version: 66.13
glider: 171
mission: 11
dive: 686
start: 1 6 120 21 23 36
data:
$ID,171
$MISSION,11
$DIVE,686
$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,32
$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
$GPS1,060120,211609,506.6279,8111.5825,18,1.6,18,-2.2,1.3,234.1,6,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.6
$GPS2,060120,212243,506.5585,8111.3774,2,0.9,5,-2.2,1.2,242.0,10,5.5
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,250.5,77299,-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,6,begin dive
$GC,10,-0.67,-97.3,94,2505,939,822,0.0,0.0,0,88,0.00,0.00,-76.15,0.005,16386,0.000,0.000,92,2505,2677,2676,2679,0,0,0,0,0,0,14.85,28.83,14.88
$GC,93,-0.67,-97.3,92,2505,2677,2679,5.1,-14.3,16,124,9.35,2.40,-12.80,0.010,18692,0.344,0.093,2094,3896,3366,3382,3351,0,0,0,0,0,0,13.87,13.40,14.32
$GC,353,-0.67,-97.3,2094,3896,3381,3351,79.4,-17.2,68,357,0.00,2.22,0.00,0.000,1030,0.000,0.031,2094,2498,3366,3382,3351,0,0,0,0,0,0,14.62,14.57,14.64
$GC,546,-0.67,-97.3,2093,2496,3382,3351,108.9,-14.3,88,552,0.00,2.42,0.00,0.000,260,0.000,0.079,2084,3891,3366,3382,3351,0,0,0,0,0,0,15.00,14.37,15.02
$GC,780,-0.67,-97.3,2084,3891,3382,3351,143.6,-14.3,135,784,0.00,2.22,0.00,0.000,1030,0.000,0.032,2084,2506,3366,3382,3351,0,0,0,0,0,0,14.65,14.58,14.67
$GC,966,-0.67,-97.3,2083,2504,3382,3351,171.2,-14.3,154,971,0.00,2.45,0.00,0.000,260,0.000,0.083,2073,3894,3367,3384,3351,0,0,0,0,0,0,15.03,14.38,15.05
$GC,1200,-0.67,-97.3,2072,3894,3382,3351,203.9,-13.8,200,1205,0.15,2.25,0.00,0.000,3078,0.210,0.034,2109,2497,3366,3382,3351,0,0,0,0,0,0,14.23,14.59,14.45
$GC,1395,-0.67,-97.3,2108,2495,3380,3351,225.2,-10.7,220,1402,0.00,2.47,0.00,0.000,260,0.000,0.091,2100,3884,3365,3380,3351,0,0,0,0,0,0,15.04,14.30,15.06
$GC,1449,-0.67,-97.3,2099,3884,3379,3351,231.6,-11.6,231,1454,0.00,2.28,0.00,0.000,1030,0.000,0.044,2100,2513,3365,3379,3351,0,0,0,0,0,0,14.61,14.52,14.64
$GC,1635,-0.67,-97.3,2099,2513,3378,3351,253.1,-11.7,249,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2513,3364,3377,3351,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1934,-0.67,-97.3,2099,2512,3374,3351,287.8,-11.3,264,1940,0.00,2.45,0.00,0.000,260,0.000,0.093,2089,3883,3362,3374,3350,0,0,0,0,0,0,15.07,14.28,15.09
$GC,2015,-0.67,-97.3,2088,3883,3373,3350,296.9,-11.2,280,2019,0.00,2.30,0.00,0.000,1030,0.000,0.047,2089,2504,3361,3372,3351,0,0,0,0,0,0,14.59,14.49,14.62
$GC,2337,-0.67,-97.3,2088,2502,3372,3346,334.2,-11.9,299,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2502,3359,3372,3346,0,0,0,0,0,0,15.07,15.09,15.09
$GC,2636,-0.67,-97.3,2088,2502,3370,3344,371.4,-12.4,314,2641,0.00,2.38,0.00,0.000,516,0.000,0.050,2089,1082,3356,3370,3343,0,0,0,0,0,0,15.07,14.46,15.09
$GC,2661,-0.67,-97.3,2088,1081,3369,3344,374.2,-13.4,318,2667,0.12,2.45,0.00,0.000,3078,0.207,0.058,2108,2501,3356,3369,3343,0,0,0,0,0,0,14.21,14.42,14.41
$GC,2984,-0.67,-97.3,2107,2501,3367,3340,410.7,-11.2,337,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2501,3353,3367,3340,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3285,-0.67,-97.3,2107,2501,3366,3339,442.8,-10.4,352,3292,0.00,2.45,0.00,0.000,260,0.000,0.085,2099,3894,3352,3366,3338,0,0,0,0,0,0,15.06,14.30,15.09
$GC,3349,-0.67,-97.3,2098,3894,3365,3338,449.9,-11.0,365,3353,0.00,2.33,0.00,0.000,1030,0.000,0.037,2098,2473,3351,3365,3338,0,0,0,0,0,0,14.60,14.53,14.63
$GC,3666,-0.67,-97.3,2098,2472,3363,3336,485.5,-11.4,383,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2471,3349,3363,3336,0,0,0,0,0,0,15.07,15.09,15.08
$GC,3966,-0.67,-97.3,2098,2472,3362,3334,519.2,-11.3,398,3971,0.00,2.55,0.00,0.000,260,0.000,0.086,2087,3897,3348,3362,3334,0,0,0,0,0,0,15.05,14.26,15.08
$GC,4018,-0.67,-97.3,2087,3897,3362,3334,525.4,-11.6,408,4022,0.00,2.30,0.00,0.000,1030,0.000,0.037,2087,2493,3348,3362,3334,0,0,0,0,0,0,14.59,14.52,14.62
$GC,4331,-0.67,-97.3,2087,2492,3360,3333,560.6,-11.1,425,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2491,3346,3360,3333,0,0,0,0,0,0,15.04,15.08,15.07
$GC,4629,-0.67,-97.3,2087,2492,3358,3332,593.5,-10.8,440,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2492,3345,3358,3332,0,0,0,0,0,0,15.06,15.09,15.09
$GC,4930,-0.67,-97.3,2087,2492,3356,3330,626.3,-10.9,455,4934,0.00,2.55,0.00,0.000,260,0.000,0.093,2077,3893,3343,3357,3330,0,0,0,0,0,0,15.06,14.21,15.08
$GC,4973,-0.67,-97.3,2077,3893,3356,3330,631.0,-11.2,463,4978,0.15,2.30,0.00,0.000,3078,0.195,0.035,2112,2493,3343,3356,3330,0,0,0,0,0,0,14.15,14.49,14.35
$GC,5296,-0.67,-97.3,2112,2491,3356,3329,661.8,-9.5,482,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2491,3342,3356,3329,0,0,0,0,0,0,15.06,15.09,15.08
$GC,5596,-0.67,-97.3,2112,2492,3355,3327,690.2,-9.4,497,5600,0.00,2.35,0.00,0.000,516,0.000,0.050,2113,1102,3340,3354,3326,0,0,0,0,0,0,15.06,14.35,15.08
$GC,5629,-0.67,-97.3,2112,1102,3354,3327,693.2,-9.8,503,5635,0.00,2.47,0.00,0.000,1030,0.000,0.064,2104,2506,3340,3354,3326,0,0,0,0,0,0,14.42,14.29,14.47
$GC,5937,-0.67,-97.3,2103,2506,3353,3326,723.6,-9.9,520,5944,0.00,2.47,0.00,0.000,260,0.000,0.087,2092,3893,3339,3353,3326,0,0,0,0,0,0,15.06,14.18,15.09
$GC,5978,-0.67,-97.3,2092,3893,3353,3326,727.8,-10.3,528,5983,0.00,2.30,0.00,0.000,1030,0.000,0.036,2092,2495,3339,3353,3326,0,0,0,0,0,0,14.52,14.45,14.55
$GC,6301,-0.67,-97.3,2092,2494,3352,3325,761.1,-10.3,547,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2494,3338,3352,3325,0,0,0,0,0,0,15.04,15.07,15.06
$GC,6600,-0.67,-97.3,2092,2494,3351,3323,791.6,-10.1,562,6605,0.00,2.55,0.00,0.000,260,0.000,0.090,2082,3899,3337,3351,3323,0,0,0,0,0,0,15.05,14.14,15.07
$GC,6633,-0.67,-97.3,2082,3899,3350,3324,795.0,-11.0,568,6638,0.12,2.30,0.00,0.000,3078,0.201,0.037,2111,2501,3336,3350,3323,0,0,0,0,0,0,14.13,14.44,14.31
$GC,6945,-0.67,-97.3,2111,2500,3350,3322,822.2,-8.4,585,6949,0.00,2.38,0.00,0.000,516,0.000,0.050,2111,1106,3336,3350,3322,0,0,0,0,0,0,15.06,14.32,15.08
$GC,6981,-0.67,-97.3,2111,1106,3350,3321,825.4,-8.5,592,6988,0.00,2.45,0.00,0.000,1030,0.000,0.059,2102,2501,3335,3349,3322,0,0,0,0,0,0,14.38,14.24,14.42
$GC,7308,-0.67,-97.3,2102,2501,3348,3321,853.2,-8.5,612,7314,0.00,2.50,0.00,0.000,260,0.000,0.088,2091,3896,3334,3348,3321,0,0,0,0,0,0,15.04,14.12,15.07
$GC,7366,-0.67,-97.3,2090,3896,3348,3321,858.6,-9.1,624,7371,0.00,2.33,0.00,0.000,1030,0.000,0.037,2090,2499,3334,3348,3321,0,0,0,0,0,0,14.48,14.40,14.51
$GC,7690,-0.67,-97.3,2090,2497,3348,3320,887.7,-9.2,643,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2498,3333,3347,3320,0,0,0,0,0,0,15.03,15.06,15.05
$GC,7988,-0.67,-97.3,2090,2497,3347,3320,915.6,-9.3,658,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2498,3333,3347,3320,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8288,-0.67,-97.3,2090,2497,3346,3319,943.9,-9.6,673,8292,0.00,2.38,0.00,0.000,516,0.000,0.050,2090,1105,3332,3346,3319,0,0,0,0,0,0,15.04,14.28,15.07
$GC,8325,-0.67,-97.3,2090,1105,3346,3319,947.5,-9.8,680,8332,0.12,2.47,0.00,0.000,3078,0.205,0.060,2114,2500,3331,3345,3318,0,0,0,0,0,0,13.96,14.20,14.05
$GC,8650,-0.67,-97.3,2113,2500,3345,3318,975.8,-8.8,700,8656,0.00,2.53,0.00,0.000,260,0.000,0.089,2105,3897,3331,3345,3318,0,0,0,0,0,0,15.04,14.06,15.07
$GC,8699,-0.67,-97.3,2105,3897,3345,3317,980.4,-9.5,710,8704,0.00,2.33,0.00,0.000,1030,0.000,0.037,2105,2497,3331,3345,3317,0,0,0,0,0,0,14.45,14.38,14.48
$STATE,8808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8808,begin apogee
$GC,8817,-0.15,0.0,2105,2495,3344,3318,990.9,-9.4,717,8912,0.62,0.00,91.68,1.967,10246,0.159,0.000,2280,2495,2968,3001,2935,0,0,0,0,0,0,13.93,13.97,12.70
$STATE,8913,end apogee,CONTROL_FINISHED_OK
$STATE,8913,begin climb
$GC,8917,0.67,97.3,2280,2495,3000,2935,994.4,0.0,722,9034,0.82,2.55,104.05,1.942,10500,0.090,0.092,2550,3846,2569,2601,2538,0,0,0,0,0,0,14.12,13.95,12.65
$GC,9056,0.73,161.1,2550,3846,2596,2538,994.4,4.5,750,9129,0.00,2.35,66.00,1.930,9254,0.000,0.035,2562,2432,2310,2353,2267,0,0,0,0,0,0,14.35,14.28,12.62
$GC,9436,0.73,161.1,2562,2432,2343,2261,956.3,10.9,781,9440,0.00,2.38,0.00,0.000,516,0.000,0.052,2573,1048,2302,2343,2261,0,0,0,0,0,0,14.88,14.39,14.90
$GC,9514,0.73,161.1,2572,1047,2341,2260,947.8,11.1,796,9521,0.00,2.42,0.00,0.000,1030,0.000,0.055,2573,2443,2300,2341,2260,0,0,0,0,0,0,14.49,14.38,14.54
$GC,9838,0.73,161.1,2573,2443,2340,2259,909.5,12.0,816,9842,0.00,2.40,0.00,0.000,516,0.000,0.051,2584,1049,2300,2341,2259,0,0,0,0,0,0,14.97,14.40,15.00
$GC,9921,0.73,161.1,2583,1049,2339,2258,899.7,12.1,832,9928,0.00,2.42,0.00,0.000,1030,0.000,0.054,2584,2448,2298,2339,2258,0,0,0,0,0,0,14.50,14.38,14.55
$GC,10240,0.73,161.1,2584,2448,2339,2258,860.2,12.0,851,10245,0.00,2.40,0.00,0.000,516,0.000,0.050,2595,1051,2298,2339,2258,0,0,0,0,0,0,15.00,14.39,15.04
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$STATE,19173,end climb,SURFACE_DEPTH_REACHED
$STATE,19173,begin surface coast
$STATE,19198,end surface coast,CONTROL_FINISHED_OK
$STATE,19198,begin surface
$SM_CCo,19222,49.12,0.441,1,0,929,500.17
$SM_GC,1.12,7.45,2.58,49.12,0.047,0.070,0.441,132,2491,929,-6.77,-0.96,500.17,0,0,0,0,1,0,14.47,14.28,13.59
$IRIDIUM_FIX,506.57,8113.91,060120,154356
$TT8_MAMPS,0.018725,0.158039
$HUMID,51.10
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,12.62,230.265
$10V_AH,12.51,0.000
$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,19.850,197.075,535.125,49.125,0.000,0.000,0.000,247.475,0.250,0.000,19.156,1537.364,14189.392,696.915,2720.087,524.028,0.000,2361.278,0.000,2451.930,0.000,0.540,0.000
$DEVICE_MAMPS,344.250,93.330,1966.815,441.405,0.000,0.000,0.000,177.480,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,858.360,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250040
$DATA_FILE_SIZE,76619,1725
$CAP_FILE_SIZE,187603,0
$CFSIZE,260034560,124174336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.050,290.76,1
$GPS,070120,024600,506.381,8109.145,24,0.7,24,-2.2,1.4,243.1,11,3.7