version: 66.13
glider: 171
mission: 11
dive: 754
start: 1 23 120 17 15 24
data:
$ID,171
$MISSION,11
$DIVE,754
$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,0.0019952599
$HD_B,0.019109501
$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,47
$R_STBD_OVSHOOT,53
$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
$GPS1,230120,170800,507.6591,8028.6675,29,0.7,29,-2.2,0.8,247.8,10,3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-74.2
$GPS2,230120,171431,507.6648,8028.4316,2,0.5,2,-2.2,1.1,304.3,12,8.3
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,139.8,14487,-19.6,-8.049,-28.96,1831
$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,-97.3,84,2527,970,880,0.0,0.0,0,83,0.00,0.00,-71.28,0.005,16386,0.000,0.000,80,2527,2608,2608,2608,0,0,0,0,0,0,14.81,28.83,14.84
$GC,88,-0.67,-97.3,80,2527,2610,2608,4.8,-12.5,15,119,9.40,2.45,-14.65,0.009,18948,0.345,0.066,2103,1100,3367,3383,3352,0,0,0,0,0,0,13.87,12.61,14.31
$GC,172,-0.67,-97.3,2102,1099,3384,3352,32.8,-28.3,32,176,0.00,2.38,0.00,0.000,1030,0.000,0.055,2093,2477,3367,3383,3352,0,0,0,0,0,0,14.41,14.29,14.45
$GC,361,-0.67,-97.3,2093,2478,3383,3352,84.2,-24.2,56,364,0.00,2.33,0.00,0.000,516,0.000,0.050,2093,1103,3367,3383,3352,0,0,0,0,0,0,14.93,14.28,14.95
$GC,448,-0.67,-97.3,2093,1103,3383,3352,99.8,-14.3,73,455,0.00,2.42,0.00,0.000,1030,0.000,0.056,2083,2506,3367,3383,3352,0,0,0,0,0,0,14.38,14.26,14.42
$GC,643,-0.67,-97.3,2083,2506,3384,3352,130.3,-15.9,94,647,0.00,2.42,0.00,0.000,260,0.000,0.076,2072,3902,3368,3384,3352,0,0,0,0,0,0,14.99,14.17,15.01
$GC,660,-0.67,-97.3,2072,3902,3383,3352,132.9,-15.3,97,668,0.15,2.30,0.00,0.000,3078,0.216,0.031,2106,2475,3368,3384,3352,0,0,0,0,0,0,14.01,14.44,14.22
$GC,860,-0.67,-97.3,2105,2474,3384,3352,157.4,-12.9,118,865,0.00,2.50,0.00,0.000,260,0.000,0.077,2096,3893,3368,3384,3352,0,0,0,0,0,0,14.97,14.15,14.99
$GC,902,-0.67,-97.3,2096,3893,3384,3352,162.3,-10.5,126,907,0.00,2.25,0.00,0.000,1030,0.000,0.031,2096,2490,3368,3384,3352,0,0,0,0,0,0,14.51,14.45,14.54
$GC,1096,-0.67,-97.3,2096,2489,3384,3352,184.0,-12.0,146,1100,0.00,2.30,0.00,0.000,516,0.000,0.045,2096,1104,3367,3383,3352,0,0,0,0,0,0,15.00,14.31,15.02
$GC,1153,-0.67,-97.3,2096,1104,3384,3351,191.0,-11.6,157,1157,0.00,2.42,0.00,0.000,1030,0.000,0.056,2086,2504,3367,3383,3352,0,0,0,0,0,0,14.38,14.26,14.42
$GC,1338,-0.67,-97.3,2085,2504,3383,3352,213.5,-12.7,176,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2505,3367,3383,3352,0,0,0,0,0,0,15.01,15.04,15.03
$GC,1519,-0.67,-97.3,2085,2504,3381,3352,236.3,-12.5,194,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2504,3365,3380,3351,0,0,0,0,0,0,15.00,15.03,15.02
$GC,1708,-0.67,-97.3,2085,2504,3378,3351,260.5,-12.6,209,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2504,3365,3378,3352,0,0,0,0,0,0,15.02,15.05,15.04
$GC,2008,-0.67,-97.3,2085,2504,3374,3351,297.3,-12.1,224,2015,0.00,2.45,0.00,0.000,260,0.000,0.080,2075,3892,3362,3374,3351,0,0,0,0,0,0,15.02,14.09,15.05
$GC,2043,-0.67,-97.3,2074,3893,3374,3351,301.6,-13.0,231,2051,0.15,2.30,0.00,0.000,3078,0.199,0.033,2110,2495,3362,3374,3351,0,0,0,0,0,0,14.01,14.40,14.21
$GC,2369,-0.67,-97.3,2109,2494,3373,3347,335.2,-10.0,251,2373,0.00,2.33,0.00,0.000,516,0.000,0.046,2110,1113,3360,3373,3347,0,0,0,0,0,0,15.02,14.25,15.04
$GC,2396,-0.67,-97.3,2110,1113,3372,3347,338.0,-10.9,256,2403,0.00,2.42,0.00,0.000,1030,0.000,0.057,2101,2501,3359,3372,3346,0,0,0,0,0,0,14.31,14.19,14.36
$GC,2710,-0.67,-97.3,2100,2501,3371,3344,372.2,-11.3,274,2715,0.00,2.47,0.00,0.000,260,0.000,0.082,2090,3892,3357,3371,3344,0,0,0,0,0,0,15.03,14.04,15.05
$GC,2779,-0.67,-97.3,2089,3891,3370,3344,380.3,-12.2,287,2783,0.00,2.28,0.00,0.000,1030,0.000,0.034,2090,2503,3357,3370,3344,0,0,0,0,0,0,14.43,14.36,14.46
$GC,3097,-0.67,-97.3,2090,2501,3367,3340,420.5,-12.6,305,3104,0.00,2.53,0.00,0.000,260,0.000,0.082,2079,3899,3353,3367,3340,0,0,0,0,0,0,15.01,14.01,15.04
$GC,3116,-0.67,-97.3,2078,3899,3367,3340,423.3,-13.1,309,3124,0.12,2.30,0.00,0.000,3078,0.201,0.034,2107,2499,3353,3367,3340,0,0,0,0,0,0,14.02,14.35,14.19
$GC,3438,-0.67,-97.3,2107,2498,3366,3339,460.1,-11.2,328,3445,0.00,2.53,0.00,0.000,260,0.000,0.085,2098,3890,3352,3365,3339,0,0,0,0,0,0,15.01,13.99,15.04
$GC,3467,-0.67,-97.3,2098,3890,3365,3338,463.6,-12.6,334,3472,0.00,2.30,0.00,0.000,1030,0.000,0.034,2098,2495,3352,3365,3339,0,0,0,0,0,0,14.41,14.34,14.44
$GC,3780,-0.67,-97.3,2097,2494,3363,3337,499.0,-11.1,351,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2494,3350,3363,3337,0,0,0,0,0,0,15.02,15.05,15.04
$GC,4081,-0.67,-97.3,2097,2494,3362,3335,531.6,-10.7,366,4086,0.00,2.58,0.00,0.000,260,0.000,0.084,2087,3897,3348,3362,3335,0,0,0,0,0,0,15.02,13.95,15.04
$GC,4110,-0.67,-97.3,2086,3897,3362,3335,535.0,-11.5,371,4114,0.00,2.33,0.00,0.000,1030,0.000,0.035,2087,2496,3348,3362,3335,0,0,0,0,0,0,14.38,14.31,14.40
$GC,4426,-0.67,-97.3,2086,2494,3360,3333,569.6,-10.7,389,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2494,3346,3360,3333,0,0,0,0,0,0,15.02,15.05,15.04
$GC,4728,-0.67,-97.3,2086,2494,3358,3332,601.4,-10.5,404,4734,0.00,2.55,0.00,0.000,260,0.000,0.083,2076,3896,3345,3358,3332,0,0,0,0,0,0,15.01,13.90,15.03
$GC,4751,-0.67,-97.3,2076,3896,3358,3332,604.2,-11.8,409,4760,0.15,2.33,0.00,0.000,3078,0.194,0.035,2111,2497,3345,3358,3332,0,0,0,0,0,0,13.90,14.28,14.09
$GC,5067,-0.67,-97.3,2110,2495,3356,3331,633.8,-9.3,427,5074,0.00,2.55,0.00,0.000,260,0.000,0.085,2101,3890,3343,3356,3330,0,0,0,0,0,0,15.02,13.91,15.04
$GC,5098,-0.67,-97.3,2101,3890,3356,3330,636.6,-10.2,433,5102,0.00,2.33,0.00,0.000,1030,0.000,0.034,2101,2493,3343,3356,3330,0,0,0,0,0,0,14.35,14.28,14.38
$GC,5409,-0.67,-97.3,2101,2492,3356,3329,666.7,-9.8,450,5414,0.00,2.58,0.00,0.000,260,0.000,0.086,2090,3897,3342,3356,3329,0,0,0,0,0,0,15.02,13.90,15.04
$GC,5442,-0.67,-97.3,2090,3897,3356,3329,670.0,-10.4,456,5446,0.00,2.33,0.00,0.000,1030,0.000,0.035,2090,2501,3342,3356,3329,0,0,0,0,0,0,14.33,14.26,14.36
$GC,5754,-0.67,-97.3,2090,2499,3355,3328,702.1,-10.3,473,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2498,3341,3355,3327,0,0,0,0,0,0,15.00,15.03,15.02
$GC,6053,-0.67,-97.3,2090,2499,3353,3326,733.8,-10.7,488,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2498,3339,3353,3326,0,0,0,0,0,0,15.01,15.04,15.04
$GC,6355,-0.67,-97.3,2090,2499,3352,3326,766.1,-10.9,503,6359,0.00,2.58,0.00,0.000,260,0.000,0.086,2080,3890,3338,3352,3325,0,0,0,0,0,0,15.00,13.86,15.02
$GC,6417,-0.67,-97.3,2079,3890,3352,3325,773.3,-11.2,515,6424,0.12,2.33,0.00,0.000,3078,0.200,0.036,2107,2497,3338,3352,3325,0,0,0,0,0,0,13.88,14.21,14.05
$GC,6737,-0.67,-97.3,2107,2497,3351,3324,803.7,-9.2,534,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2497,3337,3351,3324,0,0,0,0,0,0,15.01,15.04,15.03
$GC,7038,-0.67,-97.3,2107,2497,3350,3323,830.6,-8.7,549,7042,0.00,2.60,0.00,0.000,260,0.000,0.087,2098,3890,3336,3350,3323,0,0,0,0,0,0,15.00,13.84,15.02
$GC,7065,-0.67,-97.3,2098,3890,3350,3323,833.2,-9.6,554,7070,0.00,2.33,0.00,0.000,1030,0.000,0.036,2098,2504,3336,3350,3323,0,0,0,0,0,0,14.27,14.19,14.30
$GC,7383,-0.67,-97.3,2098,2503,3349,3322,862.8,-9.4,572,7390,0.00,2.42,0.00,0.000,516,0.000,0.049,2098,1103,3335,3348,3322,0,0,0,0,0,0,15.00,14.01,15.02
$GC,7407,-0.67,-97.3,2098,1103,3348,3322,865.2,-10.1,577,7412,0.00,2.50,0.00,0.000,1030,0.000,0.057,2087,2497,3334,3348,3321,0,0,0,0,0,0,14.12,13.99,14.17
$GC,7724,-0.67,-97.3,2087,2497,3348,3321,896.8,-10.1,595,7731,0.00,2.55,0.00,0.000,260,0.000,0.087,2077,3895,3334,3348,3321,0,0,0,0,0,0,15.00,13.78,15.02
$GC,7750,-0.67,-97.3,2076,3894,3348,3321,899.5,-11.5,600,7757,0.15,2.35,0.00,0.000,3078,0.191,0.036,2111,2498,3334,3348,3321,0,0,0,0,0,0,13.79,14.16,13.98
$GC,8064,-0.67,-97.3,2111,2497,3348,3320,927.2,-8.7,618,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2497,3333,3347,3320,0,0,0,0,0,0,15.00,15.04,15.03
$GC,8364,-0.67,-97.3,2110,2497,3347,3320,952.9,-8.5,633,8367,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2497,3333,3347,3320,0,0,0,0,0,0,15.00,15.04,15.03
$GC,8666,-0.67,-97.3,2111,2497,3346,3319,979.3,-8.9,648,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2497,3332,3345,3319,0,0,0,0,0,0,14.99,15.02,15.02
$STATE,8781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8781,begin apogee
$GC,8789,-0.15,0.0,2111,2497,3345,3319,990.1,-9.1,654,8884,0.60,0.00,91.78,1.981,10246,0.161,0.000,2275,2497,2968,3000,2937,0,0,0,0,0,0,13.70,14.00,12.78
$STATE,8885,end apogee,CONTROL_FINISHED_OK
$STATE,8885,begin climb
$GC,8889,0.67,97.3,2275,2497,2999,2937,993.8,0.0,659,9005,0.85,2.62,104.05,1.954,10756,0.090,0.050,2561,1042,2569,2598,2540,0,0,0,0,0,0,14.04,13.95,12.73
$GC,9042,0.74,161.6,2560,1042,2594,2538,993.9,4.4,677,9115,0.00,2.47,65.75,1.945,9254,0.000,0.054,2561,2446,2308,2349,2267,0,0,0,0,0,0,14.26,14.15,12.72
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$STATE,19598,end climb,SURFACE_DEPTH_REACHED
$STATE,19598,begin surface coast
$STATE,19638,end surface coast,CONTROL_FINISHED_OK
$STATE,19638,begin surface
$SM_CCo,19660,66.68,0.513,1,0,928,500.17
$SM_GC,1.28,7.38,0.10,66.68,0.055,0.145,0.513,118,2532,928,-6.77,-0.71,500.17,0,0,0,0,1,0,14.48,14.50,13.65
$IRIDIUM_FIX,504.40,8032.26,230120,110753
$TT8_MAMPS,0.018725,0.163282
$HUMID,49.56
$INTERNAL_PRESSURE,9.57566
$TCM_TEMP,25.50
$XPDR_PINGS,3
$24V_AH,12.61,250.706
$10V_AH,13.20,0.000
$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,20.075,194.750,524.375,66.675,0.000,0.000,0.000,243.700,0.750,0.000,14.121,1505.886,14706.166,733.681,2608.154,565.666,0.000,2343.469,0.000,2356.865,0.000,0.541,0.000
$DEVICE_MAMPS,345.015,145.350,1980.585,512.550,0.000,0.000,0.000,182.835,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,881.123,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249724
$DATA_FILE_SIZE,73328,1657
$CAP_FILE_SIZE,186819,0
$CFSIZE,260034560,117944320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.103,332.32,1
$GPS,230120,224531,507.207,8029.036,29,0.8,29,-2.2,0.7,275.8,8,4.3