version: 66.13
glider: 171
mission: 11
dive: 553
start: 12 4 119 13 33 58
data:
$ID,171
$MISSION,11
$DIVE,553
$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,55
$R_STBD_OVSHOOT,58
$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
$GPS1,041219,132630,627.2444,8321.5400,18,1.0,18,-1.8,0.4,262.9,8,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-72.2
$GPS2,041219,133305,627.2465,8321.4375,2,0.7,4,-1.8,0.4,198.1,12,6.6
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,211.8,64073,-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,-97.3,95,2539,968,884,0.0,0.0,0,83,0.00,0.00,-71.07,0.005,16386,0.000,0.000,94,2539,2611,2611,2611,0,0,0,0,0,0,14.85,28.83,14.88
$GC,87,-0.67,-97.3,94,2539,2612,2611,4.9,-13.4,15,119,9.23,2.47,-14.12,0.009,18948,0.346,0.070,2106,1106,3367,3383,3352,0,0,0,0,0,0,13.92,12.61,14.37
$GC,171,-0.67,-97.3,2105,1107,3383,3352,33.5,-26.7,32,175,0.00,2.30,0.00,0.000,1030,0.000,0.054,2096,2470,3367,3383,3352,0,0,0,0,0,0,14.59,14.49,14.63
$GC,364,-0.67,-97.3,2096,2470,3383,3352,79.8,-21.7,57,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2470,3367,3383,3352,0,0,0,0,0,0,14.97,15.00,15.00
$GC,553,-0.67,-97.3,2096,2470,3384,3352,111.0,-15.9,76,557,0.00,2.25,0.00,0.000,516,0.000,0.047,2096,1097,3367,3383,3352,0,0,0,0,0,0,15.02,14.61,15.04
$GC,604,-0.67,-97.3,2096,1097,3383,3352,118.8,-13.3,86,609,0.00,2.38,0.00,0.000,1030,0.000,0.056,2085,2508,3368,3384,3352,0,0,0,0,0,0,14.69,14.57,14.71
$GC,796,-0.67,-97.3,2085,2508,3384,3352,145.3,-12.9,106,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2507,3367,3383,3352,0,0,0,0,0,0,15.06,15.09,15.09
$GC,977,-0.67,-97.3,2085,2508,3383,3352,169.8,-13.8,124,981,0.00,2.33,0.00,0.000,516,0.000,0.047,2086,1104,3367,3383,3352,0,0,0,0,0,0,15.07,14.62,15.09
$GC,1048,-0.67,-97.3,2085,1104,3383,3352,179.4,-13.3,138,1054,0.15,2.35,0.00,0.000,3078,0.216,0.057,2111,2500,3367,3383,3352,0,0,0,0,0,0,14.38,14.60,14.59
$GC,1241,-0.67,-97.3,2111,2500,3382,3352,202.1,-11.1,158,1247,0.00,2.40,0.00,0.000,260,0.000,0.083,2102,3891,3367,3382,3352,0,0,0,0,0,0,15.07,14.52,15.09
$GC,1290,-0.67,-97.3,2102,3891,3382,3352,207.6,-12.0,167,1295,0.00,2.22,0.00,0.000,1030,0.000,0.031,2102,2487,3367,3382,3352,0,0,0,0,0,0,14.78,14.73,14.81
$GC,1473,-0.67,-97.3,2102,2485,3380,3352,227.9,-10.6,186,1478,0.00,2.45,0.00,0.000,260,0.000,0.084,2090,3899,3365,3379,3352,0,0,0,0,0,0,15.09,14.52,15.11
$GC,1526,-0.67,-97.3,2090,3898,3379,3352,234.1,-12.2,196,1530,0.00,2.22,0.00,0.000,1030,0.000,0.033,2090,2496,3365,3379,3352,0,0,0,0,0,0,14.78,14.72,14.80
$GC,1717,-0.67,-97.3,2090,2494,3377,3352,257.9,-12.7,213,1721,0.00,2.25,0.00,0.000,516,0.000,0.047,2091,1108,3364,3377,3352,0,0,0,0,0,0,15.09,14.64,15.12
$GC,1758,-0.67,-97.3,2090,1108,3377,3352,263.1,-12.6,221,1763,0.12,2.35,0.00,0.000,3078,0.213,0.055,2110,2504,3364,3376,3352,0,0,0,0,0,0,14.42,14.60,14.61
$GC,2075,-0.67,-97.3,2110,2504,3373,3351,298.5,-10.9,239,2079,0.00,2.38,0.00,0.000,260,0.000,0.083,2100,3891,3361,3373,3350,0,0,0,0,0,0,15.10,14.53,15.13
$GC,2126,-0.67,-97.3,2101,3892,3373,3350,304.2,-11.3,249,2130,0.00,2.22,0.00,0.000,1030,0.000,0.033,2101,2492,3361,3373,3350,0,0,0,0,0,0,14.78,14.72,14.81
$GC,2438,-0.67,-97.3,2101,2491,3372,3347,339.3,-11.2,266,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2491,3359,3372,3347,0,0,0,0,0,0,15.10,15.13,15.13
$GC,2737,-0.67,-97.3,2101,2490,3370,3345,370.6,-10.4,281,2741,0.00,2.28,0.00,0.000,516,0.000,0.047,2101,1105,3357,3370,3345,0,0,0,0,0,0,15.11,14.64,15.14
$GC,2758,-0.67,-97.3,2101,1105,3369,3345,372.9,-10.8,285,2762,0.00,2.38,0.00,0.000,1030,0.000,0.057,2090,2504,3357,3369,3345,0,0,0,0,0,0,14.71,14.59,14.74
$GC,3080,-0.67,-97.3,2090,2504,3367,3342,408.6,-11.5,304,3084,0.00,2.42,0.00,0.000,260,0.000,0.085,2080,3900,3354,3367,3341,0,0,0,0,0,0,15.09,14.50,15.12
$GC,3111,-0.67,-97.3,2079,3900,3366,3341,412.5,-12.3,310,3116,0.12,2.25,0.00,0.000,3078,0.213,0.035,2109,2492,3354,3367,3341,0,0,0,0,0,0,14.42,14.71,14.61
$GC,3425,-0.67,-97.3,2109,2491,3366,3339,445.7,-10.7,327,3429,0.00,2.45,0.00,0.000,260,0.000,0.086,2100,3892,3352,3366,3339,0,0,0,0,0,0,15.09,14.49,15.12
$GC,3456,-0.67,-97.3,2100,3892,3365,3339,449.3,-11.2,333,3460,0.00,2.22,0.00,0.000,1030,0.000,0.034,2100,2501,3352,3365,3339,0,0,0,0,0,0,14.76,14.69,14.78
$GC,3767,-0.67,-97.3,2100,2499,3362,3338,483.3,-10.9,350,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2499,3350,3363,3338,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4068,-0.67,-97.3,2100,2500,3362,3336,514.9,-10.2,365,4072,0.00,2.45,0.00,0.000,260,0.000,0.086,2089,3890,3348,3362,3335,0,0,0,0,0,0,15.10,14.47,15.13
$GC,4101,-0.67,-97.3,2089,3890,3361,3335,518.4,-10.7,371,4105,0.00,2.25,0.00,0.000,1030,0.000,0.035,2089,2492,3348,3361,3335,0,0,0,0,0,0,14.74,14.69,14.77
$GC,4412,-0.67,-97.3,2089,2491,3360,3334,551.1,-10.5,388,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2491,3347,3360,3334,0,0,0,0,0,0,15.11,15.14,15.13
$GC,4713,-0.67,-97.3,2089,2491,3358,3333,583.2,-10.8,403,4718,0.00,2.47,0.00,0.000,260,0.000,0.086,2079,3892,3345,3358,3332,0,0,0,0,0,0,15.09,14.45,15.12
$GC,4739,-0.67,-97.3,2078,3893,3357,3332,586.3,-12.4,408,4744,0.12,2.25,0.00,0.000,3078,0.209,0.035,2109,2495,3344,3357,3332,0,0,0,0,0,0,14.38,14.66,14.57
$GC,5056,-0.67,-97.3,2108,2494,3356,3331,616.5,-9.5,426,5061,0.00,2.45,0.00,0.000,260,0.000,0.086,2099,3891,3343,3356,3331,0,0,0,0,0,0,15.10,14.44,15.13
$GC,5094,-0.67,-97.3,2099,3891,3356,3331,620.2,-10.1,433,5098,0.00,2.25,0.00,0.000,1030,0.000,0.034,2100,2499,3343,3356,3331,0,0,0,0,0,0,14.72,14.66,14.74
$GC,5398,-0.67,-97.3,2099,2498,3355,3330,650.8,-10.0,449,5402,0.00,2.30,0.00,0.000,516,0.000,0.049,2099,1110,3342,3355,3329,0,0,0,0,0,0,15.10,14.55,15.13
$GC,5444,-0.67,-97.3,2099,1109,3354,3329,655.5,-10.1,458,5449,0.00,2.40,0.00,0.000,1030,0.000,0.058,2089,2507,3341,3354,3329,0,0,0,0,0,0,14.63,14.52,14.67
$GC,5762,-0.67,-97.3,2088,2508,3353,3328,689.0,-10.8,476,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2508,3340,3353,3327,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6061,-0.67,-97.3,2088,2508,3352,3326,721.5,-10.9,491,6066,0.00,2.35,0.00,0.000,516,0.000,0.049,2089,1109,3339,3352,3326,0,0,0,0,0,0,15.10,14.54,15.12
$GC,6088,-0.67,-97.3,2088,1109,3352,3326,724.5,-11.6,496,6095,0.12,2.40,0.00,0.000,3078,0.211,0.059,2108,2504,3339,3352,3326,0,0,0,0,0,0,14.31,14.50,14.50
$GC,6404,-0.67,-97.3,2108,2504,3351,3325,755.0,-9.6,514,6409,0.00,2.42,0.00,0.000,260,0.000,0.086,2099,3891,3337,3350,3325,0,0,0,0,0,0,15.09,14.38,15.11
$GC,6467,-0.67,-97.3,2098,3892,3350,3325,761.4,-10.2,526,6472,0.00,2.25,0.00,0.000,1030,0.000,0.036,2099,2499,3337,3350,3325,0,0,0,0,0,0,14.69,14.62,14.71
$GC,6790,-0.67,-97.3,2098,2498,3350,3324,794.1,-10.1,545,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2498,3337,3350,3324,0,0,0,0,0,0,15.08,15.11,15.11
$GC,7089,-0.67,-97.3,2098,2497,3348,3322,823.8,-9.7,560,7095,0.00,2.47,0.00,0.000,260,0.000,0.088,2088,3891,3335,3348,3322,0,0,0,0,0,0,15.09,14.36,15.12
$GC,7135,-0.67,-97.3,2088,3891,3348,3322,828.3,-10.1,569,7139,0.00,2.28,0.00,0.000,1030,0.000,0.037,2088,2492,3335,3348,3322,0,0,0,0,0,0,14.67,14.60,14.69
$GC,7451,-0.67,-97.3,2088,2491,3347,3321,860.1,-9.9,587,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2491,3334,3348,3321,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7751,-0.67,-97.3,2087,2491,3347,3320,888.8,-9.5,602,7753,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2491,3333,3347,3320,0,0,0,0,0,0,15.09,15.12,15.12
$GC,8052,-0.67,-97.3,2088,2491,3346,3320,916.5,-9.1,617,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2491,3333,3346,3320,0,0,0,0,0,0,15.08,15.11,15.11
$GC,8351,-0.67,-97.3,2088,2491,3344,3320,944.0,-9.1,632,8353,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2491,3332,3344,3320,0,0,0,0,0,0,15.09,15.12,15.12
$GC,8651,-0.67,-97.3,2087,2491,3343,3319,971.2,-9.1,647,8656,0.00,2.53,0.00,0.000,260,0.000,0.088,2077,3898,3331,3343,3319,0,0,0,0,0,0,15.09,14.31,15.11
$GC,8694,-0.67,-97.3,2077,3899,3343,3319,975.2,-9.6,655,8699,0.12,2.30,0.00,0.000,3078,0.210,0.037,2108,2495,3330,3343,3318,0,0,0,0,0,0,14.26,14.56,14.45
$STATE,8893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8893,begin apogee
$GC,8900,-0.15,0.0,2108,2494,3343,3319,991.3,-7.9,668,8996,0.57,0.00,92.62,2.001,10246,0.164,0.000,2275,2494,2968,2999,2937,0,0,0,0,0,0,14.17,14.00,12.60
$STATE,8997,end apogee,CONTROL_FINISHED_OK
$STATE,8997,begin climb
$GC,9001,0.67,97.3,2275,2494,2998,2937,993.9,0.0,673,9117,0.82,2.53,103.57,1.978,10500,0.091,0.083,2548,3848,2570,2600,2541,0,0,0,0,0,0,14.18,13.96,12.60
$GC,9144,0.71,133.4,2548,3848,2594,2541,992.8,6.0,702,9188,0.00,2.35,37.70,1.929,9254,0.000,0.035,2559,2441,2424,2458,2390,0,0,0,0,0,0,14.33,14.28,12.66
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$STATE,20329,end climb,SURFACE_DEPTH_REACHED
$STATE,20329,begin surface coast
$STATE,20349,end surface coast,CONTROL_FINISHED_OK
$STATE,20349,begin surface
$SM_CCo,20369,86.55,0.581,1,0,928,500.17
$SM_GC,1.25,7.38,0.10,86.55,0.045,0.145,0.581,123,2519,928,-6.77,-0.82,500.17,0,0,0,0,1,0,14.55,14.54,13.65
$IRIDIUM_FIX,627.42,8326.16,041219,075613
$TT8_MAMPS,0.019474,0.156541
$HUMID,47.83
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,12.60,190.333
$10V_AH,10.99,0.000
$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,19.700,218.100,497.375,86.550,0.000,0.000,0.000,255.925,0.250,0.000,15.757,1583.729,15334.857,721.805,2722.415,493.071,0.000,2390.608,0.000,2445.458,0.000,0.540,0.000
$DEVICE_MAMPS,345.780,144.585,2001.240,580.635,0.000,0.000,0.000,172.125,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,897.747,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250552
$DATA_FILE_SIZE,76632,1720
$CAP_FILE_SIZE,198583,0
$CFSIZE,260034560,136622080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.058,39.60,1
$GPS,041219,191600,626.122,8320.830,18,0.7,18,-1.8,0.7,283.0,9,3.4