version: 66.13
glider: 171
mission: 11
dive: 689
start: 1 7 120 14 36 2
data:
$ID,171
$MISSION,11
$DIVE,689
$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,58
$R_STBD_OVSHOOT,30
$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
$GPS1,070120,142900,505.9367,8105.1016,20,0.7,20,-2.2,0.3,306.2,11,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.9
$GPS2,070120,143507,505.8707,8104.9146,2,0.5,3,-2.2,1.2,254.1,12,5.3
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,260.7,65327,-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,-97.3,78,2506,979,873,0.0,0.0,0,84,0.00,0.00,-71.72,0.005,16386,0.000,0.000,76,2506,2603,2600,2606,0,0,0,0,0,0,14.84,28.83,14.87
$GC,89,-0.67,-97.3,76,2506,2602,2606,4.7,-11.8,15,120,9.43,2.42,-14.75,0.009,18692,0.344,0.092,2094,3892,3366,3382,3351,0,0,0,0,0,0,13.88,12.62,14.33
$GC,349,-0.67,-97.3,2094,3892,3383,3352,74.9,-18.4,67,353,0.00,2.22,0.00,0.000,1030,0.000,0.032,2094,2503,3367,3383,3351,0,0,0,0,0,0,14.62,14.54,14.64
$GC,542,-0.67,-97.3,2094,2501,3383,3352,105.9,-13.9,87,548,0.00,2.42,0.00,0.000,260,0.000,0.080,2084,3890,3367,3383,3351,0,0,0,0,0,0,15.00,14.35,15.02
$GC,775,-0.67,-97.3,2084,3890,3383,3351,140.4,-16.5,134,780,0.00,2.25,0.00,0.000,1030,0.000,0.034,2084,2491,3367,3383,3351,0,0,0,0,0,0,14.65,14.58,14.67
$GC,962,-0.67,-97.3,2084,2489,3384,3352,167.1,-14.3,153,966,0.00,2.45,0.00,0.000,260,0.000,0.081,2073,3889,3367,3383,3352,0,0,0,0,0,0,15.04,14.36,15.05
$GC,1178,-0.67,-97.3,2073,3889,3384,3351,197.0,-13.1,196,1183,0.15,2.25,0.00,0.000,3078,0.210,0.032,2109,2487,3367,3384,3351,0,0,0,0,0,0,14.23,14.59,14.44
$GC,1365,-0.67,-97.3,2108,2486,3383,3351,216.8,-10.6,215,1369,0.00,2.28,0.00,0.000,516,0.000,0.047,2110,1108,3366,3382,3351,0,0,0,0,0,0,15.04,14.48,15.06
$GC,1436,-0.67,-97.3,2109,1108,3381,3351,224.5,-10.2,229,1444,0.00,2.40,0.00,0.000,1030,0.000,0.064,2100,2498,3366,3381,3351,0,0,0,0,0,0,14.55,14.43,14.59
$GC,1628,-0.67,-97.3,2099,2498,3379,3351,245.8,-11.3,249,1635,0.00,2.42,0.00,0.000,260,0.000,0.081,2089,3893,3365,3379,3351,0,0,0,0,0,0,15.04,14.34,15.07
$GC,1722,-0.67,-97.3,2088,3893,3378,3351,257.3,-12.0,268,1726,0.00,2.25,0.00,0.000,1030,0.000,0.034,2089,2501,3364,3377,3351,0,0,0,0,0,0,14.64,14.57,14.66
$GC,2028,-0.67,-97.3,2089,2500,3375,3351,292.9,-11.2,284,2032,0.00,2.33,0.00,0.000,516,0.000,0.048,2089,1101,3362,3374,3351,0,0,0,0,0,0,15.05,14.47,15.08
$GC,2059,-0.67,-97.3,2089,1100,3374,3351,296.7,-11.6,290,2065,0.12,2.42,0.00,0.000,3078,0.207,0.059,2108,2507,3362,3373,3351,0,0,0,0,0,0,14.22,14.42,14.42
$GC,2373,-0.67,-97.3,2108,2507,3373,3347,328.9,-10.2,307,2377,0.00,2.42,0.00,0.000,260,0.000,0.083,2099,3894,3360,3373,3347,0,0,0,0,0,0,15.06,14.31,15.09
$GC,2422,-0.67,-97.3,2098,3894,3372,3347,333.8,-10.8,316,2426,0.00,2.25,0.00,0.000,1030,0.000,0.034,2099,2499,3359,3372,3347,0,0,0,0,0,0,14.64,14.57,14.66
$GC,2738,-0.67,-97.3,2098,2497,3371,3345,369.0,-11.4,334,2743,0.00,2.47,0.00,0.000,260,0.000,0.083,2088,3897,3357,3371,3344,0,0,0,0,0,0,15.07,14.30,15.09
$GC,2801,-0.67,-97.3,2087,3897,3371,3344,376.3,-11.7,346,2806,0.00,2.28,0.00,0.000,1030,0.000,0.034,2088,2496,3357,3370,3344,0,0,0,0,0,0,14.62,14.54,14.64
$GC,3123,-0.67,-97.3,2087,2494,3368,3341,413.7,-11.3,365,3131,0.00,2.47,0.00,0.000,260,0.000,0.083,2077,3893,3354,3368,3340,0,0,0,0,0,0,15.07,14.29,15.09
$GC,3165,-0.67,-97.3,2077,3893,3367,3340,418.4,-12.1,373,3170,0.15,2.28,0.00,0.000,3078,0.198,0.035,2113,2493,3354,3367,3341,0,0,0,0,0,0,14.20,14.54,14.40
$GC,3488,-0.67,-97.3,2113,2492,3366,3339,450.4,-9.7,392,3492,0.00,2.33,0.00,0.000,516,0.000,0.048,2114,1102,3352,3366,3339,0,0,0,0,0,0,15.04,14.42,15.07
$GC,3519,-0.67,-97.3,2113,1102,3366,3338,453.6,-9.7,398,3525,0.00,2.45,0.00,0.000,1030,0.000,0.058,2105,2503,3352,3365,3339,0,0,0,0,0,0,14.49,14.37,14.54
$GC,3833,-0.67,-97.3,2104,2503,3364,3337,484.7,-10.1,415,3839,0.00,2.45,0.00,0.000,260,0.000,0.084,2093,3893,3350,3364,3337,0,0,0,0,0,0,15.06,14.26,15.09
$GC,3928,-0.67,-97.3,2093,3894,3362,3337,494.6,-10.4,434,3933,0.00,2.28,0.00,0.000,1030,0.000,0.035,2093,2501,3350,3363,3337,0,0,0,0,0,0,14.58,14.51,14.60
$GC,4232,-0.67,-97.3,2093,2500,3362,3335,526.6,-10.5,450,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2500,3348,3362,3335,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4533,-0.67,-97.3,2093,2500,3361,3334,559.5,-11.1,465,4541,0.00,2.50,0.00,0.000,260,0.000,0.085,2083,3897,3347,3361,3333,0,0,0,0,0,0,15.05,14.23,15.08
$GC,4558,-0.67,-97.3,2082,3897,3361,3333,562.4,-11.3,470,4563,0.12,2.30,0.00,0.000,3078,0.203,0.036,2112,2492,3347,3361,3333,0,0,0,0,0,0,14.19,14.50,14.38
$GC,4877,-0.67,-97.3,2112,2491,3360,3332,594.0,-9.5,488,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2491,3346,3360,3332,0,0,0,0,0,0,15.07,15.09,15.09
$GC,5179,-0.67,-97.3,2111,2491,3358,3331,621.4,-8.8,503,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2491,3344,3358,3331,0,0,0,0,0,0,15.04,15.08,15.07
$GC,5477,-0.67,-97.3,2111,2491,3357,3330,646.9,-8.4,518,5482,0.00,2.53,0.00,0.000,260,0.000,0.086,2103,3897,3343,3357,3330,0,0,0,0,0,0,15.07,14.19,15.09
$GC,5519,-0.67,-97.3,2102,3897,3356,3330,650.6,-8.9,526,5526,0.00,2.28,0.00,0.000,1030,0.000,0.036,2103,2503,3343,3356,3330,0,0,0,0,0,0,14.45,14.42,14.47
$GC,5844,-0.67,-97.3,2102,2502,3356,3328,679.4,-9.0,545,5849,0.00,2.38,0.00,0.000,516,0.000,0.050,2103,1106,3342,3356,3328,0,0,0,0,0,0,15.04,14.33,15.07
$GC,5891,-0.67,-97.3,2102,1106,3356,3328,683.9,-9.1,554,5896,0.00,2.45,0.00,0.000,1030,0.000,0.059,2091,2503,3341,3355,3328,0,0,0,0,0,0,14.41,14.28,14.45
$GC,6210,-0.67,-97.3,2091,2503,3354,3327,715.3,-10.1,572,6216,0.00,2.47,0.00,0.000,260,0.000,0.086,2081,3893,3340,3354,3327,0,0,0,0,0,0,15.04,14.16,15.07
$GC,6258,-0.67,-97.3,2081,3893,3354,3327,720.6,-10.7,582,6264,0.12,2.30,0.00,0.000,3078,0.199,0.036,2110,2496,3340,3354,3327,0,0,0,0,0,0,14.14,14.44,14.31
$GC,6572,-0.67,-97.3,2110,2494,3354,3326,750.3,-9.6,599,6576,0.00,2.38,0.00,0.000,516,0.000,0.050,2110,1099,3339,3353,3325,0,0,0,0,0,0,15.05,14.31,15.07
$GC,6614,-0.67,-97.3,2110,1099,3353,3325,754.5,-9.8,607,6618,0.00,2.47,0.00,0.000,1030,0.000,0.059,2101,2500,3339,3352,3326,0,0,0,0,0,0,14.38,14.25,14.42
$GC,6936,-0.67,-97.3,2101,2499,3352,3325,788.2,-10.4,626,6941,0.00,2.50,0.00,0.000,260,0.000,0.086,2090,3899,3338,3352,3325,0,0,0,0,0,0,15.04,14.13,15.07
$GC,6979,-0.67,-97.3,2089,3899,3352,3325,792.8,-10.9,634,6984,0.00,2.30,0.00,0.000,1030,0.000,0.037,2089,2500,3338,3352,3325,0,0,0,0,0,0,14.49,14.42,14.52
$GC,7303,-0.67,-97.3,2089,2499,3351,3324,827.4,-10.5,653,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3337,3351,3324,0,0,0,0,0,0,15.04,15.07,15.06
$GC,7601,-0.67,-97.3,2089,2499,3350,3323,857.9,-10.0,668,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3337,3351,3323,0,0,0,0,0,0,15.05,15.08,15.07
$GC,7904,-0.67,-97.3,2089,2499,3350,3322,887.7,-9.9,683,7910,0.00,2.53,0.00,0.000,260,0.000,0.088,2079,3890,3335,3349,3322,0,0,0,0,0,0,15.03,14.09,15.05
$GC,7929,-0.67,-97.3,2079,3890,3349,3322,890.3,-10.7,688,7936,0.12,2.30,0.00,0.000,3078,0.203,0.037,2108,2499,3335,3349,3321,0,0,0,0,0,0,14.08,14.39,14.26
$GC,8243,-0.67,-97.3,2108,2498,3349,3321,918.0,-8.6,706,8248,0.00,2.38,0.00,0.000,516,0.000,0.050,2108,1106,3335,3349,3321,0,0,0,0,0,0,15.04,14.26,15.07
$GC,8281,-0.67,-97.3,2108,1106,3348,3321,921.3,-8.8,713,8289,0.00,2.47,0.00,0.000,1030,0.000,0.060,2099,2505,3335,3349,3321,0,0,0,0,0,0,14.32,14.19,14.37
$GC,8606,-0.67,-97.3,2099,2505,3348,3320,950.9,-9.0,733,8613,0.00,2.50,0.00,0.000,260,0.000,0.087,2088,3893,3334,3348,3320,0,0,0,0,0,0,15.04,14.06,15.07
$GC,8639,-0.67,-97.3,2088,3893,3348,3320,953.7,-10.4,739,8643,0.00,2.33,0.00,0.000,1030,0.000,0.037,2088,2494,3334,3348,3320,0,0,0,0,0,0,14.45,14.37,14.47
$GC,8950,-0.67,-97.3,2088,2492,3347,3320,983.8,-9.6,756,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2492,3333,3347,3320,0,0,0,0,0,0,15.04,15.07,15.07
$STATE,9027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9027,begin apogee
$GC,9035,-0.15,0.0,2088,2492,3347,3320,991.5,-9.6,760,9131,0.68,0.00,92.28,1.985,10246,0.165,0.000,2276,2492,2968,3000,2936,0,0,0,0,0,0,13.88,13.97,12.71
$STATE,9132,end apogee,CONTROL_FINISHED_OK
$STATE,9132,begin climb
$GC,9137,0.67,97.3,2275,2492,2999,2935,994.1,0.0,765,9248,0.85,0.00,103.65,1.963,10758,0.092,0.000,2551,2492,2569,2601,2538,0,0,0,0,0,0,14.10,13.89,12.64
$GC,9550,0.67,97.3,2551,2491,2592,2534,972.2,7.7,804,9555,0.00,2.50,0.00,0.000,516,0.000,0.050,2562,1044,2563,2592,2534,0,0,0,0,0,0,14.88,14.38,14.90
$GC,9598,0.67,97.3,2562,1043,2590,2534,968.4,8.4,813,9603,0.00,2.45,0.00,0.000,1030,0.000,0.055,2562,2444,2562,2590,2534,0,0,0,0,0,0,14.48,14.36,14.52
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$STATE,21854,end climb,SURFACE_DEPTH_REACHED
$STATE,21854,begin surface coast
$STATE,21869,end surface coast,CONTROL_FINISHED_OK
$STATE,21869,begin surface
$SM_CCo,21890,114.53,0.639,1,0,929,500.17
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$IRIDIUM_FIX,504.44,8116.05,070120,085506
$TT8_MAMPS,0.018725,0.158039
$HUMID,50.63
$INTERNAL_PRESSURE,9.49753
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,12.62,231.156
$10V_AH,12.61,0.000
$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
$DEVICE_SECS,20.350,216.450,461.375,114.525,0.000,0.000,0.000,221.925,0.250,0.000,14.879,1732.414,16343.994,731.951,2986.024,582.633,0.000,2508.235,0.000,2741.728,0.000,0.540,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,918.072,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249944
$DATA_FILE_SIZE,83165,1930
$CAP_FILE_SIZE,209767,0
$CFSIZE,260034560,123875328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.030,276.37,1
$GPS,070120,204400,505.808,8102.982,25,0.7,25,-2.2,1.0,250.7,10,3.4