version: 66.13
glider: 171
mission: 11
dive: 704
start: 1 11 120 8 48 34
data:
$ID,171
$MISSION,11
$DIVE,704
$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,50
$R_STBD_OVSHOOT,45
$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
$GPS1,110120,084109,505.0988,8032.2114,23,1.0,23,-2.2,1.0,239.6,8,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.9
$GPS2,110120,084740,505.0421,8031.9893,2,0.6,3,-2.2,1.0,238.6,12,8.2
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R8
$TGT_LATLONG,510.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,18.9,9888,-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,-97.3,116,2514,975,877,0.0,0.0,0,83,0.00,0.00,-71.25,0.005,16386,0.000,0.000,116,2515,2581,2582,2580,0,0,0,0,0,0,14.83,28.83,14.87
$GC,88,-0.67,-97.3,116,2515,2583,2581,4.5,-11.4,15,119,9.23,2.42,-15.38,0.008,18692,0.346,0.096,2094,3878,3366,3383,3350,0,0,0,0,0,0,13.88,12.62,14.33
$GC,148,-0.67,-97.3,2094,3878,3383,3350,24.5,-33.1,27,152,0.00,2.25,0.00,0.000,1030,0.000,0.036,2094,2500,3366,3383,3350,0,0,0,0,0,0,14.56,14.49,14.59
$GC,342,-0.67,-97.3,2094,2498,3383,3351,74.9,-22.3,54,347,0.00,2.40,0.00,0.000,260,0.000,0.073,2084,3885,3366,3383,3350,0,0,0,0,0,0,14.95,14.34,14.97
$GC,375,-0.67,-97.3,2084,3886,3383,3350,81.9,-19.6,60,379,0.00,2.25,0.00,0.000,1030,0.000,0.033,2084,2491,3366,3383,3350,0,0,0,0,0,0,14.59,14.52,14.62
$GC,566,-0.67,-97.3,2084,2490,3383,3350,108.5,-11.4,80,570,0.00,2.42,0.00,0.000,260,0.000,0.077,2072,3877,3366,3383,3350,0,0,0,0,0,0,15.01,14.33,15.03
$GC,784,-0.67,-97.3,2073,3877,3384,3350,140.1,-14.6,123,791,0.15,2.22,0.00,0.000,3078,0.220,0.033,2108,2493,3367,3384,3350,0,0,0,0,0,0,14.15,14.55,14.38
$GC,983,-0.67,-97.3,2107,2492,3384,3350,163.8,-12.5,144,987,0.00,2.42,0.00,0.000,260,0.000,0.078,2098,3877,3367,3384,3350,0,0,0,0,0,0,15.00,14.33,15.02
$GC,1105,-0.67,-97.3,2098,3877,3384,3350,180.1,-13.1,168,1109,0.00,2.20,0.00,0.000,1030,0.000,0.032,2098,2504,3367,3384,3350,0,0,0,0,0,0,14.62,14.56,14.65
$GC,1296,-0.67,-97.3,2098,2503,3383,3350,204.6,-12.5,188,1301,0.00,2.42,0.00,0.000,260,0.000,0.081,2087,3876,3366,3383,3350,0,0,0,0,0,0,15.04,14.31,15.07
$GC,1427,-0.67,-97.3,2087,3876,3382,3350,219.8,-11.0,213,1431,0.00,2.22,0.00,0.000,1030,0.000,0.032,2087,2494,3366,3382,3350,0,0,0,0,0,0,14.62,14.56,14.64
$GC,1608,-0.67,-97.3,2087,2493,3380,3350,242.6,-12.3,232,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2493,3365,3380,3350,0,0,0,0,0,0,15.04,15.08,15.07
$GC,1798,-0.67,-97.3,2087,2493,3378,3350,266.7,-13.0,245,1805,0.00,2.47,0.00,0.000,260,0.000,0.090,2077,3880,3364,3378,3350,0,0,0,0,0,0,15.06,14.28,15.08
$GC,1879,-0.67,-97.3,2077,3880,3378,3350,277.5,-13.3,261,1887,0.15,2.22,0.00,0.000,3078,0.203,0.033,2113,2496,3363,3377,3350,0,0,0,0,0,0,14.19,14.55,14.39
$GC,2199,-0.67,-97.3,2113,2495,3373,3349,312.6,-10.5,280,2203,0.00,2.30,0.00,0.000,516,0.000,0.047,2113,1112,3362,3375,3349,0,0,0,0,0,0,15.06,14.43,15.09
$GC,2257,-0.67,-97.3,2113,1112,3373,3349,318.4,-10.3,291,2264,0.00,2.40,0.00,0.000,1030,0.000,0.063,2104,2489,3360,3373,3348,0,0,0,0,0,0,14.49,14.36,14.53
$GC,2581,-0.67,-97.3,2104,2489,3372,3346,353.6,-10.9,311,2587,0.00,2.47,0.00,0.000,260,0.000,0.083,2093,3894,3359,3372,3346,0,0,0,0,0,0,15.05,14.26,15.08
$GC,2637,-0.67,-97.3,2092,3894,3371,3346,360.0,-11.6,322,2642,0.00,2.28,0.00,0.000,1030,0.000,0.034,2093,2499,3358,3371,3345,0,0,0,0,0,0,14.59,14.52,14.61
$GC,2941,-0.67,-97.3,2092,2497,3370,3343,397.2,-12.4,338,2946,0.00,2.33,0.00,0.000,516,0.000,0.049,2093,1109,3356,3369,3343,0,0,0,0,0,0,15.05,14.40,15.08
$GC,2978,-0.67,-97.3,2092,1108,3368,3343,401.8,-12.3,345,2986,0.12,2.42,0.00,0.000,3078,0.207,0.058,2112,2502,3355,3368,3343,0,0,0,0,0,0,14.14,14.34,14.34
$GC,3305,-0.67,-97.3,2111,2502,3367,3340,437.6,-11.0,365,3312,0.00,2.45,0.00,0.000,260,0.000,0.084,2103,3892,3353,3367,3339,0,0,0,0,0,0,15.04,14.23,15.07
$GC,3384,-0.67,-97.3,2102,3892,3367,3340,446.8,-11.3,381,3388,0.00,2.28,0.00,0.000,1030,0.000,0.034,2102,2496,3353,3367,3339,0,0,0,0,0,0,14.57,14.50,14.59
$GC,3706,-0.67,-97.3,2102,2494,3366,3338,482.2,-10.8,400,3713,0.00,2.50,0.00,0.000,260,0.000,0.087,2091,3894,3351,3365,3338,0,0,0,0,0,0,15.04,14.16,15.07
$GC,3740,-0.67,-97.3,2091,3894,3365,3338,486.1,-11.5,407,3744,0.00,2.30,0.00,0.000,1030,0.000,0.034,2091,2494,3351,3365,3338,0,0,0,0,0,0,14.55,14.48,14.58
$GC,4045,-0.67,-97.3,2091,2493,3362,3337,520.9,-11.5,423,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2493,3350,3363,3337,0,0,0,0,0,0,15.06,15.09,15.08
$GC,4346,-0.67,-97.3,2091,2493,3362,3335,554.6,-11.1,438,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2493,3348,3362,3334,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4645,-0.67,-97.3,2091,2493,3361,3333,587.7,-11.0,453,4649,0.00,2.55,0.00,0.000,260,0.000,0.086,2081,3897,3347,3360,3334,0,0,0,0,0,0,15.06,14.16,15.08
$GC,4677,-0.67,-97.3,2080,3897,3360,3333,591.2,-11.2,459,4684,0.12,2.30,0.00,0.000,3078,0.206,0.035,2110,2496,3347,3361,3333,0,0,0,0,0,0,14.14,14.46,14.32
$GC,4988,-0.67,-97.3,2109,2495,3359,3332,620.4,-9.4,476,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2495,3346,3360,3332,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5287,-0.67,-97.3,2109,2495,3357,3331,648.8,-9.6,491,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2495,3344,3358,3331,0,0,0,0,0,0,15.05,15.08,15.07
$GC,5586,-0.67,-97.3,2109,2495,3356,3330,678.1,-9.7,506,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2495,3343,3356,3330,0,0,0,0,0,0,15.05,15.08,15.07
$GC,5888,-0.67,-97.3,2109,2495,3356,3329,707.4,-9.8,521,5895,0.00,2.50,0.00,0.000,260,0.000,0.088,2101,3884,3342,3356,3328,0,0,0,0,0,0,15.04,14.05,15.07
$GC,5931,-0.67,-97.3,2100,3884,3355,3328,712.0,-10.0,530,5936,0.00,2.30,0.00,0.000,1030,0.000,0.036,2101,2494,3342,3356,3328,0,0,0,0,0,0,14.49,14.42,14.52
$GC,6250,-0.67,-97.3,2100,2493,3355,3327,742.9,-9.6,548,6254,0.00,2.38,0.00,0.000,516,0.000,0.050,2101,1102,3341,3355,3327,0,0,0,0,0,0,15.04,14.27,15.06
$GC,6296,-0.67,-97.3,2100,1102,3354,3327,747.7,-9.6,557,6300,0.00,2.47,0.00,0.000,1030,0.000,0.059,2089,2501,3340,3354,3327,0,0,0,0,0,0,14.34,14.21,14.39
$GC,6613,-0.67,-97.3,2089,2501,3353,3326,779.3,-10.1,575,6619,0.00,2.50,0.00,0.000,260,0.000,0.086,2079,3894,3339,3353,3326,0,0,0,0,0,0,15.04,14.08,15.07
$GC,6659,-0.67,-97.3,2079,3894,3352,3326,784.1,-10.8,584,6666,0.12,2.30,0.00,0.000,3078,0.204,0.036,2107,2499,3339,3353,3326,0,0,0,0,0,0,14.07,14.39,14.24
$GC,6973,-0.67,-97.3,2107,2497,3352,3325,812.3,-8.8,602,6978,0.00,2.55,0.00,0.000,260,0.000,0.086,2098,3897,3338,3352,3325,0,0,0,0,0,0,15.04,14.05,15.07
$GC,7016,-0.67,-97.3,2098,3897,3352,3325,816.4,-9.6,610,7021,0.00,2.33,0.00,0.000,1030,0.000,0.036,2098,2494,3338,3352,3325,0,0,0,0,0,0,14.45,14.38,14.48
$GC,7340,-0.67,-97.3,2098,2493,3351,3324,847.7,-9.7,629,7347,0.00,2.38,0.00,0.000,516,0.000,0.050,2098,1104,3337,3351,3324,0,0,0,0,0,0,15.03,14.23,15.05
$GC,7369,-0.67,-97.3,2098,1104,3351,3323,850.7,-10.3,635,7376,0.00,2.47,0.00,0.000,1030,0.000,0.060,2087,2505,3337,3351,3324,0,0,0,0,0,0,14.32,14.19,14.36
$GC,7680,-0.67,-97.3,2087,2506,3350,3322,882.3,-10.0,652,7687,0.00,2.47,0.00,0.000,260,0.000,0.086,2077,3891,3336,3350,3322,0,0,0,0,0,0,15.03,14.01,15.06
$GC,7731,-0.67,-97.3,2076,3891,3350,3322,887.7,-10.9,662,7736,0.15,2.33,0.00,0.000,3078,0.194,0.036,2113,2491,3336,3350,3323,0,0,0,0,0,0,14.00,14.36,14.19
$GC,8044,-0.67,-97.3,2113,2489,3350,3321,915.3,-8.7,679,8048,0.00,2.35,0.00,0.000,516,0.000,0.050,2113,1109,3335,3350,3321,0,0,0,0,0,0,15.04,14.21,15.06
$GC,8090,-0.67,-97.3,2113,1109,3349,3321,919.5,-8.6,688,8097,0.00,2.47,0.00,0.000,1030,0.000,0.060,2104,2508,3335,3349,3321,0,0,0,0,0,0,14.28,14.16,14.33
$GC,8405,-0.67,-97.3,2104,2508,3348,3321,948.1,-9.1,706,8410,0.00,2.53,0.00,0.000,260,0.000,0.086,2093,3893,3334,3349,3320,0,0,0,0,0,0,15.04,14.00,15.07
$GC,8462,-0.67,-97.3,2092,3893,3348,3321,953.6,-9.8,717,8469,0.00,2.33,0.00,0.000,1030,0.000,0.037,2092,2499,3334,3348,3321,0,0,0,0,0,0,14.40,14.33,14.43
$GC,8789,-0.67,-97.3,2092,2499,3348,3320,985.3,-9.7,737,8792,0.00,2.40,0.00,0.000,516,0.000,0.050,2093,1106,3334,3348,3320,0,0,0,0,0,0,15.02,14.18,15.05
$STATE,8831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8831,begin apogee
$GC,8841,-0.15,0.0,2083,2443,3347,3320,990.1,-10.0,746,8936,0.70,0.00,91.43,1.979,10246,0.168,0.000,2276,2443,2967,3000,2935,0,0,0,0,0,0,13.81,13.99,12.75
$STATE,8937,end apogee,CONTROL_FINISHED_OK
$STATE,8937,begin climb
$GC,8942,0.67,97.3,2276,2443,2999,2935,993.6,0.0,751,9055,0.85,0.00,103.25,1.954,10758,0.093,0.000,2551,2443,2569,2600,2538,0,0,0,0,0,0,14.10,13.90,12.69
$GC,9355,0.69,97.3,2551,2443,2592,2534,974.8,7.0,784,9360,0.00,2.42,0.00,0.000,580,0.000,0.053,2562,1046,2562,2591,2534,0,0,0,0,0,0,14.87,14.36,14.90
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$STATE,21184,end climb,SURFACE_DEPTH_REACHED
$STATE,21184,begin surface coast
$STATE,21199,end surface coast,CONTROL_FINISHED_OK
$STATE,21199,begin surface
$SM_CCo,21221,78.15,0.568,1,0,929,500.17
$SM_GC,1.14,7.68,0.08,78.15,0.043,0.161,0.568,133,2511,929,-6.77,-1.05,500.17,0,0,0,0,1,0,14.42,14.49,13.54
$IRIDIUM_FIX,502.30,8036.53,110120,024637
$TT8_MAMPS,0.019474,0.161035
$HUMID,51.92
$INTERNAL_PRESSURE,9.49753
$TCM_TEMP,23.70
$XPDR_PINGS,2
$24V_AH,12.62,235.648
$10V_AH,12.72,0.000
$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,19.900,206.700,498.425,78.150,0.000,0.000,0.000,240.225,0.500,0.000,14.947,1568.265,15995.273,720.413,2848.952,559.542,0.000,2450.057,0.000,2589.202,0.000,0.539,0.000
$DEVICE_MAMPS,345.780,161.415,1979.055,568.395,0.000,0.000,0.000,180.540,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,895.370,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249896
$DATA_FILE_SIZE,79895,1822
$CAP_FILE_SIZE,198743,0
$CFSIZE,260034560,122490880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.076,252.64,1
$GPS,110120,144439,506.279,8031.663,17,1.0,17,-2.2,1.0,251.2,6,5.0