version: 66.13
glider: 171
mission: 11
dive: 597
start: 12 15 119 13 46 8
data:
$ID,171
$MISSION,11
$DIVE,597
$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,29
$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
$GPS1,151219,133838,555.8974,8307.9541,17,1.3,17,-1.9,1.3,245.1,6,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.0
$GPS2,151219,134515,555.9180,8307.8506,2,1.0,5,-1.9,0.4,220.3,8,8.0
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R6
$TGT_LATLONG,500.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,231.7,104568,-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,-97.3,107,2501,976,877,0.0,0.0,0,83,0.00,0.00,-71.32,0.005,16386,0.000,0.000,105,2502,2595,2594,2596,0,0,0,0,0,0,14.83,28.83,14.86
$GC,87,-0.67,-97.3,105,2502,2595,2597,4.8,-12.9,15,119,9.20,2.40,-14.68,0.009,19204,0.343,0.066,2106,1105,3367,3382,3353,0,0,0,0,0,0,13.85,12.55,14.32
$GC,228,-0.67,-97.3,2106,1105,3383,3353,44.8,-23.7,43,234,0.00,2.40,0.00,0.000,1030,0.000,0.063,2096,2498,3368,3383,3353,0,0,0,0,0,0,14.57,14.45,14.60
$GC,422,-0.67,-97.3,2096,2497,3383,3353,88.1,-18.4,65,426,0.00,2.40,0.00,0.000,260,0.000,0.079,2086,3899,3368,3383,3353,0,0,0,0,0,0,14.99,14.45,15.02
$GC,599,-0.67,-97.3,2086,3898,3384,3353,117.2,-16.3,100,603,0.00,2.25,0.00,0.000,1030,0.000,0.033,2086,2491,3368,3384,3353,0,0,0,0,0,0,14.70,14.64,14.72
$GC,785,-0.67,-97.3,2085,2489,3384,3353,143.2,-14.5,119,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2489,3368,3384,3353,0,0,0,0,0,0,15.04,15.07,15.06
$GC,965,-0.67,-97.3,2085,2490,3384,3353,168.2,-13.8,137,972,0.00,2.42,0.00,0.000,260,0.000,0.081,2075,3896,3368,3384,3353,0,0,0,0,0,0,15.04,14.50,15.07
$GC,1064,-0.67,-97.3,2075,3896,3384,3353,182.3,-13.5,157,1069,0.15,2.22,0.00,0.000,3078,0.212,0.032,2111,2489,3368,3383,3353,0,0,0,0,0,0,14.35,14.68,14.55
$GC,1260,-0.67,-97.3,2111,2488,3384,3353,205.3,-12.2,177,1264,0.00,2.25,0.00,0.000,516,0.000,0.046,2112,1108,3368,3383,3353,0,0,0,0,0,0,15.04,14.60,15.07
$GC,1300,-0.67,-97.3,2111,1108,3383,3353,210.6,-11.4,185,1305,0.00,2.35,0.00,0.000,1030,0.000,0.056,2102,2502,3368,3383,3353,0,0,0,0,0,0,14.67,14.56,14.71
$GC,1493,-0.67,-97.3,2102,2503,3382,3353,233.4,-12.1,205,1497,0.00,2.40,0.00,0.000,260,0.000,0.081,2091,3900,3367,3382,3353,0,0,0,0,0,0,15.06,14.49,15.09
$GC,1544,-0.67,-97.3,2091,3900,3381,3353,240.2,-13.1,215,1549,0.00,2.22,0.00,0.000,1030,0.000,0.032,2091,2502,3366,3381,3352,0,0,0,0,0,0,14.74,14.69,14.76
$GC,1746,-0.67,-97.3,2090,2500,3379,3353,266.4,-13.1,230,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2500,3366,3379,3353,0,0,0,0,0,0,15.08,15.11,15.10
$GC,2047,-0.67,-97.3,2091,2500,3376,3353,304.5,-12.5,245,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2500,3364,3376,3352,0,0,0,0,0,0,15.08,15.11,15.11
$GC,2345,-0.67,-97.3,2091,2500,3375,3349,340.7,-11.8,260,2349,0.00,2.42,0.00,0.000,260,0.000,0.084,2081,3893,3361,3375,3348,0,0,0,0,0,0,15.09,14.47,15.12
$GC,2386,-0.67,-97.3,2080,3893,3374,3348,345.7,-12.3,268,2391,0.12,2.22,0.00,0.000,3078,0.210,0.034,2110,2497,3361,3374,3348,0,0,0,0,0,0,14.39,14.68,14.58
$GC,2710,-0.67,-97.3,2110,2495,3373,3346,378.5,-10.0,287,2716,0.00,2.45,0.00,0.000,260,0.000,0.085,2101,3894,3359,3372,3346,0,0,0,0,0,0,15.08,14.46,15.11
$GC,2755,-0.67,-97.3,2101,3894,3372,3346,383.1,-10.3,296,2759,0.00,2.22,0.00,0.000,1030,0.000,0.033,2101,2502,3359,3372,3347,0,0,0,0,0,0,14.73,14.67,14.76
$GC,3072,-0.67,-97.3,2101,2500,3371,3345,415.4,-10.3,314,3077,0.00,2.30,0.00,0.000,516,0.000,0.048,2101,1107,3357,3371,3344,0,0,0,0,0,0,15.09,14.57,15.11
$GC,3099,-0.67,-97.3,2101,1107,3370,3344,418.4,-11.3,319,3103,0.00,2.38,0.00,0.000,1030,0.000,0.057,2090,2499,3357,3370,3344,0,0,0,0,0,0,14.65,14.53,14.69
$GC,3415,-0.67,-97.3,2090,2499,3368,3341,454.6,-11.6,337,3422,0.00,2.42,0.00,0.000,260,0.000,0.084,2080,3896,3354,3368,3341,0,0,0,0,0,0,15.09,14.44,15.11
$GC,3441,-0.67,-97.3,2079,3896,3367,3341,457.6,-12.1,342,3447,0.12,2.25,0.00,0.000,3078,0.207,0.034,2109,2497,3354,3368,3341,0,0,0,0,0,0,14.36,14.65,14.55
$GC,3759,-0.67,-97.3,2109,2496,3367,3339,490.9,-10.3,360,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2496,3353,3367,3339,0,0,0,0,0,0,15.09,15.12,15.12
$GC,4060,-0.67,-97.3,2109,2496,3366,3338,521.2,-10.0,375,4067,0.00,2.45,0.00,0.000,260,0.000,0.085,2100,3891,3351,3365,3338,0,0,0,0,0,0,15.09,14.42,15.11
$GC,4105,-0.67,-97.3,2100,3892,3365,3338,525.9,-10.5,384,4110,0.00,2.25,0.00,0.000,1030,0.000,0.034,2100,2503,3351,3365,3338,0,0,0,0,0,0,14.70,14.64,14.73
$GC,4422,-0.67,-97.3,2100,2502,3363,3337,559.2,-10.5,402,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2502,3350,3363,3337,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4723,-0.67,-97.3,2100,2502,3362,3335,589.8,-10.0,417,4730,0.00,2.45,0.00,0.000,260,0.000,0.087,2089,3891,3348,3362,3335,0,0,0,0,0,0,15.08,14.39,15.11
$GC,4753,-0.67,-97.3,2089,3891,3362,3335,592.9,-10.5,423,4757,0.00,2.25,0.00,0.000,1030,0.000,0.035,2089,2501,3348,3362,3335,0,0,0,0,0,0,14.69,14.62,14.71
$GC,5064,-0.67,-97.3,2089,2500,3361,3334,623.5,-9.5,440,5070,0.00,2.47,0.00,0.000,260,0.000,0.087,2078,3897,3347,3361,3334,0,0,0,0,0,0,15.09,14.38,15.11
$GC,5095,-0.67,-97.3,2078,3897,3361,3334,626.4,-10.3,446,5101,0.12,2.28,0.00,0.000,3078,0.207,0.037,2108,2495,3347,3361,3334,0,0,0,0,0,0,14.32,14.61,14.50
$GC,5408,-0.67,-97.3,2108,2493,3360,3333,651.3,-7.7,463,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2493,3346,3360,3333,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5708,-0.67,-97.3,2108,2493,3358,3332,674.6,-7.7,478,5713,0.00,2.47,0.00,0.000,260,0.000,0.087,2099,3892,3344,3358,3331,0,0,0,0,0,0,15.09,14.36,15.11
$GC,5736,-0.67,-97.3,2099,3892,3358,3330,676.7,-8.5,483,5741,0.00,2.25,0.00,0.000,1030,0.000,0.035,2099,2502,3344,3357,3332,0,0,0,0,0,0,14.67,14.60,14.69
$GC,6052,-0.67,-97.3,2099,2500,3356,3331,703.9,-8.8,501,6057,0.00,2.33,0.00,0.000,516,0.000,0.050,2099,1109,3343,3356,3330,0,0,0,0,0,0,15.09,14.49,15.11
$GC,6078,-0.67,-97.3,2098,1107,3356,3330,706.3,-9.3,506,6084,0.00,2.40,0.00,0.000,1030,0.000,0.058,2088,2499,3343,3356,3330,0,0,0,0,0,0,14.57,14.45,14.61
$GC,6397,-0.67,-97.3,2088,2499,3356,3329,736.5,-9.6,524,6401,0.00,2.47,0.00,0.000,260,0.000,0.087,2077,3899,3342,3356,3329,0,0,0,0,0,0,15.08,14.33,15.10
$GC,6474,-0.67,-97.3,2077,3899,3355,3329,744.7,-10.6,539,6478,0.12,2.30,0.00,0.000,3078,0.208,0.037,2108,2491,3342,3356,3329,0,0,0,0,0,0,14.27,14.57,14.46
$GC,6780,-0.67,-97.3,2108,2490,3356,3327,771.4,-8.6,555,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2490,3341,3355,3327,0,0,0,0,0,0,15.07,15.09,15.09
$GC,7078,-0.67,-97.3,2108,2490,3354,3327,797.1,-8.4,570,7083,0.00,2.35,0.00,0.000,516,0.000,0.050,2108,1102,3340,3354,3326,0,0,0,0,0,0,15.08,14.46,15.11
$GC,7100,-0.67,-97.3,2108,1102,3354,3326,799.0,-8.8,574,7105,0.00,2.42,0.00,0.000,1030,0.000,0.058,2099,2503,3340,3354,3327,0,0,0,0,0,0,14.54,14.42,14.58
$GC,7423,-0.67,-97.3,2098,2504,3353,3326,828.5,-9.4,593,7431,0.00,2.45,0.00,0.000,260,0.000,0.086,2088,3893,3339,3353,3326,0,0,0,0,0,0,15.07,14.31,15.09
$GC,7498,-0.67,-97.3,2088,3893,3352,3326,835.7,-9.7,608,7502,0.00,2.28,0.00,0.000,1030,0.000,0.037,2088,2501,3339,3352,3326,0,0,0,0,0,0,14.62,14.54,14.64
$GC,7804,-0.67,-97.3,2087,2500,3352,3325,865.5,-10.0,624,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2500,3338,3352,3325,0,0,0,0,0,0,15.07,15.10,15.09
$GC,8103,-0.67,-97.3,2087,2500,3351,3324,895.2,-10.1,639,8110,0.00,2.50,0.00,0.000,260,0.000,0.089,2077,3897,3337,3351,3324,0,0,0,0,0,0,15.08,14.28,15.11
$GC,8173,-0.67,-97.3,2077,3897,3351,3324,902.7,-10.9,653,8177,0.12,2.30,0.00,0.000,3078,0.207,0.037,2108,2494,3337,3351,3324,0,0,0,0,0,0,14.23,14.53,14.42
$GC,8487,-0.67,-97.3,2108,2492,3351,3322,930.8,-8.9,670,8489,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2492,3337,3351,3323,0,0,0,0,0,0,15.05,15.08,15.08
$GC,8784,-0.67,-97.3,2108,2492,3350,3322,957.6,-8.8,685,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2492,3336,3350,3322,0,0,0,0,0,0,15.07,15.10,15.10
$GC,9084,-0.67,-97.3,2108,2492,3349,3321,984.3,-8.8,700,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2492,3335,3349,3321,0,0,0,0,0,0,15.07,15.10,15.10
$STATE,9163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9163,begin apogee
$GC,9171,-0.15,0.0,2108,2492,3349,3321,991.2,-8.7,704,9268,0.60,0.00,93.62,1.987,10246,0.162,0.000,2281,2492,2968,3001,2935,0,0,0,0,0,0,14.12,13.96,12.56
$STATE,9269,end apogee,CONTROL_FINISHED_OK
$STATE,9269,begin climb
$GC,9273,0.67,97.3,2281,2492,2999,2935,994.5,0.0,709,9383,0.82,0.00,104.62,1.971,10758,0.086,0.000,2556,2492,2570,2603,2538,0,0,0,0,0,0,14.18,13.54,12.57
$GC,9686,0.68,97.3,2556,2492,2592,2534,975.4,7.5,742,9691,0.00,2.45,0.00,0.000,580,0.000,0.052,2567,1052,2563,2592,2534,0,0,0,0,0,0,14.86,14.44,14.89
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$STATE,20645,end climb,SURFACE_DEPTH_REACHED
$STATE,20645,begin surface coast
$STATE,20656,end surface coast,CONTROL_FINISHED_OK
$STATE,20656,begin surface
$SM_CCo,20679,121.10,0.631,1,0,928,500.17
$SM_GC,1.38,7.68,2.55,121.10,0.080,0.052,0.631,114,2508,928,-6.77,-0.68,500.17,0,0,0,0,1,0,14.61,14.45,13.59
$IRIDIUM_FIX,554.61,8311.33,151219,072740
$TT8_MAMPS,0.018725,0.158039
$HUMID,48.42
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,12.55,203.556
$10V_AH,13.13,0.000
$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,20.275,214.525,460.000,121.100,0.000,0.000,0.000,247.650,0.000,0.000,17.169,1646.663,15471.471,741.952,2805.712,535.781,0.000,2432.425,0.000,2541.320,0.000,0.540,0.000
$DEVICE_MAMPS,342.720,88.740,1986.705,631.125,0.000,0.000,0.000,181.305,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,916.658,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250348
$DATA_FILE_SIZE,79891,1788
$CAP_FILE_SIZE,201940,0
$CFSIZE,260034560,132501504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,20808.50,0x214798,7,24
$CURRENT,0.118,99.48,1
$GPS,151219,193400,554.610,8307.687,21,0.7,21,-1.9,0.4,11.9,10,3.3