version: 66.13
glider: 171
mission: 11
dive: 685
start: 1 6 120 15 48 21
data:
$ID,171
$MISSION,11
$DIVE,685
$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,72
$R_STBD_OVSHOOT,36
$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
$GPS1,060120,154109,507.1806,8114.0195,19,1.2,19,-2.2,1.4,234.0,5,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-70.7
$GPS2,060120,154727,507.1208,8113.8335,2,1.1,4,-2.2,1.2,241.3,6,8.5
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,237.2,81939,-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,-97.3,103,2512,976,877,0.0,0.0,0,83,0.00,0.00,-71.80,0.005,16386,0.000,0.000,102,2512,2577,2577,2578,0,0,0,0,0,0,14.83,28.83,14.85
$GC,88,-0.67,-97.3,102,2513,2579,2578,4.5,-12.3,15,119,9.35,2.42,-15.10,0.009,18692,0.347,0.094,2094,3883,3367,3384,3351,0,0,0,0,0,0,13.83,12.59,14.30
$GC,348,-0.67,-97.3,2094,3882,3384,3352,76.8,-16.3,67,352,0.00,2.20,0.00,0.000,1030,0.000,0.032,2094,2510,3367,3384,3351,0,0,0,0,0,0,14.59,14.53,14.61
$GC,541,-0.67,-97.3,2094,2509,3385,3352,105.8,-14.1,87,547,0.00,2.40,0.00,0.000,260,0.000,0.080,2084,3884,3368,3385,3352,0,0,0,0,0,0,14.98,14.33,15.00
$GC,775,-0.67,-97.3,2084,3884,3386,3352,141.7,-14.0,134,780,0.00,2.22,0.00,0.000,1030,0.000,0.032,2084,2498,3369,3386,3352,0,0,0,0,0,0,14.63,14.57,14.65
$GC,961,-0.67,-97.3,2083,2497,3387,3351,167.8,-13.0,153,968,0.00,2.42,0.00,0.000,260,0.000,0.079,2073,3889,3369,3387,3351,0,0,0,0,0,0,15.01,14.33,15.04
$GC,1131,-0.67,-97.3,2073,3889,3386,3351,191.8,-13.1,187,1136,0.15,2.22,0.00,0.000,3078,0.209,0.032,2108,2495,3368,3386,3351,0,0,0,0,0,0,14.20,14.58,14.41
$GC,1327,-0.67,-97.3,2108,2494,3386,3351,212.6,-10.3,207,1332,0.00,2.30,0.00,0.000,516,0.000,0.046,2109,1113,3368,3386,3351,0,0,0,0,0,0,15.01,14.47,15.03
$GC,1354,-0.67,-97.3,2108,1113,3385,3351,215.8,-10.6,212,1358,0.00,2.38,0.00,0.000,1030,0.000,0.056,2100,2502,3368,3385,3351,0,0,0,0,0,0,14.54,14.43,14.59
$GC,1541,-0.67,-97.3,2099,2502,3384,3351,236.7,-11.6,231,1545,0.00,2.42,0.00,0.000,260,0.000,0.081,2088,3892,3367,3384,3351,0,0,0,0,0,0,15.03,14.33,15.06
$GC,1597,-0.67,-97.3,2088,3891,3384,3351,243.9,-12.3,242,1602,0.00,2.22,0.00,0.000,1030,0.000,0.032,2089,2504,3367,3384,3351,0,0,0,0,0,0,14.64,14.57,14.66
$GC,1793,-0.67,-97.3,2088,2503,3382,3351,267.8,-12.3,255,1797,0.00,2.33,0.00,0.000,516,0.000,0.048,2089,1109,3366,3382,3351,0,0,0,0,0,0,15.06,14.44,15.08
$GC,1820,-0.67,-97.3,2088,1109,3381,3351,271.2,-13.0,260,1828,0.12,2.40,0.00,0.000,3078,0.207,0.056,2108,2507,3366,3381,3351,0,0,0,0,0,0,14.21,14.42,14.41
$GC,2135,-0.67,-97.3,2108,2507,3378,3351,308.1,-11.5,278,2140,0.00,2.42,0.00,0.000,260,0.000,0.082,2099,3894,3364,3377,3351,0,0,0,0,0,0,15.07,14.31,15.09
$GC,2228,-0.67,-97.3,2098,3894,3377,3351,318.9,-11.6,296,2234,0.00,2.22,0.00,0.000,1030,0.000,0.033,2099,2507,3364,3377,3351,0,0,0,0,0,0,14.55,14.53,14.57
$GC,2541,-0.67,-97.3,2098,2506,3376,3348,354.0,-10.9,313,2546,0.00,2.35,0.00,0.000,516,0.000,0.050,2099,1109,3362,3376,3348,0,0,0,0,0,0,15.06,14.41,15.09
$GC,2568,-0.67,-97.3,2098,1109,3375,3348,356.9,-11.0,318,2573,0.00,2.40,0.00,0.000,1030,0.000,0.057,2088,2500,3361,3375,3348,0,0,0,0,0,0,14.52,14.40,14.56
$GC,2886,-0.67,-97.3,2087,2500,3373,3346,392.5,-11.4,336,2893,0.00,2.45,0.00,0.000,260,0.000,0.081,2077,3897,3359,3373,3346,0,0,0,0,0,0,15.05,14.28,15.07
$GC,2910,-0.67,-97.3,2077,3897,3373,3346,395.4,-11.9,341,2915,0.15,2.30,0.00,0.000,3078,0.198,0.034,2114,2493,3359,3373,3346,0,0,0,0,0,0,14.19,14.53,14.38
$GC,3228,-0.67,-97.3,2113,2492,3372,3344,426.0,-9.5,359,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2492,3358,3372,3344,0,0,0,0,0,0,15.06,15.09,15.08
$GC,3527,-0.67,-97.3,2113,2492,3370,3341,454.4,-9.4,374,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2492,3356,3371,3341,0,0,0,0,0,0,15.06,15.09,15.09
$GC,3827,-0.67,-97.3,2113,2492,3368,3340,483.1,-9.8,389,3834,0.00,2.50,0.00,0.000,260,0.000,0.083,2105,3895,3353,3368,3339,0,0,0,0,0,0,15.07,14.24,15.09
$GC,3852,-0.67,-97.3,2105,3894,3368,3339,485.6,-10.6,394,3857,0.00,2.28,0.00,0.000,1030,0.000,0.034,2105,2500,3353,3368,3339,0,0,0,0,0,0,14.58,14.52,14.61
$GC,4170,-0.67,-97.3,2104,2498,3367,3338,518.1,-10.2,412,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2499,3352,3367,3338,0,0,0,0,0,0,15.05,15.08,15.07
$GC,4470,-0.67,-97.3,2105,2499,3366,3337,548.1,-9.9,427,4474,0.00,2.50,0.00,0.000,260,0.000,0.083,2093,3893,3351,3366,3337,0,0,0,0,0,0,15.06,14.21,15.08
$GC,4507,-0.67,-97.3,2093,3893,3365,3337,551.9,-10.4,434,4513,0.00,2.30,0.00,0.000,1030,0.000,0.035,2094,2494,3351,3365,3337,0,0,0,0,0,0,14.56,14.50,14.58
$GC,4812,-0.67,-97.3,2093,2493,3364,3336,583.9,-10.5,450,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2493,3350,3364,3336,0,0,0,0,0,0,15.05,15.09,15.08
$GC,5111,-0.67,-97.3,2094,2493,3362,3335,615.9,-10.7,465,5119,0.00,2.50,0.00,0.000,260,0.000,0.085,2083,3892,3348,3362,3335,0,0,0,0,0,0,15.06,14.19,15.08
$GC,5163,-0.67,-97.3,2083,3891,3362,3335,621.6,-11.5,475,5168,0.12,2.28,0.00,0.000,3078,0.203,0.035,2112,2501,3348,3362,3335,0,0,0,0,0,0,14.16,14.47,14.34
$GC,5477,-0.67,-97.3,2112,2500,3362,3333,652.5,-9.6,492,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2500,3347,3362,3333,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5777,-0.67,-97.3,2112,2500,3361,3332,681.2,-9.4,507,5781,0.00,2.35,0.00,0.000,516,0.000,0.050,2113,1109,3346,3361,3332,0,0,0,0,0,0,15.04,14.33,15.07
$GC,5814,-0.67,-97.3,2112,1109,3361,3332,684.7,-9.1,514,5819,0.00,2.45,0.00,0.000,1030,0.000,0.059,2104,2505,3346,3360,3332,0,0,0,0,0,0,14.40,14.28,14.45
$GC,6118,-0.67,-97.3,2103,2505,3360,3331,713.9,-9.5,530,6123,0.00,2.47,0.00,0.000,260,0.000,0.085,2092,3894,3345,3360,3331,0,0,0,0,0,0,15.05,14.15,15.08
$GC,6146,-0.67,-97.3,2092,3894,3360,3331,716.6,-10.7,535,6150,0.00,2.30,0.00,0.000,1030,0.000,0.036,2092,2501,3345,3360,3331,0,0,0,0,0,0,14.51,14.44,14.54
$GC,6464,-0.67,-97.3,2092,2500,3359,3330,748.2,-9.9,553,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2500,3344,3359,3330,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6762,-0.67,-97.3,2092,2500,3357,3330,777.0,-9.4,568,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2500,3343,3357,3330,0,0,0,0,0,0,15.05,15.08,15.08
$GC,7064,-0.67,-97.3,2092,2500,3356,3329,805.0,-9.2,583,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2500,3343,3357,3329,0,0,0,0,0,0,15.04,15.07,15.06
$GC,7362,-0.67,-97.3,2091,2500,3356,3328,831.9,-8.8,598,7368,0.00,2.53,0.00,0.000,260,0.000,0.086,2082,3890,3341,3356,3327,0,0,0,0,0,0,15.05,14.09,15.07
$GC,7411,-0.67,-97.3,2082,3890,3356,3327,836.3,-9.2,607,7416,0.12,2.30,0.00,0.000,3078,0.198,0.036,2111,2500,3341,3356,3327,0,0,0,0,0,0,14.09,14.40,14.27
$GC,7729,-0.67,-97.3,2110,2499,3356,3326,861.1,-7.8,625,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2499,3341,3356,3326,0,0,0,0,0,0,15.03,15.06,15.06
$GC,8028,-0.67,-97.3,2111,2499,3355,3326,884.3,-7.8,640,8032,0.00,2.38,0.00,0.000,516,0.000,0.051,2111,1108,3340,3354,3326,0,0,0,0,0,0,15.04,14.26,15.07
$GC,8074,-0.67,-97.3,2111,1107,3354,3326,888.0,-8.0,649,8081,0.00,2.45,0.00,0.000,1030,0.000,0.060,2102,2499,3340,3354,3326,0,0,0,0,0,0,14.33,14.20,14.38
$GC,8391,-0.67,-97.3,2102,2499,3354,3325,914.5,-8.5,667,8395,0.00,2.53,0.00,0.000,260,0.000,0.087,2091,3891,3339,3354,3325,0,0,0,0,0,0,15.03,14.06,15.06
$GC,8443,-0.67,-97.3,2090,3891,3353,3325,919.4,-9.3,677,8447,0.00,2.33,0.00,0.000,1030,0.000,0.037,2090,2495,3339,3353,3325,0,0,0,0,0,0,14.45,14.37,14.47
$GC,8755,-0.67,-97.3,2090,2494,3353,3324,948.9,-9.7,694,8757,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2493,3338,3353,3324,0,0,0,0,0,0,15.04,15.07,15.07
$GC,9054,-0.67,-97.3,2090,2494,3352,3324,979.0,-10.1,709,9056,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2493,3338,3352,3324,0,0,0,0,0,0,15.04,15.08,15.07
$STATE,9171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9171,begin apogee
$GC,9179,-0.15,0.0,2090,2493,3352,3324,991.3,-10.2,715,9276,0.68,0.00,93.00,1.981,10246,0.165,0.000,2277,2493,2968,3002,2935,0,0,0,0,0,0,13.87,13.95,12.69
$STATE,9277,end apogee,CONTROL_FINISHED_OK
$STATE,9277,begin climb
$GC,9281,0.67,97.3,2278,2493,3000,2935,994.8,0.0,720,9396,0.85,2.47,103.93,1.955,10500,0.090,0.080,2554,3850,2570,2604,2537,0,0,0,0,0,0,14.10,13.57,12.60
$GC,9418,0.73,161.4,2555,3849,2598,2538,994.8,4.5,745,9494,0.00,2.38,66.47,1.938,9254,0.000,0.036,2567,2437,2309,2353,2265,0,0,0,0,0,0,14.32,14.26,12.62
$GC,9793,0.73,161.4,2566,2437,2345,2259,955.1,11.7,775,9798,0.00,2.40,0.00,0.000,516,0.000,0.055,2577,1049,2301,2344,2259,0,0,0,0,0,0,14.87,14.37,14.90
$GC,9875,0.73,161.4,2577,1049,2342,2258,945.3,12.0,791,9880,0.00,2.42,0.00,0.000,1030,0.000,0.057,2577,2441,2300,2343,2258,0,0,0,0,0,0,14.48,14.37,14.53
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$STATE,19492,end climb,SURFACE_DEPTH_REACHED
$STATE,19492,begin surface coast
$STATE,19528,end surface coast,CONTROL_FINISHED_OK
$STATE,19528,begin surface
$SM_CCo,19610,0.00,0.000,0,0,881,512.19
$SM_GC,1.19,7.38,0.10,0.00,0.050,0.167,0.000,122,2503,881,-6.76,-0.90,512.19,0,0,0,0,0,0,14.50,14.42,14.54
$IRIDIUM_FIX,506.63,8118.19,060120,092832
$TT8_MAMPS,0.018725,0.160286
$HUMID,50.23
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,12.59,229.960
$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,19.975,191.675,577.725,0.000,0.000,0.000,0.000,227.300,0.000,0.000,16.462,1509.296,14649.534,673.010,2619.901,529.788,0.000,2286.176,0.000,2377.575,0.000,0.539,0.000
$DEVICE_MAMPS,346.545,166.770,1980.585,0.000,0.000,0.000,0.000,180.540,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,872.468,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73286,1672
$CAP_FILE_SIZE,186027,0
$CFSIZE,260034560,124264448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,295.62,1
$GPS,060120,211609,506.628,8111.583,18,1.6,18,-2.2,1.3,234.1,6,10.0