14.17,14.47,14.35
$GC,6917,-0.67,-97.3,2110,2497,3353,3326,808.1,-9.1,718,6919,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2497,3339,3353,3326,0,0,0,0,0,0,15.07,15.09,15.09
$GC,7217,-0.67,-97.3,2110,2498,3352,3325,834.6,-8.7,733,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2497,3338,3352,3325,0,0,0,0,0,0,15.07,15.09,15.09
$GC,7518,-0.67,-97.3,2110,2497,3352,3324,860.8,-8.9,748,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2497,3337,3351,3324,0,0,0,0,0,0,15.05,15.08,15.08
$GC,7818,-0.67,-97.3,2110,2497,3351,3323,888.5,-9.3,763,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2497,3336,3350,3323,0,0,0,0,0,0,15.06,15.09,15.08
$GC,8117,-0.67,-97.3,2110,2497,3350,3322,915.8,-9.1,778,8122,0.00,2.38,0.00,0.000,516,0.000,0.050,2111,1103,3336,3350,3322,0,0,0,0,0,0,15.07,14.33,15.09
$GC,8155,-0.67,-97.3,2110,1103,3349,3322,919.2,-9.0,785,8163,0.00,2.45,0.00,0.000,1030,0.000,0.058,2101,2498,3335,3349,3322,0,0,0,0,0,0,14.40,14.26,14.45
$GC,8480,-0.67,-97.3,2101,2498,3349,3321,949.0,-9.2,805,8487,0.00,2.50,0.00,0.000,260,0.000,0.088,2090,3894,3335,3349,3321,0,0,0,0,0,0,15.05,14.14,15.08
$GC,8521,-0.67,-97.3,2090,3894,3348,3321,952.9,-9.7,813,8525,0.00,2.30,0.00,0.000,1030,0.000,0.037,2090,2502,3334,3348,3321,0,0,0,0,0,0,14.50,14.43,14.53
$GC,8842,-0.67,-97.3,2090,2500,3348,3320,983.9,-9.7,832,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2500,3334,3348,3321,0,0,0,0,0,0,15.06,15.09,15.08
$STATE,8919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8919,begin apogee
$GC,8926,-0.15,0.0,2090,2500,3348,3320,991.6,-9.6,836,9023,0.68,0.00,92.85,1.993,10246,0.169,0.000,2277,2500,2968,3001,2936,0,0,0,0,0,0,13.95,13.95,12.64
$STATE,9024,end apogee,CONTROL_FINISHED_OK
$STATE,9024,begin climb
$GC,9029,0.67,97.3,2278,2500,2999,2935,994.3,0.0,841,9141,0.82,2.50,104.43,1.972,10500,0.090,0.086,2548,3855,2570,2602,2538,0,0,0,0,0,0,14.14,13.95,12.60
$GC,9215,0.67,97.3,2548,3855,2593,2538,990.0,7.8,876,9220,0.00,2.38,0.00,0.000,1030,0.000,0.037,2559,2434,2565,2593,2538,0,0,0,0,0,0,14.43,14.37,14.45
$GC,9528,0.67,97.3,2559,2433,2591,2535,965.9,8.0,893,9532,0.00,2.38,0.00,0.000,516,0.000,0.053,2570,1044,2563,2591,2535,0,0,0,0,0,0,14.90,14.41,14.92
$GC,9594,0.67,97.3,2570,1044,2589,2534,960.3,8.5,906,9600,0.00,2.45,0.00,0.000,1030,0.000,0.055,2571,2444,2561,2589,2534,0,0,0,0,0,0,14.51,14.39,14.56
$GC,9913,0.67,97.3,2570,2444,2589,2534,934.2,7.8,924,9919,0.00,2.47,0.00,0.000,260,0.000,0.083,2571,3845,2561,2588,2534,0,0,0,0,0,0,14.97,14.32,15.00
$GC,10092,0.67,97.3,2570,3845,2586,2534,917.2,9.4,960,10097,0.15,2.33,0.00,0.000,5126,0.250,0.037,2551,2435,2560,2586,2534,0,0,0,0,0,0,14.07,14.51,14.36
$GC,10419,0.69,97.3,2550,2433,2586,2532,893.8,7.1,979,10423,0.00,2.38,0.00,0.000,580,0.000,0.052,2560,1043,2558,2586,2531,0,0,0,0,0,0,14.98,14.41,15.01
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$STATE,21900,end climb,SURFACE_DEPTH_REACHED
$STATE,21900,begin surface coast
$STATE,21917,end surface coast,CONTROL_FINISHED_OK
$STATE,21917,begin surface
$SM_CCo,21938,127.88,0.661,1,0,929,500.17
$SM_GC,1.10,8.00,0.10,127.88,0.060,0.154,0.661,115,2502,929,-6.76,-0.85,500.17,0,0,0,0,1,0,14.49,14.47,13.48
$IRIDIUM_FIX,506.48,8151.28,010120,024414
$TT8_MAMPS,0.019474,0.156541
$HUMID,50.19
$INTERNAL_PRESSURE,9.478
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,12.57,223.655
$10V_AH,12.88,0.000
$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,20.325,220.050,449.150,127.875,0.000,0.000,0.000,234.225,0.250,0.000,14.920,1878.356,15970.480,721.354,3276.369,607.895,0.000,2606.969,0.000,3009.645,0.000,0.540,0.000
$DEVICE_MAMPS,349.605,153.765,1992.825,660.960,0.000,0.000,0.000,188.190,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,919.477,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250336
$DATA_FILE_SIZE,93231,2120
$CAP_FILE_SIZE,218720,0
$CFSIZE,260034560,126197760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.096,68.92,1
$GPS,010120,151909,507.627,8151.053,12,1.5,12,-2.1,0.7,233.6,6,8.9