version: 66.13
glider: 171
mission: 11
dive: 743
start: 1 21 120 1 16 27
data:
$ID,171
$MISSION,11
$DIVE,743
$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,39
$R_STBD_OVSHOOT,20
$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
$GPS1,210120,010900,509.4538,8030.1172,31,0.8,31,-2.2,1.9,269.0,10,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-73.6
$GPS2,210120,011532,509.4545,8029.9854,3,0.6,4,-2.2,1.2,239.1,12,4.6
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,172.2,17510,-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,9,-0.67,-97.3,101,2485,975,876,0.0,0.0,0,83,0.00,0.00,-71.53,0.005,16386,0.000,0.000,101,2485,2600,2600,2600,0,0,0,0,0,0,14.81,28.83,14.84
$GC,88,-0.67,-97.3,102,2485,2602,2600,4.7,-12.1,15,119,9.38,2.40,-14.60,0.009,18948,0.347,0.075,2103,1103,3368,3383,3353,0,0,0,0,0,0,13.85,12.59,14.30
$GC,201,-0.67,-97.3,2103,1103,3383,3353,42.0,-26.8,38,206,0.00,2.45,0.00,0.000,1030,0.000,0.061,2094,2509,3368,3383,3353,0,0,0,0,0,0,14.39,14.26,14.43
$GC,389,-0.67,-97.3,2094,2509,3384,3353,92.1,-17.6,59,396,0.00,2.42,0.00,0.000,260,0.000,0.079,2084,3895,3368,3383,3353,0,0,0,0,0,0,14.94,14.19,14.97
$GC,415,-0.67,-97.3,2083,3894,3383,3353,95.8,-15.5,64,419,0.00,2.30,0.00,0.000,1030,0.000,0.034,2083,2489,3368,3384,3353,0,0,0,0,0,0,14.48,14.41,14.51
$GC,599,-0.67,-97.3,2083,2487,3384,3353,126.3,-14.6,83,603,0.00,2.30,0.00,0.000,516,0.000,0.045,2083,1100,3369,3385,3353,0,0,0,0,0,0,14.97,14.33,15.00
$GC,777,-0.67,-97.3,2083,1100,3385,3353,151.5,-12.7,118,783,0.15,2.42,0.00,0.000,3078,0.211,0.058,2107,2501,3369,3385,3353,0,0,0,0,0,0,14.00,14.26,14.21
$GC,962,-0.67,-97.3,2107,2501,3385,3353,174.1,-11.7,137,966,0.00,2.40,0.00,0.000,516,0.000,0.057,2107,1108,3369,3385,3353,0,0,0,0,0,0,15.00,14.27,15.03
$GC,983,-0.67,-97.3,2107,1108,3385,3352,176.8,-12.5,141,991,0.00,2.40,0.00,0.000,1030,0.000,0.055,2098,2504,3369,3385,3353,0,0,0,0,0,0,14.41,14.29,14.45
$GC,1175,-0.67,-97.3,2098,2504,3385,3353,199.3,-11.5,161,1179,0.00,2.42,0.00,0.000,260,0.000,0.077,2087,3893,3368,3385,3352,0,0,0,0,0,0,15.00,14.16,15.02
$GC,1191,-0.67,-97.3,2087,3893,3385,3353,201.4,-11.4,164,1196,0.00,2.28,0.00,0.000,1030,0.000,0.031,2087,2487,3368,3385,3352,0,0,0,0,0,0,14.52,14.45,14.54
$GC,1378,-0.67,-97.3,2086,2485,3384,3352,223.6,-12.2,183,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2486,3368,3384,3352,0,0,0,0,0,0,15.00,15.03,15.02
$GC,1566,-0.67,-97.3,2086,2486,3383,3352,247.1,-12.5,202,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2486,3367,3382,3352,0,0,0,0,0,0,15.02,15.04,15.04
$GC,1756,-0.67,-97.3,2086,2486,3380,3352,271.1,-12.7,213,1764,0.00,2.50,0.00,0.000,260,0.000,0.080,2076,3892,3366,3380,3352,0,0,0,0,0,0,15.03,14.12,15.06
$GC,1788,-0.67,-97.3,2076,3892,3379,3352,275.0,-13.5,219,1795,0.15,2.28,0.00,0.000,3078,0.204,0.033,2111,2491,3365,3379,3352,0,0,0,0,0,0,14.04,14.43,14.23
$GC,2096,-0.67,-97.3,2111,2490,3376,3352,308.6,-10.6,236,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2490,3364,3377,3352,0,0,0,0,0,0,15.03,15.06,15.06
$GC,2397,-0.67,-97.3,2111,2490,3375,3348,340.6,-10.6,251,2401,0.00,2.53,0.00,0.000,260,0.000,0.081,2102,3891,3361,3375,3348,0,0,0,0,0,0,15.03,14.08,15.05
$GC,2425,-0.67,-97.3,2102,3891,3375,3348,343.5,-11.3,256,2429,0.00,2.28,0.00,0.000,1030,0.000,0.033,2102,2499,3361,3375,3348,0,0,0,0,0,0,14.48,14.41,14.50
$GC,2741,-0.67,-97.3,2102,2497,3373,3346,378.2,-10.6,274,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2497,3359,3373,3346,0,0,0,0,0,0,15.04,15.07,15.06
$GC,3041,-0.67,-97.3,2102,2497,3371,3345,409.7,-10.4,289,3048,0.00,2.50,0.00,0.000,260,0.000,0.083,2091,3890,3357,3371,3344,0,0,0,0,0,0,15.04,14.05,15.06
$GC,3087,-0.67,-97.3,2090,3890,3371,3344,414.6,-11.1,298,3092,0.00,2.28,0.00,0.000,1030,0.000,0.034,2091,2502,3357,3370,3344,0,0,0,0,0,0,14.45,14.38,14.47
$GC,3405,-0.67,-97.3,2090,2501,3368,3341,450.8,-11.5,316,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2501,3355,3369,3341,0,0,0,0,0,0,15.03,15.06,15.05
$GC,3706,-0.67,-97.3,2090,2501,3367,3340,485.1,-11.5,331,3709,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2501,3353,3367,3340,0,0,0,0,0,0,15.01,15.04,15.04
$GC,4005,-0.67,-97.3,2090,2501,3366,3339,519.6,-11.4,346,4010,0.00,2.53,0.00,0.000,260,0.000,0.084,2081,3890,3352,3366,3338,0,0,0,0,0,0,15.03,14.00,15.05
$GC,4032,-0.67,-97.3,2080,3890,3365,3338,522.8,-11.8,351,4040,0.12,2.30,0.00,0.000,3078,0.203,0.034,2109,2497,3351,3365,3338,0,0,0,0,0,0,14.00,14.34,14.19
$GC,4348,-0.67,-97.3,2109,2495,3363,3337,554.1,-9.8,369,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2496,3350,3364,3337,0,0,0,0,0,0,15.02,15.05,15.04
$GC,4647,-0.67,-97.3,2108,2495,3362,3335,582.9,-9.5,384,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2495,3349,3363,3335,0,0,0,0,0,0,15.03,15.06,15.06
$GC,4947,-0.67,-97.3,2108,2495,3362,3334,611.3,-9.3,399,4952,0.00,2.55,0.00,0.000,260,0.000,0.083,2100,3890,3348,3362,3334,0,0,0,0,0,0,15.02,13.95,15.05
$GC,4985,-0.67,-97.3,2099,3890,3361,3334,614.9,-9.8,406,4991,0.00,2.33,0.00,0.000,1030,0.000,0.035,2100,2497,3347,3361,3334,0,0,0,0,0,0,14.37,14.30,14.40
$GC,5289,-0.67,-97.3,2099,2496,3360,3333,643.4,-9.3,422,5294,0.00,2.40,0.00,0.000,516,0.000,0.050,2100,1102,3346,3360,3333,0,0,0,0,0,0,15.03,14.14,15.05
$GC,5311,-0.67,-97.3,2099,1102,3359,3333,645.6,-9.8,426,5316,0.00,2.47,0.00,0.000,1030,0.000,0.058,2088,2501,3346,3360,3333,0,0,0,0,0,0,14.22,14.09,14.27
$GC,5635,-0.67,-97.3,2088,2501,3358,3331,677.6,-9.8,445,5642,0.00,2.53,0.00,0.000,260,0.000,0.083,2078,3899,3345,3358,3332,0,0,0,0,0,0,15.01,13.93,15.04
$GC,5679,-0.67,-97.3,2077,3899,3358,3332,682.2,-10.3,454,5685,0.15,2.33,0.00,0.000,3078,0.200,0.035,2113,2499,3345,3358,3332,0,0,0,0,0,0,13.89,14.28,14.08
$GC,5998,-0.67,-97.3,2113,2497,3357,3330,709.2,-8.5,472,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2497,3343,3357,3330,0,0,0,0,0,0,15.01,15.04,15.03
$GC,6297,-0.67,-97.3,2112,2497,3356,3329,734.5,-8.5,487,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2497,3342,3356,3329,0,0,0,0,0,0,15.02,15.04,15.04
$GC,6597,-0.67,-97.3,2113,2497,3356,3328,760.3,-8.6,502,6602,0.00,2.58,0.00,0.000,260,0.000,0.085,2104,3895,3342,3356,3328,0,0,0,0,0,0,15.02,13.88,15.04
$GC,6651,-0.67,-97.3,2104,3895,3356,3328,765.0,-9.2,512,6655,0.00,2.35,0.00,0.000,1030,0.000,0.036,2104,2493,3342,3356,3328,0,0,0,0,0,0,14.31,14.24,14.35
$GC,6962,-0.67,-97.3,2104,2491,3355,3327,793.1,-8.9,529,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2491,3341,3355,3327,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7263,-0.67,-97.3,2104,2491,3354,3326,820.0,-9.0,544,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2491,3340,3354,3326,0,0,0,0,0,0,15.00,15.04,15.03
$GC,7563,-0.67,-97.3,2104,2491,3353,3326,848.3,-9.5,559,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2491,3339,3353,3326,0,0,0,0,0,0,15.02,15.04,15.04
$GC,7862,-0.67,-97.3,2104,2491,3352,3325,876.2,-9.2,574,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2491,3338,3352,3324,0,0,0,0,0,0,15.02,15.04,15.04
$GC,8164,-0.67,-97.3,2104,2491,3352,3324,903.8,-9.1,589,8168,0.00,2.60,0.00,0.000,260,0.000,0.086,2092,3893,3337,3351,3323,0,0,0,0,0,0,15.00,13.84,15.03
$GC,8185,-0.67,-97.3,2092,3893,3352,3323,906.0,-9.3,593,8189,0.00,2.35,0.00,0.000,1030,0.000,0.036,2092,2496,3337,3352,3323,0,0,0,0,0,0,14.26,14.19,14.29
$GC,8506,-0.67,-97.3,2092,2495,3351,3323,936.2,-9.3,612,8510,0.00,2.42,0.00,0.000,516,0.000,0.051,2092,1105,3336,3351,3322,0,0,0,0,0,0,15.01,14.01,15.04
$GC,8545,-0.67,-97.3,2092,1102,3350,3322,939.6,-9.2,619,8552,0.08,2.53,0.00,0.000,3078,0.176,0.059,2105,2505,3336,3350,3322,0,0,0,0,0,0,13.73,13.98,13.83
$GC,8870,-0.67,-97.3,2105,2504,3350,3321,966.2,-8.1,639,8874,0.00,2.58,0.00,0.000,260,0.000,0.086,2096,3894,3335,3350,3321,0,0,0,0,0,0,15.01,13.83,15.04
$GC,8926,-0.67,-97.3,2095,3894,3350,3321,971.1,-8.7,650,8931,0.00,2.38,0.00,0.000,1030,0.000,0.037,2096,2493,3335,3349,3321,0,0,0,0,0,0,14.23,14.16,14.27
$STATE,9148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9148,begin apogee
$GC,9157,-0.15,0.0,2096,2492,3348,3321,990.9,-8.9,662,9254,0.68,0.00,93.03,1.980,10246,0.165,0.000,2278,2491,2968,3001,2935,0,0,0,0,0,0,13.71,13.98,12.76
$STATE,9255,end apogee,CONTROL_FINISHED_OK
$STATE,9255,begin climb
$GC,9258,0.67,97.3,2278,2491,2999,2935,993.6,0.0,667,9376,0.85,2.50,103.90,1.953,10500,0.086,0.083,2555,3852,2569,2601,2538,0,0,0,0,0,0,14.04,13.95,12.71
$GC,9403,0.71,138.8,2554,3852,2595,2538,992.5,5.7,696,9453,0.00,2.40,43.33,1.911,9254,0.000,0.036,2566,2429,2401,2438,2364,0,0,0,0,0,0,14.28,14.22,12.71
$GC,9754,0.71,138.8,2565,2429,2429,2359,957.9,10.1,721,9759,0.00,2.40,0.00,0.000,516,0.000,0.055,2576,1047,2394,2429,2359,0,0,0,0,0,0,14.85,14.35,14.88
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$STATE,20869,end climb,SURFACE_DEPTH_REACHED
$STATE,20869,begin surface coast
$STATE,20905,end surface coast,CONTROL_FINISHED_OK
$STATE,20905,begin surface
$SM_CCo,20928,102.78,0.597,1,0,928,500.17
$SM_GC,1.29,7.55,2.58,102.78,0.055,0.049,0.597,119,2508,928,-6.78,-0.71,500.17,0,0,0,0,1,0,14.48,14.30,13.60
$IRIDIUM_FIX,504.37,8030.12,200120,185935
$TT8_MAMPS,0.018725,0.164031
$HUMID,48.77
$INTERNAL_PRESSURE,9.56589
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,12.59,247.382
$10V_AH,12.83,0.000
$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
$DEVICE_SECS,19.900,180.075,484.475,102.775,0.000,0.000,0.000,238.475,0.000,0.000,15.545,1525.763,15948.182,720.992,2669.978,561.708,0.000,2347.591,0.000,2415.689,0.000,0.540,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,910.754,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249868
$DATA_FILE_SIZE,73306,1699
$CAP_FILE_SIZE,189739,0
$CFSIZE,260034560,118923264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.049,327.50,1
$GPS,210120,070808,508.067,8029.890,19,1.2,19,-2.2,0.9,262.6,6,10.0