version: 66.13
glider: 171
mission: 11
dive: 676
start: 1 4 120 9 13 54
data:
$ID,171
$MISSION,11
$DIVE,676
$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,68
$R_STBD_OVSHOOT,21
$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
$GPS1,040120,090622,507.5866,8133.2998,17,0.8,30,-2.1,0.9,256.6,12,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.4
$GPS2,040120,091300,507.5087,8133.1431,3,0.5,4,-2.1,1.1,245.9,12,7.9
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,247.7,117323,-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,10,-0.67,-97.3,116,2489,973,878,0.0,0.0,0,88,0.00,0.00,-76.18,0.005,16386,0.000,0.000,116,2489,2728,2729,2728,0,0,0,0,0,0,14.83,28.83,14.86
$GC,92,-0.67,-97.3,116,2489,2730,2727,5.4,-15.7,16,119,9.32,2.42,-11.80,0.010,18692,0.347,0.096,2096,3902,3368,3381,3355,0,0,0,0,0,0,13.84,12.60,14.31
$GC,348,-0.67,-97.3,2096,3902,3382,3355,73.9,-17.2,67,353,0.00,2.25,0.00,0.000,1030,0.000,0.035,2096,2513,3368,3382,3355,0,0,0,0,0,0,14.60,14.54,14.63
$GC,534,-0.67,-97.3,2096,2512,3383,3355,100.4,-14.3,86,541,0.00,2.45,0.00,0.000,260,0.000,0.086,2085,3910,3369,3383,3355,0,0,0,0,0,0,14.99,14.26,15.02
$GC,769,-0.67,-97.3,2085,3910,3383,3355,138.4,-16.1,133,773,0.00,2.30,0.00,0.000,1030,0.000,0.041,2085,2511,3369,3383,3355,0,0,0,0,0,0,14.61,14.52,14.64
$GC,955,-0.67,-97.3,2085,2510,3383,3355,161.6,-11.9,152,959,0.00,2.47,0.00,0.000,260,0.000,0.090,2075,3896,3369,3383,3355,0,0,0,0,0,0,15.04,14.32,15.07
$GC,1093,-0.67,-97.3,2074,3896,3383,3355,179.5,-13.2,179,1099,0.15,2.30,0.00,0.000,3078,0.213,0.043,2110,2502,3369,3383,3355,0,0,0,0,0,0,14.21,14.52,14.43
$GC,1278,-0.67,-97.3,2110,2501,3383,3355,200.5,-11.0,198,1282,0.00,2.35,0.00,0.000,516,0.000,0.049,2110,1090,3368,3382,3355,0,0,0,0,0,0,15.04,14.50,15.07
$GC,1334,-0.67,-97.3,2110,1090,3381,3354,206.5,-10.1,209,1341,0.00,2.42,0.00,0.000,1030,0.000,0.057,2101,2506,3368,3381,3355,0,0,0,0,0,0,14.57,14.45,14.61
$GC,1531,-0.67,-97.3,2101,2506,3379,3355,227.5,-10.8,230,1534,0.00,2.40,0.00,0.000,260,0.000,0.083,2090,3893,3367,3379,3355,0,0,0,0,0,0,15.04,14.36,15.07
$GC,1571,-0.67,-97.3,2090,3893,3379,3355,232.1,-11.3,238,1576,0.00,2.28,0.00,0.000,1030,0.000,0.035,2090,2484,3367,3379,3355,0,0,0,0,0,0,14.65,14.58,14.68
$GC,1763,-0.67,-97.3,2089,2482,3377,3355,252.9,-10.7,257,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2482,3366,3377,3355,0,0,0,0,0,0,15.06,15.09,15.08
$GC,2065,-0.67,-97.3,2089,2482,3376,3352,284.1,-10.3,272,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2482,3364,3376,3352,0,0,0,0,0,0,15.05,15.08,15.07
$GC,2363,-0.67,-97.3,2090,2482,3374,3348,314.9,-10.5,287,2368,0.00,2.53,0.00,0.000,260,0.000,0.088,2079,3900,3361,3374,3348,0,0,0,0,0,0,15.07,14.33,15.09
$GC,2425,-0.67,-97.3,2079,3900,3373,3348,321.6,-10.8,299,2431,0.12,2.28,0.00,0.000,3078,0.212,0.036,2107,2497,3360,3373,3348,0,0,0,0,0,0,14.26,14.57,14.45
$GC,2748,-0.67,-97.3,2107,2496,3372,3346,353.2,-10.1,318,2752,0.00,2.33,0.00,0.000,516,0.000,0.049,2108,1106,3359,3372,3346,0,0,0,0,0,0,15.07,14.47,15.10
$GC,2784,-0.67,-97.3,2107,1106,3371,3346,357.1,-10.7,325,2791,0.00,2.45,0.00,0.000,1030,0.000,0.068,2098,2497,3358,3371,3346,0,0,0,0,0,0,14.50,14.35,14.54
$GC,3111,-0.67,-97.3,2098,2497,3370,3344,394.6,-11.6,345,3117,0.00,2.47,0.00,0.000,260,0.000,0.086,2087,3904,3356,3369,3344,0,0,0,0,0,0,15.06,14.30,15.08
$GC,3181,-0.67,-97.3,2087,3905,3368,3343,403.0,-11.9,359,3186,0.00,2.30,0.00,0.000,1030,0.000,0.041,2087,2501,3355,3368,3343,0,0,0,0,0,0,14.61,14.54,14.64
$GC,3493,-0.67,-97.3,2087,2499,3367,3341,438.9,-11.3,376,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2499,3354,3367,3341,0,0,0,0,0,0,15.06,15.09,15.08
$GC,3793,-0.67,-97.3,2087,2500,3366,3339,474.2,-11.9,391,3798,0.00,2.50,0.00,0.000,260,0.000,0.090,2077,3897,3352,3366,3339,0,0,0,0,0,0,15.07,14.27,15.09
$GC,3820,-0.67,-97.3,2076,3897,3365,3339,477.6,-13.2,396,3828,0.15,2.30,0.00,0.000,3078,0.199,0.044,2112,2502,3352,3365,3339,0,0,0,0,0,0,14.19,14.52,14.39
$GC,4136,-0.67,-97.3,2112,2501,3364,3338,510.6,-10.4,414,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2501,3351,3364,3338,0,0,0,0,0,0,15.06,15.09,15.08
$GC,4435,-0.67,-97.3,2112,2501,3363,3336,540.8,-9.6,429,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2501,3349,3363,3336,0,0,0,0,0,0,15.07,15.10,15.09
$GC,4735,-0.67,-97.3,2112,2501,3362,3335,567.6,-8.8,444,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2501,3348,3362,3335,0,0,0,0,0,0,15.07,15.09,15.09
$GC,5036,-0.67,-97.3,2112,2501,3360,3333,592.5,-8.1,459,5038,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2501,3347,3361,3334,0,0,0,0,0,0,15.06,15.09,15.09
$GC,5335,-0.67,-97.3,2112,2501,3359,3333,617.4,-8.5,474,5339,0.00,2.53,0.00,0.000,260,0.000,0.087,2103,3903,3346,3360,3332,0,0,0,0,0,0,15.07,14.22,15.09
$GC,5383,-0.67,-97.3,2103,3903,3359,3332,621.8,-9.5,483,5388,0.00,2.33,0.00,0.000,1030,0.000,0.037,2103,2493,3345,3359,3332,0,0,0,0,0,0,14.57,14.49,14.59
$GC,5701,-0.67,-97.3,2103,2492,3357,3332,653.0,-10.1,501,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2492,3344,3357,3331,0,0,0,0,0,0,15.05,15.08,15.08
$GC,6000,-0.67,-97.3,2103,2492,3356,3331,683.5,-10.0,516,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2492,3343,3356,3331,0,0,0,0,0,0,15.06,15.09,15.09
$GC,6300,-0.67,-97.3,2103,2492,3356,3330,713.1,-9.7,531,6305,0.00,2.53,0.00,0.000,260,0.000,0.088,2092,3897,3343,3356,3330,0,0,0,0,0,0,15.07,14.19,15.09
$GC,6337,-0.67,-97.3,2091,3897,3355,3330,716.9,-10.4,538,6341,0.00,2.33,0.00,0.000,1030,0.000,0.037,2091,2492,3343,3356,3330,0,0,0,0,0,0,14.54,14.46,14.56
$GC,6642,-0.67,-97.3,2091,2491,3355,3329,748.6,-10.6,554,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2491,3342,3355,3329,0,0,0,0,0,0,15.06,15.09,15.09
$GC,6943,-0.67,-97.3,2091,2491,3354,3328,780.2,-10.6,569,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2491,3341,3354,3328,0,0,0,0,0,0,15.05,15.08,15.07
$GC,7243,-0.67,-97.3,2091,2491,3353,3327,812.0,-10.7,584,7247,0.00,2.55,0.00,0.000,260,0.000,0.088,2081,3897,3340,3353,3327,0,0,0,0,0,0,15.06,14.14,15.08
$GC,7279,-0.67,-97.3,2081,3897,3353,3327,816.2,-11.4,591,7285,0.12,2.33,0.00,0.000,3078,0.205,0.037,2110,2496,3340,3353,3327,0,0,0,0,0,0,14.12,14.42,14.30
$GC,7586,-0.67,-97.3,2109,2495,3352,3326,845.8,-9.6,607,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2495,3339,3353,3326,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7884,-0.67,-97.3,2110,2495,3352,3325,873.5,-9.1,622,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2495,3338,3352,3325,0,0,0,0,0,0,15.06,15.09,15.08
$GC,8186,-0.67,-97.3,2109,2495,3351,3324,900.1,-8.8,637,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2495,3337,3351,3324,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8485,-0.67,-97.3,2109,2495,3350,3324,926.5,-8.8,652,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2495,3337,3350,3324,0,0,0,0,0,0,15.05,15.08,15.08
$GC,8784,-0.67,-97.3,2109,2495,3350,3322,952.3,-8.5,667,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2495,3336,3350,3323,0,0,0,0,0,0,15.05,15.09,15.09
$GC,9086,-0.67,-97.3,2109,2495,3349,3322,976.8,-8.0,682,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2495,3335,3349,3322,0,0,0,0,0,0,15.04,15.07,15.07
$STATE,9261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9261,begin apogee
$GC,9269,-0.15,0.0,2110,2495,3348,3322,990.8,-7.7,691,9365,0.60,0.00,92.50,1.969,10246,0.163,0.000,2277,2495,2968,3001,2935,0,0,0,0,0,0,13.94,13.96,12.69
$STATE,9366,end apogee,CONTROL_FINISHED_OK
$STATE,9366,begin climb
$GC,9369,0.67,97.3,2278,2495,2999,2935,992.8,0.0,696,9478,0.82,0.00,104.20,1.943,10246,0.089,0.000,2549,2494,2571,2604,2538,0,0,0,0,0,0,14.12,13.88,12.63
$GC,9771,0.67,97.3,2548,2495,2593,2534,970.5,8.4,716,9777,0.00,2.50,0.00,0.000,516,0.000,0.052,2559,1043,2563,2592,2534,0,0,0,0,0,0,14.83,14.38,14.87
$GC,9834,0.67,97.3,2559,1042,2591,2533,964.9,8.1,729,9841,0.00,2.50,0.00,0.000,1030,0.000,0.067,2559,2450,2562,2591,2533,0,0,0,0,0,0,14.46,14.33,14.52
$GC,10152,0.67,97.3,2559,2450,2591,2531,939.8,7.7,747,10154,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2450,2561,2591,2531,0,0,0,0,0,0,14.95,14.98,14.97
$GC,10451,0.69,97.3,2559,2451,2590,2530,918.0,7.2,762,10455,0.00,2.40,0.00,0.000,580,0.000,0.050,2571,1048,2559,2590,2529,0,0,0,0,0,0,14.99,14.40,15.02
$GC,10493,0.71,97.3,2571,1047,2588,2529,914.9,7.1,770,10500,0.00,2.42,0.00,0.000,1094,0.000,0.055,2571,2446,2558,2588,2529,0,0,0,0,0,0,14.49,14.38,14.54
$GC,10814,0.74,97.3,2571,2446,2588,2529,893.5,6.5,789,10818,0.00,2.40,0.00,0.000,580,0.000,0.050,2581,1046,2558,2588,2529,0,0,0,0,0,0,15.01,14.40,15.04
$GC,10841,0.77,97.3,2582,1046,2587,2529,891.7,6.3,794,10848,0.00,2.42,0.00,0.000,1094,0.000,0.054,2582,2443,2558,2587,2529,0,0,0,0,0,0,14.48,14.36,14.53
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$STATE,22055,end climb,SURFACE_DEPTH_REACHED
$STATE,22055,begin surface coast
$STATE,22075,end surface coast,CONTROL_FINISHED_OK
$STATE,22075,begin surface
$SM_CCo,22098,129.85,0.656,1,0,928,500.41
$SM_GC,1.10,7.72,0.10,129.85,0.053,0.144,0.656,134,2518,928,-6.77,-0.88,500.41,0,0,0,0,1,0,14.45,14.51,13.51
$IRIDIUM_FIX,508.64,8135.97,040120,025928
$TT8_MAMPS,0.018725,0.158039
$HUMID,51.02
$INTERNAL_PRESSURE,9.49753
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,12.60,227.259
$10V_AH,12.89,0.000
$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
$DEVICE_SECS,19.500,197.425,446.350,129.850,0.000,0.000,0.000,247.450,0.250,0.000,15.590,1732.830,16620.336,757.272,2964.011,556.274,0.000,2493.190,0.000,2695.847,0.000,0.539,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,936.704,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250316
$DATA_FILE_SIZE,83225,1898
$CAP_FILE_SIZE,205734,0
$CFSIZE,260034560,125071360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,12593.20,0x2147a0,1,24
$CURRENT,0.040,53.19,1
$GPS,040120,152538,507.300,8132.055,25,1.5,25,-2.1,1.0,293.2,5,8.1